Tree: b5849b356e

AP_Periph-1.3

Copter-4.2

Copter-4.2-BW

apm_2208

apm_2208-rover

apm_2208-rover-debug

c421

copter407

gps-1.3.1

main

master

master_rangefinder

mission-4.1.18

periph-1.3.1

release-4.2.3

rover_4.3

zr-sdk-4.3.1

zr-v5.0

zr-v5.1

zr/Rover-4.3

zr/main-4.3

zr_rover4.2

数字绿土/zr-v5.0

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Commit Graph

179 Commits (b5849b356e3c50169ca5f2c6896ef8dc8cc066d3)

Author	SHA1	Message	Date
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
Andrew Tridgell	ec73fadc45	AP_AHRS: added true airspeed support in AHRS ... use true airspeed for wind calculations, and allow other drivers to ask for the current ratio	12 years ago
Randy Mackay	0325ad5d0d	AP_AHRS: use rotateXY for speed ... Saves 0.1ms at 100hz	12 years ago
Andrew Tridgell	086e8f80dc	AP_AHRS: fixed spin rate gain conversion from degrees to radians ... fixes issue #433 Thanks Jurgen!	12 years ago
Andrew Tridgell	279f6d00f0	AP_AHRS: changes for GPS field changes	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	14628990e6	AP_AHRS: make wind estimation configurable ... rover doesn't want it	12 years ago
Andrew Tridgell	6f1cee6406	AP_AHRS: fixed position estimate with 2D fix or low satellite count ... we should still use the GPS for position fixes when we have a low number of satellites, but we should stop using it for velocity estimates and attitude correction.	12 years ago
Randy Mackay	ceda7d26b0	AHRS: add correct_centrifugal and flags structure	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	943a1d8c8d	AP_AHRS: added AHRS_GPS_MINSATS option ... 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
Andrew Tridgell	ba83950fc4	libraries: replace constrain() with constrain_float() ... this makes the type much more obvious. Thanks to Tobias for the suggestion.	12 years ago
Andrew Tridgell	f5d6fb6216	AP_AHRS: added _kp gain reduction for catapult launch ... this should reduce the tendency of aircraft to nose down hard on initial launch at high g	12 years ago
Andrew Tridgell	fd2cd0d1c2	DCM: fixed formatting	12 years ago
jschall	610069e729	DCM: fixed airspeed bug ... we incorrectly went via the wind estimate when we had a working airspeed sensor	12 years ago
Andrew Tridgell	a4d25f5a82	AHRS: removed AHRS_BARO_USE option ... this option has caused users too much trouble. The vertical velocity is too noisy from the baro	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
Randy Mackay	24044dc0c4	AHRS: add support for GPS fix type 2D	12 years ago
James Bielman	5631f865b2	Update floating point calculations to use floats instead of doubles. ... - 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
Andrew Tridgell	3ac3aeb1b1	AHRS: fixed build on ARM	12 years ago
rmackay9	1c08f176ea	AP_AHRS: add get_accel_ef method to return earth frame accelerometer values for use in ArduCopter's inertial nav and accel based throttle	12 years ago
Andrew Tridgell	ceb3f577d8	libraries: use new math functions	12 years ago
Andrew Tridgell	8b6ad6d559	SITL: removed SITL_debug() ... not needed any more	12 years ago
Andrew Tridgell	5840ded767	AHRS: removed constrain() defines	12 years ago
Pat Hickey	9bf69d4e0d	AP_AHRS: port to AP_HAL	12 years ago
Andrew Tridgell	8561f08b2f	AP_AHRS: prevent a large delta_t from affecting DCM solution ... this should fix large changes in attitude directly after arming ArduCopter	12 years ago
rmackay9	83ae8e47be	AP_AHRS: replace IMU with INS and add roll and pitch trim	12 years ago
Andrew Tridgell	fe47990dab	AP_AHRS: removed the 6 sats min ... this would put us into dead-reckoning mode	12 years ago
Andrew Tridgell	6a24bdec05	AP_AHRS: require at least 6 satellites to use the GPS for velocity ... logs of a recent flight show the velocity estimate can be very poor if the GPS can see 5 satellites or less	12 years ago
Andrew Tridgell	ea40432235	AP_AHRS: use GPS vertical velocity when available	12 years ago
Andrew Tridgell	00bf548f87	AHRS: limit wind speed estimate changes ... sudden yaw changes can cause bad wind estimates	13 years ago
Andrew Tridgell	ccf8ba3ce9	DCM: limit the contribution of the baro to vertical acceleration ... limit to a max of 0.5g	13 years ago
Andrew Tridgell	fba1692d69	AHRS: added AHRS_BARO_USE parameter ... allow disabling of the use of the barometer for vertical acceleration compensation	13 years ago
Andrew Tridgell	de28cc8b28	AHRS: added AHRS_WIND_MAX option ... this allows APM to cope better with airspeed sensor failure, but ensuring airspeed stays within AHRS_WIND_MAX of ground speed	13 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	31a4442904	uncrustify libraries/AP_AHRS/AP_AHRS_DCM.cpp	13 years ago
Andrew Tridgell	134cd51d17	AHRS: moved var_info[] into top level AP_AHRS class	13 years ago
Andrew Tridgell	ac72db8f00	AHRS: added set_fast_gains() method ... this will be used by arducopter on the ground	13 years ago
Andrew Tridgell	14cdbd36cb	AHRS: check for bad values in the error before they can affect DCM ... this should fix the DCM renorm errors in autotest, probably caused by bad climb rates	13 years ago
Andrew Tridgell	d9cc967508	AHRS: force an extra read of the compass on startup ... the first read from the compass can be bad. This ensures we have a good value when getting the initial AHRS yaw. Thanks to Randy and Jason for the bug report!	13 years ago
Andrew Tridgell	19a5d11669	AHRS: use airspeed for wind in forward flight ... when not turning we can use the airspeed sensor directly to calculate the wind speed.	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
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
Jonathan Challinger	9cd98e79dd	AHRS: normalise GA_b before computing error vector only if too large ... When GA_b is small the direction of the vector is unreliable, so normalising can exacerbate the error in the direction	13 years ago
Andrew Tridgell	5f5ab9c07c	AHRS: if we don't have gps correction enabled, zero the yaw correction	13 years ago