Andrew Tridgell
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7256652de5
|
Quaternion: use GPS to correct for linear acceleration
this gives much better pitch estimates. We should do this with the
airspeed sensor if available.
|
13 years ago |
|
Andrew Tridgell
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c7ef72cf28
|
Quaternion: don't update if we have a very long deltat
this can be caused by stopping the system in a debugger
|
13 years ago |
|
Andrew Tridgell
|
6d356b6c6e
|
Compass: fixed last_update time for HIL compass
|
13 years ago |
|
Andrew Tridgell
|
ebc55bb494
|
RC: disable interrupts when reading the RC registers
this prevents getting bogus values which could cause a flight mode
change
|
13 years ago |
|
Andrew Tridgell
|
57f67ca6e3
|
GPS: added an acceleration estimate to the GPS driver
This uses the GPS ground speed to estimate acceleration
|
13 years ago |
|
Andrew Tridgell
|
7fbfcc2721
|
GPS: fixed some stdint types
|
13 years ago |
|
Andrew Tridgell
|
e699e9ace0
|
Quaternion: added in reporting of gyro drift and rp/yaw errors
|
13 years ago |
|
Andrew Tridgell
|
2a8b167d95
|
fixed comment
|
13 years ago |
|
Andrew Tridgell
|
c73c55aa90
|
DCM: fixed an uninitialised variable warning
|
13 years ago |
|
Andrew Tridgell
|
d8234882d4
|
Quaternion: tweak the quaternion gains a bit
|
13 years ago |
|
Andrew Tridgell
|
cc887949c9
|
AP_IMU: improved the gyro calibration code
this should give a much more accurate result
|
13 years ago |
|
Andrew Tridgell
|
ffa6786697
|
Quaternion: drop the gyro drift rates down
this should allow us to cope with noise more readily
|
13 years ago |
|
Andrew Tridgell
|
bee4bd9474
|
DCM: fixed bug in accel averaging
sorry Randy!
|
13 years ago |
|
Andrew Tridgell
|
25e5ddeaa4
|
AP_Quaternion: fixed build on Arduino 1.0
|
13 years ago |
|
Andrew Tridgell
|
c369d9f60a
|
AP_Quaternion: added DCM compatibility interfaces
useful for getting the code going quickly
|
13 years ago |
|
Andrew Tridgell
|
6138f31cec
|
AP_IMU: added new_data_available() interface
|
13 years ago |
|
Andrew Tridgell
|
a9dea35310
|
AP_InertialSensor: added new_data_available() interface
|
13 years ago |
|
Andrew Tridgell
|
c80ec9a55c
|
AP_ADC: added new_data_available() interface
returns true if more samples are available
|
13 years ago |
|
Andrew Tridgell
|
c8a459ab0d
|
fixed deltat in quaternion
|
13 years ago |
|
Andrew Tridgell
|
a791224d07
|
SITL: make SITL not depend on DCM
|
13 years ago |
|
Andrew Tridgell
|
74eef7018a
|
Quaternion: added an AP_Quaternion library
this is for experimenting with the Madgwick quaternion system, to see
if it is more or less noise sensitive than DCM
|
13 years ago |
|
Andrew Tridgell
|
fd2a24f8ed
|
SITL: reduce the simulated compass offsets
this was causing us problems in getting DCM right
|
13 years ago |
|
Andrew Tridgell
|
bddc6ba241
|
SITL: separate out drift speed and drift level
|
13 years ago |
|
Andrew Tridgell
|
25cad09746
|
SITL: added a drift_level multiplier
this makes it easier to experiment with different gyro drift levels
|
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
|
145fc91701
|
AP_Math: added a .zero() method to Vector3f
|
13 years ago |
|
Andrew Tridgell
|
ae51173656
|
SITL: fixed delay() to account for signal interrupions
when a timer went off we stopped the delay() code
|
13 years ago |
|
Andrew Tridgell
|
fe173227de
|
DCM_Test: fixed example code to work with SITL
this also fixes the compass setup
|
13 years ago |
|
Andrew Tridgell
|
8424609924
|
SITL: push noise level to 2.0 for DCM testing
|
13 years ago |
|
Andrew Tridgell
|
6ba6e11e7b
|
DCM: added a small amount of accel smoothing to update_DCM_fast()
|
13 years ago |
|
Andrew Tridgell
|
3b1782f369
|
DCM: don't use the z accel sensor for drift correction
the z accel is the noisest, and seems to do more harm than good. Using
just x and y is sufficient for drift correction by assuming the vector
length
|
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
|
772c30ba86
|
SITL: added sitl_simstate_send()
used to report simulator state in logs
|
13 years ago |
|
Andrew Tridgell
|
9df332f0ae
|
MAVLink: import new message types DCM, HWSTATUS and SIMSTATE
|
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 |
Jason Short
|
486c56ce41
|
Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class.
|
13 years ago |
|
Jason Short
|
e57b91c2e2
|
Updated on Barometer - increased the Temp filtering and decreased the pressure filtering to and get less temp noise, faster response from pressure. I'm filtering the Climb rate differently now, so this higher pressure noise should not hurt the derivative calcs at all now.
|
13 years ago |
rmackay9
|
6c3cf9ad5b
|
AP_RC - removed unused library
|
13 years ago |
|
Andrew Tridgell
|
73dafe537e
|
SITL: use the new noise model
use the new noise model at a low level for master until we sort out
DCM noise handling
|
13 years ago |
|
Andrew Tridgell
|
5f749325f0
|
APM_RC: allow the fast RC speed to be passed as a parameter
this will allow users to test different speeds
|
13 years ago |
|
Andrew Tridgell
|
f4329d2680
|
AP_Param: ensure we can't have duplicate keys in Parameters.h
this is O(n^2), but only at startup, and takes less than 1ms to run.
It catches a very nasty coding error
|
13 years ago |
|
Andrew Tridgell
|
1e8d98cdda
|
I2C: added lockup_count() interface
used for reporting I2C problems
|
13 years ago |
|
Andrew Tridgell
|
37275d229d
|
SITL: implement cli()/sei() properly for desktop build
this disables simulated hardware interrupts during critical sections
|
13 years ago |
|
Jason Short
|
41b435a487
|
Updated fastPWM to 490Hz
|
13 years ago |
Pat Hickey
|
337af0c7a2
|
AP_Param: nested group recursion into next_group disableable by macro
* c.f. 0251932c81fe7eb, e5515bb6ef82
|
13 years ago |
|
Pat Hickey
|
2648694489
|
AP_Param: One more nexted group recursion disableable by macro
* c.f. e5515bb6ef82
|
13 years ago |
|
rmackay9
|
fa34ac076e
|
AP_Compass - fixed compile warning
|
13 years ago |
|
rmackay9
|
d81c951849
|
AP_Baro - fixed small compiler warning to do with order of parameters in constructor
|
13 years ago |
|
rmackay9
|
c819a0f68a
|
AP_Compass - fixed small compiler warning to do with order of parameters in constructor
|
13 years ago |
