ardupilot

Commit Graph

Author	SHA1	Message	Date
Andrew Tridgell	ab8cc3d478	DCM: use rotation_matrix_from_euler() to calculate initial yaw 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
Andrew Tridgell	ddeda1c367	DCM: use rotation_matrix_from_euler() in matrix reset this makes the code a bit easier to read	13 years ago
Andrew Tridgell	06f37aad75	DCM: use calculate_euler_angles() to get eulers from DCM this makes the code a bit easier to understand	13 years ago
Andrew Tridgell	16ed8bc8f6	AP_Math: added rotmat <-> euler functions these will make the dcm matrix manipulation easier to understand	13 years ago
Andrew Tridgell	c354879f1f	Compass: ensure we don't produce NAN values for compass heading 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
Andrew Tridgell	17d16bc8c6	AP_Math: added safe_sqrt() function this function will never return NAN. It will return zero for negative numbers.	13 years ago
Andrew Tridgell	bad653f230	DCM: tidy up the nan checking in DCM 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
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	502fbf6e17	AP_Math: added a safe_asin() function this adds range checking to asin()	13 years ago
Andrew Tridgell	17170da96e	AP_Math: added is_nan() methods to vector3f and matrix3f	13 years ago
Jason Short	b094f6ce52	added set integrator	13 years ago
Andrew Tridgell	ef90f336d3	DCM: changed the sense of floating point range comparison This allows us to detect NaN, otherwise NaN values were considered 'in range'	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	2bb58db3f7	DCM: reset more values on renorm blowup when DCM blows up, we need to reset a lot more variables to ensure that any NaN values don't persist	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
Andrew Tridgell	53b87229ff	AP_Param: added ParamToken type for variable list traversal	13 years ago
Jason Short	1e37a0ec17	added a limit to range output	13 years ago
Randy Mackay	33aa6fe13b	Optflow - added reference to FastSerial to resolve compile error on Arduino 1.0. also removed reference to DCM (no longer required) and removed some old code.	13 years ago
Andrew Tridgell	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
Andrew Tridgell	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
Andrew Tridgell	baac883eb1	IMU: move _sensor_cal to general IMU class this makes it available both in shim and INS subclasses	13 years ago
Andrew Tridgell	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
Andrew Tridgell	4b15b63d21	AP_Param: fixed copy-assignment operators for AP_Param vectors	13 years ago
Andrew Tridgell	7f3858cb7f	AP_Param: added a set_and_save_ifchanged() method this can be used to avoid the scan() in more frequenctly saved variables, such as the MAVLink stream rates in APM	13 years ago
Andrew Tridgell	80a6773b8b	AP_Param: added an initialised() method this will be used by the compass code	13 years ago
justinbeech	62b104cbfa	Found free extra 256 bytes of RAM eliminate _clz use from libgcc 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
Jason Short	24ce02c6a4	made I term return in same pattern as D term	13 years ago
Andrew Tridgell	79d622939a	ADC: on channel overflow we should not zero last_ch6_micros 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
Jason Short	026e4a6567	change constant to float 44330.0	13 years ago
Michael Oborne	2f81776b0d	eedump ap param in perl	13 years ago
Andrew Tridgell	a48a118128	SITL: adjust the SITL compass code to have saner z values	13 years ago
Andrew Tridgell	62326c0f72	Compass: enable compass offsets for HIL compass 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
Andrew Tridgell	048aed5427	fixed dump size	13 years ago
Andrew Tridgell	089db43183	show group_element too	13 years ago
Andrew Tridgell	ea6a46fc9b	AP_Param: added eeprom_aaparam.c dump utility	13 years ago
Andrew Tridgell	4398171374	SITL: catch floating point errors if we get a FPE then log a message and exit	13 years ago
Andrew Tridgell	245d265c6a	DCM: added a SITL_debug() for DCM normalisation errors 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
Andrew Tridgell	601a991a46	added SITL_debug() macro 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
Andrew Tridgell	085cc00c33	RC_Channel_aux: fixed a uninitialied variable error, and save a bit of stack space	13 years ago
Andrew Tridgell	43c56be70c	SITL: add some magnetometer offsets this ensures the compass null_offset algorithm has some work to do in autotest	13 years ago
Andrew Tridgell	f95d7cadc5	fixed SITL GPS heading to be 0..360	13 years ago
Andrew Tridgell	6a42598ade	use stdint types in the compass code	13 years ago
Andrew Tridgell	be5ffdedbb	AP_Param: allow dumping of AP_Vector3f this means the 'show' command in the CLI shows the compass offsets now	13 years ago
Andrew Tridgell	d90dc4d893	GPS: change back to 4Hz for MTK GPS this will hopefully fix the NO_GPS problems that have been regularly happening in recent months. I will watch the logs carefully to see if the problem recurs	13 years ago
Andrew Tridgell	804332c340	AP_Baro: fixed some signed/unsigned warnings and a potential bug on timer wrap	13 years ago
Andrew Tridgell	74bbc72b11	move AP_Var code and example into libraries/AP_Var you can use AP_Var by defining USE_AP_VAR	13 years ago
Andrew Tridgell	23ed5c2cee	fixed imax load/save in PID	13 years ago
Andrew Tridgell	37cabb4cfa	fixed dead zone load/save	13 years ago
Andrew Tridgell	150a67c262	fixed PID initialisation	13 years ago
Andrew Tridgell	47807ec68d	RC_Channel_aux: catch invalid function settings a bad function setting would overwrite the heap	13 years ago

1 2 3 4 5 ...

1291 Commits (9df332f0aeb01d750d42e85b6d32aea82b8a9d38)