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
e9fa5dec0f
AP_InertialNav: make use of ahrs library's get_accel_ef method to save some cpu cycles
12 years ago
463a089e5c
InertialNav: fixed example build
12 years ago
a1187519a8
AP_HAL: use AP_HAL_BOARD_DRIVER in remaining test sketches
12 years ago
eb530b86e8
move Arduino.mk to /mk/Arduino.mk
12 years ago
7d27e420ae
AP_HAL: remove unnecessary Arduino.h includes
12 years ago
62e396167a
AP_InertialNav: updates for new AP_Param API
12 years ago
f935f1ae31
AP_InertialNav: did my best at a meaningful test sketch
...
* the existing test sketch was just the InertialSensor test
12 years ago
af4806666f
AP_InertialNav: ported to AP_HAL
12 years ago
6cf94e20e7
AP_InertialNav_test: small change to #include in example sketch
12 years ago
154e3c33f7
ArduCopter, AP_InertialNav: consolidated ThirdOrderComplementaryFilter into AP_InertialNav to save about 200bytes of RAM
12 years ago
35f94a6f71
AP_InertialNav: increase Z axis default time constant to 3.0 (was 1.5)
12 years ago
c7dd042909
InertialNav: update example for new interface
12 years ago
b13264c884
AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors
12 years ago
61dd405910
AP_InertialNav: removed IMU.h to fix compiler error from example sketch
12 years ago
7f190b8494
AP_InertialNav: first implementation of inertial nav library
12 years ago
Randy Mackay
Andrew Tridgell
Jonathan Challinger
James Bielman
Pat Hickey