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Commit Graph

13 Commits

Author SHA1 Message Date
James Cotton
1c621fa4d7 OP-508: Make rotation fields int16 instead of int8 to allow +/- 180 2011-05-28 20:33:42 -05:00
dankers
84e09031a7 Faster attitude calc, be much more aggressive with working out bias.
Change AccelkP to 0.05 to give accels more influence, just balacing out the 3C filter.

Change stab setting to be a better default fopr most Quads.
2011-05-15 05:58:58 +10:00
James Cotton
4ec0263dfc OP-476: If AttitudeSettings.ZeroDuringArming is true, then while arming (1
second) it will speed up the estimate of gyro bias.
2011-05-07 15:29:21 -05:00
James Cotton
7e418866be Update the AttitudeSetting object to make the board rotation more human
readable and update the GCS fields appropriately.
2011-05-05 13:04:56 -05:00
peabody124
a57c289b3a CC-24: Support mounting CC at any angle by applying a rotation. Now need to
rotate sensors to make sure stabilization behaves well so don't use till then.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3100 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-29 02:15:57 +00:00
peabody124
bd5925d526 CC-35: Separate term for CC yaw bias rate and others
Note: AttitudeSettings changed so you'll need to re-zero it

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3090 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-28 18:42:48 +00:00
loris
6e942d786a OP-316 UAVObject Fix typo, indents, units, default values
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2896 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-27 00:38:59 +00:00
peabody124
ea390d0b90 CC-26: Add accel bias term. Note it's units are LSB, not m/s^s
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2895 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-26 22:21:44 +00:00
peabody124
9f71f4121c CC-18 Attitude: Change units to proper engineering ones. An accelKp=1 means
that it will completely follow the accel attitude each cycle and is way too
high.  Ki=1 means the gyro bias wil be correct by accels each cycle (way too
high).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2755 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-08 16:34:35 +00:00
peabody124
cfe295377c CC-18: Normalize the gravity vector to unity gain
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2754 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-08 16:34:31 +00:00
peabody124
265737427b CC-7: Make the gyro scale adjustable (for now at least, this was largely for
debugging, let's compare values).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2692 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-02 08:57:42 +00:00
peabody124
1663a838ff CC-7 Full complimentary filter ala Mahoney paper using quaternion
representation.  Also improved gyro bias initialization.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2691 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-02 08:57:38 +00:00
peabody124
1c6b51b704 UAVObjects/AttitudeSettinsg: Object for CC to tune the attitude estimation
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2666 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:18:26 +00:00