ardupilot

History

Doug Weibel 9846822748 Bug fix for compass. This is a fix for an interesting bug when a DCM matrix reset was added to the ground start. This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets. Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug? The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix. This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge. If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all. Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large. Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point. To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm. Further, when the algorithm is started, it is set up to get fresh samples. The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.		13 years ago
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APM_Config.h	Put in commented-out APM2 # defines, to save people the trouble of having to type them in themselves.	13 years ago
APM_Config.h.reference	Minimum ground speed patch from Claudio Natoli. Thanks Claudio!	13 years ago
APM_Config_mavlink_hil.h	removed some more unused defines	14 years ago
ArduPlane.pde	Adding comments for global variables	13 years ago
Attitude.pde	Remove old debug print	13 years ago
GCS.h	USB-MUX: auto-switch telemetry port based on UXB mux for ArduPlane	13 years ago
GCS_Mavlink.pde	add circle to output modes	13 years ago
Log.pde	APM: Update for DataFlash changes	13 years ago
Makefile	added sitl build target	13 years ago
Parameters.h	Tweak to FBW min altitude	13 years ago
climb_rate.pde	remove unused climb_rate code	14 years ago
command description.txt	This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port	14 years ago
commands.pde	fixed a valgrind warning	13 years ago
commands_logic.pde	Bug fix for issue 438.	13 years ago
commands_process.pde	Mission Scripting updates	13 years ago
config.h	fix relay on apm 1 AP	13 years ago
control_modes.pde	Correct a bug in throttle failsafe feature	13 years ago
createTags	imported ArduPlane from ArduPilotMega svn	14 years ago
defines.h	geofence: store fence points as int32_t	13 years ago
events.pde	Correct a bug in throttle failsafe feature	13 years ago
failsafe.pde	failsafe: make sure we clear any RC override in manual failsafe	13 years ago
geofence.pde	geofence: re-breach if user changes mode outside the fence	13 years ago
navigation.pde	added comment on using GPS ground course	13 years ago
planner.pde	USB-MUX: auto-switch telemetry port based on UXB mux for ArduPlane	13 years ago
radio.pde	purple: fixed APM_RC.Init() to add isr_registry parameter	13 years ago
sensors.pde	APM: added error checking on barometer read	13 years ago
setup.pde	This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port	14 years ago
system.pde	Bug fix for compass.	13 years ago
test.pde	Bug fix for compass.	13 years ago