James Cotton
00c9d62f6a
INS: Miscellaneous changes for debugging handling and also some stuff for GPS
...
signal loss.
2011-09-12 11:17:17 -05:00
James Cotton
5b836db54c
INS/Guidance: Convert distance to using m instead of cm. This is mainly to be
...
able to use NAN to indicate when values aren't valid from INS.
2011-09-11 23:02:05 -05:00
James Cotton
a682d5deb6
INS: In indoor mode if GPS is found use that to populate PositionActual
2011-09-11 22:53:07 -05:00
James Cotton
3239fdf21b
Merge branch 'next' into ins
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Conflicts:
flight/CopterControl/Makefile
flight/OpenPilot/System/pios_board.c
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-09-09 08:33:34 -05:00
James Cotton
22821e3c93
HMC5883: Missed a channel for HMC5883
2011-09-08 22:25:35 -05:00
James Cotton
552022250b
INS: Disable power up checks until these are made more reliable and remove some
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debugging outputs.
2011-09-08 21:44:27 -05:00
James Cotton
e79e8cdbde
INS data output: Add the latency the logged messages
2011-09-08 03:39:39 -05:00
James Cotton
c87a042195
IMU3000: For now sample at 1k which allows us to bring down the I2C clock rate
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to 400k
2011-09-08 03:37:51 -05:00
James Cotton
0eb4fd113b
PiOS BMA180: Increase the comms speed for BMA180 and perfom SPI without
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callback. This takes less time.
2011-09-08 03:28:32 -05:00
James Cotton
465527a980
INS: Enable GPS parsing. GPS data is processed on INS now. HomeLocation and
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WMM are not currenly implemented.
2011-09-04 20:03:04 -05:00
James Cotton
cd8ebdf427
INS: Store the gyro bias in the settings so it doesn't get overwritten
2011-09-04 15:21:53 -05:00
James Cotton
c326c0941d
INS: Work on initialization. Improve the zeroing of the gyros at powerup.
2011-09-04 11:49:15 -05:00
James Cotton
dae11cf877
INS Logging: Enable temperature reading from gyro and accel (may be removed in
...
future), push it into UAVO and introduced a logging mode for INS that outputs
all sensor data from aux port.
2011-09-03 15:10:47 -05:00
James Cotton
5eaebac8d8
INS: Get the aux uart working. All F2 GPIO pins need to be remapped to work. Good thing to remember.
2011-09-02 17:04:39 -05:00
James Cotton
63f64003e5
INS: Change how the initialization of algorithms is handled to ensure sensor
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dat always good
2011-09-02 13:50:36 -05:00
James Cotton
e0ed82eef0
INS Settings: Use the calibration data on the sensors
2011-09-02 13:28:01 -05:00
James Cotton
1d04715476
INS: Rework how the sensor calibration behaves and clean up the interface a
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bit.
2011-09-02 13:24:35 -05:00
James Cotton
612d3336b4
This patch breaks backward compatibility with AHRS solidly.
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Move the configuration files for INS from AHRS* to INS*. Strip out unused
fields in settings and merge calibration and settings since settings has
basically no information.
2011-09-01 12:21:33 -05:00
James Cotton
1477ea6e94
Make mag updated flag always true when it's updated. Responsibility of INS
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algorithm whether to use data.
2011-08-22 03:05:02 -05:00
James Cotton
8c16f614f2
INS: Use the data from the BMP085 and feed into EKF
2011-08-22 02:32:40 -05:00
James Cotton
38d9df8fcb
HMC5883: Clean up the mag driver
2011-08-21 01:29:55 -05:00
James Cotton
f756e9cbc8
INS: Swap the mag axis
2011-08-21 01:29:24 -05:00
James Cotton
a642f3672c
Report running time per loop in us
2011-08-21 00:54:31 -05:00
James Cotton
c82aa64c53
INS: General clean up to deal with new driver formats. Also automatically
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monitors the EKF rate.
2011-08-21 00:42:06 -05:00
James Cotton
8ae53a4f97
PiOS: Cleanup IMU3000 driver a fair bit.
2011-08-21 00:39:20 -05:00
James Cotton
952b4e1809
Have to speed up the comms rate for gyro to handle the oversampling we are
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using.
2011-08-19 14:35:13 -05:00
James Cotton
cefc2b8c2e
Clean up main INS function a bit.
2011-08-19 14:34:56 -05:00
James Cotton
294e0cbdff
IMU3000: Change IMU3000 api right now so it only reads one element from the
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fifo but swaps the endian appropriately.
2011-08-18 11:03:56 -05:00
James Cotton
29026db5d5
Refactor the INS code out a bit but still a mess.
2011-08-17 06:15:14 -05:00
James Cotton
c0ead372e1
INS: Change LED flashing to indicate connected.
2011-08-16 11:30:38 -05:00
James Cotton
71a1cdff62
PiOS SPI: For F2 need to have the same receive and transmit length when using
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CRC. This wasn't the case on F1. With CRC the last byte of the buffer passed
to PIOS_SPI_TransferBlock is NOT USED. This is the case on both F1 and F2.
Also need to DeInit DMA before enabling or it doesn't enable successfully.
Finally added a timeout which sets a fail on the pios spi transfer in the case
that either of the dma channels fails to enable.
2011-08-16 11:29:15 -05:00
James Cotton
db9c73db45
Get SPI closer to working. The flags in the pios_config should match the
...
stream number, not channel number. Also DeInit DMA section in the init process
which makes debugging and init behavior more reliable.
2011-08-15 04:47:53 -05:00
James Cotton
02d5e27e93
Got SPI IRQ from mainboard firing
2011-08-14 01:44:44 -05:00
James Cotton
80c2d45d93
Fix the BMP085 interrupt handler and get it producing data. Driver needs some
...
work to abstract away the actual calculation of altitude from pressure and
temperature.
2011-08-13 20:49:07 -05:00
James Cotton
13e5f4123a
Reading gyro registers directly working.
2011-08-13 08:33:46 -05:00
James Cotton
e7990f5d43
Got a hint of some data with this code :)
2011-08-13 07:13:43 -05:00
James Cotton
e1f7a5003d
Fix up SPI DMA streams
2011-08-13 04:54:19 -05:00
James Cotton
8929e2f359
Update some of the DMA settings
2011-08-13 02:46:13 -05:00
James Cotton
6d018c046e
Get BMA180 working. Need to move exti stuff into it until pios_exti
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implemented properly
2011-08-13 01:10:33 -05:00
James Cotton
5619e33292
Bootloader now jumps to functioning code for INS. Consistent with AHRS code.
2011-08-12 22:52:47 -05:00
James Cotton
6529b8360f
Trying to get linker system working for INS
2011-08-12 21:28:02 -05:00
James Cotton
e57f774bb8
F2 INS compiles now
2011-08-12 04:30:14 -05:00
James Cotton
b3b4fcd007
Fix linker script and get rid of dead code
2011-08-12 03:44:55 -05:00
James Cotton
f247112090
PiOS F2: Move IMU3000 to device dependent :(. Now they all are. Need to
...
abstract as much as possible out since init is almost identicalc and protocol
COULD be device independent.
2011-08-12 03:38:45 -05:00
James Cotton
8c1dd7b929
Make BMP085 driver device dependent and update to new driver style.
2011-08-12 03:38:45 -05:00
James Cotton
9d76efa2aa
Move BMA180 driver to common architecture style.
2011-08-12 03:38:45 -05:00
James Cotton
1dc08e5cf7
F2 PiOS: Small fix to hmc5883 driver
2011-08-12 03:38:44 -05:00
James Cotton
6310f46705
HMC5883: Update driver for F2. Move to STM32F2xx directory since it is device
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dependent. Abstract configuration out of board.h file into a standard board.c
structure.
2011-08-12 02:26:51 -05:00
James Cotton
a097ff784b
F2 PiOS: Getting the I2C driver working again (copying changes from Zippe,
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thanks again man!)
2011-08-09 12:58:46 -05:00
James Cotton
8be9ac9cc9
PiOS: Move driver out of common directory since it makes calls to configure the
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EXTI system.
2011-08-09 12:51:26 -05:00
