James Cotton
9c512261e6
When in indoor mode reset the baro offset to zero
2012-07-22 01:02:14 -05:00
James Cotton
5649813c2b
Make sure to always compare BiasCorrectedRaw against its enum. Also reversed
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the order of TRUE,FALSE in the definition to make it safer anyway.
2012-07-21 17:24:58 -05:00
James Cotton
d36663dbbd
Treat the GyroBias UAVO like a state estimate of the actual gyro bias so now we
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subtract that from the raw sensor readings to get the Gyros UAVO value
2012-07-21 15:14:45 -05:00
James Cotton
3e33bb49a2
EKF gyro bias into the object now working propely
2012-07-21 15:11:04 -05:00
James Cotton
02dfa7bd82
Change how the updated settings in attitude are changed to make it easier to
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initialize them all
2012-07-21 14:31:14 -05:00
James Cotton
3f4706ad4c
Make it a critical error when an invalid attitude algorithm is selected
2012-07-21 14:00:52 -05:00
James Cotton
69057a1373
No reason to get homeLocation every cycle
2012-07-21 13:57:25 -05:00
James Cotton
7cdf47c1d4
Make the sensors code only apply the GyroBias from the UAVO which is now coming
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consistently only from the attitude module
2012-07-21 13:51:20 -05:00
James Cotton
e5bd999975
Process the settings updates more discretely in revo attitude
2012-07-21 13:50:16 -05:00
James Cotton
797a4def6a
Do not use the data from the magnetometer if it contains NAN
2012-07-21 11:43:31 -05:00
Corvus Corax
be72d24c5f
Attitude: Fixed calculation for baro offset adjustment time
2012-06-03 09:52:24 -05:00
Corvus Corax
b06b51f1b2
Revolution/Attitude: Added offset calculation for barometric altitude
2012-06-03 09:52:14 -05:00
James Cotton
836e34a483
Change revo sensors to update at 500 Hz and make sure in all cases it waits for
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the relevant queue to provide data. Also disable the quaternion stabilization
flag.
2012-05-12 13:12:56 -05:00
James Cotton
2ca3cde83f
Improve EKF initialization. For some reason we must read an extra mag sample
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when power up value of attitude algorithm is EKF. I don't understand why the
first mag value is bad.
2012-05-12 13:00:51 -05:00
James Cotton
98655aacc8
Fix initialization of the complimentary filter where it didn't get the right
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initial dT
2012-05-12 13:00:50 -05:00
James Cotton
6c0dc80978
Shuffle more stack sizes around
2012-05-05 11:33:47 -05:00
James Cotton
fb53d5621a
Change the magKp term (hardcoded still) for revo complimentary filter so it
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tracks magnetic north when homelocation is set.
2012-04-22 19:01:41 -05:00
James Cotton
2890fcdc9f
When in complimentary filter mode use GPSVelocity so event system doesn't have
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warning.
2012-04-22 19:01:18 -05:00
James Cotton
a7ba6d96c1
Allow guidance to run purely off raw GPS data
2012-04-15 16:23:34 -05:00
James Cotton
1559eeb2e1
Use GPSVelocity updates when they are available instead of timing based on
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GPSPosition
2012-04-15 11:50:56 -05:00
James Cotton
1a98a46606
Merge branch 'revolution_ubx' into sim
2012-04-14 12:10:23 -05:00
James Cotton
5d160860a3
Fix from Corvus for gyro bias from EKF
2012-04-14 12:09:12 -05:00
James Cotton
136bbe3814
Update the EKF code to use the GPSVelocity
2012-04-09 19:03:21 -05:00
James Cotton
414e62f14e
Revert "Disable baro updates into INSGPS for now. Seems to cause issues."
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This reverts commit 04591309770679e7b01c53a6cb54cac1c043f8b6.
2012-04-07 00:58:36 -05:00
James Cotton
fcb9193d25
Disable baro updates into INSGPS for now. Seems to cause issues.
2012-04-07 00:58:36 -05:00
James Cotton
81fcfd45c4
Some work on the code to initialize the INSGPS and allow setting the variance
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of the baro
2012-04-07 00:37:42 -05:00
James Cotton
345b6578b1
Fix a possible race condition for complimentary filter on L3GD20 attitude
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estimation where the accel queue wouldn't immediately have data available.
Added 1 ms timeout on queue.
2012-04-06 13:59:12 -05:00
James Cotton
ea13536da0
Take quidance settings from simulation and make the INSGPS pick up the GPS
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noise from a setting.
2012-04-06 12:59:49 -05:00
James Cotton
6df9691609
Bring back the original module files and remove comments from FreeRTOS
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debugging
2012-04-03 09:16:30 -05:00
James Cotton
fbd8695d7d
Check in WIP for osx simulation
2012-04-03 09:16:30 -05:00
James Cotton
e97c1bc016
Include the module include file before any uavo ones
2012-04-03 09:16:27 -05:00
James Cotton
5b3cc4876e
In simulations a higher GPS noise is required for the INS
2012-04-03 03:42:35 -05:00
James Cotton
7f226867c6
Some bug fixes for revo attitude estimation.
2012-04-03 03:42:33 -05:00
James Cotton
af9f36d7df
Improve the attitude initialization for all of the modes
2012-04-03 03:42:32 -05:00
James Cotton
3888d6ff69
Changed settings that makes updates smoother
2012-04-03 03:42:31 -05:00
James Cotton
319b53a342
Make sure full initialization routine for INSGPS occurs each time it is
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restarted.
2012-04-03 03:42:31 -05:00
James Cotton
372f959c37
Refine some stack sizes
2012-04-03 03:42:30 -05:00
James Cotton
54880c83a0
Fix some task sizes and the memory limits
2012-04-03 03:42:30 -05:00
James Cotton
a83fb019f6
When in complimentary filter mode pass the GPS information straight
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through to Position Actual
2012-04-03 03:42:29 -05:00
James Cotton
98b1a21921
Fixup: Shouldn't update gps until home location is set
2012-04-03 03:42:29 -05:00
James Cotton
7a3ec3e173
Some code cleanup to get rid of some warning messages
2012-04-03 03:42:29 -05:00
James Cotton
23625904c5
Remove the now unused ECEF and Rne fields from HomeLocation. Also reenable
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calculation of the WMM and HomeLocation from the GPS code for revolution.
2012-04-03 03:42:28 -05:00
James Cotton
71d0180d45
Use the sensor variances from object
2012-04-03 03:42:28 -05:00
James Cotton
ce2d1f94f6
Better hardcoded constants for INS variances
2012-04-03 03:42:27 -05:00
James Cotton
de7fc81795
Fixes to the GPS LLA to NED translation
2012-04-03 03:42:27 -05:00
James Cotton
e32ab9342c
Shuffle some stack sizes around
2012-04-03 03:42:26 -05:00
James Cotton
4cadb7ec0e
Forgot to initialize revo settings object
2012-04-03 03:42:26 -05:00
James Cotton
0eedaa1250
Change how we convert LLA to NED. Now it is done with a taylor expansion
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around the home LLA coordinate to avoid the conversion into ECEF coordinates.
This has the benefit of not requiring double precision math and uses less
operations.
Now we should remove the Rne and ECEF fields from HomeLocation as they are
unused
2012-04-03 03:42:25 -05:00
James Cotton
e8cc7748af
Clean up some unused variables in attitude code
2012-04-03 03:42:24 -05:00
James Cotton
a9aa6b696b
Add object for setting the fusion algorithm
2012-04-03 03:42:24 -05:00
