Commit message (Collapse) | Author | Age | Files | Lines | |
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* | Hotfix: Ensured there are never two filters running at the same time if ↵ | Lorenz Meier | 2013-07-18 | 1 | -2/+4 |
| | | | | auto-magic happens via USB link | ||||
* | Tracked task_spawn API changes for sdlog2 and att_estm_so3_comp | Lorenz Meier | 2013-06-06 | 1 | -1/+1 |
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* | Add detailed documentation for SO3 gains tuning. | Hyon Lim (Retina) | 2013-06-06 | 2 | -12/+47 |
| | | | | USB nsh has been removed. | ||||
* | GPL Licensed code has been removed | Hyon Lim (Retina) | 2013-05-29 | 8 | -1852/+1 |
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* | Visualization code has been added. | Hyon Lim (Retina) | 2013-05-29 | 10 | -2/+1882 |
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* | I finished to implement nonlinear complementary filter on the SO(3). | Hyon Lim (Retina) | 2013-05-29 | 1 | -56/+120 |
| | | | | | | 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. | ||||
* | Test flight has been performed with nonlinear SO(3) attitude estimator. | Hyon Lim (Retina) | 2013-05-23 | 1 | -111/+113 |
| | | | | | | | | | | | | 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. | ||||
* | To use freeIMU processing visualization tool, I have implemented float ↵ | Hyon Lim (Retina) | 2013-05-23 | 1 | -77/+196 |
| | | | | | | number transmission over uart (default /dev/ttyS2, 115200) But this not tested yet. I should. | ||||
* | Roll pitch yaw should be verified again | Hyon Lim (Retina) | 2013-05-23 | 2 | -94/+94 |
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* | I do not know why roll angle is not correct. But system looks okay | Hyon Lim (Retina) | 2013-05-23 | 1 | -34/+38 |
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* | Fixed few minor bug | Hyon Lim (Retina) | 2013-05-23 | 2 | -2/+8 |
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* | Initial work of so3 nonlinear complementary filter | Hyon Lim (Retina) | 2013-05-23 | 4 | -0/+694 |