Werner Backes
4ede7a8af6
Experimental u-blox binary data format parser. See "u-blox 6
...
Receiver Description" for reference. Currently supports NAV-VELNED
message only and populates it to the GPSVelocity UAVObject.
2012-04-09 23:14:34 +02:00
Werner Backes
422944ce29
Experimental extension to the GPS stream parser to extract u-blox
...
binary data format. See "u-blox 6 Receiver Description" for
reference. GPS data stream may carry mixed NMEA and UBX data.
2012-04-09 23:12:24 +02:00
Brian Webb
7b49a6b820
Added watchdog to radio com bridge in PipXtreme.
2012-04-07 19:12:49 -07:00
Brian Webb
f4d886de75
Added support for determining when the radio->com link is between UAVTalk packets. This is required to inject UAVTalk messages into the message stream.
2012-04-07 18:17:57 -07:00
Brian Webb
0f9f897870
Added PPM packet to packet handler, created replacement system module for PipXtreme (PipXtreme module), removed all UAVObjects from PipXtreme, and added parsing of incoming (over USB/COM) UAVTalk stream.
2012-04-07 18:17:32 -07:00
James Cotton
414e62f14e
Revert "Disable baro updates into INSGPS for now. Seems to cause issues."
...
This reverts commit 04591309770679e7b01c53a6cb54cac1c043f8b6.
2012-04-07 00:58:36 -05:00
James Cotton
fcb9193d25
Disable baro updates into INSGPS for now. Seems to cause issues.
2012-04-07 00:58:36 -05:00
James Cotton
aa6c8a451d
Shrink some stack sizes
2012-04-07 00:58:36 -05:00
James Cotton
81fcfd45c4
Some work on the code to initialize the INSGPS and allow setting the variance
...
of the baro
2012-04-07 00:37:42 -05:00
Brian Webb
56a2006fd8
Reconfigured to run on the real PipX board.
2012-04-06 18:44:31 -07:00
Brian Webb
bc1adb2519
Some cleanup of rfm22 driver.
2012-04-06 17:36:35 -07:00
James Cotton
345b6578b1
Fix a possible race condition for complimentary filter on L3GD20 attitude
...
estimation where the accel queue wouldn't immediately have data available.
Added 1 ms timeout on queue.
2012-04-06 13:59:12 -05:00
James Cotton
e60c70251f
Slow down update rate for the altitude hold smoothed EKF
2012-04-06 13:58:46 -05:00
James Cotton
ea13536da0
Take quidance settings from simulation and make the INSGPS pick up the GPS
...
noise from a setting.
2012-04-06 12:59:49 -05:00
Brian Webb
fff93910e2
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-05 20:24:50 -07:00
James Cotton
3071f77d59
Add Baro offset to the simulation
2012-04-03 10:58:48 -05:00
James Cotton
c988685293
Simulate GPS noise drift
2012-04-03 09:17:55 -05:00
James Cotton
5d0e513678
Fix small deg/rad issue in generating gps data
2012-04-03 09:17:55 -05:00
James Cotton
df6bc4deff
Enable guidance on simulation and add wind model
2012-04-03 09:16:31 -05:00
James Cotton
ca535c2632
Fix bugs in simulated sensor data. Now works well with INSGPS.
2012-04-03 09:16:31 -05:00
James Cotton
84040d25b4
Add attitudesimulated object to capture the simulated state
2012-04-03 09:16:30 -05:00
James Cotton
6df9691609
Bring back the original module files and remove comments from FreeRTOS
...
debugging
2012-04-03 09:16:30 -05:00
James Cotton
543500ed78
Improve the simulated sensors to produce (I think) consistent data now
2012-04-03 09:16:30 -05:00
James Cotton
fbd8695d7d
Check in WIP for osx simulation
2012-04-03 09:16:30 -05:00
James Cotton
28cab678ce
Simulate a more complete QC model.
2012-04-03 09:16:28 -05:00
James Cotton
f1aa3b658e
Add a new sensor simulation mode that essentially has a gyro rate that is rate
...
desired and the accel based on the current attitude.
2012-04-03 09:16:28 -05:00
James Cotton
6adc74f6f9
Check in the fake sensor data module
2012-04-03 09:16:27 -05:00
James Cotton
e97c1bc016
Include the module include file before any uavo ones
2012-04-03 09:16:27 -05:00
James Cotton
cfd92de87a
Add explicit casts in manualcontrol to avoid compiler warnings/errors
2012-04-03 09:16:24 -05:00
James Cotton
5827e3f565
Add box around logo path
2012-04-03 03:42:37 -05:00
James Cotton
bfb0c6935e
Make pathplanner use callbacks on the waypoints and their index to pick up
...
changes from the GCS while flying
2012-04-03 03:42:37 -05:00
James Cotton
c26cceb47b
If the waypoint index is changed then update teh position desired. This should
...
probably be done with change callbacks because currently changing the waypoints
themselves doesn't update position desired.
2012-04-03 03:42:36 -05:00
James Cotton
6d1c36680f
Scale the max velocity as a magnitude on teh vector instead of independently on
...
each direction
2012-04-03 03:42:36 -05:00
James Cotton
5b3cc4876e
In simulations a higher GPS noise is required for the INS
2012-04-03 03:42:35 -05:00
James Cotton
32f76db8ae
Only update position desired when you change waypoints active
2012-04-03 03:42:35 -05:00
James Cotton
ba1ade33cb
Get navigation working and program hardcoded flight path
2012-04-03 03:42:34 -05:00
James Cotton
62117430cf
Flip the sign of throttle in the guidance altitude control
2012-04-03 03:42:34 -05:00
James Cotton
7f226867c6
Some bug fixes for revo attitude estimation.
2012-04-03 03:42:33 -05:00
James Cotton
d4488512c0
Add RTH waypoint action
2012-04-03 03:42:33 -05:00
James Cotton
3eac69e953
Create stub for waypoint navigation
2012-04-03 03:42:32 -05:00
James Cotton
af9f36d7df
Improve the attitude initialization for all of the modes
2012-04-03 03:42:32 -05:00
James Cotton
3888d6ff69
Changed settings that makes updates smoother
2012-04-03 03:42:31 -05:00
James Cotton
319b53a342
Make sure full initialization routine for INSGPS occurs each time it is
...
restarted.
2012-04-03 03:42:31 -05:00
James Cotton
372f959c37
Refine some stack sizes
2012-04-03 03:42:30 -05:00
James Cotton
54880c83a0
Fix some task sizes and the memory limits
2012-04-03 03:42:30 -05:00
James Cotton
a83fb019f6
When in complimentary filter mode pass the GPS information straight
...
through to Position Actual
2012-04-03 03:42:29 -05:00
James Cotton
98b1a21921
Fixup: Shouldn't update gps until home location is set
2012-04-03 03:42:29 -05:00
James Cotton
7a3ec3e173
Some code cleanup to get rid of some warning messages
2012-04-03 03:42:29 -05:00
James Cotton
23625904c5
Remove the now unused ECEF and Rne fields from HomeLocation. Also reenable
...
calculation of the WMM and HomeLocation from the GPS code for revolution.
2012-04-03 03:42:28 -05:00
James Cotton
71d0180d45
Use the sensor variances from object
2012-04-03 03:42:28 -05:00
James Cotton
ce2d1f94f6
Better hardcoded constants for INS variances
2012-04-03 03:42:27 -05:00
James Cotton
de7fc81795
Fixes to the GPS LLA to NED translation
2012-04-03 03:42:27 -05:00
James Cotton
e32ab9342c
Shuffle some stack sizes around
2012-04-03 03:42:26 -05:00
James Cotton
4cadb7ec0e
Forgot to initialize revo settings object
2012-04-03 03:42:26 -05:00
James Cotton
337d5b7079
Enable guidance in revo. Update manual control to set the position desired
...
when the switch is flipped.
2012-04-03 03:42:25 -05:00
James Cotton
0eedaa1250
Change how we convert LLA to NED. Now it is done with a taylor expansion
...
around the home LLA coordinate to avoid the conversion into ECEF coordinates.
This has the benefit of not requiring double precision math and uses less
operations.
Now we should remove the Rne and ECEF fields from HomeLocation as they are
unused
2012-04-03 03:42:25 -05:00
James Cotton
e8cc7748af
Clean up some unused variables in attitude code
2012-04-03 03:42:24 -05:00
James Cotton
a9aa6b696b
Add object for setting the fusion algorithm
2012-04-03 03:42:24 -05:00
James Cotton
1911c7360d
New NEDPosition object which is the transformed GPS location
2012-04-03 03:42:24 -05:00
James Cotton
e3c36ac99a
Change requires for GSP updated to be set to true (wrong sign on PDOP check)
2012-04-03 03:42:23 -05:00
James Cotton
9e4651ab80
INS working on Revo
2012-04-03 03:42:22 -05:00
James Cotton
96edea9d4b
Some fixes to GPS parsing
2012-04-03 03:42:21 -05:00
James Cotton
55ee568fe2
Work on the INS algorithm
2012-04-03 03:42:21 -05:00
James Cotton
8c8224c122
Use a bigger event queue for overo logging to avoid event system warnings, and
...
add code to shortcircuit formatting a packet if it will not fit.
2012-04-03 03:42:19 -05:00
James Cotton
e82323af32
Make revolution work with the FreeRTOS queue based MPU6000 driver
2012-04-03 03:41:52 -05:00
James Cotton
3346e848e0
Attitude error timeout was 2 ms when sensors at 500 Hz. Caused lots of errors
...
and overwhelmed event system.
2012-04-03 02:07:04 -05:00
James Cotton
8032130769
Slow down gyro a bit on CC to give the CPU some breathing room. Might need to
...
come down more.
2012-04-03 02:07:03 -05:00
James Cotton
a960f3d07e
Switch the MPU6000 driver to using a FreeRTOS queue. Need to update Revo code
...
to take advantage of this.
2012-04-03 02:07:03 -05:00
James Cotton
1415728762
Get the MPU6000 CC3D working. Right now the ADC system is commented out, which
...
will break regular CC.
2012-04-03 02:07:03 -05:00
James Cotton
a0b7453580
Make the firmwareIAP variable not a global
2012-04-03 02:07:03 -05:00
Brian Webb
df0a1c2ac1
Upgraded Brian-Metadata-Mods to current next.
2012-04-01 12:25:13 -07:00
Corvus Corax
0742c88a98
enabled optional rtation of Revolution board
2012-03-26 05:25:52 +02:00
Corvus Corax
d32dd0ccd4
Fixed fmod() versus fmodf() usage in flight/...
2012-03-26 04:16:54 +02:00
Brian Webb
1669f00456
Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2
2012-03-24 15:21:16 -07:00
James Cotton
c7ff2a46c7
Merge remote-tracking branch 'origin/laurent/modelview' into revolution
...
Conflicts:
flight/CopterControl/Makefile
ground/openpilotgcs/src/plugins/config/config.pro
ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
2012-03-22 02:58:24 -05:00
James Cotton
2f8049e20a
Update the bootloader hw version for the mpu6000 board and make the sensor code
...
and initialization respond appropriately. Enable hte L3GD20 and BMA180.
Let the board type determine which is used.
2012-03-22 00:41:37 -05:00
James Cotton
6350ec575e
Merge remote-tracking branch 'origin/os/features/stick-deadband-next' into next
...
Conflicts:
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
2012-03-21 16:03:40 -05:00
James Cotton
a77a859e5c
Using some config switches to get this board up and running
2012-03-21 00:48:31 -05:00
James Cotton
6b88a278b3
Disable overosync by default. It was triggering event system warnings due to
...
the extra updates from altholdsmoothed. Increase queue size when reenabled.
Also AltHold is is trigger warnings because other tasks starve it during
startup.
2012-03-21 00:29:09 -05:00
James Cotton
f4663b98e4
When the event system or object manager has an error store the object ID in the
...
SystemStats.
2012-03-20 23:18:07 -05:00
Brian Webb
823b111d60
Added Reed-Solomon error correction to PipXtreme. The code is a slight modification of rsscode ( http://rscode.sourceforge.net ). Packet acking has also been turned on as the default, so each packet is error corrected, and if errors remain, the packet is NACKed, otherwise it is ACKed. Also temporarily turned off UAVTalk parsing. This was causing the CC to be identified as a PipX due to the PipX sending UAVObjects (I believe) from the system module. The system module is going to have to be modified/replaced for the PipX.
2012-03-18 17:43:29 -07:00
Brian Webb
aba3789d87
Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into Brian-Metadata-Mods
2012-03-18 13:28:11 -07:00
Brian Webb
b34b849453
Added start at a modified PipX packet handler.
2012-03-15 19:29:54 -07:00
James Cotton
0d42303d37
Fix some compilation errors/warnings in attitude.c
2012-03-11 16:30:18 -05:00
James Cotton
820ca6a970
Initialize loop variable OUTSIDE loop so that baro is used still for altitude
...
hold.
2012-03-10 11:28:51 -06:00
James Cotton
f4705551b6
Update task info to cover the AltitudeHold module
2012-03-10 11:14:30 -06:00
Dmitry Zaitsev
d45e88515b
firmware: disable Attitude module in simulation
...
this part should be rewritten to completely disable the polling of sensors.
i just do not know how to do it correctly.
2012-03-10 06:02:23 +04:00
Brian Webb
d73895de7d
Working PipX com relay.
2012-03-07 18:05:42 -07:00
Brian Webb
444150269a
Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into PipXtreme
2012-03-05 18:22:08 -07:00
James Cotton
61d59828dc
Disable the new features if not revolution and set an error flag. Fixes
...
compilation errors.
2012-03-05 00:24:11 -06:00
James Cotton
7961aba83c
Clean up a few more compiler warnings
...
Conflicts:
flight/PiOS/Common/pios_ms5611.c
2012-03-03 13:32:56 -06:00
James Cotton
91a226fc12
Sometimes the mag stops updating so kickstart it
2012-03-03 13:31:46 -06:00
James Cotton
bc8b72623e
Get rid of some unused variables
2012-03-03 11:54:09 -06:00
James Cotton
e3df261213
Merge branch 'stac/revo-usb' into revolution
...
Conflicts:
flight/Revolution/System/pios_board.c
2012-03-02 13:00:13 -06:00
Brian Webb
e2cb750dc6
First cut on RadioComBridge module, which is intended to pass data from either a USART or a USB port to the PipX radio link.
2012-02-25 07:37:05 -07:00
Oleg Semyonov
2271b95816
Merge remote branch 'origin/next' into os/features/stick-deadband-next
...
Conflicts:
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
ground/openpilotgcs/src/plugins/config/configtaskwidget.h
2012-02-23 08:32:27 +02:00
Oleg Semyonov
e62cc8914c
Merge remote branch 'origin/next' into os/features/pid-tuning-from-transmitter-next
...
Conflicts:
flight/CopterControl/Makefile
ground/openpilotgcs/src/plugins/config/config.pro
ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
shared/uavobjectdefinition/hwsettings.xml
2012-02-22 23:03:17 +02:00
Oleg Semyonov
403e9cd220
TxPID module: add ILimit values to the list of settings
2012-02-21 19:57:10 +02:00
James Cotton
7b548eaa54
Fix bug in the integral for altitude hold where it was accumulating wrong variable.
2012-02-21 00:40:55 -06:00
Brian Webb
43f6458f86
Reduced the sizeof the UAVObject metadata by:
...
1) Combining all binary or mode values into a single byte
2) Adding accessor functions to read/write the flag bits
3) Reduced the size of the time values from 32 bits to 16 bits
2012-02-20 18:45:18 -07:00
James Cotton
900780e10c
Add bias estimation to the altitude fusion algorithm. Necessary to increase
...
the gains on acceleration and velocity feedback terms (they are a problem when
biased).
2012-02-19 11:38:09 -06:00
James Cotton
47fac7e31c
Move the throttle setting code for alt hold into the fast accel loop.
2012-02-18 18:16:15 -06:00
Oleg Semyonov
c721d001c0
Subtract deadband offset from then input to still have fine control
2012-02-18 10:21:51 +02:00
James Cotton
7d4582e5f0
Update the altitude KF to use the updated measurements appropriately and check
...
in the relevant matlab code to check it and genererate it. Produces quite
smooth traces.
2012-02-16 05:33:47 -06:00
James Cotton
c957172f8f
In the case of swapping in userspace due to the buffer being blocked during
...
ISR, make sure the latency is less than 50 us to avoid framesync errors. Still
seeing a few nonsense packets on Overo side but fairly few. Probably need to
add CRC to whole packet now and call it done.
2012-02-14 11:06:16 -06:00
James Cotton
1930d092eb
In the case where the overo scheduler cannot swap buffers (userspace loading
...
it) then set a flag so as soon as the buffer is loaded then we schedule it.
2012-02-14 11:00:29 -06:00
James Cotton
f04c58b0f4
Make the overo transaction occur based on the rising edge of the NSS line.
...
This fixes most of the frame sync problems. However, it's a bit hacky as
there is currently hardware information inside a module.
2012-02-14 10:37:30 -06:00
James Cotton
d018d93e88
Clean up previous commit a bit and make the sampling rate a variable (and adapt
...
the sampling time accordingly).
2012-02-13 01:49:54 -06:00
James Cotton
3acbfbe96c
Convert the pressure sensor code to most of the calculations as int64 to retain
...
precision.
2012-02-13 01:22:48 -06:00
James Cotton
f23f53dc4e
Add settings for the altitude kalman filter settings and init the state when
...
first measurement arrives
2012-02-12 09:07:27 -06:00
James Cotton
34ca5777dd
Kalman filter for altitude
2012-02-11 21:08:19 -06:00
James Cotton
d8f0494e57
Merge branch 'revolution' into revolution_overo
2012-02-11 20:02:20 -06:00
James Cotton
3026527801
Now the desired altitude is relative to when the switch was flipped so that the
...
baro altitude module can use a smoothed altitude estimate for the starting
point.
2012-02-08 23:02:29 -06:00
James Cotton
80d602ef7b
Switch order of some commands to make sure it loads the correct hover throttle
2012-02-08 20:47:10 -06:00
James Cotton
ab41bae071
Separately smooth the error estimate from the derivative
2012-02-08 11:15:33 -06:00
James Cotton
60c951843d
Use backtracking to limit integral in altitude hold and smooth the velocity
...
error. Initialize the throttle integral better.
2012-02-08 10:39:31 -06:00
James Cotton
c6b1d6b8df
Rework the altitude hold code a bit
2012-02-08 09:42:10 -06:00
James Cotton
49a03a868b
Merge branch 'altitudehold' into revolution_overo
...
Conflicts:
flight/OpenPilot/UAVObjects.inc
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
flight/Revolution/Makefile
flight/Revolution/ins.c
2012-02-07 23:00:29 -06:00
James Cotton
6ec0f06c80
Back to 1024 byte packets
2012-02-07 13:02:11 -06:00
James Cotton
2c60447200
Switch back to 512 byte packets and fix bug when writing the header size that
...
was smashing the crc
2012-02-07 11:32:04 -06:00
James Cotton
221a0c5e53
Add the number of dropped updates to the overosync stats
2012-02-07 09:13:26 -06:00
James Cotton
a89d425b23
Reset the received rate for overo sync object
2012-02-07 09:01:58 -06:00
James Cotton
02bec750bd
In the attitude loop need to check all the queues even if unused or the event
...
system will have warnings
2012-02-07 08:46:34 -06:00
Stacey Sheldon
e2939dae2a
revo usb: Add support for USB to Revo
2012-02-07 02:25:31 -05:00
James Cotton
ae01936808
Add the portTickTime into the OveroSync stream
2012-02-06 10:00:02 -06:00
James Cotton
dbcb499d7f
Add object to monitor the overo link status. Current just records the bytes/s
...
being sent and the connected status (based on sending more than 500 bytes per
second)
2012-02-06 09:37:31 -06:00
James Cotton
5b2376dbee
Remove the semaphore for buffer swapping and make this occur during the receive
...
ISR. This leads to a possible condition where a copy is taking place in
userspace and then a buffer swap interrupts it. However, the copy should
always finish before the SPI DMA slave catches up to that place in memory at 10
MHz.
This fixes a common condition where the userspace task (low priority) was not
swapping buffers in time from user space and logs were corrupted.
2012-02-06 08:21:24 -06:00
James Cotton
179e66b754
Refactor how new packets are scheduled to avoid trying to start a transaction
...
from an ISR. This was causing lock ups. It's a bit higher latency probably
(trivially slow) but if we aren't keeping up with the Overo transactions then
using a proper DMA double buffer will be required.
2012-02-04 20:11:31 -06:00
James Cotton
665801662d
In cc3d update sensors add accelbias before scaling to allow more precision in
...
levelinIn cc3d update sensors add accelbias before scaling to allow more
precision in levelingg
2012-02-04 12:12:41 -06:00
James Cotton
4e190f99e2
Improved the revo overosync code to put multiple uavobjects into a packet
2012-02-04 12:06:03 -06:00
James Cotton
c26154f303
Switch back to 256 byte packets and 0xFF pad the end
2012-02-02 11:40:49 -06:00
James Cotton
8b1137c6a0
Align the tx and rx SPI buffers from Overosync
2012-02-02 11:23:40 -06:00
James Cotton
0a71a48c57
Sending all FF finally again
2012-02-02 10:36:09 -06:00
James Cotton
95abb56d5e
Added module to send updates out the SPI port
2012-02-02 09:19:25 -06:00
James Cotton
a778c45d6f
For L3GD20 sensor task run at the sensor speed
2012-01-28 10:11:30 -06:00
James Cotton
13447ac907
Fix the MPU6000 implementation
2012-01-28 00:21:58 -06:00
James Cotton
b4435d0b35
For L3GD20 sensor task on revo update gyro once per physical sample
2012-01-26 23:29:12 -06:00
James Cotton
84dd1dbc40
A bit more lenient settings for CC sensor timings
2012-01-26 13:00:06 -06:00
James Cotton
727f0befc5
Make the gyro go a bit more regularly to stabilization but needs updating
...
regular CC
2012-01-25 22:50:19 -06:00
James Cotton
e4df3202e0
L3GD20: Update sensor task for revo to use the new queue
2012-01-25 22:50:19 -06:00
James Cotton
205aabe895
L3GD20: Make this sensor push data onto a FreeRTOS queue so that the sensor
...
reading task can block according. Also now the gyro data is sent to
stabilization multiple times per update of the attitude loop.
2012-01-25 01:20:07 -06:00
James Cotton
1971ba30dc
No longer hardcode baudrate
2012-01-24 23:42:43 -06:00
James Cotton
104c091590
Correct the range constants for the L3GD20 driver
2012-01-24 19:48:14 -06:00
James Cotton
a25d52785b
Change the bus speed for the L3GD20 to 10MHz and some small cleanups
2012-01-24 19:17:49 -06:00
James Cotton
b6c056fef2
Use the updated L3GD20 format and make attitude.c use the gyro data from the
...
fifo
2012-01-24 15:52:17 -06:00
James Cotton
5efbfb02fa
Make the BMA180 sensor system acquire from the queue. Correct the orientation
...
and speed it up to 10 MHz communications.
2012-01-24 15:09:20 -06:00
James Cotton
8c208412c9
Give the BMA180 a dynamically allocated device structure and also make it
...
properly bind to a SPI and slave number. Temporarily reducing spi bus to
slowest possible speed.
2012-01-24 14:38:00 -06:00
James Cotton
8e79bc2ee2
Temporarily refactor attitude to directly read the sensors instead of pull from
...
their queues until the interrupts are working properly
2012-01-24 11:54:23 -06:00
James Cotton
e9552065a9
Reenable the CC3D sensors
2012-01-24 11:03:33 -06:00
James Cotton
c242ab8b86
Merge branch 'next' into revolution3
...
Conflicts:
flight/AHRS/ahrs.c
flight/AHRS/pios_board.c
flight/Bootloaders/Revolution/Makefile
flight/CopterControl/System/pios_board.c
flight/INS/pios_board.c
flight/OpenPilot/Makefile
flight/OpenPilot/System/openpilot.c
flight/OpenPilot/System/pios_board.c
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
flight/PiOS/Boards/STM32F4xx_Revolution.h
flight/Revolution/Makefile
flight/Revolution/System/inc/pios_config.h
flight/Revolution/test.c
2012-01-24 10:46:35 -06:00
James Cotton
486cdb5dbb
Got CC running again although with altitude and bmp085 disabled as well as the
...
CC3D drivers.
2012-01-24 10:32:42 -06:00
James Cotton
4d3af7afbf
Add ID test to ADXL345
2012-01-24 09:23:12 -06:00
James Cotton
728c05f973
Crude implementation of sensor reading for CC3D
2012-01-24 09:23:12 -06:00
James Cotton
11471ff68b
Update drivers for CC to the new EXTI system and SPI calls
2012-01-24 09:23:12 -06:00
James Cotton
a20d654744
Update the attitude algorithm for CC to use the Gyros and Accels UAVObjects
...
instead of AttitudeRaw
2012-01-24 09:23:12 -06:00
James Cotton
d864b481a1
Fix a few more merge conflicts
2012-01-23 04:47:35 -06:00
Stacey Sheldon
6bb4f0c61d
leds: use boot-time config for PiOS LED layer
...
LEDs are now configured based on a board-specific initialization
in PIOS_BOARD_Init().
LEDs are now named:
PIOS_LED_HEARTBEAT
PIOS_LED_ALARM
2012-01-22 18:22:59 -05:00
James Cotton
bb0bfe0ae4
Merge branch 'next' into revolution3
...
Conflicts:
flight/Bootloaders/CopterControl/Makefile
flight/Bootloaders/PipXtreme/Makefile
flight/Bootloaders/Revolution/inc/pios_config.h
flight/CopterControl/Makefile
flight/INS/inc/pios_config.h
flight/Libraries/taskmonitor.c
flight/Modules/Altitude/altitude.c
flight/Modules/Attitude/attitude.c
flight/OpenPilot/Makefile
flight/OpenPilot/Makefile.posix
flight/OpenPilot/System/inc/pios_usb_board_data.h
flight/OpenPilot/System/inc/taskmonitor.h
flight/OpenPilot/System/pios_board.c
flight/OpenPilot/System/taskmonitor.c
flight/PiOS/Boards/STM32F4xx_Revolution.h
flight/PiOS/STM32F4xx/pios_bmp085.c
flight/PiOS/STM32F4xx/pios_iap.c
flight/PiOS/pios.h
flight/Revolution/System/inc/pios_config.h
flight/Revolution/System/inc/taskmonitor.h
flight/Revolution/System/taskmonitor.c
ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp
shared/uavobjectdefinition/systemalarms.xml
shared/uavobjectdefinition/taskinfo.xml
2012-01-21 11:27:03 -06:00
James Cotton
f8e59443b8
If the BMA180 isn't read when an IRQ fires (because the flash chip has claimed
...
the bus) then it won't fire another interrupt until read. For now this is
dealt with in the sensor loop by forcing a read when the fifo is empty.
2012-01-21 10:13:46 -06:00
James Cotton
6d72678086
Add timeout in the sensor task for reading sensors to stop the watchdog firing.
...
All sensors should later be converted to use FreeRTOS queues.
2012-01-21 08:32:41 -06:00
Stacey Sheldon
64202ce092
Merge remote-tracking branch 'origin/stac/i2c_decoupling' into next
2012-01-17 22:35:36 -05:00
Stacey Sheldon
ad141c908a
Merge remote-tracking branch 'origin/stac/usb-composite-device-v2' into next
2012-01-17 22:26:38 -05:00
James Cotton
ce2d0fcbb1
L3GD20 data now running through IRQ -> FIFO
2012-01-17 19:36:32 -06:00
James Cotton
35025303cd
Getting data from gyro.
2012-01-17 19:29:38 -06:00
Stacey Sheldon
b05697c2cf
taskinfo: ensure usage of TaskInfo uavo is covered by DIAG_TASKS
...
OpenPilot platform (and thus sim too) was missed when the
DIAG_TASKS macro was broken out from the DIAGNOSTICS macro.
This allowed accesses to the TaskInfo UAVO even though it hadn't
been initialized.
2012-01-15 18:16:50 -05:00
Stacey Sheldon
0575b45378
usb: make USB usage depend on PiOS config
...
USB is not supported on sim platforms. Let PiOS
config determine when we use it.
2012-01-15 18:16:49 -05:00
Stacey Sheldon
c97b108a1f
bootfault: make IAP usage depend on PiOS config
...
The sim platforms don't support an IAP mechanism. Let
PiOS config control when we try to use it.
2012-01-15 18:16:49 -05:00
Oleg Semyonov
912bea559f
Add stick deadband option for Roll/Pitch/Yaw inputs to firmware
2012-01-15 21:13:22 +02:00
Stacey Sheldon
27ceb7ea92
modules: Allow optional modules to be used as built-in
...
Some modules are written such that they can be included
or excluded at runtime. These are added to the OPTMODULES
list in the makefile for a given board.
This change provides a mechanism to allow a build to force
a given module to be built-in (ie. always initialized)
regardless of the configuration in hwsettings.
The main use case for this is to handle a module being optional
on one platform but essential on another.
All modules added to the MODULES list in the Makefile will
automatically result in a matching #define in the form
MODULE_TheModuleName_BUILTIN
being defined in the CFLAGS for all compiled source.
Note that the capitalization of TheModuleName must match
exactly the capitalization used in the MODULES list.
2012-01-14 16:55:55 -05:00
Stacey Sheldon
53e9ef06b4
altitude: add optional altitude module
2012-01-14 15:38:56 -05:00
Stacey Sheldon
717c1311e6
altitude: allow altitude to be an optional module
2012-01-14 15:38:56 -05:00
Stacey Sheldon
4cb0c41338
bmp085: only use eoc and drdy gpios when available
...
When the bmp085 chip is on an external board, we don't
have access to the eoc and drdy gpio lines. Only use
them when available.
2012-01-14 15:38:56 -05:00
James Cotton
cc47520baa
Checking ID on ST gyro works
2012-01-04 23:23:42 -06:00
James Cotton
0fbcf7723d
Code to disable all gyros. All modules now running.
2012-01-04 22:37:15 -06:00
James Cotton
5ee9c8008e
Temporarily swap serial ports while debugging
2012-01-04 22:19:13 -06:00
James Cotton
0cc18e7dcf
Add files for new L3DG20 sensor
2012-01-04 20:33:54 -06:00
James Cotton
d2ce7761c5
Add derivative term
2012-01-03 12:37:18 -06:00
Stacey Sheldon
025ed0f43c
Merge remote-tracking branch 'origin/stac/usb-composite-device-v2' into next
...
Conflicts:
HISTORY.txt
2012-01-03 00:02:45 -05:00
Stacey Sheldon
8d8715c8c1
copyright: add/correct GPL + copyright boilerplate
...
I missed some of the boilerplate text on some of the
new files I've added recently. Fixed.
2012-01-02 23:28:53 -05:00
Stacey Sheldon
b94f4b49a4
usb: major refactoring of USB descriptors, CDC and HID
...
Summary of changes:
* USB CDC and HID drivers are completely split apart.
* This will allow different max buffer sizes for HID and CDC.
* USB descriptors have been overhauled:
* Proper structs/macros/enums declared for USB (see pios_usb_defs.h)
* Two common descriptor definitions. One for HID+CDC another for HID only.
See pios_usb_desc_{hid_cdc,hid_only}.c for details.
* Long standing bugs in OP USB descriptors became much more obvious with the
new struct definitions.
* Board specific USB initialization is now in pios_usb_board_data.h in each build target.
* Definition of USB descriptors is now entirely indpendent of STM32 libs.
Glue into STM32 libs is provided by pios_usbhook.c.
* Removed a lot of stale/irrelevant USB #defines throughout the tree.
* Improved naming consistency throughout USB code:
* PIOS_USB_HID_* now refers to the HID endpoint code.
* PIOS_USB_CDC_* now refers to the CDC endpoint code.
* PIOS_USB_* now refers to the low-level USB code.
* PIOS_USB_BOARD_* now refers to board-specific USB data
* PIOS_USBHOOK_* is glue between PIOS and STM32 USB libs.
* struct usb_* and enum usb_* and USB_* and HID_* are all types from the USB spec.
* Shrunk the buffer size on the CDC call mgmt endpoint to save some RAM.
* Made a few more USB related variables static to save some RAM.
2012-01-02 14:27:06 -05:00
Oleg Semyonov
77a459af5c
Merge remote branch 'origin/next' into os/TxPID-module
2012-01-02 14:49:54 +02:00
Oleg Semyonov
b01e332e03
CameraStab: rename UAVO field
2012-01-02 14:27:05 +02:00
Oleg Semyonov
65abb8f819
CameraStab: small optimization, freed 8 more heap bytes
2012-01-02 14:27:00 +02:00
Oleg Semyonov
406cff296d
CameraStab: bypass LPF calculation if ResponseTime is zero
2012-01-02 14:26:58 +02:00
Oleg Semyonov
e11904c42f
CameraStab: change ResponseTime type from float to int16
2012-01-02 14:26:56 +02:00
Oleg Semyonov
2eb5130a7c
CameraStab: new camera stabilization mode and low-pass stick input filtering
...
This patch is based on work of Crubier (LPF) and Cossacs (AxisLock mode).
I've just reworked it a bit by adding a dynamic memory allocation for
static module data.
2012-01-02 14:26:54 +02:00
James Cotton
ef05cafaca
Merge branch 'revolution' into altitudehold
...
Conflicts:
flight/Libraries/insgps13state.c
flight/OpenPilot/Makefile
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
2012-01-01 10:50:35 -06:00
Stacey Sheldon
5c0921e92c
fault: add optional fault insertion module
...
This module and its associated settings uavo can be used
to test various fault conditions during initialization.
To enable the module, add the TEST_FAULTS=YES to your make
command line:
make fw_coptercontrol TEST_FAULTS=YES
Once this module is part of your firmware load, you can
enable it in the hwsettings uavo and then select the
type of fault to insert by editing the faultsettings uavo.
On the next reset, the configured fault will be inserted
into the init sequence to allow you to test the boot fault
recovery code.
With a fault inserted, you should see 3 failed boot attempts
followed by a successful (recovery) boot. You will see the
BootFault alarm set to Critical, and the RAM version of your
hwsettings will be reset to defaults. Since the defaults have
all optional modules disabled, the fault module will be out of
the way during the recovery boot.
You can then "Load" the flash version of the hwsettings uavo
in the object browser, disable the Fault module and then "Save"
the hwsettings module back to the board. The next reset will
boot normally without the fault inserted.
2011-12-30 23:05:39 -05:00
Stacey Sheldon
f886af186d
bootfault: add support for recovery from init failures
...
After 3 failed warm start attempts, the init sequence
will force the RAM version of the HWSettings object
to its defaults. This should allow a user to regain
connectivity to a board that is continually faulting
during init.
This is accomplished by:
- Incrementing a boot counter that is stored in the
STM32 BKP registers. These registers survive a
warm start but are cleared on a cold start (ie. powerup).
- On multiple failures, force hwsettings to defaults
and raise the (new) BootFault alarm to prevent arming.
- Resetting the boot counter whenever the system manages
to successfully run the System Module task.
NOTE: This does not actually change the hwsettings object in
flash. That's up to the user.
This is intended to catch ONLY faults during early initialization.
It should not be used to recover from faults after the application
is up and running.
2011-12-30 23:05:38 -05:00
Stacey Sheldon
1543a6dbd3
hwsettings: allow disabling of USB telemetry entirely
...
The GCS hwsettings config widget now disallows any
configuration that disables both HID and VCP telemetry
over the USB port.
The firmware will allow it if the UAVObj is set manually.
This allows a mechanism to reduce RAM usage by another
500 more bytes if USB telemetry can be sacrificed in
certain configurations.
2011-12-30 23:05:38 -05:00
Stacey Sheldon
7c03875013
diag-tasks: make taskinfo diagnostics a separate enable
...
This allows task stack analysis without turning on all
of the other diagnostics.
2011-12-30 23:05:37 -05:00
Stacey Sheldon
ab135aa00b
com-bridge: Make com-bridge an optional (and configurable) module
2011-12-30 23:05:36 -05:00
Stacey Sheldon
785a7ccd88
uavtalk: convert tx to use blocking send routines
...
The uavtalk layer was previously implementing a poor
version of packet fragmentation based on a hard-coded
max packet size. Since this was hard-coded, there was
no guarantee that it would match the underlying devices.
Now that the COM layer sending routines support fragmentation,
remove fragmentation and use the COM layer directly.
This will support future buffer size reductions in the COM
layer.
2011-12-30 23:05:36 -05:00
Stacey Sheldon
a68f5a4fc9
com-bridge: detect lost characters on transmit
2011-12-30 23:05:36 -05:00
Stacey Sheldon
64f498e48a
com-bridge: add usart to usb vcp bridge
2011-12-30 23:05:34 -05:00
Stacey Sheldon
eebdda6276
usb cdc: make HID/CDC configurable in hwsettings
2011-12-30 23:05:34 -05:00
Stacey Sheldon
617a30c07c
usb cdc: attach telemetry to CDC rather than HID
2011-12-30 23:05:34 -05:00
Stacey Sheldon
c0259dc616
usb cdc: USB composite device with HID + VCP
2011-12-30 23:05:33 -05:00
James Cotton
25dfb5463e
Add option to switch to using the MPU6000 accel instead of BMA180. Disabled by
...
default.
2011-12-29 02:08:13 -06:00
James Cotton
bf98630851
Add streaming the sensor data out of the serial port
2011-12-26 17:52:45 -06:00
James Cotton
9bf06bbd3e
Force the loading of the sensor gains and biases at the beginning
2011-12-24 16:14:28 -06:00
James Cotton
1092ac3184
Use the scale and bias terms for hte mag and accel
2011-12-24 15:58:12 -06:00
James Cotton
5d4da2213f
Accidentally used floating point when parsing NEMA. Lost resolution on
...
position.
2011-12-24 10:37:30 -06:00
Oleg Semyonov
7fbbb0e6af
Merge remote branch 'origin/next' into os/TxPID-module
2011-12-24 15:44:16 +02:00
Oleg Semyonov
495a8f2836
TxPID: initialize the AccessoryDesired object before use its handle
...
Also save few bytes of static RAM and add PIOS_Assert(0) for unhandled cases.
2011-12-24 15:37:14 +02:00
James Cotton
0b00e748a9
OP-565: Added the ability to do a trim flight to compute the accels for level flight
2011-12-21 15:25:00 -06:00
James Cotton
dd89d232ba
Add a magnetometer bias term although currently hardcoded to my board
2011-12-15 00:57:19 -06:00
James Cotton
0432dd450e
Enable the mag to be used in the complimentary filter to stabilize the yaw
...
direction
2011-12-15 00:56:50 -06:00
James Cotton
2240ad924a
Fix the orientation of the magnetometer
2011-12-15 00:46:43 -06:00
James Cotton
43ed6cd89c
Need to initialize the HomeLocation object
2011-12-14 14:08:03 -06:00
James Cotton
9148bb2c65
Make sure the sensors module grabs the sesor biases initially.
2011-12-14 10:38:43 -06:00
James Cotton
09864a8cf6
Get outdoor EKF running although need to add in the ability to swap modes
...
(probably).
2011-12-14 02:07:33 -06:00
James Cotton
fd8899018f
Get EKF running
2011-12-14 01:54:06 -06:00
James Cotton
ed7cbd5a6c
Have to initialize the BaroAltitude object ini the init section for it to show
...
up on telemetry
2011-12-13 23:27:26 -06:00
James Cotton
a37a17a4fb
Created a separate Sensor module and Attitude module for revolution
2011-12-12 21:40:39 -06:00
James Cotton
53cb5b67d1
Make the revo attitude now use the separate gyro object. CopterControl
...
attitude still needs an update.
2011-12-12 13:28:35 -06:00
James Cotton
d22e0e66dd
Create separate UAVOs for the sensors.
2011-12-12 13:05:40 -06:00
James Cotton
7273f87f9b
Fix NMEA parsing for M4 FPU
2011-12-12 09:47:11 -06:00
James Cotton
a9c61845af
Create a separate task for sensors and attitude on revo.
2011-12-12 00:47:16 -06:00
James Cotton
33a12d829e
Merge branch 'next' into revolution
...
Conflicts:
flight/PiOS/Common/pios_flashfs_objlist.c
2011-12-11 22:55:54 -06:00
Corvus Corax
a0cd71abe6
UAVObjects ; Modules/ManualControl: Fixed metadata interface and segfault when retrieving it
2011-11-30 09:20:46 +01:00
James Cotton
44ca9736df
Fix floating point calculation in NMEA parser and delete duplicate of NMEA
...
functions
2011-11-28 09:36:31 -06:00
James Cotton
43fa9e702e
Move DSM to Flexiport and enable GPS on GPS port. Currently GPS module locks
...
up though.
2011-11-28 09:11:13 -06:00
James Cotton
c33816dd79
Force mode switch to be floating point so F4 works
2011-11-28 09:10:26 -06:00
James Cotton
57e7126979
Increase stack size for manualcontrol. This might need to be applied to main
...
code.
2011-11-27 01:51:23 -06:00
James Cotton
f7d13ebd57
Hack to tweak the gyro gain for now although its too far out at the moment so
...
something isn't configured properly. Possibly it is staying in 250 deg/s mode.
Also make sure if the MPU6000 fifo backs up to pull extra data.
2011-11-27 01:22:37 -06:00
James Cotton
8bbc767a4e
Get the pressure sensor working and reading into Revolution
2011-11-27 00:52:09 -06:00
James Cotton
cd65df013e
Merge branch 'next' into revolution
...
Conflicts:
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-11-26 22:52:32 -06:00
James Cotton
b11a4f7405
Clean up the actuator module for floating point usage. Also there was a bug I
...
don't understand where the channels should be scaled AFTER all of them are
computed. It feels like a memory overwriting bug and needs followup.
2011-11-26 16:12:32 -06:00
James Cotton
07e3ad10af
Force some floating point units to be safe
2011-11-26 15:52:25 -06:00
James Cotton
8c0db424fa
Fix long subtle bug where failsafe didn't show the output values it was using
2011-11-26 15:51:24 -06:00
James Cotton
c70a9a5381
Sanitize the floating point math in systemmod.c to be consistently floating and
...
not double
2011-11-26 15:16:16 -06:00
James Cotton
8b7aca0dcd
Include the accel bias into revolution attitude function and also make sure
...
downsampling is correct.
2011-11-26 14:40:32 -06:00
James Cotton
7637e9f669
Get flash chip working and saving to memory. Also get the I2C working with
...
BMA180 driver.
2011-11-19 00:13:02 -06:00
James Cotton
a7ef5601e0
Update the MPU6000 FIFO code and also fix the temperature code
2011-11-18 00:24:55 -06:00
James Cotton
6d74e96c31
Got attitude working again. MPU6000 FIFO reading needs a bit of work.
2011-11-18 00:00:55 -06:00
James Cotton
0efffef1fa
Work on bringing the Revolution board up
2011-11-17 10:13:34 -06:00
James Cotton
1deb799b6f
Get simple attitude estimation working on F4 INS. Also make MPU6050 return
...
scaling that casts to degrees.
2011-11-16 11:36:04 -06:00
James Cotton
aeb42332d6
Get the MPU6050 fifo running and read by the attitude module
2011-11-14 11:23:14 -06:00
James Cotton
59507249e1
Hack in attitude to read directly from gyros instead of fifo. All sensors
...
reading now.
2011-11-14 11:12:10 -06:00
James Cotton
2cc2e55248
Add attitude solution for revo
2011-11-14 10:49:37 -06:00
James Cotton
684715930a
Merge branch 'next' into revolution
...
Conflicts:
flight/OpenPilot/Makefile
flight/Revolution/System/inc/openpilot.h
2011-11-14 10:11:53 -06:00
Oleg Semyonov
4a99ec3298
code style: move variable into function and free 1 byte of RAM :-)
...
component free heap used
----------------------------
Nothing 2560 -
PWM 2432 128
PPM 2408 152
DSM 2464 96
S.Bus 2448 112
GPS (port only) 2368 192
GPS (port+module) 1312 1248
CameraStab 2096 464
Telemetry 1928 632
2011-11-13 18:27:52 +02:00
Oleg Semyonov
de6e450b5f
Merge branch 'next' into os/TxPID-module
...
Conflicts:
flight/CopterControl/Makefile
flight/CopterControl/System/coptercontrol.c
ground/uavobjgenerator/generators/generator_common.h
shared/uavobjectdefinition/hwsettings.xml
component free heap used
----------------------------
Nothing 2544 -
PWM 2416 128
PPM 2392 152
DSM 2448 96
S.Bus 2432 112
GPS (port only) 2352 192
GPS (port+module) 1296 1248
CameraStab 2080 464
Telemetry 1912 632
TxPID 2272 272
2011-11-13 16:25:58 +02:00
James Cotton
b110e9c549
Style suggestions to cleanup GPS from Stac
2011-11-12 21:31:01 -06:00
Corvus Corax
aa69027cb2
Merge branch 'next' into CC_GPS
2011-11-11 11:44:11 +01:00
Corvus Corax
61ecc0d310
make optional modules check themselves if they should start or not
2011-11-11 11:39:57 +01:00
Corvus Corax
e03e3c2ed8
removed "special code" to start optional modules
2011-11-11 11:22:54 +01:00
Corvus Corax
9679638244
Revert "Modules/GPS: removed comment line"
...
This reverts commit 109a58ef30
.
2011-11-11 11:07:02 +01:00
Oleg Semyonov
8f77d07119
System Module: fix stupid out of memory detection bug
2011-11-07 19:14:55 +02:00
Oleg Semyonov
a8b36ddd28
HwSettings: disable GPS and telemetry port speed updates at run-time
...
This is to be consistent across the HwSettings object fields which are
read on boot only by convention.
2011-10-31 23:04:17 +02:00
Oleg Semyonov
0116e6a007
spektrum: rework DSM2/DSMJ/DSMX driver for explicit DSMX resolution support
...
- both CC serial ports are now disabled by default (no telemetry);
- serial ports now have DSM2, DSMX (10bit) and DSMX (11bit) options;
- ReceiverGroups now have DSM (MainPort) and DSM (FlexiPort) options.
For DSM2 protocol there is an explicit resolution bit in the stream, so
the DSM2 should be selected. For DSMX there is no such bit, and user
should choose the resolution from the list configuring the spektrum port.
ReceiverGroups have single DSM option which is handled by the same driver.
Downside: this implementation saves received frame first, unrolls by the
end of frame. This should be ok, but may be improved by unrolling channels
on the fly in the rx callback.
Another minor difference is that a ChannelGroup is now bound to port:
DSM (MainPort) or DSM (FlexiPort). This was considered as acceptable
solution in order to not have 6 DSM options for each ChannelGroup and
even more in case of new DSM protocol variations.
Known problem: it is not possible to choose same protocols like
DSM2/DSM2 for two ports. It can be enabled by adding an exception to
common rule, though.
The DSMX throttle channel misbehavior (zero value) is not treated
specially yet. It should trigger the failsafe being out of bounds.
More info and data dumps are required to handle this properly.
2011-10-30 19:29:03 +02:00
James Cotton
0f8ae1e076
Merge branch 'next' into ins
...
Conflicts:
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-10-26 13:18:44 -05:00
Oleg Semyonov
6a9208e8c3
Merge branch 'next' into os/TxPID-module
2011-10-22 23:34:58 +03:00
Oleg Semyonov
f71361ca83
Merge branch 'next' into os/GPS-on-CopterControl_next_v2
...
Conflicts:
flight/Modules/System/systemmod.c
2011-10-22 23:00:47 +03:00
Corvus Corax
cb8d9c791c
PiOS.posix: fixed missing defines in pios_config. removed platform specific inclde from Systemmod (pios_config.h gets included from pios.h)
2011-10-19 22:28:39 +02:00
Corvus Corax
b00751af91
Systemmod bugfix: UAVObject used without Initialization
2011-10-19 22:28:08 +02:00
Corvus Corax
425bc5abbe
PiOS.posix: PIOS_RCVR : fix posix port of pios_rcvr to allow compilation on 64bit systems
2011-10-11 18:07:04 +02:00
Oleg Semyonov
7800fbe6de
gps: initialize GPS UAVO and start GPS module only if port is configured
2011-09-29 00:41:51 +03:00
Oleg Semyonov
a38c569cd0
HwSettings: move Telemetry and add GPS port speed to the HwSettings object
...
TelemetrySettings object removed (saved 200+ bytes of RAM). Telemetry
port speed moved to the HwSettings object. Added GPS port speed setting.
GCS code updated to reflect changes and support both fields.
2011-09-28 22:11:42 +03:00
Oleg Semyonov
53c098dd08
Merge branch 'next' into os/GPS-on-CopterControl_next_v2
...
Conflicts:
flight/OpenPilot/System/pios_board.c
flight/OpenPilot/UAVObjects.inc
shared/uavobjectdefinition/hwsettings.xml
2011-09-28 22:02:02 +03:00
Oleg Semyonov
a9137e9db1
TxPID: add update mode option as a workaround for GCS interaction
2011-09-19 16:16:28 +03:00
Oleg Semyonov
aad263bdd8
TxPID: enable ramp-shaped throttle-dependent PIDs
...
Besides of knob PID tuning it is now possible to use throttle channel
to ramp-shape PID coefficients. This can be used to lower some PIDs on
VTOL while sinking to prevent wobble.
To use the feature select throttle as control input, choose throttle
range max and min values, assign the instance to particular PID
coefficient and define a range for it. When throttle is lower than
defined throttle range min value (or higher than max), then min and max
PID values will be used accordingly. Changing throttle from throttle
min to max will linearly scale PID value.
Note that it is possible to set MinPID > MaxPID. In that case increasing
control input value will decrease the PID coefficient.
Up to 3 independent instances can be configured. The number can be
increased changing the UAVO definition, but at the cost of extra RAM.
2011-09-18 14:38:50 +03:00
Oleg Semyonov
d923117c25
TxPID: optional module to tune PID settings using R/C transmitter
...
This module will periodically update values of stabilization PID settings
depending on configured input control channels. New values of stabilization
settings are not saved to flash, but updated in RAM. It is expected that the
module will be enabled only for tuning. When desired values are found, they
can be read via GCS and saved permanently. Then this module should be
disabled again.
2011-09-17 22:49:51 +03:00
James Cotton
06190d1d95
Fix altitude hold dead band range
2011-09-13 10:34:56 -05:00
James Cotton
1783817b96
INS: First pass at altitude hold code
2011-09-13 01:44:53 -05:00
James Cotton
400ba3bd47
Merge branch 'next' into ins
2011-09-12 18:57:11 -05:00
James Cotton
c36297227d
Stabilization fix typo
2011-09-12 11:56:01 -05:00
James Cotton
63bb80649b
Merge branch 'max_rate_for_attitude' into next
2011-09-12 11:51:03 -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
8f2fad6918
Fix for merging with the collective channel with the swashplate fix.
2011-09-11 18:53:10 -05:00
James Cotton
6457276438
Merge branch 'input_configuration' into next
2011-09-11 18:52:35 -05:00
James Cotton
b38081bb1b
Stabilization: When in none
mode zero the integral accumulators for rate and
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attitude loops. When not using outer loop zero that accumulator.
2011-09-11 16:33:38 -05:00
James Cotton
6945f17eba
Make the StabilizationSettings.MaxRate field only apply to the stabilized
...
modes. That way ManualRate can exceed MaxRate.
2011-09-11 12:27:17 -05:00
James Cotton
b8bb2dd2ca
Merge branch 'next' into ins
2011-09-10 17:02:15 -05:00
James Cotton
f725fbe128
CopterControl: Fix build due to changing the AttitudeRaw structure.
2011-09-10 13:56:00 -05:00
James Cotton
199db1362d
Actuator: Found a bug in actuator that affects how throttle and pitch curves
...
were used. Basically 80% was always 100%. This should make hovering better
and fix heli swash pitch.
2011-09-09 19:40:58 -05:00
James Cotton
3239fdf21b
Merge branch 'next' into ins
...
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
dfe91af686
UAVObjects: Space allocated in manualcontrolcommand did not match the number of
...
channels in settings. Fixed this and added assertion to catch in future.
2011-09-09 01:17:13 -05:00
James Cotton
1a5fd9f30e
Heli: Added an explicit collective channel. Also make the default channel
...
number 0 since that is not invalid.
2011-09-07 01:48:39 -05:00
James Cotton
72625d9971
PiOS RCVR: Make the public API use a 1 based indexing for channel numbers.
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This may or may not get into next, but if so anyone following it MUST
reconfigure their inputs.
2011-09-06 16:39:08 -05:00
James Cotton
8f7712435f
Merge branch 'safer_failsafe' into next
2011-09-06 16:23:11 -05:00
James Cotton
627c931c79
PiOS I2C: Swap the convention of returned values for I2C
2011-09-06 03:27:20 -05:00
James Cotton
7ff5cd7655
INS: Try and get load down on event system.
2011-09-04 16:21:04 -05:00
James Cotton
b1e0366525
Merge remote-tracking branch 'origin/CorvusCorax_unidirectional-GPS-com' into next
...
Conflicts:
flight/OpenPilot/System/pios_board.c
2011-09-04 13:33:52 -05:00
James Cotton
510a1760ca
When disconnected set any accessory channels to neutral. Otherwise the
...
actuator module could keep the pitch at high. However the "right" thing to do
seems very specific. For example negative pitch is probably preferable.
2011-09-04 03:45:36 -05:00
James Cotton
89e640ae7f
Make sure all receiver drivers return correct constants for invalid channels.
2011-09-04 01:24:16 -05:00
James Cotton
20de046292
Force system to be disarmed when a bad configuration is present
2011-09-04 00:43:33 -05:00
James Cotton
d3de8ff0ef
OP-559: Process the arm status when disconnect and allow it to timeout and
...
disarm
2011-09-03 23:57:51 -05:00
James Cotton
697dbf4f5f
OP-568 PIOS_RCVR: Standardize the values that are returned from the PIOS_RCVR and make
...
them symbolic constants.
- A timeout is 0
- A missing driver is 65534
- An invalid channel is 65535
ManualControl: Make it deal with the values explicitly. A timed out value
should not be treated like a minimum duration signal. Instead it does not
updated the scaled value but marks the data window as invalid to trigger the
failsafe.
2011-09-03 23:50:56 -05:00
James Cotton
3b20df22d1
Updates to config gadget for new INS objects
...
Make scope gadget check if object exists before using it. Avoids segfaults
when scoped objects disappear.
2011-09-01 12:21:37 -05:00
James Cotton
612d3336b4
This patch breaks backward compatibility with AHRS solidly.
...
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
Stacey Sheldon
a72c657e21
rcvr activity: Speed up activity acquisition
...
Activity detection logic can now move through
the active receivers more quickly.
2011-08-27 20:17:56 -04:00
James Cotton
6514fd95c7
Also initialize the ReceiverActivity object in manual control
2011-08-27 16:08:57 -05:00
James Cotton
dc340596f5
Merge branch 'next' into GCS_ChangesToUI-RuntimeCFG
...
Conflicts:
flight/CopterControl/Makefile
flight/OpenPilot/System/pios_board.c
flight/OpenPilot/UAVObjects.inc
flight/PiOS/STM32F10x/pios_spektrum.c
ground/openpilotgcs/src/plugins/config/config.pro
ground/openpilotgcs/src/plugins/config/configgadget.qrc
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
shared/uavobjectdefinition/hwsettings.xml
2011-08-27 15:26:05 -05:00
James Cotton
1d77d77832
Merge branch 'stac/use-malloc-failed-hook' into next
2011-08-27 00:24:13 -05:00
Corvus Corax
658ae3f809
Modules/System: removed comment line
2011-08-25 16:26:46 +02:00
Corvus Corax
109a58ef30
Modules/GPS: removed comment line
2011-08-25 16:25:19 +02:00
Corvus Corax
8173c7b7c6
Refactor GPS_PURISTIC into GPS_MINIMAL
2011-08-25 15:44:49 +02:00
Corvus Corax
1d797bf004
Fixed error introduced by merge
2011-08-25 15:40:45 +02:00
Corvus Corax
4bd72923e5
Merge branch 'CorvusCorax_unidirectional-GPS-com' into CC_GPS
...
Conflicts:
flight/Modules/GPS/GPS.c
flight/Modules/GPS/GTOP_BIN.c
flight/Modules/GPS/NMEA.c
shared/uavobjectdefinition/hwsettings.xml
2011-08-25 15:33:23 +02:00
Corvus Corax
54ecf233f3
Modules/PS: typo fix
2011-08-25 15:13:50 +02:00
Corvus Corax
7e396efbbf
Modules/GPS: Assert buffer creation
2011-08-25 15:11:29 +02:00
Corvus Corax
dfdea16065
Modules/GPS: Make GPS COM unidirectional (rx only) and use smaller, runtime allocated heap buffers
2011-08-25 14:46:30 +02:00
Corvus Corax
697ac6067e
OP-567 Modules/GPS: Block in PIOS_COM, not in TaskDelay - or we will miss updates!
2011-08-25 13:33:41 +02:00
Stacey Sheldon
edc0caf521
heap: set memory critical alarm on malloc failures
...
Activate the FreeRTOS malloc failed hook and use it
to set the memory critical alarm.
2011-08-21 23:14:32 -04:00
Corvus Corax
838149b53f
GPS: homelocation init is optional, satellites must be initialized
2011-08-21 18:20:33 +02:00
James Cotton
b1c522def3
Merge remote-tracking branch 'origin/next' into ins
2011-08-21 01:34:40 -05:00
James Cotton
e1afc9a19a
Merge branch 'next' into ins
...
Conflicts:
flight/Libraries/inc/fifo_buffer.h
flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-08-21 00:47:43 -05:00
James Cotton
368323fd59
Merge remote-tracking branch 'origin/james/erase_settings' into next
2011-08-20 13:07:01 -05:00
Corvus Corax
1ad65e0718
Fixed include in sysstemmod. pios_config.h should not be included explicitly.
2011-08-20 15:04:00 +02:00
Corvus Corax
53d0732fc6
Enable GPS module as "optional module" in CooterControl
2011-08-20 01:25:49 +02:00
Corvus Corax
dfd301571a
HWSettings: Allow late Initialization and Start of Modules as defined in Makefile(available modules) and UAVObject(actually started modules)
2011-08-20 01:24:06 +02:00
Corvus Corax
b75890fcd4
Merge branch 'next' into CC_GPS
2011-08-19 21:34:38 +02:00
Corvus Corax
9bba1f7ae9
Posix: fix object initialization where necessary
2011-08-19 18:36:30 +02:00
James Cotton
ab7e57ad2b
Initialize objects for guidance in the correct place. Init some objects in
...
pios_board_posix since AHRSComms not around.
2011-08-19 09:52:05 -05:00
James Cotton
482bec497b
Revert "Fixed modules that didn't initialize used UAVObjects correctly"
...
Modules should initialize their settings and the objects they source. Not just
everything.
This reverts commit 9ad85e9b7b
.
2011-08-19 09:44:38 -05:00
Corvus Corax
9ad85e9b7b
Fixed modules that didn't initialize used UAVObjects correctly
2011-08-19 13:20:15 +02:00
Corvus Corax
f86e53bf91
Merge branch 'OP-536_CorvusCorax_ObjectOrientedFirmwareUAVTalk' into next
...
Conflicts:
flight/Modules/Telemetry/telemetry.c
2011-08-19 12:10:40 +02:00
Corvus Corax
6fe495c088
Merge remote branch 'origin/next' into OP-536_CorvusCorax_ObjectOrientedFirmwareUAVTalk
...
Conflicts:
flight/Modules/Telemetry/telemetry.c
2011-08-17 08:30:32 +02:00
James Cotton
35eef66bfe
OP-557: Add a UAVO access method to erase the entire flash chip. Normally not
...
needed by users because if too much changes I change the FS magic and trigger a
wipe.
Possibly the erase should require a particular "magic" object id value to
execute? This would make it harder to do manually through UAVOs though.
2011-08-15 10:33:27 -05:00
James Cotton
86b652bbab
Merge branch 'next' into camera_stabilization
2011-08-14 18:07:57 -05:00
zedamota
e736b17cc4
Merge remote-tracking branch 'remotes/origin/next' into GCS_ChangesToUI-RuntimeCFG
...
Conflicts:
ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
2011-08-14 15:48:16 +01:00
James Cotton
a2b76adc33
Attitude: Do not start attitude estimation until accel data appears. This
...
fixes the NaN when AttitudeSettings not available.
2011-08-13 18:53:42 -05:00
James Cotton
784c7b2646
Merge branch 'next' into ins
2011-08-11 21:52:10 -05:00
James Cotton
ec4e23aff9
Camera Stabilization: Bound outputs to [-1,1] although this should be redundant
...
with checks in actuator.
2011-08-11 14:34:38 -05:00
James Cotton
bbe3c1533a
Merge branch 'next' into camera_stabilization
2011-08-10 21:57:45 -05:00
James Cotton
ab288e95ab
Stabilization: Small patch so that by default the integral is zeroed while
...
throttle is low (good for quads) but can be disabled (good for planes and also
testing helis).
2011-08-10 03:51:46 -05:00
James Cotton
f23eaa8273
Make the Actuator pull from the CameraDesired fields
2011-08-09 21:47:42 -05:00
James Cotton
f11aa80444
CameraStabilization: Make the CameraStabilization module put the desired
...
position into another object (will help with configuration).
2011-08-09 20:45:38 -05:00
James Cotton
c4e272b9ad
Merge branch 'next' into camera_stabilization
2011-08-09 20:16:45 -05:00
James Cotton
ec2121bca8
Attitude: Keep first element of quaternion positive
2011-08-08 21:16:04 -05:00
James Cotton
0bba13a0e9
Merge branch 'next' into ins
...
Conflicts:
flight/INS/Makefile
flight/INS/pios_board.c
flight/Modules/Altitude/altitude.c
flight/PiOS/Boards/STM3210E_INS.h
flight/PiOS/STM32F10x/link_STM3210E_INS_BL_sections.ld
flight/PiOS/STM32F10x/link_STM3210E_INS_HD_BL.ld
flight/PiOS/STM32F10x/link_STM3210E_INS_HD_NB.ld
flight/PiOS/STM32F10x/link_STM3210E_INS_memory.ld
flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-08-06 17:25:56 -05:00
James Cotton
fd86c25b49
Make sure OP compiles with new object init structure.
2011-08-04 15:01:54 -05:00
James Cotton
a592e7d398
ManualControlSettings must be also initialized in pios_board.c
2011-08-04 07:47:50 -05:00
Stacey Sheldon
90b2625deb
rcvractivity: Add tracking of Rx channel activity
2011-08-02 01:27:37 -04:00
Stacey Sheldon
06cdeb7b61
rcvr: support multiple simultaneous receivers
...
Now also supports multiple instances of the Spektrum driver.
These are configured as Spektrum1 and Spektrum2.
2011-08-02 01:22:04 -04:00
James Cotton
cb9c6dfb5e
Change the sequencing of telemetry starting to make sure all the objects that
...
were registered in an initialize and then enumerated by telemetry
2011-07-30 11:31:45 +09:00
James Cotton
ae67c51632
Register some missing objects with their modules
2011-07-30 11:28:21 +09:00
James Cotton
2e5a36a4db
Merge branch 'stac/refactor-usart-com' into camera_stabilization
2011-07-30 10:55:16 +09:00
James Cotton
96c2d24253
Merge branch 'next' into camera_stabilization
...
Conflicts:
flight/CopterControl/Makefile
flight/CopterControl/System/coptercontrol.c
flight/Modules/Actuator/actuator.c
flight/Modules/GPS/GPS.c
flight/Modules/ManualControl/manualcontrol.c
flight/Modules/Stabilization/stabilization.c
flight/Modules/System/systemmod.c
shared/uavobjectdefinition/manualcontrolsettings.xml
shared/uavobjectdefinition/stabilizationdesired.xml
2011-07-30 10:06:10 +09:00
James Cotton
333ab645ec
Dos2unix manualcontrol.c to facilitate merging
2011-07-30 09:55:02 +09:00
Stacey Sheldon
c2fb0d8b43
com: allow run-time allocation of buffers
2011-07-29 15:33:14 -04:00
Stacey Sheldon
5f8760a55c
com: Move buffering out of USART/HID layer and into COM layer
...
This allows the spektrum and sbus receiver drivers to bind
directly to the usart layer using a properly exported API
rather than overriding the interrupt handler.
Bytes are now pushed directly from the usart layer into the
com layer without any buffering. The com layer performs all
of the buffering.
A further benefit from this approach is that we can put all
blocking/non-blocking behaviour into the COM layer and not
in the underlying drivers.
Misc related changes:
- Remove obsolete .handler field from irq configs
- Adapt all users of PIOS_COM_* functions to new API
- Fixup callers of PIOS_USB_HID_Init()
2011-07-27 19:45:38 -04:00
Stacey Sheldon
6580462916
rcvr: specify drivers for groups of channels
...
Each channel was previously tracking a separate driver.
Now, channels are grouped within a channel group to save
RAM used for tracking and to better reflect how channels
are actually mapped.
2011-07-14 23:22:42 -04:00
Mathieu Rondonneau
612a439199
OP-423: simplify the MODULE_INITCALL macro and remove the ordering loops
2011-07-12 20:44:32 -07:00
James Cotton
0aec3b592c
Changing stabilization so that the PIDs are zeroed when not armed, but NOT when
...
the throttle is < 0. This will make things like axis-lock work while armed
without throttle. HOWEVER don't hold your stick in the arming position for a
long time or you can wind up the integrals now.
2011-07-12 14:35:32 -05:00
James Cotton
2c7cfe435f
Somehow this task runs quite a few times at the beginning so dT was going to
...
zero and making the attitude get NaN. Wrote recovery code for that condition
(should never occur) and also force minimum dT to 1 ms (also shouldn't occur)
2011-07-12 14:18:19 -05:00
James Cotton
53ca934b2b
Merge branch 'heli_stabilization'
...
Conflicts:
flight/CopterControl/System/inc/pios_config.h
flight/Modules/Attitude/attitude.c
flight/Modules/ManualControl/manualcontrol.c
flight/Modules/Stabilization/stabilization.c
2011-07-12 13:28:20 -05:00
Mathieu Rondonneau
d38f6167e3
OP-423:
...
Also reduce heap has it does not fit in SRAM anymore (not with current compiler).
(that's ok since if there is more space available, it will be reclaimed).
Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint
Conflicts:
flight/CopterControl/System/inc/pios_config.h
flight/Modules/ManualControl/manualcontrol.c
2011-07-08 06:29:34 -07:00