2be785899b
AHRS: added airspeed_estimate() function
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this allows the APM code to use an airspeed estimate for navigation
13 years ago
8b53f1272a
AHRS: new functions to support APM_Control library
13 years ago
e17fcbd9cb
uncrustify libraries/AP_AHRS/AP_AHRS_HIL.h
13 years ago
af588679b9
uncrustify libraries/AP_AHRS/AP_AHRS.h
13 years ago
8c0e4f3987
uncrustify libraries/AP_AHRS/AP_AHRS_MPU6000.h
13 years ago
bc80148c75
uncrustify libraries/AP_AHRS/AP_AHRS_DCM.h
13 years ago
31a4442904
uncrustify libraries/AP_AHRS/AP_AHRS_DCM.cpp
13 years ago
d6d7606c84
uncrustify libraries/AP_AHRS/AP_AHRS_HIL.cpp
13 years ago
9e4e08699d
uncrustify libraries/AP_AHRS/AP_AHRS_MPU6000.cpp
13 years ago
6327305116
uncrustify libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
13 years ago
6d28b3519f
AHRS: removed AP_AHRS_Quaternion
...
this AHRS backend is causing compiler errors with the Arduino build
environment on windows. The quaternion AHRS backend is currently not
being developed/supported anyway. We can resurrect it if someone wants
to start developing it again.
13 years ago
2985de279f
AHRS: fixed duplicate gps_use variable in DCM
13 years ago
134cd51d17
AHRS: moved var_info[] into top level AP_AHRS class
13 years ago
ac72db8f00
AHRS: added set_fast_gains() method
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this will be used by arducopter on the ground
13 years ago
14cdbd36cb
AHRS: check for bad values in the error before they can affect DCM
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this should fix the DCM renorm errors in autotest, probably caused by
bad climb rates
13 years ago
d9cc967508
AHRS: force an extra read of the compass on startup
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the first read from the compass can be bad. This ensures we have a
good value when getting the initial AHRS yaw.
Thanks to Randy and Jason for the bug report!
13 years ago
73dcbc24c3
Quaternion: we no longer support acceleration in the GPS driver
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remove the linear acceleration compensation code
13 years ago
9b4b7997b6
AHRS: added ahrs.yaw_initialised()
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this allows the high level code to know if the AHRS driver has a
reliable yaw estimate
13 years ago
48e275e22d
AHRS: avoid a compiler bug in quaternion code
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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
19a5d11669
AHRS: use airspeed for wind in forward flight
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when not turning we can use the airspeed sensor directly to calculate
the wind speed.
13 years ago
f5b7ae213c
AHRS: added AHRS_GPS_USE parameter
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this allows for the GPS to be disables for position updates, which
allows for testing dead-reckoning
13 years ago
779dacfd24
AHRS: added wind estimation code
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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
af4071894e
AHRS: added long-term dead-reckoning
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this uses airspeed (if available) or last GPS ground speed to update
our position estimate in AHRS
13 years ago
f95b06a880
AHRS: make airspeed sensor available to AHRS
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this will be used for long term dead-reckoning
13 years ago
b01907cf23
ACM: fixed HIL build
13 years ago
52b2aacf28
AHRS DCM: FOrmatting
13 years ago
898a5af692
AP_Param: update AHRS for new constructor syntax
13 years ago
0eaf427062
AP_AHRS_MPU6000: cleaning up compiler warning due to unused yaw_deltat variable
13 years ago
1b521a9f73
AP_AHRS: updated test sketch to allow use of MPU6000's DMP
13 years ago
dbe7c8ed1a
AP_AHRS_MPU6000: first draft implementation of class that uses MPU6000's DMP to calculate attitude
13 years ago
b844bb7919
AP_AHRS: removed var_info from AP_AHRS class (moved to AP_AHRS_DCM)
13 years ago
468170b589
AP_AHRS_DCM: moved var_info to belong to AP_AHRS_DCM instead of AP_AHRS
13 years ago
9cd98e79dd
AHRS: normalise GA_b before computing error vector only if too large
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When GA_b is small the direction of the vector is unreliable, so
normalising can exacerbate the error in the direction
13 years ago
5f5ab9c07c
AHRS: if we don't have gps correction enabled, zero the yaw correction
13 years ago
c937738732
AHRS: allow the gps/accelerometers to control yaw when rolled
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this solves a problem with yaw estimation when at high roll angles,
when the compass code becomes ineffective
13 years ago
a469682b7b
fix param config names
13 years ago
165604a55c
AHRS: fixed HIL build
13 years ago
0f9fb2c64b
AHRS: added AHRS_GPS_GAIN parameter
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this allows control of how much GPS velocity information is used in
doing centripetal correction in DCM
13 years ago
302696951a
AHRS: make the yaw independent drift correction optional and disable
...
the new correction algorithm copes poorly with gyro drift, leading to
signification attitude errors in the face of drift
13 years ago
8c5ef3e60f
AHRS: only enable barometer for AHRS if it is smooth enough
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if we used less than 5 samples to compute the pressure then don't use
it for climb rate
13 years ago
2cd6da2539
AHRS: only use GPS for yaw when compass is not being used
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this avoids having two competing controllers
13 years ago
adfa97b6f8
AHRS: enable barometer for vertical velocity
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this re-enables the barometer for vertical velocity information
for drift correction, now that we have a better filter
on the climb rate
13 years ago
faeda3713e
AP_AHRS: removed DCM_test example sketch
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No longer required because it doesn't compile and is redundant anyway because the AP_AHRS_DCM class is tested in the AHRS_Test example sketch.
13 years ago
3849ca8b5c
AHRS: make DCM drift correction not rely on accurate yaw
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this uses a new formulation of the GPS based drift correction from
Bill Premerlani that rotates the error vector to avoid relying on
accurate yaw. This means we should get accurate roll/pitch correction
even with lots of magnetometer interference
It also makes it possible to fly a multicopter with no compass. It can
even navigate and correct yaw (slowly!)
13 years ago
1314e4f872
AHRS: make P gain on PI roll/pitch controller tunable
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this is to make it easier for Craig and Alan to tune
13 years ago
136c03c3c0
AHRS: include the P terms in get_gyro()
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this makes it more useful for navigation controllers
13 years ago
16c55c64d4
AHRS: don't add the P terms in _omega
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this can lead feedback via the _P_gain()
13 years ago
37fc6c46b9
AHRS: disable barometer for vertical acceleration
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this seems to have been the cause of the 'flips' seen by Marco and
others. Testing by Craig and Alan shows that the flips are gone when
the barometric acceleration is removed.
It looks like a 5 point average filter is not enough to keep the
vertical acceleteration noise low. With high noise in the z axes, the
x and y axes are scaled back when the ge vector is normalised.
13 years ago
58c4d458dc
AHRS: re-instate new DCM drift correction code
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This reverts commit 078489638d47fbaffde7c51249e36b5a8fc4ef9d.
13 years ago
fd241692d0
AHRS: revert to the old drift correction algorithm
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we need to work out why Craigs quad flipped today before we enable
this new drift correction
13 years ago
Andrew Tridgell
uncrustify
Jason Short
rmackay9
Jonathan Challinger
Michael Oborne