17f7292fe9
Math: added a test for the rotate() method
13 years ago
c16b353ea7
Math: added rotate() method to Matrix3f
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this is the core method used to update the DCM matrix with a gyro
vector. Moving it to AP_Math allows us to have a test for it
13 years ago
31e566475b
Math: added zero() and identity() methods to Matrix3f
13 years ago
c53b320e00
Quaternion: change signs in AP_AHRS_Quaternion
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thanks to Justin for the suggestion
13 years ago
d948a28e7c
Math: change signs in quaternion library
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thanks to Justin for the suggestion
13 years ago
af9ce0cfc9
Math: allow eulers test to build with AP_Declination library
13 years ago
72a761170b
Math: fixed build of eulers test on SITL
13 years ago
58a68c89d9
Math: added a function to combine standard rotations
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this will allow us to have an overall board rotation plus a per-sensor
rotation
13 years ago
8ae0ea7e37
AP_Mount: adapt library for AHRS framework
13 years ago
79b9be8b1a
AHRS: fixup the AHRS test suite for the new framework
13 years ago
f8087d3c67
AHRS: adapt the quaternion library to AHRS
13 years ago
8dcf82b433
AHRS: adapt the DCM_HIL library to AHRS
13 years ago
d4bb068d5b
AHRS: adapt the DCM library to the AHRS framework
13 years ago
9d75ffeba1
AHRS: rename DCM and Quaternion implementions ready for AHRS class
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this is the first step to creating a general AHRS class for ArduPilot
13 years ago
55ed84526a
MAVLink: rename DCM message to AHRS
13 years ago
01cc5fe938
AP_Baro - removed unnecessary 2 element average filtering of pressure (there is a 4 or 5 element average filter in arducopter code itself, two places is messy)
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- also removed unused _offset_press variable
13 years ago
7560242721
AP_Baro - added average filter for temperature to replace broken filter
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- added average filter (for last two values) for raw pressure
- changed some "long" to int32_t and "unsigned long" to uint32_t
13 years ago
bae5f98666
sitl cygwin mods
13 years ago
00c1c6f108
Quaternion: credit Justin with the initial idea of using Madgwick
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thanks Justin!
13 years ago
13dac4a93a
DCM: adjust yaw kp constant down to 0.4
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this makes the time constant for compass errors closely match the
timing of the older releases - about 10 seconds for a 1 radian change
in heading
13 years ago
7daaadf776
Compass: fixed the order of rotations in the compass driver
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this should fix the massive heading issues that people have been
reporting. Please test!
13 years ago
c08fd50542
AP_Declination: fixed build of test sketch
13 years ago
6e9ffb4249
correct small typos in comments
13 years ago
b337441ec5
SITL: added pgm_read_byte_far()
13 years ago
c1b945018b
AP_Declination: fixed usage of headers
13 years ago
b9be6ed290
AP_Declination: Updated comment.
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Signed-off-by: Andrew Tridgell <tridge@samba.org>
13 years ago
fe8c896d69
AP_Declination: Added method set_initial_location
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This will set the declination based on lat/lon if the user has
not yet saved one to the EEPROM, OR if they have specified via the
config parameter that they want it to overwrite the declination every
3D fix.
Signed-off-by: Andrew Tridgell <tridge@samba.org>
13 years ago
e08b50ee91
AP_Declination: Increased range of supported latitude coordinates.
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Fixed incorrect type usage to save stack space.
Signed-off-by: Andrew Tridgell <tridge@samba.org>
13 years ago
e22da153ec
Added AP_Declination test sketch. I will be improving the test sketch soon.
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Signed-off-by: Andrew Tridgell <tridge@samba.org>
13 years ago
d2a07b1603
Added AP_Declination library. It contains the lookup table (lat/lng -> declination) as well as a method that performs the lookup.
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Signed-off-by: Andrew Tridgell <tridge@samba.org>
13 years ago
d10c4b76ad
Compass: removed an incorrect comment
13 years ago
0da64e98f8
Compass: don't save the orientation to EEPROM
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there is no point in saving this, the value is only configurable at
compile time for now, and is always set
13 years ago
0ec9857689
Math: any euler angle with pitch > 90 is invalid
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both DCM and quaternion always return pitch in the range -90 to 90
13 years ago
4bf28d499a
Quaternion: update for new Quaternion interface
13 years ago
e8f1c5742b
DCM: update for new Matrix3f interface
13 years ago
4d3789d11c
AP_Math: update the test suite
13 years ago
4422486d44
AP_Math: made rotation matrices more C++
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thanks to Adam for the suggestion
13 years ago
5c6368bad3
AP_Math: allow null pointers in Quaternion::to_euler()
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this matches the Matrix3f method
13 years ago
16c95236c0
Quaternion: use the new quaternion API
13 years ago
9f0cb78f08
AP_Math: re-work quaternion functions to be more C++ like
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thanks to Adam for the suggestion!
13 years ago
9e30b5e4a5
I2C: fixed cr/lf mess
13 years ago
6021daf423
OpticalFlow: adapt optical flow library to new rotation system
13 years ago
2ab3d2c080
OpticalFlow: fixed line endings
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this library was a mixture of dos and unix line endings, which makes
for very messy editing
13 years ago
cb96dd975f
Compass: update the compass driver to use the new vector.rotate() method
13 years ago
55aa43a70d
Math: added a test suite for the new rotation methods
13 years ago
289c64c0b9
Math: added vector3.rotate() and matrix3.rotation() methods
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these operate on a "enum Rotation" which defines a set of standard
rotations. These are much faster than our previous method, plus use
less memory
13 years ago
ba8e764349
SITL: lower the noise and drift levels for general autotest usage
13 years ago
b02ca58901
InertialSensor: fixed HIL build
13 years ago
44ebb20329
MAVLink: bring the v1.0 MAVLink in sync with 0.9
13 years ago
87c463bcc7
DCM: after some experimentation, raise the ki values a bit
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this tracks the max gyro drift more accurately
13 years ago
Andrew Tridgell
rmackay9
Michael Oborne
Amilcar Lucas
Adam M Rivera