a92fb67b70
AP_Math: expanded the math test suite
13 years ago
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
...
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
...
this is for Michael to run
13 years ago
2596acc8eb
ACM: removed incorrect mode definition
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
...
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
...
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
...
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
...
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
7a9b3d3388
Quaternion: show "Quaternion test" on startup if enabled
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
...
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
7e4c8592ff
ACM: make it possible to build ArduCopter with quaternions
13 years ago
9bff4e2c4c
ACM: only call the fast loop if the imu has new data
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this prevents us spinning waiting for the sensors to gather some data
13 years ago
e39c3cb9d2
APM: make it possible to build ArduPlane with quaternion support
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
367947fd33
HWSTATUS: if we don't know the voltage, report it as zero
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this will tell us if board_voltage() is really working
13 years ago
64cc04ae09
ACM: adjust yaw drift correction constants
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this should give the compass a bit more authority
13 years ago
511f65e2ef
APM: fixed reset of control switch when short_fs_action is disabled
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When FS_SHORT_ACTN is 0, we should not re-read the control switch
unless we changed mode on the initial short fs action
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
Andrew Tridgell