[paparazzi-commits] [paparazzi/paparazzi] 0b47f4: ahrs: fix heading update via gps course

[GitHub]

  Branch: refs/heads/dev
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 0b47f4556f33c12da79ee62ed5c318261fee0abf
      
https://github.com/paparazzi/paparazzi/commit/0b47f4556f33c12da79ee62ed5c318261fee0abf
  Author: Felix Ruess <address@hidden>
  Date:   2012-03-31 (Sat, 31 Mar 2012)

  Changed paths:
    M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
  M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c

  Log Message:
  -----------
  ahrs: fix heading update via gps course


  Commit: f4fa0af171af94e2816df8c615edf415b5ebb01b
      
https://github.com/paparazzi/paparazzi/commit/f4fa0af171af94e2816df8c615edf415b5ebb01b
  Author: Felix Ruess <address@hidden>
  Date:   2012-03-31 (Sat, 31 Mar 2012)

  Changed paths:
    M conf/airframes/flixr_discovery.xml
  M sw/airborne/subsystems/imu.c
  M sw/airborne/subsystems/imu.h
  M sw/airborne/subsystems/imu/imu_b2.h

  Log Message:
  -----------
  imu subsystem: define ImuScaleMag to empty if there is not mag used on imu_b2


  Commit: ed45e0147600e4a1398087b1337dd661bb677e46
      
https://github.com/paparazzi/paparazzi/commit/ed45e0147600e4a1398087b1337dd661bb677e46
  Author: Felix Ruess <address@hidden>
  Date:   2012-03-31 (Sat, 31 Mar 2012)

  Changed paths:
    M sw/airborne/subsystems/gps.c
  M sw/airborne/subsystems/gps.h
  M sw/airborne/subsystems/gps/gps_ubx.c

  Log Message:
  -----------
  gps: added course accuracy field, only filled with gps_ubx so far


  Commit: a35639268ca10c90ef6a4777bfe093f2adef0115
      
https://github.com/paparazzi/paparazzi/commit/a35639268ca10c90ef6a4777bfe093f2adef0115
  Author: Felix Ruess <address@hidden>
  Date:   2012-03-31 (Sat, 31 Mar 2012)

  Changed paths:
    M conf/airframes/flixr_discovery.xml
  M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
  M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
  M sw/airborne/test/ahrs/ahrs_on_synth.c

  Log Message:
  -----------
  ahrs quaternion: in update_heading: attempt to only update bias if deviation 
is small
e.g. needed when you only have gps providing heading
and the inital heading is totally different from
the gps course information you get once you have a gps fix.
Otherwise the bias will be falsely "corrected".


  Commit: 9ea34ed5006125e7099f8ceac549b8679fb66c31
      
https://github.com/paparazzi/paparazzi/commit/9ea34ed5006125e7099f8ceac549b8679fb66c31
  Author: Felix Ruess <address@hidden>
  Date:   2012-03-31 (Sat, 31 Mar 2012)

  Changed paths:
    M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
  M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h

  Log Message:
  -----------
  ahrs float_cmpl: hard realign heading once you get a good gps fix
also only update heading if course accuracy is good


Compare: https://github.com/paparazzi/paparazzi/compare/98343f0...9ea34ed