peabody124
9b28f2d72c
OP-167 OP-157 AHRS/Calibration: Added mag scale and really cleaned up calibration.
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Calibration should take less time now too (using second moments to estimate
variance in one pass). Now need to change to multiple messages to get the
calibration in to keep the request message size minimal. Also currently
running sensor calibrate doesn't store the gyro bias so if you want to use this
you'll have to tweak it manually. I'll fix that step tomorrow.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1741 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-25 09:20:38 +00:00
peabody124
f202884ce8
AHRS: Numerous changes. Added CPU load monitoring for AHRS as well as some friendly debugging output options. Also added a new CalibrationMode setting to AHRS (Echo) to speed up sensor calibration. Cleaned up the 6 point calibration interface to make it more friendly, but I think Edouard will clobber it with something nice and sexy :).
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1455 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-29 06:38:30 +00:00
peabody124
8128c3bbfa
OP-118 AHRS: Added 6 point calibration routine to AHRS config widget. To use it, click "Cal Mode", then place the AHRS on each of 6 sides of a cube then click save position. Finally click compute to push the updated scale abd bias terms to the AHRS. Also fixed a bug in UAVObjectField that would not allow you to setDouble for extra fields.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1449 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-28 18:48:51 +00:00
peabody124
ced0a4b952
AHRS: Fixed silly bug that made the default mag variance be zero - explains "hopping around" default behavior. Still should run calibration though.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1439 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 21:05:41 +00:00
peabody124
60332efec0
OP-118 AHRS: Missed the auto generated files for the default values. Also no idea why last patch changed navigationsettings - either make uavobjects does differently on different platforms or someone forgot to run make uavobjects.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1372 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-22 17:02:12 +00:00
peabody124
8897c441fa
OP-118 AHRS: Added AHRSCalibration object and messages associated with that to AHRS. Also made AHRS run calibration only when requested. We will create a GCS plugin that runs through computing the calibration settings. To compute the variances on the AHRS set the measure variances to true, wait ten seconds, then set it to false to read it back.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1363 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 21:46:02 +00:00
