1dad9e4e94
AHRS: improved some more doc strings
12 years ago
eb1d5c2c68
AHRS: improved docs for AHRS_GPS_USE
...
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
...
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
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
56f88821e9
AP_AHRS: fix example sketch
...
AP_Airspeed: fix example sketch
AP_Baro: fix example sketch
AP_Declination: fix example sketch
AP_Math: fix example sketch
12 years ago
83ae8e47be
AP_AHRS: replace IMU with INS and add roll and pitch trim
12 years ago
fe47990dab
AP_AHRS: removed the 6 sats min
...
this would put us into dead-reckoning mode
12 years ago
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
ea40432235
AP_AHRS: use GPS vertical velocity when available
12 years ago
9e3824a09b
AP_AHRS: fix compile error in example sketch
12 years ago
00bf548f87
AHRS: limit wind speed estimate changes
...
sudden yaw changes can cause bad wind estimates
13 years ago
e33d314f1d
AP_AHRS_MPU6000: resolve compiler warning re shadowing
13 years ago
670fcbb634
AP_AHRS_MPU6000: fixed yaw correction and added _secondary_ahrs parameter
...
_secondary_ahrs parameter allows mpu6000 ahrs to runin parallel with DCM.
13 years ago
8c6fd340d7
AP_AHRS: added scheduler parameter to init
...
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
13 years ago
41fbb19cf5
AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory
...
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
13 years ago
ccf8ba3ce9
DCM: limit the contribution of the baro to vertical acceleration
...
limit to a max of 0.5g
13 years ago
458a42654b
DCM: disable use of baro for vertical accel by default
...
this has caused problems with too many users
13 years ago
94f956a0ca
fix AP attitude hil - with randys help
13 years ago
1c9fe3b1b6
AP_AHRS: fix to allow example sketch to compile
13 years ago
fba1692d69
AHRS: added AHRS_BARO_USE parameter
...
allow disabling of the use of the barometer for vertical acceleration
compensation
13 years ago
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
2be785899b
AHRS: added airspeed_estimate() function
...
this allows the APM code to use an airspeed estimate for navigation
13 years ago
8b53f1272a
AHRS: new functions to support APM_Control library
13 years ago
e17fcbd9cb
uncrustify libraries/AP_AHRS/AP_AHRS_HIL.h
13 years ago
af588679b9
uncrustify libraries/AP_AHRS/AP_AHRS.h
13 years ago
8c0e4f3987
uncrustify libraries/AP_AHRS/AP_AHRS_MPU6000.h
13 years ago
bc80148c75
uncrustify libraries/AP_AHRS/AP_AHRS_DCM.h
13 years ago
31a4442904
uncrustify libraries/AP_AHRS/AP_AHRS_DCM.cpp
13 years ago
d6d7606c84
uncrustify libraries/AP_AHRS/AP_AHRS_HIL.cpp
13 years ago
9e4e08699d
uncrustify libraries/AP_AHRS/AP_AHRS_MPU6000.cpp
13 years ago
6327305116
uncrustify libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
13 years ago
6d28b3519f
AHRS: removed AP_AHRS_Quaternion
...
this AHRS backend is causing compiler errors with the Arduino build
environment on windows. The quaternion AHRS backend is currently not
being developed/supported anyway. We can resurrect it if someone wants
to start developing it again.
13 years ago
2985de279f
AHRS: fixed duplicate gps_use variable in DCM
13 years ago
134cd51d17
AHRS: moved var_info[] into top level AP_AHRS class
13 years ago
ac72db8f00
AHRS: added set_fast_gains() method
...
this will be used by arducopter on the ground
13 years ago
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
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
73dcbc24c3
Quaternion: we no longer support acceleration in the GPS driver
...
remove the linear acceleration compensation code
13 years ago
9b4b7997b6
AHRS: added ahrs.yaw_initialised()
...
this allows the high level code to know if the AHRS driver has a
reliable yaw estimate
13 years ago
48e275e22d
AHRS: avoid a compiler bug in quaternion code
...
Having _wind in the AP_AHRS class causes a register allocation error
when building the Quaternion code with some versions of avr-gcc. Quite
bizarre.
13 years ago
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
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
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
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
f95b06a880
AHRS: make airspeed sensor available to AHRS
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this will be used for long term dead-reckoning
13 years ago
b01907cf23
ACM: fixed HIL build
13 years ago
52b2aacf28
AHRS DCM: FOrmatting
13 years ago
898a5af692
AP_Param: update AHRS for new constructor syntax
13 years ago
0eaf427062
AP_AHRS_MPU6000: cleaning up compiler warning due to unused yaw_deltat variable
13 years ago
1b521a9f73
AP_AHRS: updated test sketch to allow use of MPU6000's DMP
13 years ago
Andrew Tridgell
rmackay9
Michael Oborne
uncrustify
Jason Short