2ab3d2c080
OpticalFlow: fixed line endings
...
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
...
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
...
this tracks the max gyro drift more accurately
13 years ago
eff6778515
Quaternion: use gyro drift value from sensor driver
13 years ago
3989fe2c2c
Quaternion: go back to the full update_MARG()
...
the separate drift controller is too erratic on yaw hold to be usable
at the moment
13 years ago
c8189c80d4
SITL: cleanup the gyro drift calculations
...
use units that are more easily understood
13 years ago
b833190abb
Quaternion: make the quaternion test more generic
...
works with DCM too
13 years ago
2f9af05cfa
Quaternion: update to get_gyro_drift() interface
13 years ago
bf16b2926c
Quaternion: removed some unused variables
13 years ago
3b2609c441
DCM: separate out the omega_yaw_P from omega_P
...
this cleans up the separation of drift rates and proportional
correction from yaw source and accelerometers, allow the yaw
to run at a different rate to the accel correction
13 years ago
bcb7196680
IMU: added get_gyro_drift_rate() interface
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this just calls down to the InertialSensor layer
13 years ago
9296ac494d
AP_InertialSensor: added a get_gyro_drift_rate() interface
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this returns the expected max drift rate for the particular type of
gyro being used
13 years ago
882fa1818b
DCM: removed the limit on linear acceleration
...
we get linear accelerations of more than 1g when turning corners
13 years ago
801a442ffb
Quaternion: minor tuning
13 years ago
3344869285
DCM: minor tuning based on testing my quad
13 years ago
dffb435aac
SITL: make the yaw match the APM conventions
13 years ago
2673614f6d
SITL: fixed the pwm output on startup
13 years ago
982712d58f
Quaternion: code cleanups and added comments
13 years ago
f405477875
DCM: code cleanup and added more comments
13 years ago
9dc08b30cd
Quaternion: bumb up gyro drift limit to match DCM
13 years ago
f9394f8068
ADC: removed the ADC level accel smoothing
...
the quaternion code does a better job of handling this noise than this
filter does
13 years ago
8b40c44522
Quaternion: separate out drift correction from main updates
13 years ago
3e960f8ef9
InertionSensor: update for new Ch6() interface
13 years ago
919874f2a0
IMU: fixed a warning
13 years ago
4dff78b9c0
GPS: expose last_fix_time
13 years ago
6eff9107ea
Compass: change last_update to be in microseconds
13 years ago
a0a360f955
ADC: use floats for ADC averaging
...
this costs almost nothing and improved accel/gyro calibration
13 years ago
045b49c4c4
DCM: removed update_DCM_fast
...
this combines the functionality of the 'fast' DCM with the normal one,
and also speeds up both the yaw drift correction and the matrix update
code
13 years ago
321200ebbc
AP_IMU: fixed led flashing in gyro cal
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thanks Pat!
13 years ago
a92fb67b70
AP_Math: expanded the math test suite
13 years ago
4d65cda0ea
AP_Math: added quaternion->matrix and earth frame routines
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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
...
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
...
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
Andrew Tridgell