066a513758
Quaternion: added more numerical safety in the quaternion code
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prevent infinities from creeping in and prevent large drift changes
13 years ago
f70dfe440d
Quaternion: fix the gyro bias in centripetal and remove smoothing
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the centripetal code needs to take account of the current gyro
bias.
It turned out that the accel and gyro smoothing was causing
significant control lag, and we're better off just letting the
quaternion code handle it via its own smoothing parameters
13 years ago
e699e9ace0
Quaternion: added in reporting of gyro drift and rp/yaw errors
13 years ago
d8234882d4
Quaternion: tweak the quaternion gains a bit
13 years ago
ffa6786697
Quaternion: drop the gyro drift rates down
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this should allow us to cope with noise more readily
13 years ago
c369d9f60a
AP_Quaternion: added DCM compatibility interfaces
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useful for getting the code going quickly
13 years ago
c8a459ab0d
fixed deltat in quaternion
13 years ago
74eef7018a
Quaternion: added an AP_Quaternion library
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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