943a1d8c8d
AP_AHRS: added AHRS_GPS_MINSATS option
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if the number of visible satellites is below AHRS_GPS_MINSATS then
don't use the GPS for acceleration correction for attitude
12 years ago
ba83950fc4
libraries: replace constrain() with constrain_float()
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this makes the type much more obvious. Thanks to Tobias for the
suggestion.
12 years ago
014c9376e7
AP_AHRS: use const references where possible
12 years ago
a4d25f5a82
AHRS: removed AHRS_BARO_USE option
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this option has caused users too much trouble. The vertical velocity
is too noisy from the baro
12 years ago
87b0fb05ce
AHRS: changed default RP and YAW gain to 0.3
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this reduces the impact of hard acceleration on takeoff, and reduces
the impact of GPS lag
Note that this doesn't affect copters, as they override to 0.1
12 years ago
b63d0969b7
AP_AHRS: Addition of a first order complementary filter to AP_AHRS::groundspeed_vector
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Addition of a complementary filter to estimation of the ground velocity vector for use by the L1-nav
12 years ago
05ecb8d8fa
AP_AHRS: fixed functions that need to be virtual
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functions overridden in a child class need to be marked virtual, or
you get the parent class function
12 years ago
ee81b0f729
AP_AHRS: added wind_correct_bearing() and groundspeed_vector()
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these are very useful for navigation libraries
12 years ago
24044dc0c4
AHRS: add support for GPS fix type 2D
12 years ago
3321db8dde
AHRS: limit trim to 10 degrees
12 years ago
5631f865b2
Update floating point calculations to use floats instead of doubles.
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- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
12 years ago
f644a356c9
AP_AHRS: document more rotation combinations
12 years ago
848fc3e32d
AP_AHRS: added AHRS_ORIENTATION parameter
12 years ago
9e5861ccaf
AP_AHRS: small fix to parameter comments
12 years ago
77331f6538
AP_AHRS: another attempt at updating the TRIM parameter descriptions
12 years ago
e6c10f4f0b
AP_ARHS: add description to AHRS_TRIM parameters
12 years ago
bd0e018ca0
ArduCopter: restore auto-trim method but now use AHRS.add_trim
12 years ago
e282554035
AHRS: removed some debug code
12 years ago
5840ded767
AHRS: removed constrain() defines
12 years ago
9bf69d4e0d
AP_AHRS: port to AP_HAL
12 years ago
24317e721b
AC_PID, AP_AHRS: added descriptions to some parameters
12 years ago
1dad9e4e94
AHRS: improved some more doc strings
12 years ago
eb1d5c2c68
AHRS: improved docs for AHRS_GPS_USE
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some people are setting this to zero to prevent jitter, which results
in their plane flying off into the distance and never coming back
12 years ago
5a214acca3
AHRS: changed the docs for AHRS_YAW_P and AHRS_RP_P
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a user had set AHRS_YAW_P to zero. Make it clear that zero is not a
good value. MichaelO will change MP to give a warning for a value
below 0.1
12 years ago
83ae8e47be
AP_AHRS: replace IMU with INS and add roll and pitch trim
12 years ago
458a42654b
DCM: disable use of baro for vertical accel by default
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this has caused problems with too many users
13 years ago
fba1692d69
AHRS: added AHRS_BARO_USE parameter
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allow disabling of the use of the barometer for vertical acceleration
compensation
13 years ago
de28cc8b28
AHRS: added AHRS_WIND_MAX option
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this allows APM to cope better with airspeed sensor failure, but
ensuring airspeed stays within AHRS_WIND_MAX of ground speed
13 years ago
2be785899b
AHRS: added airspeed_estimate() function
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this allows the APM code to use an airspeed estimate for navigation
13 years ago
134cd51d17
AHRS: moved var_info[] into top level AP_AHRS class
13 years ago
Andrew Tridgell
priseborough
Randy Mackay
James Bielman
Pat Hickey