1da855f408
[ahrs] move settings to modules
2016-09-20 14:12:32 +02:00
17d32772c0
[imu] convert imu subsystems to modules ( #1788 )
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* [imu] convert imu subsystems to modules
Also
- get rid of explicit imu init|event|periodic calls in main
- each imu implementation has their own imu_x_init/event/periodic
* [imu] fix some imu modules
* [imu] fix bad paths
* [imu] add imu_common module that every implementation autoloads
and put body_to_imu settings in imu_common module
* [imu] fix imu_ardrone2
* [conf] add imu_common settings module in conf_example and conf_tests
2016-08-12 12:02:38 +02:00
b6186c9a21
[settings] ahrs settings ony for targets ap|nps|test_ahrs
2015-11-26 13:45:12 +01:00
dad944454b
[conf] fix errors in ENAC conf
2015-10-05 14:45:44 +02:00
797de0b937
[conf] make more settings persistent
2015-09-21 17:34:59 +02:00
24013a14ae
[conf] update targets for some settings
2015-09-21 16:16:39 +02:00
5102c466c5
[settings] possibility to exclude targets
2015-07-25 16:32:46 +02:00
d5b8e4e86d
add targets to body_to_imu settings
2015-07-25 16:32:46 +02:00
f2fa1ecbd9
[ahrs] add (yet another) AHRS based on an invariant filter
2015-06-18 13:13:48 +02:00
09331d09e7
[settings] ahrs_secondary: more descriptive values
2015-03-10 17:26:47 +01:00
d25486c579
[ahrs] dual ahrs working with icq and mlkf
2015-03-10 17:26:46 +01:00
221788281a
[ins] start converting float_invariant
2015-03-10 17:26:44 +01:00
2f22a416c4
[conf] fix ahrs_int_cmpl_euler settings
2015-01-19 22:42:19 +01:00
1d80eb2d7b
[ahrs] start using ABI for imu data
2014-10-20 23:56:16 +02:00
0df0aefe48
[ahrs] convert float_cmpl
2014-10-13 20:44:29 +02:00
4693db1ec9
[ahrs] int_cmpl_quat refactor
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- rename ahrs_impl -> ahrs_icq
- ahrs_x functions are ahrs_icq_x
- pass imu data as args
- register function, might be removed again...
2014-10-13 20:44:29 +02:00
83403a0ba3
[settings] move settings to module files and remove old files
2014-09-30 19:19:47 +02:00
85c72a7644
[imu] imu_to_body settings: combine set current and reset in one
2014-08-03 19:39:13 +02:00
519c4fd588
[settings] rename imu_to_body to body_to_imu.xml
2014-08-02 21:14:14 +02:00
45002df9f7
[imu] possibily to set imu_to_body to current roll/pitch and reset to airframe values
2014-08-02 21:01:43 +02:00
c78a0c5eaa
[settings] add settings to change BODY_TO_IMU
2014-08-02 20:19:05 +02:00
e8ac068976
[ins] prevent drifting of the ins_invariant while waiting first gps data
2014-06-19 10:50:15 +02:00
e138f43b44
[sonar] fix some sonar related issues
2014-03-13 17:46:21 +01:00
7a0cf03a79
[ins] alt_float: remove ALT_KALMAN_ENABLED
...
There is really no benefit in keeping the ALT_KALMAN_ENABLED define (and setting it to FALSE by default).
If USE_BAROMETER alt_kalman is always enabled and if you don't want to use altitude/climb_rate filtering,
use the ins type "gps_passthrough".
Now if you use the alt_float INS, it's always enabled (which is what most people expect anyway).
In theory it was possible to disable the alt_kalman in flight before (if ! USE_BAROMETER),
but I very much doubt that was used since there also was no settings file for it.
closes #594
2013-12-17 11:30:40 +01:00
4978164027
[ins] add new ins based on invariant filter
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- experimental invariant filter for complet ins
- tested on fixed-wing only, but should work on rotorcraft as well
- generic vector and rung-kutta library
- fix alt init in utm local frame
- settable channel order on mag hmc58xx module
2013-12-05 14:49:09 +01:00
84cf87cfa5
[ahrs] float_mlkf: configurable mag measurement noise
2013-10-31 17:34:46 +01:00
1235c7d982
[conf] add ahrs_float_cmpl settings file
2013-09-06 19:46:16 +02:00
e31901900f
[ahrs] configurable gravity_heuristic_factor
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if set to zero, gravity heuristic is disabled
- removed AHRS_USE_GRAVITY_UPDATE_NORM_HEURISTIC
2013-09-06 19:04:15 +02:00
61b4507917
[ahrs] int_cmpl_quat: precompute some gains for efficiency
2013-09-04 14:23:30 +02:00
db2e73031e
Merge branch 'master' into ahrs_int_cmpl_quat_correction_scaling
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for testing and conflict resolution
2013-08-29 10:31:32 +02:00
bfb0520502
[ahrs] remove old ekf/lkf algos
2013-08-19 16:55:17 +02:00
347d69d63f
[ahrs] int_cmpl_quat: feedback_frac corrected
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- feedback_frac for both accel and mag correction
- omega and zeta nominal and min/max settings adjusted
2013-04-13 12:20:52 +02:00
f39cc5c25b
[ahrs] int_cmpl_quat: physical units
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- accel and mag cutt-off frequency and damping in physical units
- accel weight sent to telemetry
2013-03-29 18:28:34 +01:00
f7dc61a764
scaling rate with weight, scaling bias with weight*weight. accel filter parameters are now cut-off frequency and damping instead of gains. Defaults values set to 100 s response time.
2013-03-08 17:39:47 +01:00
fa8c283d63
[ahrs] int_cmpl_quat: some more adjustable correction gains
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not tested in flight yet...
2013-03-05 12:06:58 +01:00
5545851d20
[ahrs] int_cmpl_quat: scale the correction in update_accel with AHRS_CORRECT_FREQUENCY
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Allow tuning of the rate and bias gains.
Scaling correction by AHRS_CORRECT_FREQUENCY should also give you
roughly correct tuning for 100Hz fixedwings, see #240 .
2013-03-05 12:06:58 +01:00
e84e488bf9
[rotorcraft] settings for ahrs_int_cmpl_quat (gravity_heuristic), send gyro bias, update fraser to use gravity heuristic
2013-01-24 19:18:17 +01:00
3684536f97
[fixedwing] removed ALT_KALMAN, not needed with ins_alt_float anymore
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like before:
* the kalman filter is still disabled by default (unless a baro is used)
* to enable define ALT_KALMAN_ENABLED
2012-09-19 19:17:06 +02:00
a320f8e08e
[state] finally getting rid of old estimator
2012-08-23 17:56:44 +02:00
b845da2bb5
Total Energy Control for Fixedwing
2012-08-04 14:32:41 +02:00
b189804be9
Merge fixes from branch 'v3.9'
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* fix SaveSettings to deal with units properly: #238
* implicit unit conversions are now described in conf/units.mxl
* fix aspirin2 driver: only update on new measurements: #239
* fix order of message fields in the server
2012-07-20 02:07:07 +02:00
44801a2de6
[units] automatic conversion handles code and display
2012-07-18 19:28:54 +02:00
82ce46ee2d
[ins] extended ins filter
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This ins is using a vertical filter using the sonar in a better way, by
estimating the baro offset
It is probably not wise to use it without sonar for now, but using the
gps should be a good idea
The world is assumed to be flat here...
2012-06-21 19:22:37 +02:00
09490b374c
[conf] update basic settings files for fw and rotorcraft
2012-05-08 00:21:29 +02:00
a630897061
[conf] more settings cleanup
2012-05-03 22:01:55 +02:00
bc95cd8f20
[conf] start moving estimation settings files
2012-05-03 16:57:45 +02:00
Felix Ruess
Gautier Hattenberger
Loic Drumettaz
Christophe De Wagter