Tree: e0fa053c79

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3879 Commits (e0fa053c790955f874ac5b812702e9124609e67a)

 

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Author	SHA1	Message	Date
Andrew Tridgell	801a442ffb	Quaternion: minor tuning	13 years ago
Andrew Tridgell	3344869285	DCM: minor tuning based on testing my quad	13 years ago
Andrew Tridgell	dffb435aac	SITL: make the yaw match the APM conventions	13 years ago
Andrew Tridgell	2673614f6d	SITL: fixed the pwm output on startup	13 years ago
Andrew Tridgell	982712d58f	Quaternion: code cleanups and added comments	13 years ago
Andrew Tridgell	f405477875	DCM: code cleanup and added more comments	13 years ago
Andrew Tridgell	9dc08b30cd	Quaternion: bumb up gyro drift limit to match DCM	13 years ago
Andrew Tridgell	828ad7625b	ACM: removed the ADC filtering code	13 years ago
Andrew Tridgell	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
Andrew Tridgell	8b40c44522	Quaternion: separate out drift correction from main updates	13 years ago
Andrew Tridgell	3e960f8ef9	InertionSensor: update for new Ch6() interface	13 years ago
Andrew Tridgell	919874f2a0	IMU: fixed a warning	13 years ago
Andrew Tridgell	4dff78b9c0	GPS: expose last_fix_time	13 years ago
Andrew Tridgell	6eff9107ea	Compass: change last_update to be in microseconds	13 years ago
Andrew Tridgell	a0a360f955	ADC: use floats for ADC averaging ... this costs almost nothing and improved accel/gyro calibration	13 years ago
Andrew Tridgell	13d5839778	APM: removed quaternion special cases	13 years ago
Andrew Tridgell	371677610d	APM: avoid fetching the DCM matrix twice ... also no special case for quaternions	13 years ago
Andrew Tridgell	1016d3c95d	ACM: removed quaternion special cases in CLI code	13 years ago
Andrew Tridgell	8393c0299b	ACM: removed the DCM tuning overrides ... not needed now that DCM scales with deltat	13 years ago
Andrew Tridgell	7291dfc25a	ACM: removed the special case for quaternions in GCS code	13 years ago
Andrew Tridgell	d6cfc51ae4	ACM: no need to fetch offsets at startup ... AP_Param handles this	13 years ago
Andrew Tridgell	ef771fecdc	ACM: removed a lot of the special case code for quaternions	13 years ago
Andrew Tridgell	69c29d35ce	ACM: change DCM loop to 100Hz ... On my APM2 quad this seems to give better results	13 years ago
Andrew Tridgell	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
Andrew Tridgell	321200ebbc	AP_IMU: fixed led flashing in gyro cal ... thanks Pat!	13 years ago
Andrew Tridgell	a92fb67b70	AP_Math: expanded the math test suite	13 years ago
Andrew Tridgell	4d65cda0ea	AP_Math: added quaternion->matrix and earth frame routines ... this will be used for 3d acceleration	13 years ago
Andrew Tridgell	8abbbe5713	AP_Math: better way of handling safe_sqrt() ... better to test the result, than predict it	13 years ago
Andrew Tridgell	ccada2e9c2	SITL: avoid parent pid code on cygwin ... this causes problems on windows	13 years ago
Andrew Tridgell	3666476bcb	SITL: prevent nested timer interrupts	13 years ago
Andrew Tridgell	3b7d78cf02	Quat: test patch for michael	13 years ago
Andrew Tridgell	f363f81869	Quaternion: added NaN paranoid checking ... this is for Michael to run	13 years ago
Andrew Tridgell	2596acc8eb	ACM: removed incorrect mode definition	13 years ago
Andrew Tridgell	1ec4c0777c	Math: added comment on quaternion constructor	13 years ago
Andrew Tridgell	f5e6dc0757	Math: added is_inf() on vector3f	13 years ago
Andrew Tridgell	066a513758	Quaternion: added more numerical safety in the quaternion code ... prevent infinities from creeping in and prevent large drift changes	13 years ago
Andrew Tridgell	c7d5f06b21	AP_Math: added quaternion helper functions and a test suite	13 years ago
Andrew Tridgell	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
Andrew Tridgell	47ddd4dfdd	SITL: disable interrupts during register updates ... this may prevent bogus mode channel reads	13 years ago
Andrew Tridgell	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
Andrew Tridgell	c7ef72cf28	Quaternion: don't update if we have a very long deltat ... this can be caused by stopping the system in a debugger	13 years ago
Andrew Tridgell	6d356b6c6e	Compass: fixed last_update time for HIL compass	13 years ago
Andrew Tridgell	ebc55bb494	RC: disable interrupts when reading the RC registers ... this prevents getting bogus values which could cause a flight mode change	13 years ago
Andrew Tridgell	57f67ca6e3	GPS: added an acceleration estimate to the GPS driver ... This uses the GPS ground speed to estimate acceleration	13 years ago
Andrew Tridgell	7fbfcc2721	GPS: fixed some stdint types	13 years ago
Andrew Tridgell	e699e9ace0	Quaternion: added in reporting of gyro drift and rp/yaw errors	13 years ago
Andrew Tridgell	7a9b3d3388	Quaternion: show "Quaternion test" on startup if enabled	13 years ago
Andrew Tridgell	2a8b167d95	fixed comment	13 years ago
Andrew Tridgell	c73c55aa90	DCM: fixed an uninitialised variable warning	13 years ago
Andrew Tridgell	d8234882d4	Quaternion: tweak the quaternion gains a bit	13 years ago