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Commit Graph

1452 Commits (f35e447927bf80f60e38cb641e733c073ca21a02)

Author	SHA1	Message	Date
Adam M Rivera	f35e447927	AP_Declination: Updated compressed lookup value table. Located 9 more failure points due to truncation on the packed LUT.	13 years ago
Adam M Rivera	72b70c394c	AP_Declination: Found 7 of the 22 failure points and fixed them. The issue with those 7 was the way I originally packed the value array. The last delta values on some rows were getting truncated. The new number of failures is down to 15 - WIP.	13 years ago
Adam M Rivera	076192db51	AP_Declination: Updated test to run in 5 degree increments. Changed to only print failures and also print total pass vs total fail.	13 years ago
Adam M Rivera	230ca1ddca	AP_Declination: Moved check for y index of zero to after the y index is properly transformed.	13 years ago
Adam M Rivera	e0fa053c79	AP_Declination: The exception signs unpacking logic was incorrect. I was shifting a 1 value left y%8 which would have needed a the signs to be packed right to left. My packed signs byte was packed left to right (left most being the 0 position) so I needed to reverse the shifting.	13 years ago
Adam M Rivera	f66c6e16e4	AP_Declination: In order for the bitwise & operation to work, negative signs need to be represented by 1s instead of 0s. Changed so that negative signs are represented by a 1 in the packed signs array. Updated lookup logic to reflect this change.	13 years ago
Adam M Rivera	d88b9e8ffc	AP_Declination: Updated packed exception signs array. I had the signs packed incorrectly.	13 years ago
Adam M Rivera	036da88174	AP_Declination: Changed test to run in increments of 10 degrees. 1 was too granular.	13 years ago
Adam M Rivera	580b274bde	AP_Declination: Added original array to test sketch. Added loop to validate new compressed array against original in 1 degree steps.	13 years ago
Adam M Rivera	efefc3e4f4	AP_Declination: Moved rows with large spikes in delta to their own unsigned exception rows. The signs are in a separate packed array.	13 years ago
Adam M Rivera	0dcc4e8307	AP_Declination: Implemented Delta Encoding and Run-Length Encoding. Added method to traverse the compressed array and return the lookup value based on the same lat_index/lon_index that was used before.	13 years ago
Adam M Rivera	3a849771bc	AP_Declination: Changed PROGMEM read function to pgm_read_word_far to support the int16_t datatype.	13 years ago
Adam M Rivera	370e56c00a	AP_Declination: Changed datatype to int16_t to support the -90 <-> 90 latitude range.	13 years ago
Adam M Rivera	ae257ad42b	AP_Declination: Reduced the size of the lookup table to support -75 <-> 70 latitude range. This allows the datatype to remain int8_t.	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	16deefce31	Compass: fixed a comment	13 years ago
Andrew Tridgell	17290836ef	Compass: added some more comments ... explain the algorithm a bit more	13 years ago
rmackay9	2ce597642e	Filter - added FilterWithBuffer typedefs for int32t and uint32 for ease of use	13 years ago
rmackay9	90fcdeadfd	AP_OpticalFlow - small bug fix to ensure init attempts to read the product id 3 times before giving up	13 years ago
Andrew Tridgell	10c35e3769	SITL: add magnetic field noise to the simulated compass	13 years ago
Andrew Tridgell	f4c1b6a3c6	SITL: ensure we don't run the sitl timer twice ... this caused problems with random()	13 years ago
Andrew Tridgell	b2d6db9479	Compass: implement noise resistant varient of offset learning ... This adds a large amount of noise robustness to the compass offset learning algorithm, at a cost of 120 bytes of memory. The changes are based on a long discussion with Bill Premerlani.	13 years ago
Andrew Tridgell	9b95d2060a	ADC: minor fix to the ADC Ch6() code ... we don't need to add count any more, as floating point maths doesn't need to round up	13 years ago
Andrew Tridgell	a72d4b46b3	Compass: implement Bills new offset nulling algorithm ... this seems to work much better than the old algorithm, converging faster and more accurately. Even better, it has no linkage to DCM, so no possibility of nasty feedback effects	13 years ago
rmackay9	b5dbdab81e	APM_RC - moved Force_Out0_Out1, Force_Out2_Out3 and Force_Out6_Out6 to APM_RC parent class because it's already implemented in the APM1 and APM2 child classes anyway	13 years ago
rmackay9	2b2dbf2a7f	Filter - added simple LowPassFilter (simple but it's possible to make errors with simple stuff too so might as well have one)	13 years ago
rmackay9	39fd24ed14	Filter - remove obsolete warning from comments re alloc/malloc dangers	13 years ago
rmackay9	2d65ec2874	AP_Baro - change data type size of temperature's average filter to int32_t (was int16_t)	13 years ago
rmackay9	d371862fd2	AP_OpticalFlow - resolved compile error in example sketch (it could not find DCM.h but it's not required anyway)	13 years ago
Andrew Tridgell	a6d66dc45b	Math: added mul_transpose() operation ... this is equivalent to multiplying by m.transposed(), but is more efficient	13 years ago
Andrew Tridgell	f4d1295a4b	AHRS: fixed build of AHRS example	13 years ago
Andrew Tridgell	fe55a76335	Math: moved matrix multiple operations to .cpp file ... this means we only link this in once, rather than for every use of matrix multiply, which saves us some flash space We need to be careful not to put large pieces of code in template headers, as if the operation is used a lot, it costs us a lot of code space	13 years ago
Andrew Tridgell	17fbb8ea26	Math: fixed the build of the eulers test in SITL	13 years ago
Andrew Tridgell	90c3d230d9	SITL: improve the simulated compass ... this implements a much more accurate model of a compass using matrix rotations, instead of trying to calculate components directly	13 years ago
rmackay9	24a471ff8f	AC_PID - added more paranoid checking that imax is positive in constructor, operator() and load_gains methods	13 years ago
Andrew Tridgell	9f4becbacf	AHRS: added AHRS specific MAVLink headers	13 years ago
Andrew Tridgell	9e6c18cca4	AHRS: added missing AP_AHRS.h	13 years ago
Andrew Tridgell	4f82134a5e	DCM: use the new rotate() method from AP_Math ... this allows us to use a tested and optimised rotation method	13 years ago
Andrew Tridgell	17f7292fe9	Math: added a test for the rotate() method	13 years ago
Andrew Tridgell	c16b353ea7	Math: added rotate() method to Matrix3f ... this is the core method used to update the DCM matrix with a gyro vector. Moving it to AP_Math allows us to have a test for it	13 years ago
Andrew Tridgell	31e566475b	Math: added zero() and identity() methods to Matrix3f	13 years ago
Andrew Tridgell	c53b320e00	Quaternion: change signs in AP_AHRS_Quaternion ... thanks to Justin for the suggestion	13 years ago
Andrew Tridgell	d948a28e7c	Math: change signs in quaternion library ... thanks to Justin for the suggestion	13 years ago
Andrew Tridgell	af9ce0cfc9	Math: allow eulers test to build with AP_Declination library	13 years ago
Andrew Tridgell	72a761170b	Math: fixed build of eulers test on SITL	13 years ago
Andrew Tridgell	58a68c89d9	Math: added a function to combine standard rotations ... this will allow us to have an overall board rotation plus a per-sensor rotation	13 years ago
Andrew Tridgell	8ae0ea7e37	AP_Mount: adapt library for AHRS framework	13 years ago
Andrew Tridgell	79b9be8b1a	AHRS: fixup the AHRS test suite for the new framework	13 years ago
Andrew Tridgell	f8087d3c67	AHRS: adapt the quaternion library to AHRS	13 years ago
Andrew Tridgell	8dcf82b433	AHRS: adapt the DCM_HIL library to AHRS	13 years ago