[paparazzi-commits] [paparazzi/paparazzi] 544319: [imu] use OrientationRep for body_to_imu

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 544319a5a6e504867ffe93ccf0a0f4eb6d9be227
      
https://github.com/paparazzi/paparazzi/commit/544319a5a6e504867ffe93ccf0a0f4eb6d9be227
  Author: Felix Ruess <address@hidden>
  Date:   2014-08-02 (Sat, 02 Aug 2014)

  Changed paths:
    M sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
    M sw/airborne/modules/nav/nav_catapult.c
    M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
    M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
    M sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
    M sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
    M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
    M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.h
    M sw/airborne/subsystems/ahrs/ahrs_gx3.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
    M sw/airborne/subsystems/imu.c
    M sw/airborne/subsystems/imu.h
    M sw/airborne/subsystems/ins/hf_float.c
    M sw/airborne/subsystems/ins/ins_float_invariant.c
    M sw/airborne/subsystems/ins/ins_int.c

  Log Message:
  -----------
  [imu] use OrientationRep for body_to_imu


  Commit: c78a0c5eaa7fdb74747b9735304a0987c7403233
      
https://github.com/paparazzi/paparazzi/commit/c78a0c5eaa7fdb74747b9735304a0987c7403233
  Author: Felix Ruess <address@hidden>
  Date:   2014-08-02 (Sat, 02 Aug 2014)

  Changed paths:
    A conf/settings/estimation/imu_to_body.xml
    M sw/airborne/subsystems/imu.h

  Log Message:
  -----------
  [settings] add settings to change BODY_TO_IMU


  Commit: 45002df9f7bf6178fee5ed4a204b4141ff000e9a
      
https://github.com/paparazzi/paparazzi/commit/45002df9f7bf6178fee5ed4a204b4141ff000e9a
  Author: Felix Ruess <address@hidden>
  Date:   2014-08-02 (Sat, 02 Aug 2014)

  Changed paths:
    M conf/settings/estimation/imu_to_body.xml
    M sw/airborne/subsystems/imu.h

  Log Message:
  -----------
  [imu] possibily to set imu_to_body to current roll/pitch and reset to 
airframe values


  Commit: 1b49a46b47a3e161fd7b4b8b2a7649afc1e7e607
      
https://github.com/paparazzi/paparazzi/commit/1b49a46b47a3e161fd7b4b8b2a7649afc1e7e607
  Author: Felix Ruess <address@hidden>
  Date:   2014-08-02 (Sat, 02 Aug 2014)

  Changed paths:
    M sw/airborne/subsystems/imu.c
    M sw/airborne/subsystems/imu.h

  Log Message:
  -----------
  [imu] move settings handlers to c file


  Commit: 519c4fd5889b8200475be5c7e39130e33b2d3ca1
      
https://github.com/paparazzi/paparazzi/commit/519c4fd5889b8200475be5c7e39130e33b2d3ca1
  Author: Felix Ruess <address@hidden>
  Date:   2014-08-02 (Sat, 02 Aug 2014)

  Changed paths:
    A conf/settings/estimation/body_to_imu.xml
    R conf/settings/estimation/imu_to_body.xml

  Log Message:
  -----------
  [settings] rename imu_to_body to body_to_imu.xml


  Commit: fca2cd734ca81378bfc1c42f8a6cf2cba32d429b
      
https://github.com/paparazzi/paparazzi/commit/fca2cd734ca81378bfc1c42f8a6cf2cba32d429b
  Author: Felix Ruess <address@hidden>
  Date:   2014-08-02 (Sat, 02 Aug 2014)

  Changed paths:
    M sw/airborne/subsystems/imu.c

  Log Message:
  -----------
  [imu] imu_SetBodyToImuCurrent: only adjust by current roll/pitch

so you can use it if initial body_to_imu is not zero and also use it repeatedly


  Commit: 85c72a7644a738d2b75f0668fae91875e0a3a5d3
      
https://github.com/paparazzi/paparazzi/commit/85c72a7644a738d2b75f0668fae91875e0a3a5d3
  Author: Felix Ruess <address@hidden>
  Date:   2014-08-03 (Sun, 03 Aug 2014)

  Changed paths:
    M conf/settings/estimation/body_to_imu.xml
    M sw/airborne/subsystems/imu.c
    M sw/airborne/subsystems/imu.h

  Log Message:
  -----------
  [imu] imu_to_body settings: combine set current and reset in one


  Commit: 608c027a2f25101a7bd5fcc97f5cf01d9f01670d
      
https://github.com/paparazzi/paparazzi/commit/608c027a2f25101a7bd5fcc97f5cf01d9f01670d
  Author: Felix Ruess <address@hidden>
  Date:   2014-08-04 (Mon, 04 Aug 2014)

  Changed paths:
    A conf/settings/estimation/body_to_imu.xml
    M sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
    M sw/airborne/modules/nav/nav_catapult.c
    M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
    M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
    M sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
    M sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
    M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
    M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.h
    M sw/airborne/subsystems/ahrs/ahrs_gx3.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
    M sw/airborne/subsystems/imu.c
    M sw/airborne/subsystems/imu.h
    M sw/airborne/subsystems/ins/hf_float.c
    M sw/airborne/subsystems/ins/ins_float_invariant.c
    M sw/airborne/subsystems/ins/ins_int.c

  Log Message:
  -----------
  Merge pull request #783 from flixr/body_to_imu

[imu] body_to_imu: use generic orientation representation and expose it in 
settings to change during operation

You can now change the body_to_imu orientation via settings from the GCS, which 
should make experimentally "tuning" this for nice hover easier.
Also added setting "b2i curr roll/pitch" to set body_to_imu to current 
roll/pitch (on TRUE) and reset it to airframe file values on FALSE.


Compare: 
https://github.com/paparazzi/paparazzi/compare/d969e9ff8d84...608c027a2f25