670fcbb634
AP_AHRS_MPU6000: fixed yaw correction and added _secondary_ahrs parameter
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_secondary_ahrs parameter allows mpu6000 ahrs to runin parallel with DCM.
13 years ago
8c6fd340d7
AP_AHRS: added scheduler parameter to init
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Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
13 years ago
41fbb19cf5
AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory
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Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
13 years ago
ccf8ba3ce9
DCM: limit the contribution of the baro to vertical acceleration
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limit to a max of 0.5g
13 years ago
458a42654b
DCM: disable use of baro for vertical accel by default
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this has caused problems with too many users
13 years ago
94f956a0ca
fix AP attitude hil - with randys help
13 years ago
1c9fe3b1b6
AP_AHRS: fix to allow example sketch to compile
13 years ago
fba1692d69
AHRS: added AHRS_BARO_USE parameter
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allow disabling of the use of the barometer for vertical acceleration
compensation
13 years ago
de28cc8b28
AHRS: added AHRS_WIND_MAX option
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this allows APM to cope better with airspeed sensor failure, but
ensuring airspeed stays within AHRS_WIND_MAX of ground speed
13 years ago
2be785899b
AHRS: added airspeed_estimate() function
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this allows the APM code to use an airspeed estimate for navigation
13 years ago
8b53f1272a
AHRS: new functions to support APM_Control library
13 years ago
e17fcbd9cb
uncrustify libraries/AP_AHRS/AP_AHRS_HIL.h
13 years ago
af588679b9
uncrustify libraries/AP_AHRS/AP_AHRS.h
13 years ago
8c0e4f3987
uncrustify libraries/AP_AHRS/AP_AHRS_MPU6000.h
13 years ago
bc80148c75
uncrustify libraries/AP_AHRS/AP_AHRS_DCM.h
13 years ago
31a4442904
uncrustify libraries/AP_AHRS/AP_AHRS_DCM.cpp
13 years ago
d6d7606c84
uncrustify libraries/AP_AHRS/AP_AHRS_HIL.cpp
13 years ago
9e4e08699d
uncrustify libraries/AP_AHRS/AP_AHRS_MPU6000.cpp
13 years ago
6327305116
uncrustify libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
13 years ago
6d28b3519f
AHRS: removed AP_AHRS_Quaternion
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this AHRS backend is causing compiler errors with the Arduino build
environment on windows. The quaternion AHRS backend is currently not
being developed/supported anyway. We can resurrect it if someone wants
to start developing it again.
13 years ago
2985de279f
AHRS: fixed duplicate gps_use variable in DCM
13 years ago
134cd51d17
AHRS: moved var_info[] into top level AP_AHRS class
13 years ago
ac72db8f00
AHRS: added set_fast_gains() method
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this will be used by arducopter on the ground
13 years ago
14cdbd36cb
AHRS: check for bad values in the error before they can affect DCM
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this should fix the DCM renorm errors in autotest, probably caused by
bad climb rates
13 years ago
d9cc967508
AHRS: force an extra read of the compass on startup
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the first read from the compass can be bad. This ensures we have a
good value when getting the initial AHRS yaw.
Thanks to Randy and Jason for the bug report!
13 years ago
73dcbc24c3
Quaternion: we no longer support acceleration in the GPS driver
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remove the linear acceleration compensation code
13 years ago
9b4b7997b6
AHRS: added ahrs.yaw_initialised()
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this allows the high level code to know if the AHRS driver has a
reliable yaw estimate
13 years ago
48e275e22d
AHRS: avoid a compiler bug in quaternion code
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Having _wind in the AP_AHRS class causes a register allocation error
when building the Quaternion code with some versions of avr-gcc. Quite
bizarre.
13 years ago
19a5d11669
AHRS: use airspeed for wind in forward flight
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when not turning we can use the airspeed sensor directly to calculate
the wind speed.
13 years ago
f5b7ae213c
AHRS: added AHRS_GPS_USE parameter
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this allows for the GPS to be disables for position updates, which
allows for testing dead-reckoning
13 years ago
779dacfd24
AHRS: added wind estimation code
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this allows us to estimate the wind while we have GPS lock, then use
that estimate in the long term dead reckoning
13 years ago
af4071894e
AHRS: added long-term dead-reckoning
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this uses airspeed (if available) or last GPS ground speed to update
our position estimate in AHRS
13 years ago
f95b06a880
AHRS: make airspeed sensor available to AHRS
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this will be used for long term dead-reckoning
13 years ago
b01907cf23
ACM: fixed HIL build
13 years ago
52b2aacf28
AHRS DCM: FOrmatting
13 years ago
898a5af692
AP_Param: update AHRS for new constructor syntax
13 years ago
0eaf427062
AP_AHRS_MPU6000: cleaning up compiler warning due to unused yaw_deltat variable
13 years ago
1b521a9f73
AP_AHRS: updated test sketch to allow use of MPU6000's DMP
13 years ago
dbe7c8ed1a
AP_AHRS_MPU6000: first draft implementation of class that uses MPU6000's DMP to calculate attitude
13 years ago
b844bb7919
AP_AHRS: removed var_info from AP_AHRS class (moved to AP_AHRS_DCM)
13 years ago
468170b589
AP_AHRS_DCM: moved var_info to belong to AP_AHRS_DCM instead of AP_AHRS
13 years ago
9cd98e79dd
AHRS: normalise GA_b before computing error vector only if too large
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When GA_b is small the direction of the vector is unreliable, so
normalising can exacerbate the error in the direction
13 years ago
5f5ab9c07c
AHRS: if we don't have gps correction enabled, zero the yaw correction
13 years ago
c937738732
AHRS: allow the gps/accelerometers to control yaw when rolled
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this solves a problem with yaw estimation when at high roll angles,
when the compass code becomes ineffective
13 years ago
a469682b7b
fix param config names
13 years ago
165604a55c
AHRS: fixed HIL build
13 years ago
0f9fb2c64b
AHRS: added AHRS_GPS_GAIN parameter
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this allows control of how much GPS velocity information is used in
doing centripetal correction in DCM
13 years ago
302696951a
AHRS: make the yaw independent drift correction optional and disable
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the new correction algorithm copes poorly with gyro drift, leading to
signification attitude errors in the face of drift
13 years ago
8c5ef3e60f
AHRS: only enable barometer for AHRS if it is smooth enough
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if we used less than 5 samples to compute the pressure then don't use
it for climb rate
13 years ago
2cd6da2539
AHRS: only use GPS for yaw when compass is not being used
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this avoids having two competing controllers
13 years ago
rmackay9
Andrew Tridgell
Michael Oborne
uncrustify
Jason Short
Jonathan Challinger