4d65cda0ea
AP_Math: added quaternion->matrix and earth frame routines
...
this will be used for 3d acceleration
13 years ago
8abbbe5713
AP_Math: better way of handling safe_sqrt()
...
better to test the result, than predict it
13 years ago
ccada2e9c2
SITL: avoid parent pid code on cygwin
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this causes problems on windows
13 years ago
3666476bcb
SITL: prevent nested timer interrupts
13 years ago
3b7d78cf02
Quat: test patch for michael
13 years ago
f363f81869
Quaternion: added NaN paranoid checking
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this is for Michael to run
13 years ago
1ec4c0777c
Math: added comment on quaternion constructor
13 years ago
f5e6dc0757
Math: added is_inf() on vector3f
13 years ago
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
c7d5f06b21
AP_Math: added quaternion helper functions and a test suite
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
47ddd4dfdd
SITL: disable interrupts during register updates
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this may prevent bogus mode channel reads
13 years ago
7256652de5
Quaternion: use GPS to correct for linear acceleration
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this gives much better pitch estimates. We should do this with the
airspeed sensor if available.
13 years ago
c7ef72cf28
Quaternion: don't update if we have a very long deltat
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this can be caused by stopping the system in a debugger
13 years ago
6d356b6c6e
Compass: fixed last_update time for HIL compass
13 years ago
ebc55bb494
RC: disable interrupts when reading the RC registers
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this prevents getting bogus values which could cause a flight mode
change
13 years ago
57f67ca6e3
GPS: added an acceleration estimate to the GPS driver
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This uses the GPS ground speed to estimate acceleration
13 years ago
7fbfcc2721
GPS: fixed some stdint types
13 years ago
e699e9ace0
Quaternion: added in reporting of gyro drift and rp/yaw errors
13 years ago
2a8b167d95
fixed comment
13 years ago
c73c55aa90
DCM: fixed an uninitialised variable warning
13 years ago
d8234882d4
Quaternion: tweak the quaternion gains a bit
13 years ago
cc887949c9
AP_IMU: improved the gyro calibration code
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this should give a much more accurate result
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
bee4bd9474
DCM: fixed bug in accel averaging
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sorry Randy!
13 years ago
25e5ddeaa4
AP_Quaternion: fixed build on Arduino 1.0
13 years ago
c369d9f60a
AP_Quaternion: added DCM compatibility interfaces
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useful for getting the code going quickly
13 years ago
6138f31cec
AP_IMU: added new_data_available() interface
13 years ago
a9dea35310
AP_InertialSensor: added new_data_available() interface
13 years ago
c80ec9a55c
AP_ADC: added new_data_available() interface
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returns true if more samples are available
13 years ago
c8a459ab0d
fixed deltat in quaternion
13 years ago
a791224d07
SITL: make SITL not depend on DCM
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
fd2a24f8ed
SITL: reduce the simulated compass offsets
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this was causing us problems in getting DCM right
13 years ago
bddc6ba241
SITL: separate out drift speed and drift level
13 years ago
25cad09746
SITL: added a drift_level multiplier
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this makes it easier to experiment with different gyro drift levels
13 years ago
b11b571778
DCM: fixed the averaging of accel values for update_DCM_fast()
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this should improve drift correction for ArduCopter
13 years ago
145fc91701
AP_Math: added a .zero() method to Vector3f
13 years ago
ae51173656
SITL: fixed delay() to account for signal interrupions
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when a timer went off we stopped the delay() code
13 years ago
fe173227de
DCM_Test: fixed example code to work with SITL
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this also fixes the compass setup
13 years ago
8424609924
SITL: push noise level to 2.0 for DCM testing
13 years ago
6ba6e11e7b
DCM: added a small amount of accel smoothing to update_DCM_fast()
13 years ago
3b1782f369
DCM: don't use the z accel sensor for drift correction
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the z accel is the noisest, and seems to do more harm than good. Using
just x and y is sufficient for drift correction by assuming the vector
length
13 years ago
4031320f7c
DCM: added a small amount of gyro and accel smoothing
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possibly not needed, but convenient to be able to test with different
values
13 years ago
94d0236b97
DCM: added reporting interfaces for DCM state
13 years ago
772c30ba86
SITL: added sitl_simstate_send()
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used to report simulator state in logs
13 years ago
9df332f0ae
MAVLink: import new message types DCM, HWSTATUS and SIMSTATE
13 years ago
cc8278c1ac
DCM: got rid of _error_roll_pitch from object state
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this can be a local error variable in common with the yaw code. This
saves 12 bytes in the object.
13 years ago
486c56ce41
Consolidated Barometer pressure sensing to a single filter based on Randy's new filter class.
13 years ago
e57b91c2e2
Updated on Barometer - increased the Temp filtering and decreased the pressure filtering to and get less temp noise, faster response from pressure. I'm filtering the Climb rate differently now, so this higher pressure noise should not hurt the derivative calcs at all now.
13 years ago
Andrew Tridgell
Jason Short