Hyon Lim (Retina)
6a6fe69371
Bug in so3 estimator related to R matrix
2013-08-31 03:23:03 +09:00
Lorenz Meier
1575da4390
Merge branch 'master' of github.com:PX4/Firmware into new_state_machine
2013-07-19 12:53:37 +02:00
Lorenz Meier
e19d2e94ec
Hotfix: Ensured there are never two filters running at the same time if auto-magic happens via USB link
2013-07-18 15:20:36 +02:00
Julian Oes
bcdedd9a35
Changed location of lots of flags and conditions, needs testing and more work
2013-07-16 18:56:31 +02:00
Lorenz Meier
fc471c731a
Tracked task_spawn API changes for sdlog2 and att_estm_so3_comp
2013-06-06 17:38:31 +02:00
Hyon Lim (Retina)
6537759dfc
Add detailed documentation for SO3 gains tuning.
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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)
cc6c590af0
I finished to implement nonlinear complementary filter on the SO(3).
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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)
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)
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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)
1caddb7bbb
Initial work of so3 nonlinear complementary filter
2013-05-23 16:20:38 +10:00
Hyon Lim (Retina)