stac cdb8aa37a0 ahrs: Only read mag data when it has been updated ...

The AHRS mainloop was reading the mag data on every
loop regardless of whether new data was actually
available.  Now that the MAG_DRDY signal is monitored,
we can read only at the rate (10Hz) new data is actually
produced by the sensor.

This also enables future improvements that will remove the
filtering work that is still being done on the mag data on
every iteration.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1630 ebee16cc-31ac-478f-84a7-5cbb03baadba

2010-09-15 14:21:05 +00:00

..

inc

hmc5843: Add support for DRDY signal from magnetometer

2010-09-15 14:21:02 +00:00

ahrs_adc.c

AHRS: First pass refactoring the ADC code into another function. Still want to clean up a few constants make the downsampling go into a smaller circularbuffer nicely.

2010-09-14 07:03:34 +00:00

ahrs_fsm.c

AHRS/FSM: Small initialization detail to make compile with -Os

2010-09-13 19:04:37 +00:00

ahrs_timer.c

AHRS: Gets timing working correctly to compute the EKF rate and idle time in real values

2010-09-14 07:03:36 +00:00

ahrs.c

ahrs: Only read mag data when it has been updated

2010-09-15 14:21:05 +00:00

insgps.c

AHRS: First pass refactoring the ADC code into another function. Still want to clean up a few constants make the downsampling go into a smaller circularbuffer nicely.

2010-09-14 07:03:34 +00:00

MagOrAccelSensorCal.c

Six point sensor cal for accels and/or mags

2010-08-17 19:02:07 +00:00

Makefile

hmc5843: Add support for DRDY signal from magnetometer

2010-09-15 14:21:02 +00:00

pios_board.c

AHRS: Merged in some new code from Dschin that expliclity writes the prediction terms in the covariance matrix. Also made changes to compile with -Os. Now runs around 125 - 150 Hz depending on corrections used (this will become adjustable from GCS shortly).

2010-09-14 06:42:56 +00:00

test.c

Added a testing function for INS - currently doesn't stabilize for fixed inputs. Fixed two bugs I found in INSGPS (R[10] instead of R[9] initialized and Nav.Pos[2] was set to wrong X element).

2010-08-16 16:58:20 +00:00