Oleg Kalachev
6b7601c0bd
Improve vector and quaternion libraries
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Make the order or basic methods consistent between Vector and Quaternion.
Remove `ZYX` from Euler method names as this is standard for robotics.
Rename angular rates to rotation vector, which is more correct.
Make rotation methods static, to keep the arguments order consistent.
Make `Quaternion::fromAxisAngle` accept Vector for axis.
Minor fixes.
2025-05-31 04:17:00 +03:00
Oleg Kalachev
66a43ab246
Continuous gyro bias estimation ( #17 )
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Estimate gyro bias continuously instead of calibrating the gyro at startup.
2025-03-29 12:21:40 +03:00
Oleg Kalachev
bda44fca02
Remove dt multiplier from acc correction and increase acc weight
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More classical complementary filter implementation
Increase effective accelerometer weight for faster convergence
2025-02-28 00:51:16 +03:00
Oleg Kalachev
85172cdcc8
Make util module header instead of .ino-file
2025-01-10 06:51:14 +03:00
Oleg Kalachev
c8109af04f
Make ONE_G definition const and move to utils.ino
2025-01-09 11:24:40 +03:00
Oleg Kalachev
ca032abc03
Implement rotate method for quaternions as replace for multiplication
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Vector rotating method is renamed from `rotate` to `rotateVector` to avoid inconsistent object and argument order in different `rotate` methods
2025-01-09 09:56:49 +03:00
Oleg Kalachev
7533a9cbfa
Move ONE_G definition to flix.ino
2024-12-23 02:37:03 +03:00
Oleg Kalachev
2fdad7bdb6
Remove LED horizontality signalization
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It's better to control the attitude estimation using QGC
2024-11-03 17:41:13 +03:00
Oleg Kalachev
abcc9b96de
Use FLU as the main coordinate system instead of FRD
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Corresponding to the IMU orientation in the new version
2024-10-23 09:30:49 +03:00
Oleg Kalachev
41a9a95747
Transfer gyro low pass filter to estimate.ino
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Separate raw gyro data and filtered rates to different variables
2024-04-20 14:52:01 +03:00
Oleg Kalachev
f4aaf0f4f3
Use radians macro, minor change
2024-01-12 00:43:52 +03:00
Oleg Kalachev
d2296fea76
Change C++ code style: put curly brace on the same line
2023-12-29 18:56:25 +03:00
Oleg Kalachev
343935f98c
Minor fixes
2023-12-19 22:00:30 +03:00
Oleg Kalachev
57e83040b8
Apply accelerometer in estimation only when we're landed and stable
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Accelerometer gives only motors specific force in flight, which makes
it useless to determine the current vertial
2023-12-19 04:46:59 +03:00
Oleg Kalachev
4fcf2109ce
Simplify code using angularRatesBetweenVectors
2023-12-13 08:25:11 +03:00
Oleg Kalachev
9a93367629
Make dt=0 on first step, simplify code
2023-05-31 20:07:38 +03:00
Oleg Kalachev
147eef0af7
Cleanups
2023-05-25 11:42:13 +03:00
Oleg Kalachev
d6cca7dcf7
Some unification of the headers
2023-05-24 11:26:30 +03:00
Oleg Kalachev
87c75842f9
Change .hpp to .h
2023-05-24 10:40:12 +03:00
Oleg Kalachev
e039055c8e
Initial commit
2023-03-26 10:23:30 +03:00
