than the ekf runs and also be more tolerant of timing jitter
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2191 ebee16cc-31ac-478f-84a7-5cbb03baadba
from the AHRS code (which will facilitate code integration with new INS) and
also will help set up a fifo queue for the downsampled data to allow gyro data
output from AHRS faster than EKF output. Also decreased ADC interrupt priority
so the SPI comms don't drop out.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2190 ebee16cc-31ac-478f-84a7-5cbb03baadba
bias correction. This is useful for stabilization to get rid of the gyro bias.
Making it an option is important for calibration.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2189 ebee16cc-31ac-478f-84a7-5cbb03baadba
bounded. Velocity variance still comes from AHRSCalibration.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2186 ebee16cc-31ac-478f-84a7-5cbb03baadba
ManualControlSettings so that planes can disable the timeout
feature for gliding (holding roll on a plane not so good).
Note: This will require you to reconfigure your ManualControlSettings
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2185 ebee16cc-31ac-478f-84a7-5cbb03baadba
Three files added to AHRS which add accelerometer biases (16 states) to the INS/GPS. Added for evaluation (give it a try James).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2182 ebee16cc-31ac-478f-84a7-5cbb03baadba
will automatically disarm after 30 seconds without motor. This behavior will
need to be parameterized for planes which might idle for a while.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2181 ebee16cc-31ac-478f-84a7-5cbb03baadba
velocity to help stabilize attitude. In principle the mag should be fine but
in practice I need this.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2160 ebee16cc-31ac-478f-84a7-5cbb03baadba
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
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
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
only one receive task. This is less generally safe but decreases the
frequency of resets in our current configuration
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2144 ebee16cc-31ac-478f-84a7-5cbb03baadba
before cleared at the end of each loop - including one after an alarm
Flight/Actuator: Similar change to make sure not having updates from
stabilization (i.e. no AHRS) doesn't trigger a watchdog reset
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2140 ebee16cc-31ac-478f-84a7-5cbb03baadba
lost. Warning though: it takes ~5-10 seconds for the flight telemetry status
to go from connected so this solution still isn't great.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2070 ebee16cc-31ac-478f-84a7-5cbb03baadba
