peabody124
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a1a3b0774f
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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
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2010-09-21 19:29:39 +00:00 |
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peabody124
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0ea95fbad1
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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
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2010-09-17 18:15:00 +00:00 |
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peabody124
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ff1b303083
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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
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2010-09-16 02:58:56 +00:00 |
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peabody124
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76971a807c
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AHRS: Some more tweaking of the timings.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1603 ebee16cc-31ac-478f-84a7-5cbb03baadba
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2010-09-12 22:18:18 +00:00 |
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peabody124
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404e0c2f44
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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
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2010-09-04 02:19:04 +00:00 |
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peabody124
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a406034ed9
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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
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2010-09-04 02:19:00 +00:00 |
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peabody124
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12657440c3
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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
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2010-08-31 02:11:09 +00:00 |
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peabody124
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64bcebb87a
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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
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2010-08-17 05:32:07 +00:00 |
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peabody124
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a23f3c66f4
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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
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2010-08-16 16:58:22 +00:00 |
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peabody124
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d2e234b53a
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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
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2010-08-16 16:58:18 +00:00 |
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