Tree: ba68d6d8a1

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

1261 Commits (ba68d6d8a162605ff3395ad7829d1d1bfa8ef896)

Author	SHA1	Message	Date
Andrew Tridgell	eb35e0e8ac	DCM: fixed the sense of the compass GPS test in initial yaw ... we were only disabling null offsets when we didn't have a compass, which doesn't make much sense!	13 years ago
rmackay9	297d2ae457	ModeFilter - corrected shadowed variable compiler warning for drop_high_sample	13 years ago
rmackay9	b9b88ba237	Filter - added AverageFilter - this will be used in place of SumFilter because it removes the possibility of overflows	13 years ago
rmackay9	f53ff8de97	Filter - removed shadowing of variables in constructors for Filter, ModeFilter and SumFilter (sorry tridge!) ... increased maximum sample buffer size from 6 to 10	13 years ago
rmackay9	74f7d7a1c0	ModeFilter - remove older ModeFilter library (new library is now in Filter directory)	13 years ago
rmackay9	f264e29814	AP_RangeFinder - cut over to use new ModeFilter from Filter library	13 years ago
rmackay9	c14d7768f7	Filter - first version of filter library include ModeFilter	13 years ago
rmackay9	952e5d7bbc	AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0	13 years ago
Andrew Tridgell	d0a6359b37	Compass: use constructor to set initial values for _learn and _use_for_yaw ... this ensures they are set if you have MAG_ENABLE==0	13 years ago
Andrew Tridgell	900388a85a	DCM: disable compass null offsets when setting initial yaw ... we need to ensure the compass null offsets code doesn't see a sudden yaw change, or it will change the offsets by a large amount very suddenly	13 years ago
Andrew Tridgell	f59297d7a7	Compass: catch the case of a user enabling a compass mid-flight ... if a compass has not been initialised at startup we can't enable it mid-flight, as we don't have the orientation	13 years ago
Andrew Tridgell	eb71b26d3f	DCM: use the new use_for_yaw() compass method	13 years ago
Andrew Tridgell	664622523d	Compass: added COMPASS_LEARN and COMPASS_USE parameters ... these allow you to control if the compass should be used for yaw and if it should learn its offsets. This is useful for locking in compass offsets once they are confirmed to be good, and for learning offsets without using them in flights. The default is to behave the same as previously, which is COMPASS_LEARN=1 and COMPASS_USE=1	13 years ago
Andrew Tridgell	f10097a6d5	AP_Param: added some comments on AP_Vector3f handling	13 years ago
Andrew Tridgell	5e2fbdb6cf	DCM: don't reset _have_initial_yaw for GPS heading unless very slow ... wait till we reach 1m/s before we reset _have_initial_yaw. This prevents us continually resetting the DCM matrix if our ground speed is close to 3m/s.	13 years ago
Andrew Tridgell	2e9105c68a	AP_Param: added special handling for Vector3f ... We would like to be able to use Vector3f as a parameter while exposing the individual elements of the vector as MAVLink parameters. This change to AP_Param makes that possible, by giving AP_Vector3f a dual personality	13 years ago
Andrew Tridgell	d6bfceef7c	SITL: added -C option to desktop mode ... this allows running APM to stdout, which is useful for test sketches	13 years ago
Andrew Tridgell	54aa8297af	libs: removed unused library GPS_IMU	13 years ago
Andrew Tridgell	185ab5aea9	libs: removed unusued library GCS_SIMPLE	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	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