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18 Commits

Author SHA1 Message Date
peabody124
016bcad24a AHRS: Detect when more than 2 seconds since last GPS update and in that case 
reinit INSGPS to new location

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1958 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-14 01:36:28 +00:00
peabody124
66bf9d53d4 AHRS: Paramaterize the variance used for the indoor algorithm. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1898 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-06 14:26:40 +00:00
peabody124
a1a3b0774f Flight/AHRS: Update code to coding conventions. 
find ./flight/AHRS/ \! \( -name '*~' -a -prune \) -type f    | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 {};'

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1707 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-21 19:29:39 +00:00
peabody124
0ea95fbad1 AHRS: Separate covariance prediction from state prediction to get updated state out of spi a few milliseconds sooner. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1675 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-17 18:15:00 +00:00
peabody124
ff1b303083 AHRS: Only do EKF correction with mag when new data available 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1651 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-16 02:58:56 +00:00
peabody124
0875dc8442 AHRS: First pass refactoring the ADC code into another function. Still want to clean up a few constants make the downsampling go into a smaller circularbuffer nicely. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1614 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-14 07:03:34 +00:00
peabody124
1051d894b9 AHRS: Merged in some new code from Dschin that expliclity writes the prediction terms in the covariance matrix. Also made changes to compile with -Os. Now runs around 125 - 150 Hz depending on corrections used (this will become adjustable from GCS shortly). 
Squashed commit of the following:

commit 897e3365ab6c762584c34238efd12dc144e72af0
Author: James Cotton <peabody124@gmail.com>
Date:   Mon Sep 13 22:15:21 2010 -0500

    AHRS: Getting it running nice and quickly.

commit 53d72fb849164730c89873cab81c9e09be0b112b
Author: James Cotton <peabody124@gmail.com>
Date:   Mon Sep 13 15:57:46 2010 -0500

    AHRS: Make more variables volatile for -Os.

commit 4fa90821b5d3d8c2ea5e67756313a8a63c0eeb8c
Author: James Cotton <peabody124@gmail.com>
Date:   Mon Sep 13 15:11:31 2010 -0500

    AHRS/Makefile: -O0 not added to allow me to try various space flags that don't break code.

commit 5bd17a304dc28dc271c2f3e8c6cb8ad4a830404f
Author: James Cotton <peabody124@gmail.com>
Date:   Mon Sep 13 14:44:05 2010 -0500

    AHRS: Make debuggign USART easy to disable

commit 5453f2a7939492769fe9e9cc822e69c107320670
Author: James Cotton <peabody124@gmail.com>
Date:   Mon Sep 13 14:38:37 2010 -0500

    AHRS: Explicitly expand covariance prediction.  Brings computations from 160 to 90.  Makes it not fit in AHRS though.

commit b6712da7eece2a464a2073d24b77be22bfa47094
Author: James Cotton <peabody124@gmail.com>
Date:   Sun Sep 12 22:59:42 2010 -0500

    AHRS: Make it easy to comment out the I2C/Magnetometers.

commit 8c84d0091f3d6f6bedc7a0224a4ed9cb099b022b
Author: James Cotton <peabody124@gmail.com>
Date:   Thu Sep 9 00:49:50 2010 -0500

    AHRS: Small change to INSGPS analysis tools

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1613 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-14 06:42:56 +00:00
peabody124
76971a807c AHRS: Some more tweaking of the timings. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1603 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-12 22:18:18 +00:00
dschin
e6fea9bb76 Changed the feedback gain matrix K to a global variable in insgps so that it may be inspected. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1577 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-10 20:46:46 +00:00
peabody124
e06162fa3a Flight/AHRS: Reorganized the code a little to make sure indoor used by default unless GPS updates come 
in.  Also change the velocity variance in indoor mode to lower to make it get a better attitude estimate (primarily faster convergence - probably will tweak this in the future dynamically).  Finally decreased barometer variance - in scope it's actually quite reasonable, normally within +/- .5 m.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1546 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-06 07:54:19 +00:00
peabody124
404e0c2f44 OP-132 AHRS: Changes to the Indoor flight handling to only use the barometer indoors and update with a zero for velocity and high variance. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1517 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-04 02:19:04 +00:00
peabody124
a406034ed9 OP-132 Flight/AHRS: Changed the heuristics regarding GPS quality and INSGPS updates. Now if satellites < 7 or PDOP > 3.5 it does not perform GPS updates. Professor is working on some code to fix parts of the covariance matrix. If indoor updates high a 0 position and velocity and high variance. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1515 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-04 02:19:00 +00:00
peabody124
12657440c3 OP-132 AHRS: Added an indoor flight mode and also add an ad-hoc quality heuristic to the GPS signal to increase the measurement variance from GPS when fix quality is poor or when in indoor flight mode. In addition corrected the indentation to conform to the tab/space convention forum discussion. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1474 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-31 02:11:09 +00:00
peabody124
4cba4929c2 AHRS: Fixed another bug in decimation code - I stupidly used Matlab 1 based indexing. Adjusted timing of AHRS so it can process all the data and doesn't miss updates. Finally adjust all inputs to INS to have correct sign and orientation (I think). This is X is forward, Y is right, and Z is down which is mentioned in the forum as our standard and fits the algorithm. The magnetic sensor driver should be modified to return in this order (currently reads X,Y,Z registers which maps to left, back, up) but maybe since it's a board dependent orientation it's better where it is. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1315 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-18 05:47:44 +00:00
peabody124
64bcebb87a AHRS: Fixed bug in the downsampling code (used a += a + blah, dumb). Also added initialization of the magnetic flux based on fixed GPS settings (I hope you're near Houston). I will add the GPS communication shortly. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1307 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-17 05:32:07 +00:00
peabody124
a23f3c66f4 Behaving reasonably, added calibration code which runs by default on startup and take 6 seconds - this will be called from GCS in future and saved to SD card. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1303 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-16 16:58:22 +00:00
peabody124
e0d63103ec Added a testing function for INS - currently doesn't stabilize for fixed inputs. Fixed two bugs I found in INSGPS (R[10] instead of R[9] initialized and Nav.Pos[2] was set to wrong X element). 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1302 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-16 16:58:20 +00:00
peabody124
d2e234b53a Adding the code from Dr. Dale to the AHRS. Currently diverges though, but not on the PC. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1301 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-08-16 16:58:18 +00:00