Proper scaling of corrections.
Using AHRS_PROPAGATE_FREQUENCY,
AHRS_CORRECT_FREQUENCY and AHRS_MAG_CORRECT_FREQUENCY.
Hence this will also give you correct gains for
100Hz fixedwings, see #240.
Allow tuning of the accel and mag correction
natural freqency and damping.
Tunable gravity_heuristic_factor (set to zero to
turn it off and replaces the boolean AHRS_GRAVITY_UPDATE_NORM_HEURISTIC)
If you have high vibrations, reduce this factor
or completely turn it off...
Less crappy handler functions in main.c files
Possibility to use multiple sources of sensors
(integrated to the board or not)
The filters don't need to know who is sending
the raw values (not completely true with the old alt_float filter yet)
The pressure are now standardized in Pascal and
the standard atmosphere model is used
The INS_BARO_SENS is hence not needed anymore.
Onboard baros are automatically available in
fixedwing firmware as well (use same code as rotorcraft now).
Disable onboard baro with <configure
name="USE_BARO_BOARD" value="FALSE"/>
Also all baro_board implementations use the same
BARO_BOARD_SENDER_ID,
since there can only be one baro_board at the
same time and this provides a good default for INS_BARO_ID.
So if you want to use an onboard baro the
INS_BARO_ID is already ok (also if you have additional baro modules).
To use a baro module for INS: <define
name="INS_BARO_ID" value="BARO_x_SENDER_ID"/>
Now horizontal guidance returns commands in
north/east earth frame and doesn't already rotate it to body frame.
This allows for better handling of them in
different controllers.
New and properly working transformations from
earth commands to quaternions added.
No proper fixedpoint implementation so far... no
change there compared to current master though. Should still be done
for efficiency at some point.
IMPORTANT: This does NOT have the feature to
"add" roll/pitch setpoints via RC in nav/hover anymore.
Instead you can give velocity commands in hover
mode via RC.
Includes max bank improvements proposed in #546:
Split PD and I-gain with separate max bank
- no wind: integrator (trim attitude) = 0, PD
maxbank = -20 to 20 extra: total: -20 to 20
- huge wind: integrator (trim attitude) = 20, PD
maxbank = -20 to 20 extra: total: 0 to 40
Put gain before integrator to get better insight
in the saturation values
Reduce integration overshoots while increasing
integration speed by adding the speed error as well.
- no speed error: integrate as before
- counterproductive speed error, integrate faster
If the position error is already decreasing
fast, no integrator is needed or it will overshoot.