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Commit Graph

63 Commits

Author SHA1 Message Date
James Cotton
836e34a483 Change revo sensors to update at 500 Hz and make sure in all cases it waits for
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
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
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
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
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
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."
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
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
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
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
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
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
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
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
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
James Cotton
1911c7360d New NEDPosition object which is the transformed GPS location 2012-04-03 03:42:24 -05:00
James Cotton
e3c36ac99a Change requires for GSP updated to be set to true (wrong sign on PDOP check) 2012-04-03 03:42:23 -05:00
James Cotton
9e4651ab80 INS working on Revo 2012-04-03 03:42:22 -05:00
James Cotton
55ee568fe2 Work on the INS algorithm 2012-04-03 03:42:21 -05:00
Corvus Corax
d32dd0ccd4 Fixed fmod() versus fmodf() usage in flight/... 2012-03-26 04:16:54 +02:00
James Cotton
0d42303d37 Fix some compilation errors/warnings in attitude.c 2012-03-11 16:30:18 -05:00
James Cotton
02bec750bd In the attitude loop need to check all the queues even if unused or the event
system will have warnings
2012-02-07 08:46:34 -06:00
James Cotton
0432dd450e Enable the mag to be used in the complimentary filter to stabilize the yaw
direction
2011-12-15 00:56:50 -06:00
James Cotton
43ed6cd89c Need to initialize the HomeLocation object 2011-12-14 14:08:03 -06:00
James Cotton
09864a8cf6 Get outdoor EKF running although need to add in the ability to swap modes
(probably).
2011-12-14 02:07:33 -06:00
James Cotton
fd8899018f Get EKF running 2011-12-14 01:54:06 -06:00
James Cotton
a37a17a4fb Created a separate Sensor module and Attitude module for revolution 2011-12-12 21:40:39 -06:00