Andrew Tridgell
f70dfe440d
Quaternion: fix the gyro bias in centripetal and remove smoothing
...
the centripetal code needs to take account of the current gyro
bias.
It turned out that the accel and gyro smoothing was causing
significant control lag, and we're better off just letting the
quaternion code handle it via its own smoothing parameters
2012-03-10 10:34:30 +11:00
Andrew Tridgell
7256652de5
Quaternion: use GPS to correct for linear acceleration
...
this gives much better pitch estimates. We should do this with the
airspeed sensor if available.
2012-03-10 10:34:30 +11:00
Andrew Tridgell
c7ef72cf28
Quaternion: don't update if we have a very long deltat
...
this can be caused by stopping the system in a debugger
2012-03-10 10:34:30 +11:00
Andrew Tridgell
e699e9ace0
Quaternion: added in reporting of gyro drift and rp/yaw errors
2012-03-10 10:34:29 +11:00
Andrew Tridgell
d8234882d4
Quaternion: tweak the quaternion gains a bit
2012-03-10 10:34:29 +11:00
Andrew Tridgell
ffa6786697
Quaternion: drop the gyro drift rates down
...
this should allow us to cope with noise more readily
2012-03-10 10:34:29 +11:00
Andrew Tridgell
25e5ddeaa4
AP_Quaternion: fixed build on Arduino 1.0
2012-03-10 10:34:29 +11:00
Andrew Tridgell
c369d9f60a
AP_Quaternion: added DCM compatibility interfaces
...
useful for getting the code going quickly
2012-03-10 10:34:29 +11:00
Andrew Tridgell
c8a459ab0d
fixed deltat in quaternion
2012-03-10 10:34:28 +11:00
Andrew Tridgell
74eef7018a
Quaternion: added an AP_Quaternion library
...
this is for experimenting with the Madgwick quaternion system, to see
if it is more or less noise sensitive than DCM
2012-03-10 10:34:28 +11:00
