ardupilot

Commit Graph

Author	SHA1	Message	Date
Andrew Tridgell	b549b88e5e	AHRS: fixed error_yaw reporting with 2 MAVLink connections when a user first connects with USB, and later switches to the telemetry port without restarting we were getting zero for error_yaw in the logs, as AHRS.get_error_yaw() was being called twice. This ensures we give the last value after the counter is reset	13 years ago
Andrew Tridgell	c53b320e00	Quaternion: change signs in AP_AHRS_Quaternion thanks to Justin for the suggestion	13 years ago
Andrew Tridgell	f8087d3c67	AHRS: adapt the quaternion library to AHRS	13 years ago
Andrew Tridgell	9d75ffeba1	AHRS: rename DCM and Quaternion implementions ready for AHRS class this is the first step to creating a general AHRS class for ArduPilot	13 years ago
Andrew Tridgell	4bf28d499a	Quaternion: update for new Quaternion interface	13 years ago
Andrew Tridgell	eff6778515	Quaternion: use gyro drift value from sensor driver	13 years ago
Andrew Tridgell	3989fe2c2c	Quaternion: go back to the full update_MARG() the separate drift controller is too erratic on yaw hold to be usable at the moment	13 years ago
Andrew Tridgell	2f9af05cfa	Quaternion: update to get_gyro_drift() interface	13 years ago
Andrew Tridgell	801a442ffb	Quaternion: minor tuning	13 years ago
Andrew Tridgell	9dc08b30cd	Quaternion: bumb up gyro drift limit to match DCM	13 years ago
Andrew Tridgell	8b40c44522	Quaternion: separate out drift correction from main updates	13 years ago
Andrew Tridgell	066a513758	Quaternion: added more numerical safety in the quaternion code prevent infinities from creeping in and prevent large drift changes	13 years ago
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	13 years ago
Andrew Tridgell	e699e9ace0	Quaternion: added in reporting of gyro drift and rp/yaw errors	13 years ago
Andrew Tridgell	d8234882d4	Quaternion: tweak the quaternion gains a bit	13 years ago
Andrew Tridgell	ffa6786697	Quaternion: drop the gyro drift rates down this should allow us to cope with noise more readily	13 years ago
Andrew Tridgell	c369d9f60a	AP_Quaternion: added DCM compatibility interfaces useful for getting the code going quickly	13 years ago
Andrew Tridgell	c8a459ab0d	fixed deltat in quaternion	13 years ago
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	13 years ago

4 Commits (3e95ade0046298ace8ef1634f70ad1babbac7443)