ardupilot

Commit Graph

Author	SHA1	Message	Date
Andrew Tridgell	97b7130bb9	libraries: update license header to GPLv3 we switched to GPLv3 a long time ago, but neglected to update the per-file license headers	12 years ago
Andrew Tridgell	0d36832b82	AP_AHRS: use const reference not pointers for locations this makes life easier for the new AP_Mission library Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>	12 years ago
tobias	1bf135b36f	AP_AHRS: make some more functions const	12 years ago
Andrew Tridgell	7d42a0562d	AP_AHRS: cope better with large GPS yaw changes this should cope better with bungee launches when using only GPS for yaw.	12 years ago
Andrew Tridgell	38fc0e61c6	AP_AHRS: optimise yaw drift correction use new vector2 cross product, and factor out the z component of a dcm mul_transpose() to reduce the number of floating point operations for a yaw drift correction cycle	12 years ago
Randy Mackay	ee2daf25b6	AHRS: perf improvement by caching declination vector	12 years ago
Andrew Tridgell	014c9376e7	AP_AHRS: use const references where possible	12 years ago
Andrew Tridgell	7ad293e270	AP_AHRS: made a few methods const	12 years ago
Andrew Tridgell	8459da202c	AP_AHRS: prevents compass flyaways for plane and rover this switches to the GPS for yaw if the compass has dragged us off by more than 45 degrees from the GPS heading, and the wind speed is less than 80% of the ground speed.	12 years ago
Pat Hickey	9bf69d4e0d	AP_AHRS: port to AP_HAL	12 years ago
rmackay9	83ae8e47be	AP_AHRS: replace IMU with INS and add roll and pitch trim	12 years ago
Andrew Tridgell	2be785899b	AHRS: added airspeed_estimate() function this allows the APM code to use an airspeed estimate for navigation	13 years ago
uncrustify	bc80148c75	uncrustify libraries/AP_AHRS/AP_AHRS_DCM.h	13 years ago
Andrew Tridgell	2985de279f	AHRS: fixed duplicate gps_use variable in DCM	13 years ago
Andrew Tridgell	134cd51d17	AHRS: moved var_info[] into top level AP_AHRS class	13 years ago
Andrew Tridgell	9b4b7997b6	AHRS: added ahrs.yaw_initialised() this allows the high level code to know if the AHRS driver has a reliable yaw estimate	13 years ago
Andrew Tridgell	48e275e22d	AHRS: avoid a compiler bug in quaternion code Having _wind in the AP_AHRS class causes a register allocation error when building the Quaternion code with some versions of avr-gcc. Quite bizarre.	13 years ago
Andrew Tridgell	f5b7ae213c	AHRS: added AHRS_GPS_USE parameter this allows for the GPS to be disables for position updates, which allows for testing dead-reckoning	13 years ago
Andrew Tridgell	779dacfd24	AHRS: added wind estimation code this allows us to estimate the wind while we have GPS lock, then use that estimate in the long term dead reckoning	13 years ago
Andrew Tridgell	af4071894e	AHRS: added long-term dead-reckoning this uses airspeed (if available) or last GPS ground speed to update our position estimate in AHRS	13 years ago
Jason Short	52b2aacf28	AHRS DCM: FOrmatting	13 years ago
Andrew Tridgell	898a5af692	AP_Param: update AHRS for new constructor syntax	13 years ago
rmackay9	468170b589	AP_AHRS_DCM: moved var_info to belong to AP_AHRS_DCM instead of AP_AHRS	13 years ago
Andrew Tridgell	0f9fb2c64b	AHRS: added AHRS_GPS_GAIN parameter this allows control of how much GPS velocity information is used in doing centripetal correction in DCM	13 years ago
Andrew Tridgell	3849ca8b5c	AHRS: make DCM drift correction not rely on accurate yaw this uses a new formulation of the GPS based drift correction from Bill Premerlani that rotates the error vector to avoid relying on accurate yaw. This means we should get accurate roll/pitch correction even with lots of magnetometer interference It also makes it possible to fly a multicopter with no compass. It can even navigate and correct yaw (slowly!)	13 years ago
Andrew Tridgell	1314e4f872	AHRS: make P gain on PI roll/pitch controller tunable this is to make it easier for Craig and Alan to tune	13 years ago
Andrew Tridgell	136c03c3c0	AHRS: include the P terms in get_gyro() this makes it more useful for navigation controllers	13 years ago
Andrew Tridgell	58c4d458dc	AHRS: re-instate new DCM drift correction code This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.	13 years ago
Andrew Tridgell	fd241692d0	AHRS: revert to the old drift correction algorithm we need to work out why Craigs quad flipped today before we enable this new drift correction	13 years ago
Andrew Tridgell	8e044a560b	AHRS: include P term in omega thanks to Jon for suggesting this	13 years ago
Andrew Tridgell	37e2f2ee2c	AHRS: implement spin rate limits this follows the method that Bill developed in his fastRotations paper. We've demonstrated that this is indeed needed in APM, as we were able to produce the 'dizzy' effects in both the ArduPlane and ArduCopter simulator	13 years ago
Andrew Tridgell	3a41ad8e7c	AHRS: normalize the ge vector in drift correction, and use barometer The normalisation ensures the error term scales uniformly with different accelerations. The barometer is used for vertical acceleration estimation	13 years ago
Jonathan Challinger	d230690b7b	AHRS: brought DCM more inline with Bill's implementation omega_I applied continuously. _ki larger. Stop integrating when _omega.length()>20 The key change was the scaling of ge to ensure the error is not quadratic	13 years ago
Andrew Tridgell	d4c8041c51	AHRS: first successful version of Bills new drift correction system This makes 3 major changes: 1) fixes the scaling of the yaw drift correction term to fix the time constant 2) don't integrate the mag vector over multiple readings 3) accumulate omega_I changes over 15 seconds before applying, to try to prevent omega_I picking up short term responses	13 years ago
Andrew Tridgell	0f5c22bd8e	AHRS: implement Bills new drift correction algorithm this is an initial implementation of this paper: http://gentlenav.googlecode.com/files/RollPitchDriftCompensation.pdf	13 years ago
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

41 Commits (6f3458eb253f8c6aa5b8b09a8dfe064a4e885eb4)