zr-v4

Commit Graph

Author	SHA1	Message	Date
Andrew Tridgell	48e275e22d	AHRS: avoid a compiler bug in quaternion code Having _wind in the AP_AHRS class causes a register allocation error when building the Quaternion code with some versions of avr-gcc. Quite bizarre.	13 years ago
Andrew Tridgell	779dacfd24	AHRS: added wind estimation code this allows us to estimate the wind while we have GPS lock, then use that estimate in the long term dead reckoning	13 years ago
Andrew Tridgell	af4071894e	AHRS: added long-term dead-reckoning this uses airspeed (if available) or last GPS ground speed to update our position estimate in AHRS	13 years ago
Andrew Tridgell	f95b06a880	AHRS: make airspeed sensor available to AHRS this will be used for long term dead-reckoning	13 years ago
rmackay9	b844bb7919	AP_AHRS: removed var_info from AP_AHRS class (moved to AP_AHRS_DCM)	13 years ago
Andrew Tridgell	58c4d458dc	AHRS: re-instate new DCM drift correction code This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.	13 years ago
Andrew Tridgell	fd241692d0	AHRS: revert to the old drift correction algorithm we need to work out why Craigs quad flipped today before we enable this new drift correction	13 years ago
Andrew Tridgell	3a41ad8e7c	AHRS: normalize the ge vector in drift correction, and use barometer The normalisation ensures the error term scales uniformly with different accelerations. The barometer is used for vertical acceleration estimation	13 years ago
Andrew Tridgell	0f5c22bd8e	AHRS: implement Bills new drift correction algorithm this is an initial implementation of this paper: http://gentlenav.googlecode.com/files/RollPitchDriftCompensation.pdf	13 years ago
Andrew Tridgell	f27d85cb8d	DCM: drop the 'drop z' method the 'drop z' method reduced the impact of noise on omegaI, but it also made us more sensitive to errors in accelerometer calibration and scaling, as demonstated by the logs from Gabor here: http://diydrones.com/xn/detail/705844:Comment:834373 Simulation testing shows that the other noise suppression methods applied in the DCM code, in particular the slope limiting on omegaI the removal of the weighting and the upcoming use of a _omega_I_sum buffer have reduced the impact of noise enough that we can now safely include z in the acceleration calculation.	13 years ago
Andrew Tridgell	8e90aeea4e	AHRS: added AHRS_YAW_P parameter this allows users to change the yaw gain in DCM	13 years ago
rmackay9	c96dfb2108	AP_AHRS - changed parameter order to remove compiler warning	13 years ago
Andrew Tridgell	9e6c18cca4	AHRS: added missing AP_AHRS.h	13 years ago

13 Commits (533aab4f6693ab2b18a5e1c46ba460a503a1e909)