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Merge branch 'master' into new_state_machine

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compiling again
Conflicts:
	src/modules/fixedwing_att_control/fixedwing_att_control_att.c
	src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
	src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
	src/modules/mavlink/orb_listener.c
	src/modules/multirotor_att_control/multirotor_attitude_control.c
	src/modules/multirotor_att_control/multirotor_rate_control.c
	src/modules/systemlib/pid/pid.c
	src/modules/systemlib/pid/pid.h
	src/modules/uORB/objects_common.cpp
This commit is contained in:
Julian Oes
2013-07-08 10:31:32 +02:00
parent 76346bfe19 cf2dbdf9a1
commit 88389ea255
2165 changed files with 10906 additions and 485356 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/accelerometer_calibration.c
+42 -8
View File
@@ -1,12 +1,45 @@
/*
* accelerometer_calibration.c
/****************************************************************************
*
* Copyright (C) 2013 Anton Babushkin. All rights reserved.
* Author: Anton Babushkin <rk3dov@gmail.com>
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.com>
*
* Transform acceleration vector to true orientation and scale
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * * * Model * * *
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file accelerometer_calibration.c
*
* Implementation of accelerometer calibration.
*
* Transform acceleration vector to true orientation, scale and offset
*
* ===== Model =====
* accel_corr = accel_T * (accel_raw - accel_offs)
*
* accel_corr[3] - fully corrected acceleration vector in body frame
@@ -14,7 +47,7 @@
* accel_raw[3] - raw acceleration vector
* accel_offs[3] - acceleration offset vector
*
* * * * Calibration * * *
* ===== Calibration =====
*
* Reference vectors
* accel_corr_ref[6][3] = [ g 0 0 ] // nose up
@@ -34,7 +67,6 @@
*
* accel_offs[i] = (accel_raw_ref[i*2][i] + accel_raw_ref[i*2+1][i]) / 2
*
*
* Find accel_T
*
* 9 unknown constants
@@ -67,6 +99,8 @@
*
* accel_T = A^-1 * g
* g = 9.80665
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include "accelerometer_calibration.h"
src/modules/commander/accelerometer_calibration.h
+39 -4
View File
@@ -1,8 +1,43 @@
/*
* accelerometer_calibration.h
/****************************************************************************
*
* Copyright (C) 2013 Anton Babushkin. All rights reserved.
* Author: Anton Babushkin <rk3dov@gmail.com>
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file accelerometer_calibration.h
*
* Definition of accelerometer calibration.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef ACCELEROMETER_CALIBRATION_H_
src/modules/commander/commander.c
+1 -1
View File
@@ -659,7 +659,7 @@ int commander_main(int argc, char *argv[])
}
thread_should_exit = false;
daemon_task = task_spawn("commander",
daemon_task = task_spawn_cmd("commander",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
3000,