dacca04b21
INav: record error_count when GPS msg is late
11 years ago
a147eeb1e3
INav: degrade pos error slowly on loss of GPS
...
When GPS message is late by 100ms or we are glitching, degrade the GPS
vs inertial nav position error to 10% over 2 seconds instead of
immediately setting it to zero. This avoids jumpy position estimates
when the GPS misses an update
11 years ago
55b7903456
AP_InertialNav: update for AHRS API changes
11 years ago
1c7d9f43c1
InertialNav: fix for get_velocity_xy
...
forgot to sq
11 years ago
2de6dbd3d8
InertialNav: added get_velocity_xy
11 years ago
c5b36ef3d2
AP_InertialNav: fixed example build
11 years ago
4348a272bf
AP_InertialNav: remove unused velocity fns
...
remove get_longitude_velocity and get_latitude_velocity
11 years ago
8fc16d5cdf
AP_InertialNav: add comments, make ahrs const from neurocopter
...
These fixes are provided by neurocopter but with my name because of
merge conflicts
_position and _velocity vectors added to save some floating point add
operations
unused reference to ins in constructor removed
11 years ago
e23135faa1
AP_InertialNav: bug fix for gps delay handling
11 years ago
cfaaf4b1e7
AP_InertialNav: rename AP_Buffer functions, fix delay handling bug
...
The most recent value was used instead of the intended historical value
as indicated by the comment.
11 years ago
6c825eace2
AP_InertialNav: move variable definitions to elide unused default
...
construction of objects (saves 106 bytes)
11 years ago
c9f68fcd1b
AP_InertialNav: remove unused AP_InertialSensor pointer
11 years ago
cbff58e2ed
AP_InertialNav: add comments, rename incorrectly named member,
...
initialize member, remove redundant assignment
adjustments to original commit by randy
11 years ago
19ba07a3f9
AP_InertialNav: updates for new GPS API
11 years ago
e5c5084e76
InertialNav: fix example sketch
12 years ago
262fcb301a
InertialNav: rename set_current_position to set_home_position
12 years ago
81dd4f8b0c
InertialNav: integrate GPS glitch detection
12 years ago
e1aa6e3ff1
libraries: fixed examples for no flash_leds() callback
12 years ago
c64950e4f5
AP_InertialNav: changed to AP_Vehicle.h
12 years ago
a2902d4a0f
AP_InertialNav: fixed example build
12 years ago
6b5ee80b70
AP_InertialNav: fix for new AP_Math API
...
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
12 years ago
47450a9b40
AP_InertialNav: fixed example build
12 years ago
9da13f3775
AP_InertialNav: fixed indent-tabs-mode
12 years ago
c3738ed344
AP_InertialNav: fixed example build
12 years ago
30faf87715
InertialNav: use AP_Math's longitude_scale
12 years ago
c20eac7a70
AP_InertialNav: use standard LATLON_TO_CM, DEG_TO_RAD constants
12 years ago
8122a32114
InertialNav: reduce XY TC to 2.5 (was 3)
...
More objective testing is required to arrive at the ideal number but 2.5
seem better than 3.0 at reducing "toiletbowling" and anecdotal evidence
does not show much downside.
12 years ago
1849aca0e9
AP_InertialNav: optimise some multiplies
12 years ago
3d325043b0
AP_InertialNav: make some more functions const
12 years ago
08c57c2587
AP_InertialNav: reduce number of multiplies
12 years ago
0a25d6220a
AP_InertialNav: initialise _gps_last_time
...
found with valgrind
12 years ago
b69481f74d
AP_InertialNav: fixed build of example
12 years ago
fc972e2d42
InertialNav: add get_velocity method
12 years ago
cdb532a594
Copter: bug fix for loiter target
12 years ago
777c6a308e
AP_InertialNav: use shared GRAVITY_MSS constant
12 years ago
6816c45c39
InertialNav: reduce Z-axis time constant to 5
12 years ago
38e81adae0
InertialNav: remove unnecessary "virtual" from function definitions
...
This saves about 30bytes of RAM
12 years ago
c9571ad543
InertialNav: remove 3sec limit on position est after losing GPS
12 years ago
6f1035debc
InertialNav: added 300ms timeout after which error from gps heading will be set to zero
12 years ago
6565d83e73
InertialNav: Fixed signs, remove body-frame rotation, apply correction at 100hz.
12 years ago
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
12 years ago
109b1069d8
AP_InertialNav: added constraint to how large local accelerometer offset corrections can become
12 years ago
264db3670e
AP_Baro: Add CONFIG_MS5611_SERIAL option to choose between SPI and I2C.
...
- Update ArduCopter and ArduPlane modules to pass the correct serial
driver to the MS5611 driver.
- Update barometer examples, assuming SPI.
12 years ago
55e6544e64
AP_InertialNav: added parameter descriptions
12 years ago
374af1cd14
build: change from Arduino.mk to apm.mk
12 years ago
92e271e517
AP_InertialNav: increase baro delay to 0.5 sec (was 0.2sec) to allow slower baro updates on APM1
12 years ago
af4d998697
AP_InertialNav: correct lat/lon to cm
12 years ago
37b56662bd
AP_InertialNav: Jason's bug fix to inertial nav velocity and position calculations
12 years ago
41cc1c74d8
AP_InertialNav: increase time constant for Z axis to 7 seconds
12 years ago
557f4e65de
AP_InertialNav: small performance improvement by replacing mul_transpose with direct multiplication of Z axis accel correction to specific elements of dcm
12 years ago
Randy Mackay
Andrew Tridgell
Jason Short
Tobias
Jonathan Challinger
James Bielman