peabody124
314a2fcf00
flight/AHRS: Make the 13 state INS default again, the accel bias drift can be a
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little aggressive. Also increased the drift rate of the gyro bias per Sambas'
testing (thanks) although not to the levels required for flying through 40 deg
C transitions.
Made the dump_ekf function handle both numbers of states
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2282 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-24 19:38:54 +00:00
peabody124
81b2f88e75
AHRS: Swap to new code which tracks accel_bias and export the accelerometer
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bias
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2188 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-04 17:34:22 +00:00
peabody124
f51a5a824e
AHRS: Export the bias drift corrected gyro values to OP so stabilization see
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more accurate roll rates
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2174 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-29 08:44:41 +00:00
peabody124
ebcb272da6
AHRS: Add a separate parameter for velocity and position variance and remove
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indoor from the name since it's used for both indoor and outdoor mode now.
Increased default value to 0.4 to better reflect the GPS accuracy.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2156 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-26 15:57:08 +00:00
peabody124
44069e64bc
AHRS: Separated out code for debugging output from the main code and cleaned up
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how various sensors are used in the INS update. Also added slow filter to
track offset between GPS and baro in outdoor mode.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2154 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-26 15:57:04 +00:00
dschin
b2a538375c
Changes in files supporting AHRS for new initialization methods.
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Changes in ahrs.c for new initialization and to fix issues with outdoor algorithm. The changes in ahrs.c are pretty messy, but committed mostly to get the code to Peabody for more extensive restructuring of ahrs.c.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2150 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-24 01:27:43 +00:00
peabody124
016bcad24a
AHRS: Detect when more than 2 seconds since last GPS update and in that case
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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
a1a3b0774f
Flight/AHRS: Update code to coding conventions.
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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.
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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
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1651 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-16 02:58:56 +00:00
peabody124
76971a807c
AHRS: Some more tweaking of the timings.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1603 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 22:18:18 +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.
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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.
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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.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1474 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-31 02:11:09 +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.
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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.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1303 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-16 16:58:22 +00:00
peabody124
d2e234b53a
Adding the code from Dr. Dale to the AHRS. Currently diverges though, but not on the PC.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1301 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-16 16:58:18 +00:00
