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05a85c8c95
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Author SHA1 Message Date
les
05a85c8c95 New stabilization module based on PI-P algorithm used in FlightOS 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1864 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 20:39:23 +00:00
les
dcef777ab0 AHRS SPI comms: Retries were not being tracked correctly 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1863 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 20:36:20 +00:00
peabody124
e743678d89 AHRS: This fixes the mags, I forgot to normalize the magnetic flux at your 
home location.  If you use INSGPS_INDOORS make sure your HomeLocation.Be fields
are correct for your GPS coordinates
http://maps.alfiordalis.com/declination.html

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1862 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 20:35:22 +00:00
edouard
11d197b3fc Added planes to the GCS distrubution dir. Renamed all texture.jpg to TEXTURE.JPG so that all platforms can see the textures (3DS files refer to TEXTURE and linux is case-sensitive) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1861 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 20:28:49 +00:00
edouard
068c6bfa93 Added multirotors to the GCS distribution directory. Fixed the 'textures.jpg' case so that the textures work on every platform. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1860 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 20:22:52 +00:00
edouard
3d8f11dc36 Remove old Easystar directory which is not used anymore in the share directory 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1859 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 19:56:00 +00:00
cwabbott
8d1a99ae15 PiOS.win32: Updated PiOS.win32 makefile for recent UAVObject changes, and also updated the experimental stabilization code to comply with recent changes to the simple code. Nobody uses SiTL anymore :( . 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1858 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 18:59:58 +00:00
les
11cf24a312 Actuator: Fixed uninitialised variables 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1857 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 18:37:07 +00:00
peabody124
1931c75a4c AHRS: Deal better with DMA errors 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1856 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 18:14:36 +00:00
peabody124
a9495e2cbb UAVObjects/AttitudeSettings: Remove unused object, moving data to AHRSettings. 
Added attitude bias to AHRSSettings.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1855 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 18:14:34 +00:00
peabody124
754200f9cf UAVObjects/Delete old VTOLSettings object 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1854 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 18:14:27 +00:00
edouard
eeb5eab177 Flight/Stabilization: fix for -180/+180 yaw transition which caused glitches in the stab module. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1853 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 16:43:10 +00:00
erhard
dd0d58f64f OP-99 GCS, Import/Export Plugin: Support for XML-File Format. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1852 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 16:13:28 +00:00
peabody124
840df39b78 AHRS: Export gyro data as deg/s instead of rad/s to match the object label 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1851 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 15:22:09 +00:00
osnwt
9f34044d74 OP-175/Ground: Hopefully fixed some Modelview crashes on Windows due to VBO enabled by default in GLC_Lib. 
Added debug message displaying current VBO states (enabled, supported, used) - check with mouse right-click.
Please confirm that this does not break the plugin on other systems and that VBO can be enabled and really
is used by GLC_lib on supported systems. Also changed default 3ds model path.


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1850 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 10:38:35 +00:00
muralha
2bcb053ac1 3D Model: Optimization and 3D models ready for moving parts. 
Clean up to the EasyStar and to all screenshots.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1849 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 10:26:38 +00:00
peabody124
aa50cf836b Ground/UAVControl: Throttle rate of messages when using GCS controller. Still 
too high.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1848 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 04:34:09 +00:00
peabody124
9165fb87b2 AHRS: Calibration values were sent but not locked into EKF 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1847 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 04:34:07 +00:00
peabody124
87a822e3f9 AHRS: Add back home location setting north axis 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1846 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 04:34:05 +00:00
andrew
5c4331fe32 added ccpm swashplate image for config gadget. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1845 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 03:55:41 +00:00
dankers
1833881404 Creat packaging folders for installer / package files. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1844 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 22:46:27 +00:00
edouard
aa18cb4ce1 New indicator for GCS: "Arm Status". Use the bargraph dial plugin and connect it to the "ManualControlCommand/Armed" object/field. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1843 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 12:47:17 +00:00
peabody124
5c9b5f4a99 AHRS: Get calibration working again 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1842 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 03:10:04 +00:00
peabody124
0c30101f54 AHRS: Made an object setting to allow the downsampling rate to be changed on the 
fly (EKF rate up to a limit).  Also, now the algorithm selects if you are
indoor or outdoor as well as if you use a mag indoor (if you do set the z
variance higher than it calibrates to).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1841 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 03:10:01 +00:00
peabody124
104dc165a9 AHRS: Max downsample that doesn't cause huge amounts of drops right now is 20 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1840 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 02:17:34 +00:00
peabody124
29b087703b Flight/AHRSComms: Decrease stack size, not needed to be that big. Also made 
ActuatorDesired dT in ms like the uavobject indicates

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1839 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 02:17:32 +00:00
peabody124
6d39d85b8f UAVObjects/AHRSStatus: Remove unused fields 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1838 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 02:17:29 +00:00
peabody124
2050864e59 UAVObjects/VTOLStatus: Remove unused object. Also added update time to 
indicate stabilization loop time.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1837 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 02:17:26 +00:00
peabody124
0fd9fda7a6 Flight/AHRS Comms: Whitespace fixes 
gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1836 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 02:17:22 +00:00
peabody124
ea3fb03c7f Flight/AHRS Communications: Switch to Les' very nice UAVObject communication 
scheme

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1835 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 02:17:18 +00:00
corvus
62300c9682 flight/Libraries/CoordinateConversion: ECEF2LLA() - Speed up the calculation with a primer coordinate. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1834 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 20:30:34 +00:00
peabody124
3854541798 Ground/UAVObjets: Add missing files for AHRSStatus2 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1833 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 20:28:16 +00:00
peabody124
2a93f35807 UAVObjects/MixerSettings: Have values as int8, don't need float resolution 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1832 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 20:28:14 +00:00
les
683aa2b480 AHRS: Tidied up calibration sequence 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1831 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 19:41:00 +00:00
les
b2d56ca34c AHRS: Added UAVObject based SPI communication between AHRS and OP. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1830 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 17:31:13 +00:00
les
498f3d0fa6 PIOS SPI: Added a function to detect if the channel is busy 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1829 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 16:52:20 +00:00
edouard
d2c1014e29 Re-enabled yaw stabilization after SystemSettings changed. There might be a lingering issue when the 
yaw angle crosses the zero-360 mark, beware.
You can disable yaw stabilization by setting all PID gains to zero for yaw.



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1828 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 16:26:43 +00:00
edouard
8161d25774 OP-138 Yaw mixing was inverted in the config gadget! This update works for me, with the quad layout in the gadget's picture. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1827 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 16:25:21 +00:00
edouard
b80d2ae4c5 OP-138 Support Max Accel in the matrix mixer from the config gadget. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1826 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 15:49:54 +00:00
peabody124
d54c6bf0f8 Flight/Actuator: Use dT in seconds. Forgot to change MaxAccel. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1825 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 14:37:03 +00:00
peabody124
0dfdad4fc4 Flight/Actuator: Reset critical alarm 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1824 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 14:09:14 +00:00
peabody124
c076a695ce UAVObjects/ActuatorSettings: Default values are all 1000 now so that an 
unconfigured motor can't turn on.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1823 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 13:45:26 +00:00
peabody124
4766e11882 Ground/GCSControl: Reenable joystick. SDL required. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1822 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 13:45:24 +00:00
peabody124
93a85e24a0 Ground/Joystick/Magicwaypoint: Fix initialization condition that led to crash 
when closing gadget and also center icon on click in magic waypoint.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1821 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 12:33:36 +00:00
peabody124
9f4e3906e3 Flight/Actuator: Made it use the detected dT for the feedforward computation 
and removed the unused field from actuator settings (old setting time and all
the aircraft specific stuff).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1820 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 12:33:33 +00:00
peabody124
2dc40d11a1 Flight/Stabilization: Use the system clock to determine time from previous 
update since now drive by events.  This means StabilizationSettings object
changing so write down your settings.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1819 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 12:33:29 +00:00
peabody124
4461aba6d6 Flight/Stabilization: Move to object event system. Latency from ahrs_comm 
update to actuator update now ~0.7 ms.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1818 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 12:33:26 +00:00
peabody124
b9943645e0 Flight/Actuator: Run actuator from queue again, latency well behaved. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1817 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 12:33:20 +00:00
edouard
b5eb89ed5e OP-138 Added Reset button for curves, and display of value when moving a curve point. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1816 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 08:40:46 +00:00
edouard
b385ce961e OP-138 Modify Mixer curve to use values from 0 to 1 instead of -1 to +1, since the actuator module in OP works in the 0-1 range. Comments welcome on this. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1815 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 07:28:12 +00:00