ardupilot

Commit Graph

Author	SHA1	Message	Date
rmackay9	6e1798b104	AP_AHRS: updated default AHRS_YAW_P to 0.2 (was 0.4) This reduces the compass's default authority over the yaw direction by half	13 years ago
Andrew Tridgell	2a3af369b6	DCM: buffer omega_I changes over 10 seconds this buffers up _omega_I changes in _omega_I_sum over a period of 10 seconds, applying the slope limit only when _omega_I_sum is transferred to _omega_I. The result is a huge improvement in the ability of _omega_I to track gyro drift over the long term.	13 years ago
Andrew Tridgell	8e90aeea4e	AHRS: added AHRS_YAW_P parameter this allows users to change the yaw gain in DCM	13 years ago
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	d4bb068d5b	AHRS: adapt the DCM library to the AHRS framework	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	13dac4a93a	DCM: adjust yaw kp constant down to 0.4 this makes the time constant for compass errors closely match the timing of the older releases - about 10 seconds for a 1 radian change in heading	13 years ago
Andrew Tridgell	87c463bcc7	DCM: after some experimentation, raise the ki values a bit this tracks the max gyro drift more accurately	13 years ago
Andrew Tridgell	3b2609c441	DCM: separate out the omega_yaw_P from omega_P this cleans up the separation of drift rates and proportional correction from yaw source and accelerometers, allow the yaw to run at a different rate to the accel correction	13 years ago
Andrew Tridgell	3344869285	DCM: minor tuning based on testing my quad	13 years ago
Andrew Tridgell	045b49c4c4	DCM: removed update_DCM_fast this combines the functionality of the 'fast' DCM with the normal one, and also speeds up both the yaw drift correction and the matrix update code	13 years ago
Andrew Tridgell	b11b571778	DCM: fixed the averaging of accel values for update_DCM_fast() this should improve drift correction for ArduCopter	13 years ago
Andrew Tridgell	4031320f7c	DCM: added a small amount of gyro and accel smoothing possibly not needed, but convenient to be able to test with different values	13 years ago
Andrew Tridgell	94d0236b97	DCM: added reporting interfaces for DCM state	13 years ago
Andrew Tridgell	cc8278c1ac	DCM: got rid of _error_roll_pitch from object state this can be a local error variable in common with the yaw code. This saves 12 bytes in the object.	13 years ago
rmackay9	5026b5c192	AP_DCM - fixed small compiler warning to do with order of parameters in constructor	13 years ago
Andrew Tridgell	55e33c3359	DCM: tidy up use of error_course and in_motion 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
Andrew Tridgell	c8e6d03c67	DCM: added matrix recovery on reset 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
Andrew Tridgell	57ffd00b69	DCM: range check the matrix before calculating pitch 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
Andrew Tridgell	156d98cb9f	DCM: remove the taylor expansion optimisation for renormalisation 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
Randy Mackay	ed19c25a97	Arduino 1.0 - changed all #includes of "WProgram.h", "wiring.h" and "WConstants.h to "Arduino.h". Modified FastSerial's write function to return size_t (number of bytes written).	13 years ago
Andrew Tridgell	0147c7b6c6	DCM: added matrix_reset() method	13 years ago
Jason Short	fa7f39ba20	Access to _clamp val. May want to make a private member and write accessor.	13 years ago
Doug Weibel	e3ab1b0353	Add an accessor for the DCM drift correction integrator to monitor performance Also made the get_health accessor an inline function.	13 years ago
Andrew Tridgell	9314dcaa89	DCM: re-work the DCM to use the new IMU/ADC features this gives us higher resolution DCM calculations, with much more accurate timing of the update delta time.	14 years ago
Amilcar Lucas	f08cea8044	These changes were meant to be inside commit a14c06adc06b. I'm sorry but reverting stuff is not that easy	14 years ago
Amilcar Lucas	5406991831	Added support for routing any function to any of the aux. servos. This is a manual merge from the APM_Camera branch. It reverts the stuff that Oliver did not menat to do with his commit 6dcbc7f44bc0	14 years ago
Amilcar Lucas	77c798abd5	Use G_RC_AUX macro to simplify accessing the auxiliary servos	14 years ago
Jason Short	d50ed35077	Added a state machine intended to run at 250hz to the DCM. Spread load of DCM out to lower CPU.	14 years ago
jasonshort	5e163c6052	added ki_Yaw private variable and accessors. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2778 f9c3cf11-9bcb-44bc-f272-b75c42450872	14 years ago
jasonshort	418a4b3903	removed redundant FP calcs for speed up. added ability to alternate normalization and drift correction. Not fully implemented, needs further testing. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2691 f9c3cf11-9bcb-44bc-f272-b75c42450872	14 years ago
jasonshort	595266152b	Added dynamic setting of kp_rollpitch, ki_rollpitch, kp_yaw. Added three constants for kp_rollpitch, (high, med -default, low) Functionally equivalent to prior version. git-svn-id: https://arducopter.googlecode.com/svn/trunk@2550 f9c3cf11-9bcb-44bc-f272-b75c42450872	14 years ago
DrZiplok	71604405f4	Re-order initialisers to suppress warnings git-svn-id: https://arducopter.googlecode.com/svn/trunk@2072 f9c3cf11-9bcb-44bc-f272-b75c42450872	14 years ago
james.goppert	aa598b575a	APO merge. git-svn-id: https://arducopter.googlecode.com/svn/trunk@1935 f9c3cf11-9bcb-44bc-f272-b75c42450872	14 years ago
deweibel@gmail.com	92bf4c4e0a	Add method definition for set_centripetal() git-svn-id: https://arducopter.googlecode.com/svn/trunk@1756 f9c3cf11-9bcb-44bc-f272-b75c42450872	14 years ago
deweibel@gmail.com	195b695011	Fix imu_health metric git-svn-id: https://arducopter.googlecode.com/svn/trunk@1728 f9c3cf11-9bcb-44bc-f272-b75c42450872	14 years ago
DrZiplok@gmail.com	7ca9081238	DCM needs a reference to a pointer so that we can change the GPS under it during init. git-svn-id: https://arducopter.googlecode.com/svn/trunk@1662 f9c3cf11-9bcb-44bc-f272-b75c42450872	14 years ago
DrZiplok@gmail.com	bf59d7abc7	Update for changes to AP_IMU git-svn-id: https://arducopter.googlecode.com/svn/trunk@1343 f9c3cf11-9bcb-44bc-f272-b75c42450872	14 years ago
deweibel	1da23bc3c0	Fix bug in transposed DCM matrix accessor git-svn-id: https://arducopter.googlecode.com/svn/trunk@1134 f9c3cf11-9bcb-44bc-f272-b75c42450872	14 years ago
jasonshort	7945937874	added ability to get the transpose of the DCM git-svn-id: https://arducopter.googlecode.com/svn/trunk@1116 f9c3cf11-9bcb-44bc-f272-b75c42450872	14 years ago
james.goppert	21634dad19	Added AP_DCM_HIL class. git-svn-id: https://arducopter.googlecode.com/svn/trunk@1103 f9c3cf11-9bcb-44bc-f272-b75c42450872	14 years ago
jasonshort	2f2aaa88fd	Added dynamic setting of compass git-svn-id: https://arducopter.googlecode.com/svn/trunk@1010 f9c3cf11-9bcb-44bc-f272-b75c42450872	14 years ago
james.goppert	110685f880	Updated DCM library. git-svn-id: https://arducopter.googlecode.com/svn/trunk@996 f9c3cf11-9bcb-44bc-f272-b75c42450872	14 years ago
jasonshort	93206020cb	Moved Health to DCM, Centripetal correct git-svn-id: https://arducopter.googlecode.com/svn/trunk@988 f9c3cf11-9bcb-44bc-f272-b75c42450872	14 years ago
jasonshort	275624358d	boolean to disable centrifugal correction. git-svn-id: https://arducopter.googlecode.com/svn/trunk@987 f9c3cf11-9bcb-44bc-f272-b75c42450872	14 years ago
jasonshort	d209f3d59e	update - See ArducopterMega in Branch for implementation details git-svn-id: https://arducopter.googlecode.com/svn/trunk@986 f9c3cf11-9bcb-44bc-f272-b75c42450872	14 years ago

6 Commits (4c46955612149d5b1d3ffa423f496eb8b19dde2e)