| commit | 5eaab0226d3dd82a0c72508c34a89e06df7ef990 | |
| author | Petr Ledvina <ledvinap@gmail.com> | |
| Sun, 18 Jun 2023 23:30:45 +0000 (19 01:30 +0200) | ||
| committer | GitHub <noreply@github.com> | |
| Sun, 18 Jun 2023 23:30:45 +0000 (19 09:30 +1000) | ||
| tree | 63c0f22d2067bf086a2e94b4b63ae74b5824f70b | treesnapshot (tar.gz zip) |
| parent | a98364fa558460a6948db9c7248177071915448e | commitdiff |
IMU - increase gain on large Course over ground error (#12792)
* IMU - increase gain on large Course over ground error
* Fix Cog calculation in IMU
Old code did align CoG antiparallel to Yaw. Cross product stays the
same, but dot product is inverted.
@iNav - this is probably reason for magic numbers in iNav IMU
rewrite (especially wind compensation)
* Update gtest
Copy of debian/stable libgtest-dev
* Add unittest for IMU CoG
Work in progress
* IMU - convert compass to new alignment calculation
* IMU Unittests
- new wrapped EXPECT_NEAR_DEG / EXPECT_NEAR_RAD
- magnetometer testing
* IMU - CoG evaluation based on thrust vector
---------
Co-authored-by: Petr Ledvina <ledvinap@hp124.ekotip.cz>
* IMU - increase gain on large Course over ground error
* Fix Cog calculation in IMU
Old code did align CoG antiparallel to Yaw. Cross product stays the
same, but dot product is inverted.
@iNav - this is probably reason for magic numbers in iNav IMU
rewrite (especially wind compensation)
* Update gtest
Copy of debian/stable libgtest-dev
* Add unittest for IMU CoG
Work in progress
* IMU - convert compass to new alignment calculation
* IMU Unittests
- new wrapped EXPECT_NEAR_DEG / EXPECT_NEAR_RAD
- magnetometer testing
* IMU - CoG evaluation based on thrust vector
---------
Co-authored-by: Petr Ledvina <ledvinap@hp124.ekotip.cz>