zr-v4

Commit Graph

Author	SHA1	Message	Date
Andrew Tridgell	00c1c6f108	Quaternion: credit Justin with the initial idea of using Madgwick thanks Justin!	13 years ago
Andrew Tridgell	4bf28d499a	Quaternion: update for new Quaternion interface	13 years ago
Andrew Tridgell	16c95236c0	Quaternion: use the new quaternion API	13 years ago
Andrew Tridgell	eff6778515	Quaternion: use gyro drift value from sensor driver	13 years ago
Andrew Tridgell	3989fe2c2c	Quaternion: go back to the full update_MARG() the separate drift controller is too erratic on yaw hold to be usable at the moment	13 years ago
Andrew Tridgell	b833190abb	Quaternion: make the quaternion test more generic works with DCM too	13 years ago
Andrew Tridgell	2f9af05cfa	Quaternion: update to get_gyro_drift() interface	13 years ago
Andrew Tridgell	bf16b2926c	Quaternion: removed some unused variables	13 years ago
Andrew Tridgell	882fa1818b	DCM: removed the limit on linear acceleration we get linear accelerations of more than 1g when turning corners	13 years ago
Andrew Tridgell	801a442ffb	Quaternion: minor tuning	13 years ago
Andrew Tridgell	982712d58f	Quaternion: code cleanups and added comments	13 years ago
Andrew Tridgell	9dc08b30cd	Quaternion: bumb up gyro drift limit to match DCM	13 years ago
Andrew Tridgell	8b40c44522	Quaternion: separate out drift correction from main updates	13 years ago
Andrew Tridgell	3b7d78cf02	Quat: test patch for michael	13 years ago
Andrew Tridgell	f363f81869	Quaternion: added NaN paranoid checking this is for Michael to run	13 years ago
Andrew Tridgell	066a513758	Quaternion: added more numerical safety in the quaternion code prevent infinities from creeping in and prevent large drift changes	13 years ago
Andrew Tridgell	f70dfe440d	Quaternion: fix the gyro bias in centripetal and remove smoothing 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
Andrew Tridgell	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	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	e699e9ace0	Quaternion: added in reporting of gyro drift and rp/yaw errors	13 years ago
Andrew Tridgell	d8234882d4	Quaternion: tweak the quaternion gains a bit	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	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	c8a459ab0d	fixed deltat in quaternion	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

26 Commits (3f624276194a937ac0bc3b35eb3a3efbd953716e)