f59297d7a7
Compass: catch the case of a user enabling a compass mid-flight
...
if a compass has not been initialised at startup we can't enable it
mid-flight, as we don't have the orientation
13 years ago
eb71b26d3f
DCM: use the new use_for_yaw() compass method
13 years ago
664622523d
Compass: added COMPASS_LEARN and COMPASS_USE parameters
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these allow you to control if the compass should be used for yaw and
if it should learn its offsets. This is useful for locking in compass
offsets once they are confirmed to be good, and for learning offsets
without using them in flights.
The default is to behave the same as previously, which is
COMPASS_LEARN=1 and COMPASS_USE=1
13 years ago
f10097a6d5
AP_Param: added some comments on AP_Vector3f handling
13 years ago
5e2fbdb6cf
DCM: don't reset _have_initial_yaw for GPS heading unless very slow
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wait till we reach 1m/s before we reset _have_initial_yaw. This
prevents us continually resetting the DCM matrix if our ground speed
is close to 3m/s.
13 years ago
2e9105c68a
AP_Param: added special handling for Vector3f
...
We would like to be able to use Vector3f as a parameter while exposing
the individual elements of the vector as MAVLink parameters. This
change to AP_Param makes that possible, by giving AP_Vector3f a dual
personality
13 years ago
d6bfceef7c
SITL: added -C option to desktop mode
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this allows running APM to stdout, which is useful for test sketches
13 years ago
54aa8297af
libs: removed unused library GPS_IMU
13 years ago
185ab5aea9
libs: removed unusued library GCS_SIMPLE
13 years ago
55e33c3359
DCM: tidy up use of error_course and in_motion
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in_motion is not a good name now it is also used for the compass
The error_course and heading component values don't need to be part of
the DCM object, they can be on the stack to reduce the memory usage a bit
13 years ago
ab8cc3d478
DCM: use rotation_matrix_from_euler() to calculate initial yaw
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When we first get a compass reading or we first start motion we need
to setup the DCM matrix with the right yaw. This uses
rotation_matrix_from_euler() to get a DCM matrix corresponding to our
current roll/pitch, but with the correct yaw
13 years ago
ddeda1c367
DCM: use rotation_matrix_from_euler() in matrix reset
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this makes the code a bit easier to read
13 years ago
06f37aad75
DCM: use calculate_euler_angles() to get eulers from DCM
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this makes the code a bit easier to understand
13 years ago
16ed8bc8f6
AP_Math: added rotmat <-> euler functions
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these will make the dcm matrix manipulation easier to understand
13 years ago
c354879f1f
Compass: ensure we don't produce NAN values for compass heading
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this leaves the previous heading values alone if we are at a pitch of
exactly 90 or -90, at which point we can't compute a meaningful
heading
13 years ago
17d16bc8c6
AP_Math: added safe_sqrt() function
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this function will never return NAN. It will return zero for negative
numbers.
13 years ago
bad653f230
DCM: tidy up the nan checking in DCM
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use is_nan() on the matrix rather than just on c.x, and add
safe_asin() to the (unused) OUTPUTMODE==2 code.
13 years ago
c8e6d03c67
DCM: added matrix recovery on reset
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when we get a bad DCM error we can recover a matrix corresponding to
the current attitude, making it more likely that the aircraft will be
able to recover
13 years ago
502fbf6e17
AP_Math: added a safe_asin() function
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this adds range checking to asin()
13 years ago
17170da96e
AP_Math: added is_nan() methods to vector3f and matrix3f
13 years ago
b094f6ce52
added set integrator
13 years ago
ef90f336d3
DCM: changed the sense of floating point range comparison
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This allows us to detect NaN, otherwise NaN values were considered
'in range'
13 years ago
57ffd00b69
DCM: range check the matrix before calculating pitch
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The asin() in the pitch calculation can only take values between -1
and 1. This change ensures that the value is in range, and if it isn't
then we force a normalization. If that fails we reset the matrix
13 years ago
2bb58db3f7
DCM: reset more values on renorm blowup
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when DCM blows up, we need to reset a lot more variables to ensure
that any NaN values don't persist
13 years ago
156d98cb9f
DCM: remove the taylor expansion optimisation for renormalisation
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The sqrt() costs about 44usec on a 2560, which is small enough for us
not to worry about the speed.
This also changes the range of values where we declare a blowup to
much less likely, which means we can cope with larger delta_t glitches
13 years ago
53b87229ff
AP_Param: added ParamToken type for variable list traversal
13 years ago
1e37a0ec17
added a limit to range output
13 years ago
33aa6fe13b
Optflow - added reference to FastSerial to resolve compile error on Arduino 1.0.
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also removed reference to DCM (no longer required) and removed some old code.
13 years ago
9793d04ed1
SITL: increase the amount of noise in the simulated ADC
...
this increases the noise to 2 bits, which actually can have the effect
of improving accuracy, as it leads to better averaging
13 years ago
d52cb7e574
DCM: only add in centripetal accel if we have GPS lock
...
if we don't have a GPS or the GPS doesn't have a good lock then we
can't rely on the ground speed for adjusting the acceleration vector
13 years ago
baac883eb1
IMU: move _sensor_cal to general IMU class
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this makes it available both in shim and INS subclasses
13 years ago
882cd4ea83
AP_Param: moved AP_Vector3f and AP_Matrix3f declarations to AP_Math.h
...
this avoids us needing AP_Math.h in every utility sketch and example
13 years ago
4b15b63d21
AP_Param: fixed copy-assignment operators for AP_Param vectors
13 years ago
7f3858cb7f
AP_Param: added a set_and_save_ifchanged() method
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this can be used to avoid the scan() in more frequenctly saved
variables, such as the MAVLink stream rates in APM
13 years ago
80a6773b8b
AP_Param: added an initialised() method
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this will be used by the compass code
13 years ago
62b104cbfa
Found free extra 256 bytes of RAM eliminate _clz use from libgcc
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Believe it or not, changing / 2^31 to >>31 saved 256 bytes in the "d" segment.
The reason is that GCC version prior to 4.3.5 does not have a count_leading_zeros (clz) assembler macro, so it uses a 256 byte lookup table called _clz
The _clz table gets pulled in if you do 64 bit division.
This tiny change is the only place that we do long long division.
Changing to a shift saves 256 bytes of ram.
13 years ago
24ce02c6a4
made I term return in same pattern as D term
13 years ago
79d622939a
ADC: on channel overflow we should not zero last_ch6_micros
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this happens every 64 seconds because of unused channels on the
ADC. Zeroing this creates a bad delta_t value for the DCM code.
13 years ago
026e4a6567
change constant to float 44330.0
13 years ago
2f81776b0d
eedump ap param in perl
13 years ago
a48a118128
SITL: adjust the SITL compass code to have saner z values
13 years ago
62326c0f72
Compass: enable compass offsets for HIL compass
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this makes the null_offsets algorithm have an effect for the HIL
compass that is used for SITL, which makes for easier testing of
compass calibration
13 years ago
048aed5427
fixed dump size
13 years ago
089db43183
show group_element too
13 years ago
ea6a46fc9b
AP_Param: added eeprom_aaparam.c dump utility
13 years ago
4398171374
SITL: catch floating point errors
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if we get a FPE then log a message and exit
13 years ago
245d265c6a
DCM: added a SITL_debug() for DCM normalisation errors
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I have seen normalisation errors during simulation runs, but have not
yet tracked down the cause. This log message may help track things
down.
13 years ago
601a991a46
added SITL_debug() macro
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this can be used to print a message into the logs in the SITL
simulator. This will be used for critical conditions.
13 years ago
085cc00c33
RC_Channel_aux: fixed a uninitialied variable error, and save a bit of stack space
13 years ago
43c56be70c
SITL: add some magnetometer offsets
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this ensures the compass null_offset algorithm has some work to do in
autotest
13 years ago
Andrew Tridgell
Jason Short
Randy Mackay
justinbeech
Michael Oborne