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Author SHA1 Message Date
Hyon Lim (Retina) 6537759dfc Add detailed documentation for SO3 gains tuning. 
USB nsh has been removed.
 2013-06-06 21:28:40 +10:00
Hyon Lim (Retina) 90fdf35ae5 GPL Licensed code has been removed 2013-05-29 00:59:20 +10:00
Hyon Lim (Retina) 7a2adb22eb Visualization code has been added. 2013-05-29 00:45:02 +10:00
Hyon Lim (Retina) 279028ede4 Merge branch 'master' of https://github.com/limhyon/Firmware 2013-05-29 00:35:02 +10:00
Hyon Lim (Retina) cc6c590af0 I finished to implement nonlinear complementary filter on the SO(3). 
The previous problem was roll,pitch and yaw angle from quaternion.
Now it is fixed. 1-2-3 Euler representation is used.
Also accelerometer sign change has been applied.
 2013-05-29 00:34:21 +10:00
Hyon Lim (Retina) f336a86baa I finished to implement nonlinear complementary filter on the SO(3). 
The previous problem was roll,pitch and yaw angle from quaternion.
Now it is fixed. 1-2-3 Euler representation is used.
Also accelerometer sign change has been applied.
 2013-05-29 00:29:31 +10:00
Hyon Lim (Retina) 13faf0d555 Merge remote-tracking branch 'upstream/master' 
- Mikrokopter BLCTRL seems to be updated
 - HMC5883L calibration problem has been corrected.
    (This is because of RAM mis allocation?)
    See https://groups.google.com/forum/?fromgroups#!topic/px4users/yTYJiDBBKfo
 - Fixed wing control updated
    https://groups.google.com/forum/?fromgroups#!topic/px4users/s7owpvZN8UI
 - GPIO module has been removed.
 - STM32 DRV updated
 2013-05-28 11:09:58 +10:00
Hyon Lim (Retina) 4bf0505421 Test flight has been performed with nonlinear SO(3) attitude estimator. 
Here are few observations:
 - When the system initialized, roll angle is initially reversed.
   As filter converged, it becomes normal.
 - I put a negative sign on roll, yaw. It should naturally has right
   sign, but I do not know why for now. Let me investigate again.
 - Gain : I do not know what gain is good for quadrotor flight.
   Let me take a look Ardupilot gain in the later.

Anyway, you can fly with this attitude estimator.
 2013-05-23 16:20:38 +10:00
Hyon Lim (Retina) 364d1a06e3 To use freeIMU processing visualization tool, I have implemented float number transmission over uart (default /dev/ttyS2, 115200) 
But this not tested yet. I should.
 2013-05-23 16:20:38 +10:00
Hyon Lim (Retina) f547044203 Roll pitch yaw should be verified again 2013-05-23 16:20:38 +10:00
Hyon Lim (Retina) 32bace0824 I do not know why roll angle is not correct. But system looks okay 2013-05-23 16:20:38 +10:00
Hyon Lim (Retina) 0c3412223b Fixed few minor bug 2013-05-23 16:20:38 +10:00
Hyon Lim (Retina) cd7b0f7aab I missed to add build command 2013-05-23 16:20:38 +10:00
Hyon Lim (Retina) 1caddb7bbb Initial work of so3 nonlinear complementary filter 2013-05-23 16:20:38 +10:00