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
eff6778515
Quaternion: use gyro drift value from sensor driver
13 years ago
3989fe2c2c
Quaternion: go back to the full update_MARG()
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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
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use units that are more easily understood
13 years ago
b833190abb
Quaternion: make the quaternion test more generic
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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
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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
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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
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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
Andrew Tridgell
Amilcar Lucas
Adam M Rivera