PX4-Autopilot

mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-02 05:04:08 +08:00

History

update accelerometer calibration to use Levenberg Marquardt least squares fit

- update accel cal to use Levenberg Marquardt least squares fit (same as magnetometer)
    - this is more robust to user positioning error as it only requires a nice distribution of points and doesn't actually depend on the user holding the vehicle in each orientation (although the calibration flow is still structured this way)
 - use online Welford mean to gather clean readings per orientation
 - reset if movement during per side data gathering
 - detect invalid rotations (and soon auto correct like mag)
 - add `CAL_ACC_SIDES` (analogous to CAL_MAG_SIDES) to limit accel calibration to a subset of orientations (when full set is difficult or impossible)
 - accel quick calibration (commander calibrate accel quick) assume vehicle is aligned with gravity and adjust offsets immediately

2021-11-10 16:21:25 -05:00

drivers

hrt: Add interface functions for latency counters

2021-11-09 21:24:25 -05:00

examples

Use backwards compatible manual_control_setpoint instead of manual_control_input

2021-11-09 16:05:25 +01:00

include

sensors/vehicle_angular_velocity: accumualted notch filtering and reset improvements

2021-05-31 10:26:45 -04:00

lib

update accelerometer calibration to use Levenberg Marquardt least squares fit