James Cotton
f019412209
Various tweaks to get the F4 working
2011-10-26 21:56:00 -05:00
James Cotton
a1aeab9393
Increase size of framing signal for logging
2011-09-15 10:19:59 -05:00
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
a682d5deb6
INS: In indoor mode if GPS is found use that to populate PositionActual
2011-09-11 22:53:07 -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
...
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
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
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
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
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
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
e57f774bb8
F2 INS compiles now
2011-08-12 04:30:14 -05:00
James Cotton
479ba7c21f
OP-378 INS: Continue getting F2 INS to compile
2011-08-08 08:36:40 -05:00
James Cotton
524cdf7743
OP-378: Start of IMU3000 fifo reading code
2011-05-31 01:51:05 -05:00
James Cotton
b6a8293f69
OP-378: Get BMA180 interrupt working. Data gets pushed onto a fifo that is
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pulled from in the INS code.
2011-05-30 03:40:51 -05:00
James Cotton
52e72f20e2
OP-378: Map gyros to board orientation
2011-05-26 16:01:10 -05:00
James Cotton
4a9e7604a1
OP-378: Push the sensor data into the UAVObjects, also hardcoded scaling
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(temporary). For some reason it segfaults when EKF enabled so use simple mode
for now.
2011-05-26 15:06:56 -05:00
James Cotton
eab8896f16
OP-378: INS code starts taking in sensors (timing not optimized at all yet)
2011-05-26 14:06:22 -05:00
James Cotton
750097ea73
OP-378: Small changes to get drivers working again. Fix I2C port for IMU3000
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and change convention so that 0 is success, < 0 is error.
2011-05-18 23:35:45 -05:00
David Buzz Carlson
876ca3044c
Added EKF code. Most of this was bulk copy and paste from the AHRS, so a lot of verification needs to take place. Grabbing sensor data remains untested.
2011-04-20 03:37:50 -07:00
chebuzz
06443b4281
OP-378 - OP/INS - Add initial support for INS. HMC5883, BMP085, BMA180, IMU300 all added. Throrough verification has not been done on any of them. main() simply calls self-test functions on all of the hardware.
...
AHRS_comms still needs to be implemented. INS/GPS functionality still needs to be implemented. Double-check of the new drivers still needs to be done.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3162 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-14 12:46:39 +00:00
