zr-v4

Commit Graph

Author	SHA1	Message	Date
Andrew Tridgell	3a41ad8e7c	AHRS: normalize the ge vector in drift correction, and use barometer The normalisation ensures the error term scales uniformly with different accelerations. The barometer is used for vertical acceleration estimation	13 years ago
Andrew Tridgell	4d08f75292	AHRS: update for new _fly_forward flag	13 years ago
Andrew Tridgell	b549b88e5e	AHRS: fixed error_yaw reporting with 2 MAVLink connections when a user first connects with USB, and later switches to the telemetry port without restarting we were getting zero for error_yaw in the logs, as AHRS.get_error_yaw() was being called twice. This ensures we give the last value after the counter is reset	13 years ago
Andrew Tridgell	c53b320e00	Quaternion: change signs in AP_AHRS_Quaternion thanks to Justin for the suggestion	13 years ago
Andrew Tridgell	f8087d3c67	AHRS: adapt the quaternion library to AHRS	13 years ago
Andrew Tridgell	9d75ffeba1	AHRS: rename DCM and Quaternion implementions ready for AHRS class this is the first step to creating a general AHRS class for ArduPilot	13 years ago
Andrew Tridgell	00c1c6f108	Quaternion: credit Justin with the initial idea of using Madgwick thanks Justin!	13 years ago
Andrew Tridgell	16c95236c0	Quaternion: use the new quaternion API	13 years ago
Andrew Tridgell	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
Andrew Tridgell	bf16b2926c	Quaternion: removed some unused variables	13 years ago
Andrew Tridgell	882fa1818b	DCM: removed the limit on linear acceleration we get linear accelerations of more than 1g when turning corners	13 years ago
Andrew Tridgell	982712d58f	Quaternion: code cleanups and added comments	13 years ago
Andrew Tridgell	8b40c44522	Quaternion: separate out drift correction from main updates	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	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	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	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	e699e9ace0	Quaternion: added in reporting of gyro drift and rp/yaw errors	13 years ago
Andrew Tridgell	25e5ddeaa4	AP_Quaternion: fixed build on Arduino 1.0	13 years ago
Andrew Tridgell	c369d9f60a	AP_Quaternion: added DCM compatibility interfaces useful for getting the code going quickly	13 years ago
Andrew Tridgell	c8a459ab0d	fixed deltat in quaternion	13 years ago
Andrew Tridgell	74eef7018a	Quaternion: added an AP_Quaternion library this is for experimenting with the Madgwick quaternion system, to see if it is more or less noise sensitive than DCM	13 years ago

6 Commits (ec0995eea1f361332dca40df2ab636ebb64a0793)