1567 Commits

Author	SHA1	Message	Date
peabody124	a454f06bf8	OP-203 PIOS_UART: Tweaked the way the interrupts are reenabled to get comms ... stable again git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2143 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-23 17:13:48 +00:00
peabody124	300a3bc8ad	OP-203 PIOS_USART: Get TX buffer using fifo_buffer ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2142 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-23 17:13:46 +00:00
peabody124	e3dd542609	OP-203 PIOS_USART: Make USART Rx code use fifo_buffer ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2141 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-23 17:13:44 +00:00
peabody124	d2b468d661	Flight/Stabilization: Need to either set or clear the alarm, but the way it was ... before cleared at the end of each loop - including one after an alarm Flight/Actuator: Similar change to make sure not having updates from stabilization (i.e. no AHRS) doesn't trigger a watchdog reset git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2140 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-23 17:13:42 +00:00
zedamota	d57441e8f4	OP-21/Bootloader - forgot to commit this too..sorry (check last commit) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2137 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-21 22:58:14 +00:00
zedamota	98b0f406dc	OP-21/Bootloader - fixes GPS connected issues, enhances timings problems, further work on serial support ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2136 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-21 19:37:40 +00:00
osnwt	ed49f7fc40	Prevent some compiler warnings treated as errors during RELEASE build (possible use of uninitialized variables - CodeSourcery under Windows build system). It may be done with some #pragma as well, but this way is more portable. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2132 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-21 13:09:05 +00:00
cwabbott	2dde28843b	PiOS/win32: UAVObject fixes. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2114 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-13 15:46:37 +00:00
peabody124	54aa09ce27	OP-163 Flight/Guidance: Take current position as desired position ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2111 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-12 16:57:16 +00:00
peabody124	6ebc8ccd57	OP-163 Flight/Guidance: Add variations on position hold to try out. Only one will end ... up in the final code. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2110 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-12 16:57:13 +00:00
peabody124	5850c1804d	OP-199 Flight/Stabilization: Increment a counter in actuatorDesired whenever an ... update takes longer than 15 ms git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2109 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-12 04:36:04 +00:00
sambas	c74c9cc08e	OP-73 Flight/PiOS: deinits started, still just for review ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2107 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-11 20:38:44 +00:00
sambas	f94dc41712	OP-73 Flight/PiOS: runtime RC input change, initial files just for review, not integrated to build yet ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2106 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-11 19:09:39 +00:00
corvus	bb1b6d8b8d	sim_posix: added missing UAVobject source file to Makefile ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2086 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-06 15:33:54 +00:00
peabody124	834eecfc1f	OP-200 Flight/Watchdog: Have flag that is set from actuator, ahrs_comms, manual ... and stabilization that is monitored by watchdog. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2078 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-05 14:28:21 +00:00
peabody124	f950b9f6c0	Flight/ManualControl: Make it so the disarmed signal itself changes when GCS ... lost. Warning though: it takes ~5-10 seconds for the flight telemetry status to go from connected so this solution still isn't great. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2070 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-04 02:30:53 +00:00
peabody124	7bdd900409	Flight/Manual: Cleaner solution to deal with timer wraparound ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2069 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-04 02:30:51 +00:00
peabody124	1f87715719	OP-192 Flight/ManualControl: Add a timeout to the armed signal. Leaving throttle < 0 ... for 30 seconds disables it. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2068 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-04 02:30:49 +00:00
peabody124	c69c4157f1	Flight/Actuator: Add failsafe for when flying via GCS to disarm at ... lost connection git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2067 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-04 02:30:47 +00:00
corvus	ba781dec9a	port.c optimized for linux ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2051 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-01 11:54:02 +00:00
pip	9b22bb07e6	Fixed a bad bug in the fifo_getData functions. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2044 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-31 04:58:34 +00:00
edouard	d5752dff34	Update BL Makefile for buffer.c removal. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2043 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-30 18:39:07 +00:00
peabody124	800e6cbe2c	AHRS/INSGPS: Fix a swapped index Corvus caught ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2042 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-30 18:15:57 +00:00
peabody124	34bd4b7524	OP-198 Flight/GPS: Remove dependency on buffer.c, also made the detection of start and ... end characters occur while sentence coming in instead of reprocessing whole sentence for each character git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2041 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-30 18:15:52 +00:00
pip	ed03a45ee5	Added extra error checking - making sure the packet size is valid and that packet sizes match. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2039 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-30 15:00:36 +00:00
edouard	8087fda6f9	Update Makefile so that the bootloader still compiles with the latest buffer_XXX changes... ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2032 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-29 17:54:05 +00:00
pip	7bdaaa3930	Renamed fifoBuf_size to fifoBuf_getSize and got it to return the actual usable size of the buffer (one less than the buffer size). ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2031 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-28 21:10:43 +00:00
pip	91e6fb1485	Added fifoBuf_size function ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2030 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-28 15:14:44 +00:00
peabody124	42a02e5662	Flight/HID: USB priority to 8 instead of 1. Probably Need to make the HID layer use a ... similar driver format to the PIOS_USART system. (p.s. are you happy now, PT?) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2029 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-28 15:07:07 +00:00
sambas	3f62776253	OP-97 flight/GPS: Few more fixes ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2028 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-28 14:58:39 +00:00
peabody124	b9f74a86c3	OP-198 Flight/Libraries: Swap to using circular buffer code from Pip because it ... supports thread safe write/read simultaneously git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2027 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-28 14:30:03 +00:00
peabody124	0bdaf4d0df	OP-197 Flight/USB: Make non-blocking send return -2 instead of -1 for not enough space ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2026 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-28 14:30:00 +00:00
sambas	365a2a121a	OP-97 flight/GPS: Few fixes ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2025 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-28 13:50:34 +00:00
peabody124	aada18a0ea	UAVTalk: Update protcol version number to go with new packet format and changed ... a few constants to make it self documenting git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2017 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-27 17:41:41 +00:00
peabody124	4570d6df23	UAVTalk: Insert a sync byte (0x3C) and the packet size to facilitating handling ... by PipX modems. This is a change to UAVTalk so GCS and the hardware must all be updated. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2016 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-27 17:16:29 +00:00
peabody124	33e6cbebdc	AHRS debugging: Move dump to beginning of block to see the updated lines ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2015 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-27 17:16:25 +00:00
sambas	3e462b1434	OP-97 flight/GPS: Disable speed threshold command for those who knows it's needed, check gpsTask->DISABLE_GPS_TRESHOLD ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2014 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-27 15:51:33 +00:00
peabody124	4d7e053e06	AHRS Debugign code for dumping the EKF and importing into Matlab ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2013 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-27 14:31:34 +00:00
peabody124	2019edd612	AHRS: Store running time to make detect resets easier. Update OP and AHRS in ... parallel for this update. Also removed comment for rawhid git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2012 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-27 14:31:32 +00:00
sambas	f1ba558fa1	Flight/GPS: Some updates ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2011 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-27 10:39:38 +00:00
peabody124	a2e0cd2240	Stabilization: Dont make queue respond to both raw sensors and attitude because ... causes it to trigger most of the time every 1 ms which is consuming tons of CPU. Also lower the failsafe timeout since its likely due to overloading the event system and we don't want to delay 100 ms. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2005 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-24 20:00:05 +00:00
peabody124	9944cdfcb0	Flight/RateDesired: UAVObject for monitoring the desired rate out of ... stabilization for diagnostics git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2004 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-24 20:00:02 +00:00
peabody124	acc6df4c2d	Flight/USB_HID: Make the userspace command wait until not in interrupt before ... running and block the interrupts while modifying the buffers git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2003 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-24 01:35:30 +00:00
ligi	523b6ad8f7	added hint on how to better distinguish FC/NC ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2001 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-22 12:36:47 +00:00
peabody124	098b2fd693	Flight/System: Double heart rate when system is armed. This is per request in ... IRC, but suggestions are welcome. In the long run we probably need a sensible way of embedding some information in the LED but it's not obvious to me. Also could have done with callback - sue me. ;) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1997 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-20 05:31:24 +00:00
peabody124	cd04845c3d	Flight/HID: NAK instead of stall USB bus (former was mistake) and change ... polling time to 4 ms git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1996 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-20 05:21:25 +00:00
corvus	50574841bd	Moved non primary Stabilization modules into Branches ... simple - outdated - won't compile Experimental - outdated - won't compile les - development version - not stable les+corvus - development version - not stable git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1993 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-19 19:12:37 +00:00
dankers	4ed3359f6f	Comment was misleading. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1992 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-19 17:25:07 +00:00
sambas	0384e359ba	My working eclipse workspace, atleast for windows ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1991 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-18 19:16:20 +00:00
corvus	8cb04a372f	Stabilization: new stabilization variant based on les stabilization module, with several options for coordinate system transformation ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1990 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-18 14:46:45 +00:00
corvus	7a37dc1f32	PiOS.posix - added some debugging code ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1977 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-17 16:27:49 +00:00
edouard	82b702e239	Added the new Multirotor shapes to the SystemSettings object, as discussed on the forums. UID has not changed, but you should recompile still (sorry). ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1972 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-17 14:15:47 +00:00
corvus	43beec24d6	flight/documentation/Architecture - Updated Architecture diagrams to reflect most of the current UAVObjects ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1966 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-16 18:05:12 +00:00
les	2125e2479d	Added AHRS boot loader SPI protocol ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1965 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-16 17:54:00 +00:00
cwabbott	dff66607c7	More UAVObject fixes, stuff to get PiOS.win32 compiling again. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1962 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-16 12:15:47 +00:00
peabody124	300195ff18	AHRS: A few small changes ... 1) Moved the criteria for using GPS to defines in anticipation of moving into AHRSSettings 2) Only use the mags for updates if the vector length is within 20% of nominal to avoid updating when it's nonsense 3) Reinitialize position when swapping between indoor and outdoor 4) Dont use mags for first 5 seconds after initialization, sometimes seems to cause issues 5) Dont use mags until magnetic field at your location is set and a magnetic field is loaded 6) Dont use GPS if home location hasnt been set git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1959 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-14 01:36:30 +00:00
peabody124	016bcad24a	AHRS: Detect when more than 2 seconds since last GPS update and in that case ... reinit INSGPS to new location git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1958 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-14 01:36:28 +00:00
pip	bd8ad90301	Added PipXtreme jtag cfg files. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1956 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-13 08:14:39 +00:00
pip	acadc4bc28	Added some files to the PipXtreme folder. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1955 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-13 07:49:05 +00:00
pip	a3ac3feae9	Added PipXtreme folder. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1954 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-13 07:43:32 +00:00
pip	0f7e0cf4db	Removed PipBee folder ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1953 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-13 07:40:36 +00:00
les	6d6ec37474	Manual control: Changed 'Position' stabilization mode to 'Attitude' ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1944 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-11 17:58:11 +00:00
peabody124	dc10998152	Flight/Stabilization: Make any throttle < 0 reset the pid integral windup ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1933 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-10 00:46:06 +00:00
peabody124	5f601bf5ab	Flight/Guidance: Enable for any type of quad airframe ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1932 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-10 00:46:04 +00:00
peabody124	e72b6051b5	AHRS: Make mag variance account for the vector length of magnetic field. Also ... moved around where the axis are swapped and made the negative sign come from calibration. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1931 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-10 00:46:01 +00:00
peabody124	ea85e98d7a	Flight/Stabilization: Move update time storage to before the set to make sure ... it goes git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1922 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-08 15:38:28 +00:00
peabody124	8308e4a4fe	Whitespace change: get rid of CR ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1921 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-08 15:38:26 +00:00
peabody124	4e6f100ae5	Flight: Swap to Les' code for main line ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1920 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-08 15:38:23 +00:00
peabody124	0a9ab6ca5f	AHRS: Send PositionActual and VelocityActual out ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1919 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-08 15:38:19 +00:00
edouard	85aeffed9a	Removed example settings from OpenPilot flight SW makefile too.. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1914 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-07 17:42:59 +00:00
peabody124	c4cb494a22	UAVOBjects: Just ran object genearator to get things compiling again ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1913 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-07 13:09:35 +00:00
kokomojoe	a0b3b47c48	OP-21 Flight/Bootloader - experimental modules implementing a simple serial packet (SSP) protocol. ssp_test is a test framework. ssp is the module, main_ssp.c prototype module on how this could be used in the bootloader, it is not fully functional, additional logic required for start-up detection to decide if serial initialization is required. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1909 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-07 04:59:18 +00:00
darkz	6b8aba07b1	Updated Makefile.posix to reflect the removal of example code ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1907 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-07 02:50:12 +00:00
edouard	5c48c29612	Remove example objects from the flight code, not needed anymore ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1905 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-06 21:50:57 +00:00
sambas	e32ddd5230	Flight/AHRS: gyrotemp raw actually shows now raw temp ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1903 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-06 18:14:12 +00:00
peabody124	dea5c91646	AHRSCalibration: Make default values correct now Les extended ... uavobjectgenerator to support multiple fields (thanks Les!). Also changed default scale on mag to +/-6g git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1899 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-06 14:26:42 +00:00
peabody124	66bf9d53d4	AHRS: Paramaterize the variance used for the indoor algorithm. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1898 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-06 14:26:40 +00:00
kokomojoe	946283d67e	OP-185 Flight - Added FirmwareIAP to the module load list in makefile, added uavobjectsinit.c with firmware IAP init calls ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1896 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-06 05:30:48 +00:00
kokomojoe	7cf0e9ba31	OP-185 Flight support for firmware IAP object. added the pios_iap.c and firmwareiapobj.c ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1895 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-06 02:58:07 +00:00
kokomojoe	6499da40e3	OP-185 Flight Added init function for PIOS_IAP helper functions. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1892 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-06 02:07:11 +00:00
kokomojoe	2fe266650f	OP-185 Flight - support files for Firmware IAP object ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1891 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-06 02:06:13 +00:00
kokomojoe	20c6e2292a	OP-185 Flight helper functions for the firmware IAP object. Allows setting/clearing of back-up registers ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1890 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-06 02:02:37 +00:00
les	7ddb0f6f80	Stabilization: Changed to new switch format. Both position and rate modes work. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1886 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-05 14:51:33 +00:00
les	1e26ca11ee	Manual control: Added some extra room at throttle zero when detecting a faulty signal ... Before, moving your throttle trim slightly could cause ManualControl to think the receiver was not connected git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1885 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-05 14:50:03 +00:00
les	b2c81aceee	Actuator: Fixed motors not going to min throttle in failsafe. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1884 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-05 14:47:48 +00:00
peabody124	ba3ecada1d	Flight/ManualControl: Implemented settings to change what the Mode switch does ... so it can also change parameters of Stabilization. Please check your aircraft behavior with this patch, but default behavior should be unchanged. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1878 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-04 19:48:09 +00:00
les	3aa72835d6	AHRS comms: Added GPL text ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1876 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-04 15:29:41 +00:00
peabody124	f03669733b	Flight/Guidance: Merge back into one task because memory requirements of a task ... exceed CPU requirements of PID. Also add add lesstabilization UAVObject to Makefile to fix compile errors. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1870 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-04 02:01:34 +00:00
peabody124	d71e9df8c5	Flight/UAVObjects: Add a few files that were missed earlier, and get posix ... worlking again git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1869 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-04 02:01:31 +00:00
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
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
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
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
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	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
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	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
peabody124	e2d63cbf19	Flight & Ground/AHRS Calibration: Made variance estimation into a two pass ... approach again because ran out of numerical precision for single pass. Also made ground force the gyro signs to be correct. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1806 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-30 04:30:29 +00:00
sambas	ee4ca7b93a	OP-177 Flight: All alarms fixed, AHRSComms stack size made critical stack alarm, event warning caused by queue that is not used at the moment. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1801 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-29 19:06:35 +00:00
peabody124	a4e0ee5fdf	Flight/Actuator: Move Les' actuator to the active one ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1800 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-29 18:51:36 +00:00
peabody124	2f6f76d578	Flight/Actuator: Remove old mixer code ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1799 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-29 18:51:34 +00:00
sambas	2d90a80e22	Flight/PiOS: this patch makes dosfs work with both MBR and VBR formats. Backup your SD files in case this messes something!! Testing needed. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1798 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-29 16:29:38 +00:00
peabody124	c95b1e6117	Ground/UAVControl: Working joystick support although currently not configurable ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1794 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-29 03:59:03 +00:00
kokomojoe	6f1f990d85	OP-21 AHRS/Bootloader - Moved start of user code to 0x08002000. Must be used with latest AHRS Bootloader compiled with DEBUG=OFF. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1788 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-28 02:21:48 +00:00
fredericg	f090b4bcf8	OP-174 ET OSD: Fixed build errors due to UABObject changes ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1786 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-27 19:56:25 +00:00
peabody124	9b1d258a94	Flight/Les/Actuator: Space->Tab, somehow slipped passed previous patch ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1784 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-27 17:30:42 +00:00
peabody124	aa42256ad1	Flight/Stabilization: Convert all PID loops to units of seconds instead of ms. ... THIS MEANS YOU MUST RETUNE YOUR PID LOOP IF YOU'RE FLYING WITH IT Alternatively divide Kd by 1000 and multiply Ki by 1000 git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1782 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-27 09:04:43 +00:00
peabody124	fef8cca5b6	Flight/Posix: Get compiling again (sorry Corvus, I think I messed up your ... change earlier) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1778 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-27 07:28:48 +00:00
peabody124	3c021c09d9	Flight/PiOS: Whitespace changes ... find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-27 07:28:45 +00:00
peabody124	6d0df704a7	Flight/Modules: Corrected code to use tabs ... find ./flight/OpenPilot/Modules/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1776 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-27 07:28:34 +00:00
peabody124	b85e322206	Flight/FlightSituation: Remove unused module ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1774 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-27 07:28:21 +00:00
peabody124	da583e0914	Flight/Guidance: Disable by default ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1768 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-26 03:07:40 +00:00
peabody124	6d811cc4db	OP-140 AHRS: Don't run INSGPS until OP says board is initialized. This will ... also block heart beat. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1767 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-26 03:06:57 +00:00
peabody124	8475a68958	Flight/Stabilization: Keep command and error in deg/s for rate stabilization ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1766 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-26 03:06:54 +00:00
peabody124	a3ea9a5461	AHRS: Add a weak mag correction in indoor mode to remove gyro bias and try and ... get a reliable heading git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1765 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-26 03:06:51 +00:00
peabody124	77b68e5169	Flight/Guidance: Initial template for guidance module ... Flight: Create PositionDesired (the active waypoint) UAVObject and make the FlightSituationActual no update since it not used. Flight: New velocity desired object that passes information between the look computing the desired velocity and the PID loop to get it (updated at different rates) UAVObjects/PositionActual: Remove unused GPS fields UAVObjects/PositionActual VelocityActual: Split the velocity into a separate object. ALso make sure all the information telemetered around is in cm to avoid using floats. UAVObject/GuidanceSettings: New guidance settings object for the guidance module Flight/Posix: Add the new objects to the Posix sim Flight/Guidance: Computes a desired velocity based on position error than runs a PID loop to control roll and pitch to achieve that velocity. All distances are in cm, and updated the PositionActual fields to reflect this and use int32. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1760 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-26 03:06:27 +00:00
kokomojoe	ca4f3b53fa	OP-21/Flight Bootloader - added compiler and linker options to remove unused functions. Code is now smaller. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1759 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-26 02:34:04 +00:00
zedamota	9b05282be5	OP-21/Flight Bootloader - should make things cross platform. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1758 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-26 00:39:01 +00:00
zedamota	0371808099	OP-21/Flight Bootloader - should make things cross platform. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1757 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-26 00:36:42 +00:00
peabody124	a01783b2a8	OP-140 AHRS: Explicilty deal with if it is initialized or not, use that to ... determine retransmitting calibration, home location and such. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1755 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-25 21:05:38 +00:00
peabody124	9b28f2d72c	OP-167 OP-157 AHRS/Calibration: Added mag scale and really cleaned up calibration. ... Calibration should take less time now too (using second moments to estimate variance in one pass). Now need to change to multiple messages to get the calibration in to keep the request message size minimal. Also currently running sensor calibrate doesn't store the gyro bias so if you want to use this you'll have to tweak it manually. I'll fix that step tomorrow. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1741 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-25 09:20:38 +00:00
edouard	eedf85a5ac	OP-138 Start of the new Mixer configuration interface, for fixed wing only. This does not work yet, takes a long time to fully implement. ... The system settings UAVObject is updated, you will have to recompile your firmware. If you want to take a look and let me know, please do! git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1737 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-24 20:39:37 +00:00
zedamota	095cbb4dd5	OP-21/Flight Bootloader - Now pulls SS pin low again if no AHRS is found. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1733 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-24 15:46:59 +00:00
corvus	1472b342c1	1.0 Featur Freeze - ... Removing some Experimental and Incomplete Modules and their UAVObjects not suited for 1.0 - they will be moved into an experimental branch: Navigation : experimental code only FlightSituation: experimental code only Guidance : preliminary draft - possibly to be replaced by peabody124 position hold code if finished in time. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1729 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-23 22:05:03 +00:00
corvus	e44045f422	OP-165 : Guidance Module ... Creating GuidanceModule together with PositionDesired UAVObject (as discussed), so dschin and me can work on it :-) Will compile and (on sim_posix) execute, but PID logic is yet untested and preliminary. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1722 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-22 22:16:48 +00:00
les	ef7ee86d45	Mixer: zero throttle shuts off motors and changed MixernMatrix to MixernVector ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1710 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-21 19:31:17 +00:00
peabody124	a1a3b0774f	Flight/AHRS: Update code to coding conventions. ... find ./flight/AHRS/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1707 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-21 19:29:39 +00:00
peabody124	833e8428d2	Flight/Libraries: Updated to coding conventions ... find ./flight/Libraries/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1706 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-21 19:29:35 +00:00
chebuzz	862e35def1	OP/PiOS.posix - Somebody added UAVObjects but did not add them to the posix sim ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1702 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-21 14:16:14 +00:00
peabody124	f96654ace1	Adding mixerstatus/mixersetting uavobject files that were missed ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1701 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-21 07:08:51 +00:00
les	875437f483	Added matrix based actuator mixing. Note the makefile is set to use the original actuator code. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1698 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-20 19:27:08 +00:00
sambas	24840b461d	OP-22 Flight/PiOS: added failsafe and recovery "watchdog" timer ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1697 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-20 18:00:31 +00:00
zedamota	5fb45f835e	OP-21/Flight Bootloader - Bug fix, 1 more ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1696 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-20 17:09:06 +00:00
zedamota	87dc0908ce	OP-21/Flight Bootloader - Bug fix ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1695 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-20 16:29:34 +00:00
zedamota	3ba6372dc4	OP-21/Flight Bootloader - Clean up and linker files for the AHRS ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1691 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-19 18:27:53 +00:00
zedamota	128df749f0	OP-21/Flight Bootloader - small bug fix ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1683 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-18 23:38:45 +00:00
zedamota	c9752a6a3a	OP-21/Flight Bootloader - some changes for the bootloader to work ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1682 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-18 23:11:42 +00:00
zedamota	1b9811aa0e	OP-21/Flight Bootloader - AHRS programming fully working ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1681 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-18 23:10:26 +00:00
zedamota	97b44ffb04	OP-21/Flight Bootloader - Various fixes. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1678 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-18 00:46:34 +00:00
peabody124	11f2b1a8dc	Flight/Stabilization: Dont cap error at maximum stabilization value - that is to scale control throws. Create another variable if we want this. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1676 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-17 18:15:02 +00:00
peabody124	0ea95fbad1	AHRS: Separate covariance prediction from state prediction to get updated state out of spi a few milliseconds sooner. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1675 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-17 18:15:00 +00:00
peabody124	92c36114f3	AHRS: No longer reinit after a comms glitch. Allow time for EKF to converge (2-3 seconds) after power up. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1674 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-17 18:14:20 +00:00
peabody124	8e0c5136c0	AHRS/Comms: Make the polling delay 1ms instead of 20ms to make sure if a message isn't ready we don't pause for a long time. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1673 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-17 18:12:25 +00:00
andrew	da1a762072	Added basic code for Yaw stabilisation in manual mode for Helis. ... This is functionally the same as having a heading hold gyro in hardware. Code is copied from the simple stabilisation routine and is a bit rough at the minute, but initial testing looks good. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1670 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-17 05:52:34 +00:00
peabody124	41b7a99883	Flight/Stabilization: Yaw rate stabilization error should be normalized by dt ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1669 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-17 02:00:55 +00:00
peabody124	a6ca5b82e7	OP-155 Flight/HID: Make the HID stall when buffer full. Not sure the consequences on ground (i.e. if it handles the stall correctly) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1665 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 20:23:02 +00:00
zedamota	e8d6e7c557	Flight - Centralized board specific files, BL and User FW uses the same board definitions, no need to have 2. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1663 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 19:19:38 +00:00
peabody124	3b015b41c5	Flight: Got a much nicer arming/disarming system going. Made it a separate flag in the end to allow testing the stabilization code with motors not running. Also changes maxRoll/maxPitch/maxYaw to uint8 to keep object size smaller - no reason for float precision for this. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1660 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 15:41:11 +00:00
peabody124	a6e71177e4	AHRS: Yaw stabilization now supports rate stabilization or heading hold. Also need to cleanly support rate stabilization on all the other axis. Les suggested this be in manual mode which will require changing the logic somewhat (essentially for vtol it will always be running through the Stabilization module) in an aircraft dependent manner. An alternative would be a stabilization flag indicating to do full attitude hold, attitude + yaw stabilization, or all axis gyro stabilization. This would be my preference. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1659 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 15:41:08 +00:00
peabody124	110c46216e	OP-155 Flight: Increase the pios_com buffer size to support these larger objects. If this gets worse and we don't want to use as much OP memory we can make it stall the USB bus when the buffer is full. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1657 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 05:57:03 +00:00
peabody124	832b61ab86	OP-117 AHRS: Binary streaming of the raw data within EKF. Doesn't keep up while running this but does give accurate data that went into algorithm. Once we can dynamically change sampling rate will be good. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1655 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 05:26:14 +00:00
peabody124	0b8756d55c	OP-148 AHRS/Comms: For now don't retransmit calibration after comms glitch as this re-zeros gyro bias and makes attitude stutter. Need to explicitly communicate when comms glitches and query if AHRS actually rebooted. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1654 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 05:26:12 +00:00
peabody124	885c966e53	AHRS: Added a tracker for number of ADC updates the EKF misses. Also updated the Telemetry autogenerated files to accomodate the 11500 baud rate. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1652 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 02:59:00 +00:00
peabody124	ff1b303083	AHRS: Only do EKF correction with mag when new data available ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1651 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 02:58:56 +00:00
peabody124	19e80da928	AHRS: Update UAVObject with information about AHRS rate ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1650 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 01:54:21 +00:00
zedamota	4d0d865c31	OP-21/Flight Bootloader - fix to paths ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1647 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 18:03:52 +00:00
pip	82be9117d6	Added USART baudrate defines into pios_board.h & '#if defined's into pios_board.c ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1646 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 17:37:50 +00:00
pip	d2bc126e68	Added PIOS_COM_AUX_BAUDRATE to pios_board.h & '#if defined' to pios_board.c for easier baudrate setting. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1645 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 17:33:00 +00:00
pip	73c8194acc	Added PIOS_COM_TELEM_BAUDRATE, PIOS_COM_GPS_BAUDRATE, PIOS_COM_AUX_BAUDRATE & PIOS_COM_SPEKTRUM_BAUDRATE defines in pios_board.h with '#if defines' in pios_board.c for easier baudrate changing. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1644 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 17:18:38 +00:00
zedamota	3e89e388fa	OP-21/Flight Bootloader ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1643 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 17:09:27 +00:00
zedamota	c72a5b1cfe	OP-21/Flight Bootloader ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1642 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 17:08:24 +00:00
zedamota	f972b78bfb	OP-21/Flight Bootloader ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1641 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 17:07:43 +00:00
pip	cf864225fe	Added easier to find USART baudrate setting PIOS_USART_BAUDRATE. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1640 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 17:07:37 +00:00
zedamota	50b7931a1c	OP-21/Flight Bootloader - new bootloaders ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1639 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 17:06:51 +00:00
pip	89fb0b8582	Made pios_hmc5843_data_ready volatile (accessed by both interrupts and main exec loop). ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1638 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 17:00:36 +00:00
zedamota	df88140f51	OP-21/Flight Bootloader - Remove deprecated bootloaders ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1637 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 16:58:00 +00:00
stac	1017d0294b	ahrs: always enable -g for gdb debug symbols ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1635 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 15:45:41 +00:00
stac	7886a617dc	Revert "ahrs: No longer support -O0 since it doesn't fit" ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1634 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 15:45:39 +00:00
pip	22b9b2512e	Added a 115200 baud telemetry option to the OP main board/UAVTalk. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1632 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:43:42 +00:00
stac	73787f7f15	ahrs: No longer support -O0 since it doesn't fit ... Leaving debug on allows the -g option to be enabled so that we can have symbols in gdb even though we're forcing the optimization flags to -Os. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1631 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:21:06 +00:00
stac	cdb8aa37a0	ahrs: Only read mag data when it has been updated ... The AHRS mainloop was reading the mag data on every loop regardless of whether new data was actually available. Now that the MAG_DRDY signal is monitored, we can read only at the rate (10Hz) new data is actually produced by the sensor. This also enables future improvements that will remove the filtering work that is still being done on the mag data on every iteration. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1630 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:21:05 +00:00
stac	55d90970ed	hmc5843: hide internal #defines and functions ... Way too much was being exposed in the API for the HMC5843. This commit properly hides internal details of the driver. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1629 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:21:04 +00:00
stac	0e7a801e9e	hmc5843: Add support for DRDY signal from magnetometer ... The DRDY signal from the magnetometer is connected to PB8 on the STM32. This pin is now configured as an external interrupt and is now used to signal when new data is available from the magnetometer. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1628 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:21:02 +00:00
stac	4ac001553d	hmc5843: convert line endings from CRLF to LF ... No functional changes. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1627 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:21:00 +00:00
stac	ac6989fbeb	bmp085: fix configuration of EOC interrupt ... The EOC EXTI interrupt configuration was incorrectly pointing at GPIOG pin 8 rather than GPIOC pin 15. This was preventing the EOC interrupt from working properly. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1626 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:20:59 +00:00
stac	88e73906d0	i2c: Add recovery code for i2c bus errors ... I2C bus errors are now recoverable. The bus is properly reset and an error indication is now provided to the caller whenever a bus error occurs during processing of the transaction list. For now, the users of the I2C layer just retry infinitely on failure. The BMP085 and HMC5843 code should be changed to report errors to its callers to allow a more sensible retry strategy. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1625 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:20:57 +00:00
stac	0122394481	i2c: consolidate handling of AUTO transitions ... AUTO transitions in the FSM are now handled immediately after processing each newly injected event rather than only at the end of the EV ISR. This consolidation allows the upcoming addition of event injection from both the EV and ER ISR contexts. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1624 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:20:56 +00:00
stac	7d5463e5e6	i2c: Move polling for bus stopped from ISR to task/mainloop ... Occasionally, the I2C driver races with the STM32 I2C peripheral at the end of a bus cycle. This leaves the bus in an errored state and the stop condition is not properly asserted on the bus. The polling for the stopped condition was previously implemented in ISR context since it was expected to be nearly instananeous. In the error condition, however, the stop condition will never happen. The polling for this case is now done by the initiating task (or mainloop on the AHRS) to prevent the timeout condition from triggering the watchdog. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1623 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:20:55 +00:00
stac	65ad2caf8a	i2c: Make transaction initiator available in txn list ... The info field in the pios_i2c_txn list can now be used to provide a const string which describes the context for this transaction. This is very helpful when diagnosing an error that occurs somewhere in the middle of the I2C FSM since the FSM runs primarily in the ISR where the original context for the transactions is no longer available in the traceback. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1622 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:20:53 +00:00
stac	85c60479c1	i2c: rename FSM faulted state ... Differentiate the _FSM_ faulted from the (soon to exist _BUS_ faulted state. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1621 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:20:52 +00:00
stac	139da048f6	ahrs: remove unused debug code ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1620 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:20:51 +00:00
pip	cc3860daaf	Added 'uint32_t PIOS_SYS_getCPUFlashSize(void)' into pios_sys.c/h files. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1616 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-14 09:18:55 +00:00
peabody124	c5fe985a45	AHRS: Gets timing working correctly to compute the EKF rate and idle time in real values ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1615 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-14 07:03:36 +00:00
peabody124	0875dc8442	AHRS: First pass refactoring the ADC code into another function. Still want to clean up a few constants make the downsampling go into a smaller circularbuffer nicely. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1614 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-14 07:03:34 +00:00
peabody124	1051d894b9	AHRS: Merged in some new code from Dschin that expliclity writes the prediction terms in the covariance matrix. Also made changes to compile with -Os. Now runs around 125 - 150 Hz depending on corrections used (this will become adjustable from GCS shortly). ... Squashed commit of the following: commit 897e3365ab6c762584c34238efd12dc144e72af0 Author: James Cotton <peabody124@gmail.com> Date: Mon Sep 13 22:15:21 2010 -0500 AHRS: Getting it running nice and quickly. commit 53d72fb849164730c89873cab81c9e09be0b112b Author: James Cotton <peabody124@gmail.com> Date: Mon Sep 13 15:57:46 2010 -0500 AHRS: Make more variables volatile for -Os. commit 4fa90821b5d3d8c2ea5e67756313a8a63c0eeb8c Author: James Cotton <peabody124@gmail.com> Date: Mon Sep 13 15:11:31 2010 -0500 AHRS/Makefile: -O0 not added to allow me to try various space flags that don't break code. commit 5bd17a304dc28dc271c2f3e8c6cb8ad4a830404f Author: James Cotton <peabody124@gmail.com> Date: Mon Sep 13 14:44:05 2010 -0500 AHRS: Make debuggign USART easy to disable commit 5453f2a7939492769fe9e9cc822e69c107320670 Author: James Cotton <peabody124@gmail.com> Date: Mon Sep 13 14:38:37 2010 -0500 AHRS: Explicitly expand covariance prediction. Brings computations from 160 to 90. Makes it not fit in AHRS though. commit b6712da7eece2a464a2073d24b77be22bfa47094 Author: James Cotton <peabody124@gmail.com> Date: Sun Sep 12 22:59:42 2010 -0500 AHRS: Make it easy to comment out the I2C/Magnetometers. commit 8c84d0091f3d6f6bedc7a0224a4ed9cb099b022b Author: James Cotton <peabody124@gmail.com> Date: Thu Sep 9 00:49:50 2010 -0500 AHRS: Small change to INSGPS analysis tools git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1613 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-14 06:42:56 +00:00
pip	7da2fc2ba7	made ahrs_state 'volatile' in ahrs.c to prevent compiler optimization lockup ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1612 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-13 20:56:58 +00:00
pip	8bfaa997d3	made curr_state 'volatile' in pios_i2c_priv.h to prevernt compiler optimization lockup. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1611 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-13 20:52:56 +00:00
peabody124	4a4932e5ff	AHRS/FSM: Small initialization detail to make compile with -Os ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1610 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-13 19:04:37 +00:00
zedamota	66560786f4	Flight - #ifdefs to make it work with both normal and bootloader packet formats. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1609 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-13 17:08:52 +00:00
chebuzz	3b5b129445	Fix POSIX simulator to work with new VTOL UAVObjects ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1607 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-13 14:00:53 +00:00
peabody124	47a7b8548b	Flight: Safety feature for VTOL. Don't enable motor until throttle brought above .5 then below or to zero. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1604 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 22:18:21 +00:00
peabody124	76971a807c	AHRS: Some more tweaking of the timings. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1603 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 22:18:18 +00:00
zedamota	257b4d2c95	flight - BL AHRS Comms - fixes to make it compile, not tested yet. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1601 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 21:08:43 +00:00
peabody124	ba34bb8c24	AHRS: Oops, didn't notice the message processing was removed from end of loop. Adding back. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1597 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 12:44:57 +00:00
pip	d0b8a9755d	Added USB_LED_ON/USB_LED_OFF and checks to see if they are defined to the PIOS_USB_HID_ChangeConnectionState function .. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1596 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 10:47:20 +00:00
pip	9fca16db41	Added an RTOS detection is 2 places because I'm using this file on the modem (without an RTOS). #if defined(PIOS_INCLUDE_FREERTOS) ... ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1595 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 10:33:45 +00:00
peabody124	59758122e1	AHRS: Cannot process messages while idling as this makes the main loop execution time non-deterministic based on OP (i.e. could get three messages and push the time up). It would be a nice featuer since you can get a raw and EKF update in the same step, but if the AHRS_Comm loop is fast (which is should be to keep update latency low) then this will hammer the AHRS with redunant requests. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1594 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 02:54:51 +00:00
peabody124	e90e714c2b	Flight: Tweaked the throttle handling and VTOL use of it to make sure engines can be shut off easily in stabilization mode. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1593 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 02:54:49 +00:00
peabody124	56131476ef	AHRS: Switch to sampling at 2khz, plenty of CPU usage. However need to make EKF rate different for outdoor mode with this patch because otherwise will drop samples :-( ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1592 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 02:54:47 +00:00
peabody124	5d1ebf76ea	Flight/VTOLmixer: Fix bug in mixer that messed up roll mixing. Also changed minimum to -1 so that neutral can be position motors come on and -1 the off position. Also made failsafe throttle value -1 to be consistent. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1591 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 02:54:44 +00:00
peabody124	c376711405	Flight/Stabilization: Make the derivative account for the sampling time (dAngle/dt) for the PID loop since integral does and also make the integral bounds uavobject settings. It was originally bounded by constant/Ki but I'm not sure why as you change the gain of the error integral you also want to decrease the maximum error it can cause. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1590 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 02:54:41 +00:00
peabody124	8999355327	Flight: Made actuator a periodic task. I don't think the queue is low enough latency - should figure out how to make this happen as callback is the right way to go. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1589 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 02:54:38 +00:00
peabody124	dceb20b16d	Flight: VTOLStatus object that returns the thrusts on all the engines ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1588 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 02:54:34 +00:00
peabody124	bba3b0c64a	Flight: VTOLSetings object to contain the mixer settings for VTOL crafts ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1587 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 02:54:30 +00:00
stac	d18e0c3ef8	ahrscomms: Add low-level message code for bootloader msgs ... Implement low-level utility functions for sending/receiving the opahrs proto v0 (bootloader) messages. These are used by the OP firmware loader and the AHRS bootloader. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1586 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-11 23:06:31 +00:00
stac	c3c8a30bfc	ahrscomms: fix return values on error ... Some functions were returning -1 instead of one of the valud enum values. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1585 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-11 23:06:29 +00:00
stac	6bf3038f3f	ahrscomms: provide helper function for simple requests ... This cleans up some of the boiler plate code that is repeasted for simple (empty) requests that expect a response. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1584 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-11 23:06:28 +00:00
stac	7ecbb5f5b8	opahrs_proto: Add new boot and versions messages ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1583 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-11 23:06:26 +00:00
stac	d1dc300081	ahrscomms: remove unused sync and switch_proto messages ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1582 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-11 23:06:25 +00:00
stac	80c92ba54b	ahrs: process SPI messages while idle ... This makes the AHRS continually process SPI messages while waiting for new samples to be ready. This has the side effect of making the CPU utilization on the AHRS pin at 99-100% (ie. we make use of all of our otherwise idle time). git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1581 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-11 23:06:23 +00:00
stac	93ef510946	ahrscomms: use relative delays to avoid slipping ... Change from using vTaskDelay to using vTaskDelayUntil to ensure that we're trying to stay periodic rather than just waiting a fixed amount of time after each loop of processing. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1580 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-11 23:06:22 +00:00
dschin	e6fea9bb76	Changed the feedback gain matrix K to a global variable in insgps so that it may be inspected. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1577 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-10 20:46:46 +00:00
zedamota	aa1af2b9f3	OP-21/Flight Bootloader - Changes to make it independent of RTOS ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1570 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-09 18:44:55 +00:00
peabody124	6cdb9b0b48	AHRS: Added Matlab code to analyze the INSGPS friendly data dump format and plot the important variables. This requires "DUMP_FRIENDLY" be enabled in the file. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1560 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-08 06:15:21 +00:00
peabody124	e499f33fd5	AHRS: Improved code to stream raw data from AHRS and added a matlab function to acquire and analyze the data. The QT program to analyze it should work but QextSerial seems to have a bug and drops or inserts data ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1559 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-08 06:15:18 +00:00
peabody124	9895b403c7	Ground/SerialLogging: Improved the serial dump from AHRS to have a big random frame header and to detect it on the logging program. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1556 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-07 16:33:10 +00:00
cwabbott	c2e93aa810	PiOS/win32: Made the process priority "high priority" for OpenPilot.exe to help with accurate timing. Also removed some unneeded debugging code from tasks.c. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1553 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-06 21:23:02 +00:00
peabody124	e06162fa3a	Flight/AHRS: Reorganized the code a little to make sure indoor used by default unless GPS updates come ... in. Also change the velocity variance in indoor mode to lower to make it get a better attitude estimate (primarily faster convergence - probably will tweak this in the future dynamically). Finally decreased barometer variance - in scope it's actually quite reasonable, normally within +/- .5 m. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1546 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-06 07:54:19 +00:00
peabody124	e260077247	Flight/ManualControl: Making failsafe test (which must explicitly look at receiver inputs instead of throttle values in case of reversal) also consider readonly flag to detect GCS control. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1545 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-06 02:58:41 +00:00
peabody124	61854ac6ab	Flight: Support for quadcoptors. The format of this control will change to support octo's and more flexible tuning. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1544 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-06 02:58:39 +00:00
stac	95595664c3	telemetry: fix comments around #ifdef ... No functional changes. The closing comment on some of the USB_HID related ifdefs was outdated. Fixed. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1541 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-05 23:10:34 +00:00
zedamota	492227c916	OP-21/Flight Bootloader - Donwload function is now interrupt driven. Had to increase IN polling interval due to some problems. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1530 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-05 00:17:20 +00:00
peabody124	f9a0b799a2	Foolishly forgot object like I always do ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1529 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-04 22:01:11 +00:00
peabody124	d3b677298c	Flight/ManualControl: Added a hysteresis loop to the manual control connection/disconnection status. I seem to get glitching without it - probably because of the receiver catching noise. It still occasionally glitches but I don't want to make it longer. Probably should be an adjustable setting. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1527 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-04 17:08:04 +00:00
peabody124	c21d058110	Flight: Added ability to use a third accessory input. Currently using that to select tuning roll/pitch bias and PID tuning. I also _STRONGLY_ recommend if you enable these accessory channels (and thus these features) you make the saved meta data for the StabilizationSettings and AttitudeSettings read-only, so only on flights where you mean to can you change these settings. I'm also not convinced about the interface - it seems like flicking TX switches to get into adjustments is a recipe for disaster. Probably need to just control through GCS. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1526 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-04 17:08:02 +00:00
peabody124	45e8131a30	Flight: Added ability to use additional TX inputs to tune attitude bias. Note this form of the calibration is temporary and will likely be replaced by a rotation matrix to deal with more general rotations. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1525 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-04 17:07:59 +00:00
peabody124	8dbc382e5b	Ground/CoordinateConversions: Shows correct location now. I just typed in a 3.14 constants and forgot to change to M_PI. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1520 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-04 05:58:43 +00:00
peabody124	b4ff14b725	Ground/GCSControl: Swapped sign conventions of sticks to match the sign convention of roll/pitch/yaw. I.e. now right on the roll causes a + roll, pulling down on the pitch causes + pitch. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1518 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-04 02:19:06 +00:00
peabody124	404e0c2f44	OP-132 AHRS: Changes to the Indoor flight handling to only use the barometer indoors and update with a zero for velocity and high variance. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1517 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-04 02:19:04 +00:00
peabody124	a406034ed9	OP-132 Flight/AHRS: Changed the heuristics regarding GPS quality and INSGPS updates. Now if satellites < 7 or PDOP > 3.5 it does not perform GPS updates. Professor is working on some code to fix parts of the covariance matrix. If indoor updates high a 0 position and velocity and high variance. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1515 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-04 02:19:00 +00:00
zedamota	8233f87b0a	OP-21/Flight Bootloader - Download function fixed. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1513 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-04 01:06:40 +00:00
dschin	84d054c4ed	gdb command file to enable debugging with interrupts in Eclipse ... See http://forums.openpilot.org/topic/1671-debugging-with-interrupts-in-eclipse/ for details. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1511 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-03 13:10:04 +00:00
cwabbott	d7a3ffb464	flight/PiOS.win32: update Makefile.win32 with new UAVObjects, also change UAVObject headers to have a newline at the end. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1510 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-02 23:55:24 +00:00
zedamota	749267aee5	OP-21/Flight Bootloader - Minor bug fix. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1508 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-02 22:43:32 +00:00
zedamota	7a66232be0	OP-21/Flight Bootloader - Complete recoding. WARNING- As with all flash memories, the one in your OP HW as limited write cycles. Errors in this bootloader may damage your HW if it falls under a write or erase dead loop. This is still under development, for devs only. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1507 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-02 20:13:41 +00:00
peabody124	d3bb821e82	Flight/ManualControl: Change to ManualControl module to make warning only kick in if input is less than the max and min for throttle. Disable going to (unimplemented) auto mode. Commiting based on one yay and no nay. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1505 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-02 16:33:02 +00:00
peabody124	a377bea862	Ground/CoordinateConversions: Found out from Dschin that rotation matrix inverse is rotation matrix transpose. Now should convert correctly from NED to ECEF. I will check tomorrow by frolicking around with a plane. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1494 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-01 03:12:06 +00:00
peabody124	ec7d059de8	Posix: Corrected makefile after UAVObjects mashup ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1489 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-31 17:21:44 +00:00
peabody124	b853c392f3	Flight: Was only returning half of the serial number (thanks for catching that Pip) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1476 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-31 02:33:47 +00:00
peabody124	12657440c3	OP-132 AHRS: Added an indoor flight mode and also add an ad-hoc quality heuristic to the GPS signal to increase the measurement variance from GPS when fix quality is poor or when in indoor flight mode. In addition corrected the indentation to conform to the tab/space convention forum discussion. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1474 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-31 02:11:09 +00:00
pip	7813414f29	added casting to prevent int overflows when calculating the watchdog delay ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1467 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-30 16:48:33 +00:00
pip	ba5f1b37ee	changed pios watchdog from 8-bit to 16-bit ms capability, plus moved the .h file from the .c folder into the inc folder ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1466 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-30 16:29:36 +00:00
andrew	65dc5e9b04	Yaw stabilisation for the simple algorithm was calculating the error and not taking into account that 350º error is the same as -10º error. ... The resultant error could range from -360º -> +360º Since this is only used for Helicopters / multi rotors, and the aircraft can rotate in any direction, I added the modulo logic so that it is now from -180º -> +180º this should now take quickest path to correct the error. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1464 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-30 01:20:43 +00:00
andrew	3c6d9d6976	manual control was mapping tx input as -180º -> 180º for AttitudeDesired.Yaw. ... The Wiki (http://wiki.openpilot.org/Unit_Standards) states this should be 0 - 360º Made the code match the wiki. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1463 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-30 01:16:00 +00:00
cwabbott	f55e9cf819	Fixed a slight problem with the .metadata folder, the flight project wasn't pointing to the correct folder again. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1462 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-29 23:16:19 +00:00
dankers	7a1353506e	Just added my plugins dir to what was already there, no guarantees to fix things! ... Might just make them worse! git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1460 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-29 22:15:38 +00:00
stac	78befcba73	conversions: fix return code for ECEF2LLA ... As pointed out by osnwt in the forum, the criteria for success of this function was wrong. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1456 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-29 14:51:07 +00:00
peabody124	f202884ce8	AHRS: Numerous changes. Added CPU load monitoring for AHRS as well as some friendly debugging output options. Also added a new CalibrationMode setting to AHRS (Echo) to speed up sensor calibration. Cleaned up the 6 point calibration interface to make it more friendly, but I think Edouard will clobber it with something nice and sexy :). ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1455 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-29 06:38:30 +00:00
stac	ecac1fb79d	nmea: parse GSV sentences and populate GPSSatellites object ... This creates a new UAVObject called GPSSatellites to hold information about which satellites the GPS receiver can see and the quality of their signals. NMEA GSV sentences are now parsed. The full set of GSV data may be split across multiple GSV sentences, each containing info for at most 4 satellites. Once an entire set of GSV records has been collected, the GPSSatellites UAVObject is updated. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1453 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-29 01:46:14 +00:00
stac	2ead641136	nmea: minor bug fixes and robustness improvements ... Remove asserts on bad data, only assert on coding errors. Remove unnecessary inline qualifier to reduce code size. Handle more lat/lon precisions in conversion to fixed-point. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1452 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-29 01:46:11 +00:00
stac	679f59f19d	uavobjectparser: fix alignment of field init in generated code ... Change from spaces to <TAB> to match the formatting in the template. No functional changes, just whitespace. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1451 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-29 01:46:09 +00:00
peabody124	8128c3bbfa	OP-118 AHRS: Added 6 point calibration routine to AHRS config widget. To use it, click "Cal Mode", then place the AHRS on each of 6 sides of a cube then click save position. Finally click compute to push the updated scale abd bias terms to the AHRS. Also fixed a bug in UAVObjectField that would not allow you to setDouble for extra fields. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1449 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-28 18:48:51 +00:00
andrew	3530428982	Fixed the bounding of servo outputs for the case when max < min ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1444 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-28 05:11:19 +00:00
peabody124	00cad250ea	Adding gpstime.h for flight. ... Seriously - I'm sorry I missed all these files. I suck. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1443 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-28 00:58:04 +00:00
peabody124	ced0a4b952	AHRS: Fixed silly bug that made the default mag variance be zero - explains "hopping around" default behavior. Still should run calibration though. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1439 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 21:05:41 +00:00
peabody124	5f9289f0c0	Flight: Keep getting WMM memory usage down ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1438 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 21:05:38 +00:00
zedamota	2142467751	OP-21/Flight Bootloader - Added more Led status modes. Fixed downloading for bigger packet format. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1436 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 20:03:51 +00:00
peabody124	16361dea12	AHRS: Making AHRS populate the NED/Vel fields of PositionActual. May rename object to PositionVelocityActual. Also created a GPSTime object which is populated from the GPRMC command. Also added a GPZDA parsing command, but by default OP GPS doesn't send this command. Made the computation of the world magnetic model use the current time to set the magnetic vector. Note: currently if you set your home location and save it to SD, this will not recompute the vector over time. I'm not sure how sensitive this is. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1435 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 19:59:25 +00:00
stac	a19c225697	ahrscomms: reduce retries and retry delay ... The number of retries and delay between retries was increased in a previous commit. This doesn't appear to be necessary so I'm reverting the increases. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1432 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 02:15:02 +00:00
stac	24a4c6b791	gps: Update GPSPosition instead of PositionActual ... GPS module now updates GPSPosition UAVObject rather than the PositionActual object. The GPSPosition object is intended to be consumed only by the AHRS. The AHRS will use this (and other inputs) to compute a filtered version of the position in the PositionActual object. This commit will cause temporary breakage of the GPS functionality in the GCS until the PositionActual object is properly updated by the AHRS. Most of the GCS should continue to use PositionActual. The only exception to this might be any tool for specifically visualizing the raw GPS state. GPS.c is now only responsible for receiving a complete NMEA sentence from the COM interface. NMEA parsing is now factored out into NMEA.[ch] which is where GPSPosition is now updated based on the complete NMEA sentences obtained from the GPS. Latitude and Longitude are now encoded in a fixed-point notation in units of degrees x 10^-7 to prevent truncation of precision due to encoding into a float. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1431 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 02:15:00 +00:00
stac	47df1faa8d	ahrs: whitespace adjustments ... No functional changes. Whitespace/tab fixups only. Use TRUE/FALSE instead of 1/0. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1430 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 02:14:58 +00:00
stac	670452307d	ahrs: remove unnecessary memset() of rx message buffer ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1429 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 02:14:56 +00:00
stac	0a7088c24a	ahrs: fix type on flags, remove redundant code ... No need to have boolean flags being floats. Some of the attitude message was being populated twice. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1428 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 02:14:54 +00:00
peabody124	a0b21bef45	Flight: Got read only check working for UAVObjects and modified the ManualControl Module to use it. Edouard - please check over this. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1427 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 00:15:48 +00:00
peabody124	a8df6e2c4d	OP-128 Flight Documentation: Added description to all the UAVObject (now mandatory) and changed the parser to populate this information into the autogenerated files. Also added a function to test if an object is read only for flight. ... Since there are a lot of autogenerated changes the important ones are: flight/OpenPilot/UAVObjects/inc/uavobjecttemplate.h - added description and define to make the ObjectReadOnly query flight/OpenPilot/UAVObjects/uavobjecttemplate.c flight/OpenPilot/UAVObjects/uavobjectmanager.c - added the UAVObjReadOnly query ground/src/libs/uavobjgenerator/uavobjectparser.cpp - added parsing of description field git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1425 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 00:15:42 +00:00
zedamota	7f76b7f5a0	OP-21/Flight Bootloader - Fixed an error introduced on last rev. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1417 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-26 16:26:51 +00:00
peabody124	c07e1416b7	AHRS: Serial output option for AHRS and corresponding serial logger. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1414 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-26 06:25:11 +00:00
andrew	2361af19fb	First attempt at ccpm mixing for single rotor helicopter. ... This has throttle and pitch curves implemented and can be configured for many swashplate configurations. This has flown a 450 clone (with training wheels) and the ccpm worked well. Still need to neaten up some stuff and work out how to implement yaw stabilisation in manual mode. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1412 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-26 06:00:57 +00:00
zedamota	d71ade8227	OP-21/Flight Bootloader - Now if USB not connected it jumps directly to FW. If connected it will wait 5 seconds for command, then jumps. Also changed led flashing to PWM and created a timer for the delays. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1409 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-25 22:31:14 +00:00
peabody124	8dd81443be	OP-122 Flight: Same changes regarding 62 byte limit applied to the receiving code on the device. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1405 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-25 05:32:56 +00:00
peabody124	dd491160c5	OP-121 OP-122 Flight: Improved the Blocking/Nonblocking behavior for USB to be correct. I'd like a mutex still around the transmission buffer but don't want to slow down the interrupt. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1404 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-25 05:32:54 +00:00
peabody124	4ca10e92c7	OP-121 OP-122 Flight: Improved USB HID communication. ... 1. Added reenumeration function and call it on USB init (device will appear after reprogramming now) 2. Moved buffer.c to general flight/Libraries location 3. Removed the 62 byte transmission limitation by adding a transmission buffer 4. Sped up USB communication by increasing endpoint polling frequency Note, that the nonblocking and blocking USB send functions are not blocking entirely correcting. The blocking calls the nonblocking, and the nonblocking blocks until the last chunk has started tranmission if it's a big transmission. The buffering I added would generalize to non-blocking nicely, but would require using the EP1(IN) callback to handle most of the tranmission. This creates a lot of issues if one function is pushing data onto the buffer and the interrupt is sending. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1403 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-25 05:32:52 +00:00
andrew	b467b419e6	OP-103, UAVObject update. ... Adding settings for configuring CCPM mixing for Helicopters to ActuatorSettings and SystemSettings UAVObjects. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1402 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-25 00:55:15 +00:00
zedamota	6da48dcc1a	OP-21/Flight Bootloader Changed packet size to 64byte ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1398 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-24 18:26:44 +00:00
zedamota	f91ae974a7	OP-21/Bootloader Small change. Now turns off interrupts before jumping to code. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1393 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-23 21:30:09 +00:00
peabody124	2db294caf7	OP-125 Flight: Changed GPS stack size to a bit closer to what the internal model needs to get rid of out of memory warning, but it could still use 1k less if it pulled all the constants from flash when needed and computed the time difference when called. Also changed ManualControl so it checks the active control values to determine the warning, so if GCS is controlling the warning light goes out. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1387 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-23 06:03:19 +00:00
peabody124	beac0c0ea9	AHRS: Get the signs for the simple algorithm correct ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1385 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-23 04:12:14 +00:00
peabody124	e94d3d3846	AHRS/Flight: Allow selecting simple algorithm as well as INSGPS ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1384 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-23 03:51:08 +00:00
peabody124	bd8fffe4d0	AHRS/Flight: Renamed AttitudeSettings to AhrsSettings to make it more intuitive. Added the ability to change the algorithm from GCS. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1383 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-23 03:39:13 +00:00
peabody124	b32184d1ec	OP-119 Flight: Converted HomeLocation object to use cm for the home base instead of floating point. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1382 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-23 02:49:53 +00:00
peabody124	2596f43511	OP-120 AHRS: Moved conversion of quaternion to RPY over from AHRS to OP to minimize transfer and computational load on AHRS. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1381 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-23 02:35:39 +00:00
peabody124	0d11493337	Flight: Added mixer settings for elevon. Also added bound checking on servo outputs which becomes important when multiple things are mixed and you want to use the full range. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1380 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-23 01:54:58 +00:00
cwabbott	19f6db79be	Added ManualControl to the win32 and posix makefiles. Also fixed a compiler error about "No newline at end of file." ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1379 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-23 00:52:56 +00:00
zedamota	002c746076	OP-21/Bootloader deleted old one, commited new one. Partly functional, but slow due to current packet size. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1378 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-22 19:51:55 +00:00
peabody124	2e705e6836	OP-116 AHRS: Made data going to the AHRS in NED format. Once the final estimate object is created I'll repeat the same calculation to populate it, although we want to avoid going back to LLA format on the OP because the CPU requirements are excessive. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1376 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-22 19:01:36 +00:00
zedamota	6adc834d9b	OP-21/Flight Prep work for the USB HID bootloader ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1375 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-22 18:57:29 +00:00
zedamota	2daa229a2d	OP-21/Flight Prep work for the USB HID bootloader ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1374 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-22 18:56:00 +00:00
zedamota	b0d1d0dd09	OP-21/Flight Prep work for the USB HID bootloader ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1373 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-22 18:54:57 +00:00
peabody124	60332efec0	OP-118 AHRS: Missed the auto generated files for the default values. Also no idea why last patch changed navigationsettings - either make uavobjects does differently on different platforms or someone forgot to run make uavobjects. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1372 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-22 17:02:12 +00:00
peabody124	0862d64b8c	OP-118 AHRS: Made default calibration values friendly for people. Also fixed bug that would repeatedly trigger calibration when it was requested. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1371 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-22 16:43:00 +00:00
sambas	7859a130e8	Fixed bug that caused Object Browser to crash ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1369 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-22 08:59:18 +00:00
pip	78868216ca	Fixed UART-1 structure definition error (pios_usart_cfg pios_usart_serial_cfg) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1368 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-22 08:59:00 +00:00
cwabbott	e27adf700b	Fix posix and win32 makefiles for recent UAVObject changes. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1367 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-22 00:59:12 +00:00
peabody124	5662d85c4e	OP-120 AHRS: Tightened up the communication protocol so it runs more quickly. Looks ok in gdb but GCS not crashing right now (rendering error) so I can't test it properly. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1366 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-22 00:21:54 +00:00
corvus	9bb085b7fc	Documentation: Added Flowchart for HiTL mode ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1365 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-21 23:05:12 +00:00
peabody124	8897c441fa	OP-118 AHRS: Added AHRSCalibration object and messages associated with that to AHRS. Also made AHRS run calibration only when requested. We will create a GCS plugin that runs through computing the calibration settings. To compute the variances on the AHRS set the measure variances to true, wait ten seconds, then set it to false to read it back. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1363 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-21 21:46:02 +00:00
patrick	564a68e825	PipBee: Updating project files to fix compile errors. Routine just toggles each LED successively. There is a known error when enabling the PIOS_COM_Init(); or more specifically PIOS_USART_Init(); which blocks at some point when called. This may be due to the pios_board.c defines which I will check later today. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1361 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-21 20:01:37 +00:00
pip	227b389e99	Attempt 2 - trying to get LEDs to flash ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1359 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-21 18:14:18 +00:00
pip	519ce846ee	Just trying to get a simple 'Hello World' program going (LED flashing) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1358 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-21 17:14:34 +00:00
stac	b36d251bd9	ahrs: remove debug code in attitude handler ... Debug code was previously using the q4 element in the attitude message to encode a cycle counter to measure performance on the AHRS. This is no longer valid. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1357 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-21 16:23:14 +00:00
stac	26e257d340	spi: slow down OP <-> AHRS spi link ... Issues have been reported with CRC errors on the SPI link between the OP and AHRS boards. Slowing the link down eliminates the errors in my testing. If we speed this link back up in the future, further investigation will be required to diagnose the source of the CRC errors. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1356 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-21 16:19:20 +00:00
stac	635df28c34	GPSPosition: Add new UAVObject for GPSPosition ... This object is not yet populated or used. This will soon hold the raw position data from the GPS receiver. PositionActual will be converted to hold the computed position from the AHRS. Contents of this object are still subject to change. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1355 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-21 16:19:18 +00:00
stac	7f85143bd2	OPModule: updated GPSPosition object ... Updated GPSPosition module to reflect the planned use of a fixed a fixed point encoding for lat/lon. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1354 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-21 16:19:16 +00:00
stac	f388deef34	hmc5843: standardize line endings ... This file had mixed line endings. Now they're all the same. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1353 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-21 16:19:14 +00:00
stac	a960d6e1b1	GPS: fix typo desimal->decimal throughout ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1352 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-21 16:19:12 +00:00
stac	7b2111e512	baroaltitude: rename AltitudeActual to BaroAltitude ... This is to align the object names to matches the UAVObject architecture doc. No functional changes. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1351 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-21 16:19:10 +00:00
stac	47c36b3da0	i2c: fix error in FSM for restarted reads ... The transition from the ADDR state to the read state was broken for non-final reads. The FSM diagram was also wrong for this transition. Since reads are always the last transaction in a sequence in our current usage, this doesn't actually fix any known bugs. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1350 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-21 16:19:06 +00:00
stac	98822bff98	i2c: force bus free on warm starts ... Since the i2c bus is bidirectional, there are certain states (eg. part way through a read) where the slave device is in control of driving the SDA line. On a cold start (power on), the slave devices are all quiescent and will not drive the bus. However, on a warm start (eg. watchdog or jtag restart), it is possible that as the CPU boots, the slave device may be holding the SDA line low. This is a bus busy condition and will prevent the I2C bus master in the CPU from being able to seize the bus during init. The fix for this is to clock the i2c bus sufficiently to ensure that the the slave device finishes its transaction and releases the bus. Once the slave has released the bus, the bus master can properly initialize and assert a STOP condition on the bus. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1349 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-21 16:19:02 +00:00
peabody124	ba4dc14cea	OP-124 Flight: Added fields to the AHRSStatus to track failures of each of the SPI message types. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1347 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-21 09:21:39 +00:00
peabody124	bb79ba66fa	OP-119 AHRS: Converted the big data structures for the WMM calculation to be allocated on the stack, which forced a dependency on FreeRTOS :-( but keeps things on the heap. Also changed the HomeLocation object to include a Set field. When this is false, OP will try and update it whenever it gets a 3D fix. If it is saved to disk with this field as true, then it won't need to get a lock to send the magnetic flux vector to the AHRS. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1346 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-21 08:35:44 +00:00
peabody124	4b0a0236d8	OP-119 AHRS: Increased GPS stack size to allow WWM to not overwrite other memory. In addition converted all the calls to use pointers so I will switch to using pvPortMalloc vPortFree to get it off the stack entirely. Now correctly computing flux for me and running. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1345 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-21 08:35:41 +00:00
peabody124	2031cfe4d0	OP-119 AHRS: Added error counters for the messages as well as changed an error on AHRS echo back for the HomeLocation message. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1344 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-20 22:52:13 +00:00
peabody124	86766ecc14	OP-119 AHRS: Removed WMM computation for now because it was triggering a reset (probably not watchdog) which is weird - it worked on AHRS. Maybe running out of memory? Also added the break on comm error in ahrs_comms to resync with it. I think the message to send the home location is also not working right now. Fixed chip reset. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1340 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-20 14:48:02 +00:00
peabody124	ef0b307353	[OP-119] Flight/AHRS: Created a HomeLocation object which is updated when the GPS gets an initial 3D fix and populated with the information to convert from LLA from the GPS to NED reference frame. Also added a message for passing the MagneticNorth vector to the AHRS and removed that computation from AHRS. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1337 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-19 20:38:27 +00:00
FredericG	fd986f3437	OP-90 Configuring the ET OSD without eLogger. The module can now read a opaque config-file from the SD-card card and send it to the OSD ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1336 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-19 17:32:18 +00:00
peabody124	3c4def13cc	AHRS: Added message to pass GPS information into AHRS from OP. This is then converted ... into NED reference frame and used in the INSGPS algorithm, although currently this information isn't propagated back to OP. Data structures related to the GPS position into the algorithm and the position estimate out will likely be in flux. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1334 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-19 05:18:34 +00:00
peabody124	8bcff21184	Flight: Made the actuator module perform a get after set to allow configuration module to override servo position. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1329 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-18 20:47:36 +00:00
FredericG	0b9079e277	ET OSD: removed existing debug and config code ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1327 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-18 19:15:43 +00:00
peabody124	cfd20922cd	AHRS: Added the filtered data to the attitude raw object. Even though this seems like an oxymoron it's still raw to the EKF algorithm, and nice to see the real values after filtering to make sure nothing weird is going on. However, if people don't like this I'm open to suggestions/patches. I'd maybe suggest the whole attituderaw object be converted to ahrsraw anyway since it's more like that (eg. none of the values are actually attitude estimates). ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1325 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-18 14:54:24 +00:00
peabody124	fda6fc8371	Merge branch 'mac_support' ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1324 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-18 14:29:53 +00:00
peabody124	450cf07a89	AHRS: Keeping magnetometer I2C address consistent with change to I2C driver. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1323 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-18 13:54:15 +00:00
FredericG	b46bc68e96	"addr" field of I2C transaction struct now takes real I2C address, and not address that is pre-shifted to accommodate the R/W bit ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1321 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-18 10:04:55 +00:00
FredericG	be2f5bbf70	ET OSD: Adapt to new I2C API ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1316 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-18 09:31:54 +00:00
peabody124	4cba4929c2	AHRS: Fixed another bug in decimation code - I stupidly used Matlab 1 based indexing. Adjusted timing of AHRS so it can process all the data and doesn't miss updates. Finally adjust all inputs to INS to have correct sign and orientation (I think). This is X is forward, Y is right, and Z is down which is mentioned in the forum as our standard and fits the algorithm. The magnetic sensor driver should be modified to return in this order (currently reads X,Y,Z registers which maps to left, back, up) but maybe since it's a board dependent orientation it's better where it is. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1315 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-18 05:47:44 +00:00
dschin	9ae9c87574	Six point sensor cal for accels and/or mags ... Uploaded here for now - belongs in GCS probably. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1310 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-17 19:02:07 +00:00
peabody124	64bcebb87a	AHRS: Fixed bug in the downsampling code (used a += a + blah, dumb). Also added initialization of the magnetic flux based on fixed GPS settings (I hope you're near Houston). I will add the GPS communication shortly. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1307 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-17 05:32:07 +00:00
dschin	ae18a8e89c	Added general functions for coordinate conversions ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1306 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-17 00:09:32 +00:00
dschin	4f31bfbef7	Fixes for the project files. Hopefully they don't break someone else. ... Eclipse Workspace: - Made project in Eclipse workspace point to trunk/flight - Re imported launch configurations from previous version OpenOCD - added "ft2232_device_desc "Dual RS232-HS"" back to jtag cfg files because windows didn't like it w/o it. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1305 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-16 23:40:27 +00:00
peabody124	f74268b5e5	Cleanup and documentation. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1304 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-16 16:58:24 +00:00
peabody124	a23f3c66f4	Behaving reasonably, added calibration code which runs by default on startup and take 6 seconds - this will be called from GCS in future and saved to SD card. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1303 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-16 16:58:22 +00:00
peabody124	e0d63103ec	Added a testing function for INS - currently doesn't stabilize for fixed inputs. Fixed two bugs I found in INSGPS (R[10] instead of R[9] initialized and Nav.Pos[2] was set to wrong X element). ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1302 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-16 16:58:20 +00:00
peabody124	d2e234b53a	Adding the code from Dr. Dale to the AHRS. Currently diverges though, but not on the PC. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1301 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-16 16:58:18 +00:00
peabody124	ddbd4f8c80	Simple attitude calculation based on gravity and magnetic vector ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1298 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-15 06:03:44 +00:00
peabody124	3f408ad655	AHRS: Changing AHRS to use a DMA double buffering scheme with continuous samping for the analog data, then a simple fixed point FIR/decimate function. Currently all the oversampling parameters are hard coded as definitions, but will be updated to be configurable via settings. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1297 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-15 04:09:01 +00:00
peabody124	cc2441d41b	Adding ADC downsampling code ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1296 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-15 04:08:57 +00:00
peabody124	ed70cb4794	[AHRS] Missed a setting for the ADC configuration. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1292 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-15 01:12:00 +00:00
stac	3125ecfc4e	AHRSComms: altitude sensor data is now sent to AHRS ... Altitude/pressure sensor data is sent to the AHRS whenever the AltitudeActual object is updated. Altitude, Pressure and Temperature are sent as floats. Same as in the UAVObject that goes to the GCS. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1291 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-15 01:02:13 +00:00
peabody124	d4c5dba234	[PIOS] The ADC mappings are strange because of the way the DMA engine works. Basically data is packed 16 bits ADC2 then 16 bits ADC1 channels, so the accels are pins [4 2 0] currently. Also there is inconsistency between the names of the pins in the config file which uses 1 based indexing and the index for PIOS_ADC_PinGet which is zero based and has to account for this interleaving. Probably should adjust config file to be zero based and then to make those pin numbers map to the function call. The actual order they appear is arbitrary as the ADC engine can scan in whatever order. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1290 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-15 00:53:30 +00:00
stac	c3e509c2cb	attituderaw: Replace HeadingActual with AttitudeRaw ... AttitudeRaw now includes: - magnetometers XYZ (in mG) - gyros XYZ (raw ADC samples) - accelerometers XYZ (raw ADC samples) - placeholder for gyro temp sensors (read as zero for now) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1289 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-14 23:42:14 +00:00
stac	5d635d4233	uavobjects: regenerate existing uavobjects ... No functional change, uavobjects were not regenerated since last change to the object generator. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1288 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-14 23:42:07 +00:00
vassilis	a075eafb98	FlightArchitecture: Updated description of Stabilization module (air/ground speed handled by guidance module) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1285 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-14 14:19:33 +00:00
vassilis	9cd76fbe46	FlightArchitecture: Added Climbrate and Airspeed fields in Position objects ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1284 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-14 14:04:28 +00:00
vassilis	697b3510fb	Flight: First release of module architecture and dataflow diagram (still work in progress) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1283 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-14 03:02:21 +00:00
peabody124	a084d21804	Merge branch 'watchdog' ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1281 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-13 05:18:17 +00:00
cwabbott	c1cf1ec71b	PiOS/Win32: Most stable version of port.c so far. Changed Makefile.win32 to use mingw32-gcc to avoid conflicts. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1278 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-12 14:32:52 +00:00
dschin	487b61473e	git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1268 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-11 16:18:24 +00:00
cwabbott	1125311083	Fix Eclipse project files. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1252 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-09 18:24:26 +00:00
cwabbott	f041569bfe	fixed a small problem in port.c, also added some debug statements. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1246 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-08 18:38:03 +00:00
stac	f74c6ffdd5	i2c: rewrite i2c layer ... The STM32 I2C block has a number of errata associated with it. These errata are primarily related to timing sensitivities between the peripheral and the interrupt handler. In particular, the correct generation of the stop bit relies on the I2C IRQ running immediately and not being held off for any reason. NOTE: The I2C interrupts must be the highest priority IRQs in the system to ensure correct operation. I2C protocol is now implemented as a formal state machine. See: stm32_i2c_fsm.{dot,jpg} for FSM description. I2C init is now expressed by const initializers in pios_board.c for both OP and AHRS boards. I2C device drivers (ie. bmp085/hmc5843) now pass in const arrays of an unlimited number of bus transfers to be done atomically. The I2C adapter driver now handles all bus-level locking across the list of transactions. Generation of start/restart/stop conditions are handled automatically over the list of transactions. Timeouts have been removed from the API for now. May be added back later. This driver has run error free on both the OP and AHRS boards for up to 48hrs but it still sometimes fails earlier than that on the OP board. There is another possible set of improvements to the driver that could employ the DMA engine for transfers of >= 2bytes. This change would reduce the timing sensitivities between the peripheral and the driver but unfortunately, both the SPI and I2C interfaces share the DMA1 engine. That means only one of these two peripherals can use the DMA engine and right now, SPI between OP and AHRS is already using it. Failures are currently fatal and will lock up the CPU. This allows useful information to be obtained in the failure cases. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1241 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-08 04:15:08 +00:00
stac	b6c1f43145	i2c: Change API to allow passing const config data ... Mark the I2C_InitStruct parameter as const so that we can pass const data as the initializer. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1240 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-08 04:14:58 +00:00
stac	f66e2cbd86	battery: fix doxygen header info ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1239 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-08 04:14:56 +00:00
stac	9050b9d26a	ahrs_fsm: minor style fixups ... No functional changes. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1238 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-08 04:14:55 +00:00
stac	a320a3e4d4	build: Turn modules back on ... The modules were disabled for some reason in r1172. This just turns them back on for the real targets. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1237 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-08 04:14:53 +00:00
stac	d7856b3d0a	gdb: Do not automatically reset target in gdb init file ... The gdb init files would previously reset the target immediately when gdb started up. This is sometimes an unpleasant side-effect of running gdb. In order to connect to the target, use the new "connect" function. To reset the target use "mon reset". git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1236 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-08 04:14:52 +00:00
zedamota	a688b95eb6	Flight firmware-Start of the new bootloader ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1235 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-08 00:14:22 +00:00
dankers	297985c2a0	Move old bootloader to bootloader.old ... This should be removed at some point but can wait till we have a working bootloader. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1234 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-07 23:55:28 +00:00
cwabbott	6f553efe45	debug_printf() for PiOS.win32. There are still many issues :(. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1226 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-07 02:30:35 +00:00
peabody124	0fdfbb2ffb	Deleting old USB code that I meant to delete a while ago. Also changed names of some functions to OP. Finally fixed the USB taking over PIOS telemetry. Detects the USB cable and that the configuration has been taken by the USB bus. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1217 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-05 23:43:52 +00:00
peabody124	0eac218572	Small update to make ManualControl get the command after setting it. That way if the flight system isn't meant to overwrite it (i.e. flying via GCS) it uses the right value. I think this should actually be the default behavior of UAVObject set... awaiting feedback from Vassilis. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1214 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-05 19:56:36 +00:00
pip	611aee73ad	Removed I2C support from PipBee as it's not used. Added 4 LED definitions. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1208 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-04 17:35:48 +00:00
pip	0331f05e9a	Added extra LED's .. now up to 4 LED's .. (PipBee has 4 controllable LED's) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1207 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-04 17:32:42 +00:00
cwabbott	d910b8f756	slight changes to get PiOS.win32 to compile ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1205 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-04 14:21:58 +00:00
dankers	1a0f2e81e8	Foundations for PipBee modem code. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1203 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-04 09:37:09 +00:00
cwabbott	c2508bbb9e	PiOS for win32 ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1200 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-03 19:29:14 +00:00
dankers	a3c1bbfc95	Remove no longer needed SDCard Files ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1190 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-01 14:00:09 +00:00
sambas	7f6336d324	OP-22 Flight/PiOS: Spektrum reworked, input is mapped to old aux in receiver connector, works nicely with calibration plugin. Also bind works, just needs config flag to bind on powerup ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1189 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-01 10:34:07 +00:00
peabody124	47da7326e7	Damn thought I'd commited this ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1176 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-29 13:50:24 +00:00
peabody124	23ed7c8435	Removing the device_desc line since it seems to advertise differenetly across platforms and openocd doesn't require it. Please revert this change if it starts block other OS but I don't think it will ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1175 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-28 21:29:27 +00:00
peabody124	7e6afe5a75	Updated HID code to do packet processing in OS indepdent layer. Should now work on all platforms. Please test and get back to me. Maximum object size of 62 bytes currently. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1174 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-28 18:55:04 +00:00
corvus	02a78f0470	moved Vassilis stabilization module as of r1153 into Stabilization/simple ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1173 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-28 15:03:55 +00:00
corvus	9ad9ffd466	moved new stabilization code into experimental subdirectory ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1172 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-28 15:00:51 +00:00
corvus	c8486d08e4	Fixed some bugs in OpenPilot Core. ... - syntax error in pios_board_posix.c introduced with Doxygen comment blocks - platform dependant code had been added to openpilot.c instead of pios_board.c - redundant header inclusion (stm32... already included by PiOS) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1171 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-28 14:34:48 +00:00
dankers	32e6d53b23	Small comment issue that was causing build to fail ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1170 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-28 11:28:18 +00:00
edouard	9145a4b1a6	Doxygen work: created "OpenPilot System" group for system libraries and core files. Changed a typo on the Osd Doxygen. Let me know if you're OK with this approach. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1169 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-28 07:28:21 +00:00
peabody124	6f63c10dca	Removing more debugging comments ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1168 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-27 23:48:12 +00:00
peabody124	3144e3157c	Added back checks on USB cable so falls back to serial telemetry if not plugged in ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1167 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-27 23:11:28 +00:00
peabody124	27bcd20882	HID working on Mac for telemetry. Need to tweak GCS code for Win/Linux ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1166 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-27 20:50:20 +00:00
peabody124	dac82b3c17	Getting closer for HID. Now a well behaved HID device. Just need to update GCS plugin for new data format and make PJRC wrappre work properly on Mac ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1165 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-27 19:09:55 +00:00
peabody124	27d429fe18	Got better HID report design with valid data length embedded in report ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1164 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-27 17:41:56 +00:00
FredericG	66e22b56ce	Fix in bmp085 driver. Was not checking correctly if lock on I2C succeeded => caused an assert when used in combination with other I2C devices ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1163 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-27 09:52:45 +00:00
FredericG	efaa6c910b	MKSerial: also report ground-speed ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1162 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-27 09:49:47 +00:00
peabody124	eb41a84acf	And this ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1161 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-27 08:09:43 +00:00
peabody124	7d7802593e	Oops, sorry missed these files ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1160 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-27 08:08:50 +00:00
peabody124	fe616df48d	Further tweaks. Will start trying to get reliable communication with larger report size tomorrow ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1159 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-27 07:56:50 +00:00
peabody124	840f7ff456	A version of the firmware that successfully Acks back and forth over HID. Still need to refine the PIOS interface and make GCS strip out the report ID data (if necessary). Also note: currently if you run too many modules the watchdog timer kicks in. I haven't determined if this is due to an interrupt binding up or what (and why it doesn't happen more often since I can't find any code that explicitly resets the WWDG). ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1157 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-27 06:22:34 +00:00
peabody124	d89cd43cd1	Further tweaks to the HID update ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1156 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-27 05:28:04 +00:00
peabody124	c46dcea73a	Pretty major update of the USB HID core. Removed a lot of old code related to custom drivers and BSL (which will be brought back under HID). Device enumerates but still not communicating. Hopefully nothing broken, lots changed. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1155 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-27 03:19:07 +00:00
corvus	2621d07574	Added UAVObjects: FlightSituationActual NavigationSettings NavigationDesired ... - Added FlighSituation Module (development module for sensor fusion, mostly stub, possibly renamed later) - Added Navigation Module (development module for navigating towards a point in space - DEVELOPMENT CODE, NOT STABLE YET (I am testing around with this)) - Changed Stabilization Module (uses local reference frame now. Stable except for code cleanup/review. Tested in simulator and outperforms old code.) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1154 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-26 21:26:28 +00:00
dankers	dab978cf98	DOh! should have been part of last commit. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1151 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-23 04:35:10 +00:00
dankers	1fb8fc797c	Floss-JTAG file for new Revision B of Floss-JTAG (Rowan JTAG). ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1150 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-23 04:34:32 +00:00
dschin	e5c19a38c5	In the the \OpenPilot\flight\Project\OpenOCD directory there were two JTAG debugging config files: ... 1) floss-jtag.arhs.cfg 2) floss-jtag.openpilot.cfg But the Eclipse project the "external tools configurations" for the OpenOCD Debug is looking for the "floss-jtag.cfg" file in the command line arguments. The added file "floss-jtag.cfg" is a simply a copy of "floss-jtag.openpilot.cfg". The .arhs.cfg doesn't play well by itself. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1129 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-17 22:43:26 +00:00
peabody124	d928676f5e	More documentation updates, standardizing format to include addtogroup at the beginning of headers so files are associated with modules ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1121 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-16 19:53:35 +00:00
sambas	f5c24d169e	flight/osd: Parse config into setupbits and parameter slots ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1115 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-16 15:24:29 +00:00
peabody124	99e94228a9	More doxygen updates ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1106 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-16 05:31:11 +00:00
peabody124	1cd81e211f	Added Doxygen comments for OpenPilot modules ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1101 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-16 01:02:34 +00:00
peabody124	5c41f95a1e	Updating OSX project file for new file locations ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1100 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-15 02:16:54 +00:00
peabody124	ebeffa4392	Linux compiler error fix ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1097 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-14 15:45:36 +00:00
peabody124	700af355d4	Moved platform dependent configurations to FreeRTOSConfig.h and set windows to run without preemption to reduce CPU usage ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1096 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-14 15:34:57 +00:00
corvus	aa53b57d55	Changed the Build directory for posix port from Build/ to Build.posix/ ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1090 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-14 10:08:03 +00:00
corvus	48db68fe3c	add some self made FreeRTOS scheduler documentation ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1088 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-13 18:55:26 +00:00
peabody124	53b90b9492	Updated to use sigwait as an alternative to signals for the timer. Also, added per task suspend/resume flags which should make sure things behave nicely ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1087 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-13 18:29:39 +00:00
corvus	fa57e42efa	Deleted OpenPilot.posix branch. Integrated portability modifications into main tree ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1086 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-13 16:23:41 +00:00
corvus	65d0c93680	Added some comment lines for peabody124 to read ;) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1078 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-12 17:15:00 +00:00
peabody124	68be63bc50	Conditional signaling now works on linux ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1075 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-11 21:42:59 +00:00
peabody124	cd5c03b809	Ugh, cross platform development. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1073 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-11 20:46:22 +00:00
peabody124	0bc526a142	Got the tick handler working on linux so it doesnt jump onto the wrong thread ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1072 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-11 20:38:20 +00:00
peabody124	4c4d1ca420	Also added sched_yield(). ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1071 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-11 20:27:03 +00:00
peabody124	9ff624bc0f	I'm an idiot. I put ifndef __darwin__ when I meant ifdef. Works on linux now with minimal CPU. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1070 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-11 20:23:34 +00:00
corvus	ae4a52e0ed	test cases for signal handling ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1069 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-11 16:43:41 +00:00
corvus	71589d2246	simple segfault reproduction ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1068 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-11 15:11:26 +00:00
corvus	0efc69055e	fix in print function *ducks* ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1067 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-11 13:57:20 +00:00
corvus	1dd60b54f6	thread safe printf implementation now ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1066 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-11 13:20:22 +00:00
FredericG	5bb4fedc7f	attitude seq field was removed ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1065 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-11 12:25:43 +00:00
corvus	ece979a4e1	ported latest changes by Vassilis and Stac to Posix version ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1064 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-11 12:13:43 +00:00
peabody124	c6b495cdcc	This version runs stably on all three platforms for me. Corvus, please feel free to revert these changes if you want or have a better solution. Also only Mac tested with GCS, the rest just sit there running nicely ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1063 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-11 02:23:11 +00:00
peabody124	dd598a75a4	This version runs stably on all three platforms for me. Corvus, please feel free to revert these changes if you want or have a better solution. Also only Mac tested with GCS, the rest just sit there running nicely ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1062 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-11 02:22:24 +00:00
vassilis	9f2a01a78a	Flight/Servo Fix Servo driver buffer overflow, was messing up the I2C and altitude readings, now working fine. Servo index used to be 1-8 but the Servo driver was indexing a buffer out of bounds. Changed everything to use index 0-7 for servo outputs. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1061 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-11 01:54:43 +00:00
stac	3896baa908	usb hid: fix compiling with ALLOW_HID_TELEMETRY ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1060 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-10 14:56:27 +00:00
peabody124	bd197886e5	Added some include files for task.c and removed an asserting that is sometimes violated in the signal handler ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1059 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-10 14:07:28 +00:00
peabody124	083886615a	Ok, so its run for a bit on my windows and mac computer, although I've seen a few glitches. Also, need the version of tasks.c in peabody124 which disables interrupts while in the nanosleep command. Unfortunately for windows I have to turn of all the cpu optimization code to make it reliable for now, so it eats cycles ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1057 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-10 07:31:58 +00:00
sambas	9003cd8eca	OP-97 flight/GPS: GeoidSeparation added, need to think that precision problem ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1056 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-10 07:27:07 +00:00
peabody124	db1dde5d8c	Pretty major rewrite which can either run with thread monitoring (windows) or with conditional waits. Definitions in file set mode, but robust for all modes on OSX, now for windows testing ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1054 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-10 06:25:33 +00:00
peabody124	60fda40c42	Much more stable on windows now ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1048 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-08 16:24:34 +00:00
corvus	cb9afef32d	Pios.posix - FreeRTOS port for cygwin - test-file to debug signal and mutex handling ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1047 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-08 10:28:50 +00:00
peabody124	c2cb17ffe7	Working on windows ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1046 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-07 20:43:05 +00:00
peabody124	bd13811255	A ridiculously simple version that just avoids almost all signal handling needs ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1045 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-07 18:36:05 +00:00
corvus	2ebe830624	reverting accidental commit ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1044 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-07 17:47:22 +00:00
corvus	5c7324a28b	PiOS.posix - thread management - another variant to test on win32 ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1043 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-07 17:45:12 +00:00
peabody124	5f174108b1	Initial work on pthread_cond based locking, minimizing signal handling (but trusting mutexes) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1042 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-07 17:43:12 +00:00
corvus	3370f75da1	PiOS.posix - more changes to increase cygwin runability ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1041 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-07 16:40:38 +00:00
corvus	f82783d77e	PiOS.posix | more attempts to fix it on win32 ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1040 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-07 14:43:36 +00:00
peabody124	5f6b3eb11a	XCode project file for Mac development (for the Posix port) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1039 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-07 14:28:48 +00:00
corvus	034d66197b	PiOS.posix: bug fix in new scheduler emergency handler ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1038 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-07 13:09:42 +00:00
corvus	447be5c0a0	PiOS.posix - new version of debugging enabled custom port.c ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1037 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-07 12:21:36 +00:00
corvus	64a8302f5a	PiOS.posix scheduler - added port.c with debug output for testing ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1036 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-07 10:47:23 +00:00
corvus	0662269625	some fixed - might run on windows now ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1035 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-07 09:40:17 +00:00
peabody124	48596e838e	Cleaned up some signal handling a bit, some handshaking at task switching. For some reason nanosleep occasionally causes problems. Something about it not being a cancellation point ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1034 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-06 23:25:34 +00:00
peabody124	6caf552753	My version that works on linux and mac, not windows ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1033 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-06 22:51:58 +00:00
corvus	ec48207755	PiOS posix scheduler - added simple docu about scheduler work ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1032 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-06 21:56:43 +00:00
corvus	7aa693ed3e	PiOS posix port - threading - test implementation ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1031 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-06 21:55:22 +00:00
corvus	b13f8296dc	POSIX port: some improvements as suggested by stac ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1024 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 21:44:09 +00:00
corvus	2e373c5dfc	pios_com_udp: explicit type cast to prevent compiler warning ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1020 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 11:24:43 +00:00
corvus	455a99a3cf	some changes to increase platform independence ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1017 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 09:27:53 +00:00
corvus	c7479b796b	merged chages 995:1015 into posix branch ... (See? That's why I hate branching - thank the gods that subversion has the "merge" command) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1016 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 08:50:40 +00:00
stac	17bea4cb91	ahrscomms: connect the OP board to the AHRS board ... The AHRS comms module now sync's with the AHRS and exchanges interesting data periodically. Whenever the link to the AHRS is down, the AHRSComms alarm is raised. This is fairly basic for now but provides the last piece of the infrastructure to move data back/forth between the OP and the AHRS. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1014 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 02:21:49 +00:00
stac	05485e5b63	ahrs: tie main loop into SPI link FSM ... - AHRS mainloop now runs flat out updating sensor data and processing any messages sent from the OP board. - Raw data is provided from the magnetometers - Fake data is provided for attitude solution - Correct data is provided for serial number queries Note: There is a bug in the i2c code that very quickly leaves the magnetometer in a broken state and returning incorrect values. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1013 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 02:21:47 +00:00
stac	29a8f05ac9	mag sensor: put some bounds on the parameters ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1012 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 02:21:45 +00:00
stac	a3a2dbd634	spi: Add support for hardware CRC generation/checking ... PIOS SPI devices may now make use of automatic CRC generation and checking on block transfers. Only supports CRC8 for now. Since the SPI interface CRC calculation continues across message boundaries (ie. not reset on every transfer), we must manually reset the CRC registers for every transfer to allow the two sides of the link to resynchronize. Unfortunately, resetting the CRC registers requires disabling the SPI peripheral which must now be done on every block transfer. Note: The last byte of the tx buffer is never sent and is assumed to be a place holder for the tx CRC8. Note: The last byte of the rx buffer is expected to hold the rx CRC8. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1011 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 02:21:42 +00:00
stac	c12b7e3fed	spi: tx buffer is now const ... Tx buffers should not be modified. This allows passing const data to the transfer function. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1010 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 02:21:40 +00:00
stac	548a32f18b	attitude: Rename Attitude module to AHRSComms ... The Attitude module will soon be handling updates for all UAVObjects that require data from the AHRS. To reflect this expansion of scope, it has been renamed to AHRSComms. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1009 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 02:21:37 +00:00
stac	1425ab1786	ahrs status: Add AhrsStatus UAVObject ... This object currently only holds the serial number of the attached AHRS board. This will be retrieved each time communications are (re)established with the AHRS board. This will eventually be extended to hold some statistics for OP to AHRS comms. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1008 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 02:21:34 +00:00
stac	1bbc8381c0	heading: Add HeadingActual UAVobject ... This object currently holds only the raw magnetometer readings and an instantaneous heading calculation which are only really useful for debugging. The contents of this object will change often as development progresses. Note: The magnetometer values are often garbage due to a problem with i2c software on the AHRS. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1007 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 02:21:31 +00:00
stac	0e6294ca27	spi: remove internal pull-up from input data lines ... The input data lines between the OP and AHRS boards had internal pull-ups enabled. This seemed to be causing issues early on during development of the inter-board comms. Not sure if this is still necessary but this is how the current code was tested. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1006 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 02:21:26 +00:00
stac	e3824a6d78	ahrs spi: Add AHRS SPI link management FSM ... To the outside world, the AHRS can be in one of only a few primary states: Not present - AHRS is absent or non-responsive via SPI Inactive - Only link-level status messages are processed Ready - Ready to receive the next application level message Busy - Application level message is being processed Internal to the AHRS, there are many more states that need to be managed. This FSM provides the necessary decoupling between the ISR (which is being driven by the SPI link) and the AHRS main processing loop which must continue to run its filters independently of the SPI messaging rate. With this structure, SPI messages can be received at any time but processed at only specific points within the filter chains. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1005 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 02:21:22 +00:00
stac	89a6d6d912	ahrs spi: Add definition of OP<->AHRS SPI protocol ... This defines the SPI message format as well as a few initial messages for moving data across the link. The v0 messages are place holders for firmware download in the bootloader. The v1 messages are to be used by the main application. Note: This is not the final protocol definition. Subject to change without notice. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1004 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 02:21:15 +00:00
stac	3eceef43d3	spi: Connect device specific DMA IRQ handlers ... Mark the device specific DMA IRQ handlers as strongly linked aliases for the genericly named interrupt vector symbol. Here's how this works... * The address of the symbol DMA1_Channel2_IRQHandler is written into the DMA1/Channel2 interrupt vector by the linker script. * The startup_*.S file specifies Default_Handler() as a weakly linked alias for DMA1_Channel2_IRQHandler. * We now override the weakly linked alias with the strongly linked PIOS_SPI_sdcard_irq_handler(). * This results in the address of PIOS_SPI_sdcard_irq_handler() being written to the vector table for the DMA1/Channel2 interrupt. * The PIOS_SPI_sdcard_irq_handler() function is now called whenever the DMA1/Channel2 interrupt fires. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1003 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 02:21:13 +00:00
stac	b084fc4be5	alarms: Add alarm for AHRS Communications ... The AHRSComms alarm will be raised whenever the OP board is not able to communicate with the AHRS board. The navigation software on the OP board could use this alarm to trigger its best attempt at an emergency landing. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1002 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 02:21:11 +00:00
stac	71e491e3c1	com: mark tx buffer as const throughout API ... The com layer transmit functions should provide guarantees that they will not modify the buffer that you're transmitting. Declaring the parameter as a pointer to const keeps the underlying implementations honest. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1001 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 02:21:08 +00:00
stac	1cc6981ee5	attitude: Remove seq field from uavobject ... The sequence number field for the attitude solution is likely unnecessary. Removed. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1000 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 02:21:04 +00:00
stac	4f8d81343f	spi: assert on invalid SPI device ... TransferByte API is simplified to either assert or return the rx byte. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@999 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 02:21:00 +00:00
stac	1169514bf9	sd card: fix SD R1 detection ... SD R1 response format is defined as any byte with the MSb cleared. The code was testing for any byte that was not 0xFF which can lead to misinterpreting a byte as the response. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@998 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 02:20:57 +00:00
stac	5c230e734d	ahrs: Turn on -Werror for AHRS build ... Disallow warnings of any kind in AHRS code. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@997 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-04 02:20:54 +00:00
corvus	edcf4f76f0	deleted patch file since it's no longer needed ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@996 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-03 21:51:37 +00:00
corvus	e2176d3117	- renamed PiOS.x86 into PiOS.posix ... - created temporary branch of OpenPilot (OpenPilot.posix) in order to test multi platform changes on hardware before committing to the main branch git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@995 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-03 21:50:13 +00:00
corvus	8cd1a494ab	decrease FreeRTOS idle CPU on x86 load from 100 to 0.001 by adding call to nanosleep. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@992 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-03 09:36:01 +00:00
sambas	1a7a9aa250	flight/osd: config write retry routine, my original empty config array. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@986 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-02 18:49:42 +00:00
sambas	aa1ddca8bf	flight/osd: ET osd write config work, dump format also same as write array. use with caution ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@985 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-02 14:54:04 +00:00
corvus	ad4008bc11	minIni removed from PiOS.x86 ... added x86 patch to subversion since JIRA is acting up git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@967 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-01 10:34:25 +00:00
dankers	0d38dfc745	Minini removed from PiOS ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@966 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-01 08:57:40 +00:00
dankers	e47f755c30	Minini removed from OpenPilot ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@965 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-01 08:57:06 +00:00
dankers	84c944b4fe	Old Documentation removal, legacy from very early in the project. This information should be on the Wiki. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@962 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-07-01 04:44:35 +00:00
peabody124	6715565727	Make CODE_SOURCERY switch affect rm command ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@909 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-27 19:44:39 +00:00
corvus	694f7e7feb	OP-85 ... x86 port of PiOS - including pios_com - UDP support git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@905 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-27 14:14:07 +00:00
FredericG	55f13788de	FlightBatteryState Object : Made Voltage and Current fields float ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@895 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-26 10:59:11 +00:00
FredericG	8204143f9d	MKSerial: Do not generate BatteryState as this is now generated by the battery-module ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@894 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-26 10:31:27 +00:00
FredericG	302be3ee6f	OSD: Send battery-current info to OSD. Consumed mAh is calculated by the OSD ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@893 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-26 10:27:10 +00:00
vassilis	c74eb2f0e9	OP-26 Flight/Stabilization First release of stabilization module. Tested using FlightGear, default tuning is for the HITL simulation. Works fairly well but a number of improvements can be made to aid tuning. The ManualControl settings must be first set as you would normally do for HITL simulation, flight mode is changed using the mode channel. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@887 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-25 02:28:16 +00:00
FredericG	6ef11148b5	First version of battery module ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@882 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-24 11:10:43 +00:00
FredericG	6c40edccf2	ET OSD: WIP: dumping of config-blob to serial port ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@852 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-21 20:02:03 +00:00
FredericG	3bc938d45e	lowered I2C timoout whne using RTOS ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@842 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-21 09:19:02 +00:00
FredericG	d7390a07a5	MKSerial: use AUX port ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@840 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-20 18:08:41 +00:00
FredericG	c8f818a809	Do not configure the servo outputs when ENABLE_AUX_UART ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@839 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-20 18:02:26 +00:00
FredericG	fba5164634	Enable AUX UART with ENABLE_AUX_UART in Makefile ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@838 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-20 18:01:21 +00:00
FredericG	5d9a718430	Made pios_com_num_devices const ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@837 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-20 17:59:48 +00:00
FredericG	e5c795e42b	Remapped UART_AUX from PA9/10 (RX inputs) to PB6/7 (Servo output) ... Rationale: (http://forums.openpilot.org/topic/800-rev-761-mkserial-adapt-to-com-usartx-pios-com-x/page__view__findpost__p__2203_) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@836 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-20 17:48:59 +00:00
FredericG	eac1d8a06b	No need to include telemetry.h in openpilot.c ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@835 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-20 17:43:00 +00:00
FredericG	524201d3b6	MKSerial: Complete PositionActual Obj ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@818 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-19 11:04:49 +00:00
FredericG	ceadcf49a0	OSD: Also use PositionActual object ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@817 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-19 11:02:43 +00:00
stac	20fa15c24a	spi: fix block transfers ... SPI block transfers were broken in commit r759. Block transfers are primarily used by the SD card interface so this also broke accesses to the SD card. SD card accesses should be fixed now. Verified by writing config objects in the GCS and confirming that they survived a reboot of the OP board. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@808 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-18 04:28:32 +00:00
dankers	69d2c1b546	Add flightbatterystate to the GCS, ran uavobjgenerator on all XML files. .cpp and .h included for GCS now, uncommented out these files from the uavobjects.pro. ... Moving sounds folder to shared. Some sounds will be uploaded later. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@792 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-17 10:06:51 +00:00
fredericg	369657d52e	FlightBatteryState object changed ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@786 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-16 13:41:10 +00:00
fredericg	23b2771602	OP makefile, traces under dos did not work well ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@785 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-16 13:38:49 +00:00
FredericG	e3815bf8b8	OSD: start displaying real data WIP ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@765 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-14 16:50:01 +00:00
vassilis	106bdca20e	Flight/Actuator Go to failsafe actuator outputs when a command is not received ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@763 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-14 02:00:16 +00:00
fredericg	0731747d84	new object: FlightBatteryState ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@762 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-13 17:21:31 +00:00
fredericg	4e15413fc9	MkSerial, adapt to COM_USARTX => PIOS_COM_X ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@761 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-13 11:18:42 +00:00
stac	771a56ca9d	com/usart: generalize com driver API ... - Created a pluggable COM layer - Converted COM + USART init into static initializers rather than typedefs - Generalized the USB HID COM API to match the USART API. - Changed USART and COM layers to be data driven rather than #ifdef'ing/switching on the specifics of each port git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@760 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-13 04:24:26 +00:00
stac	8d015a57d0	pios spi: support both master and slave configs ... Added support for SPI slave configurations to the pios SPI layer. Converted the board specific configuration for the PIOS SPI layer to use const static initializers rather than #defines (see pios_board.c). SPI interface between the OP board and the AHRS is now operational at a basic level, capable of moving simple single byte messages between boards. Multi-byte, CRC protected messages will be added on top of this. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@759 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-13 04:23:44 +00:00
stac	02e0017cbb	stm32 lib: declare read-only parameters as const ... Many of the STM32 library functions take a pointer to an initialization structure. In nearly every case, this struct is a read-only (ie. const) parameter. It is advantageous (and good coding practice) to actually declare read-only data as const so that the compiler can place the const data in the .rodata section which resides in flash and doesn't consume any RAM. This has the added bonus advantage that it is impossible for the running application to corrupt the read-only data. In order to allow passing pointers to const data into the library functions, it is essential that the function prototypes also declare their associated read-only parameters as const. This commit adds the const attribute to those parameters that are actually read-only. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@758 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-13 04:23:15 +00:00
stac	aebc358e46	usart: use macro definitions for bit positions ... No functionality changed. Clean up only. Changed a few of the (1 << x) constructs to use existing macro definitions to improve code readability. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@757 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-13 04:22:57 +00:00
stac	8b5e1e8aea	init cleanup: use irq stack during early init ... No functionality changed. Clean up only. Make early init code (Reset_Handler) use the existing irq stack rather than the hard-coded one. Remove (now) unused references to the hard-coded stack. Removed the link-time check for a minimal task stack in RAM since FreeRTOS allocates user stacks from the heap which is already reserved in the .bss section (as symbol xHeap). git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@756 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-13 04:22:47 +00:00
stac	90f9e6d309	openocd: support OP and AHRS at the same time ... Split the floss-jtag.cfg file into separate versions for OP and AHRS. Push AHRS onto non-default ports for gdb, tcl and telnet. Update the AHRS gdb setup script to point at the new gdb port. Add (commented out) example sytax to support distinguishing between multiple floss-jtag boards that don't have serial numbers. Uses the usb bus address of each device as the selector. See this patch posted to the openocd mailing list for how to add this functionality to openocd: http://lists.berlios.de/pipermail/openocd-development/2010-June/015785.html git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@755 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-13 04:22:30 +00:00
FredericG	f8b793e54d	ET OSD, WIP. Encoding of voltage and GPS data is now known ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@750 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-12 17:44:24 +00:00
fredericg	39aaf0868a	MkSerial: Adapt to GpsPosition => ActualPosition ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@744 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-11 15:54:13 +00:00
vassilis	b6160c8a9b	Flight/Telemetry Avoid bunching of periodic updates by spreading them. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@739 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-11 02:24:26 +00:00
vassilis	eaa9d97939	Flight/GPS Renamed GPSObject to PositionActual and implemented field for GPS status (NoGPS, NoFix, Fix2D and Fix3D) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@734 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-10 01:28:06 +00:00
FredericG	5472d531e7	Starting OSD module for ET OSD Std ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@732 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-09 20:43:43 +00:00
fredericg	e550243c13	Removed unwanted quotes in build-output when building under windows/dos ... before "**** Compiling C :" ../PiOS/STM32F10x/pios_sys.c "->" Build/pios_sys.o after **** Compiling C : ../PiOS/STM32F10x/pios_sys.c -> Build/pios_sys.o git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@731 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-09 16:38:10 +00:00
FredericG	2895925bd2	Small fixes ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@726 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-07 19:56:42 +00:00
fredericg	426b4344b0	Detect if connected to NaviCtrl or FlightCtrl and use appropriate messages - untested ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@725 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-07 14:50:48 +00:00
fredericg	2e6e2537f5	Fix: including of Example Module did not work any more ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@724 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-07 11:12:58 +00:00
fredericg	ef73edfd0d	Detect of quotes are needed and use quotes in echo-commands while generating InitMods.c ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@723 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-06 16:21:21 +00:00
FredericG	db629cebc5	Some cleanup ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@717 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-05 15:32:57 +00:00
FredericG	8a7eba0675	List of modules in Makefile - Automatic init of included modules ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@716 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-05 15:17:31 +00:00
FredericG	7476aa61b9	Fixes: TO did not work / values need to be signed ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@712 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-03 19:57:58 +00:00
fredericg	f8f2c3b5d2	Timeout detection in WaitForMsg ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@711 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-03 16:31:48 +00:00
stac	e2721136ae	GPS: fix buffer overrun in nmeaProcess() ... nmeaProcess was attempting to null-terminate the NMEA sentence but was not considering that the preceeding loop may have looped beyond the end of the packet buffer. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@709 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-03 13:58:18 +00:00
stac	a03b948fb5	gdb: add gdb init + hooks for AHRS ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@708 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-03 13:58:16 +00:00
fredericg	6577dce1d5	Report attitude obj ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@707 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-03 11:32:02 +00:00
fredericg	59250845ea	MKSerial: composing messages ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@703 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-02 19:44:57 +00:00
FredericG	4d227cd8b6	MKSerial: print attitude ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@702 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-06-02 06:57:41 +00:00
fredericg	a2beb49257	Changed PIOS_DEBUG_Panic() ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@694 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-31 16:22:58 +00:00
fredericg	17f6646f6e	Simplified the way test-applications can be built ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@693 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-31 16:22:10 +00:00
sambas	c53aa219d5	OP-25 Flight/GPS: Speed from knots to m/s ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@691 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-30 18:09:37 +00:00
fredericg	0fc8240b12	Display incoming messages - untested ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@688 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-30 13:28:53 +00:00
sambas	4f4391708e	OP-25 Flight/GPS: Heading and GroundSpeed used, speed in knots? ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@687 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-30 06:31:58 +00:00
vassilis	6414887dcc	Flight/ManualControl Added support for reversing inputs ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@685 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-30 01:58:15 +00:00
vassilis	c22804e90a	Flight/UAVObjects Modify update rate and acked flag of periodic objects, added new gpsobject fields ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@684 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-30 01:56:43 +00:00
fredericg	dc2e7a041a	Moved MKSerial to Modules/MK dir ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@672 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-27 10:30:39 +00:00
stac	140a51932f	spi: fix cut/paste error for AHRS SPI setup ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@669 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-27 01:37:43 +00:00
stac	918250868b	irq_stack: correct one word overlap of _irq_stack_top ... The previous fix in r652 was _almost_ right. There was still a one word (4-byte) overlap between _irq_stack_top and the start of the data segment. _irq_stack_end + _irq_stack_size leaves the '.' pointer at the word immediatly after the stack. This commit corrects this error and places _irq_stack_top on the last word _inside_ the reserved space for the irq stack. [Before] $ ./tools/arm-2009q3/bin/arm-none-eabi-nm -n ./build/openpilot/OpenPilot.elf ... 20000000 A SRAM_BASE 20000000 B _irq_stack_end 20000400 d LED_GPIO_PORT <--- overlap 20000400 B _irq_stack_top <--- overlap 20000400 D _sdata 20000408 d ADC_GPIO_PORT ... [After] $ ./tools/arm-2009q3/bin/arm-none-eabi-nm -n ./build/openpilot/OpenPilot.elf ... 20000000 A SRAM_BASE 20000000 B _irq_stack_end 200003fc B _irq_stack_top 20000400 d LED_GPIO_PORT 20000400 D _sdata 20000408 d ADC_GPIO_PORT ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@668 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-27 01:37:40 +00:00
sambas	ebff9f3638	OP-25 Flight/GPS: New GPS fields in use ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@665 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-25 05:32:43 +00:00
sambas	f7f1b37c62	OP-25 Flight/GPS: More object fields for GPS module ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@664 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-25 05:14:52 +00:00
vassilis	9be49ca54d	Flight/Attitude Minor change in field names and task priority ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@662 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-25 00:49:46 +00:00
sambas	ec40618664	OP-25 Flight/GPS: Optimized GPS, buffer overflow fixed, RMC sentence handler ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@660 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-24 19:49:37 +00:00
stac	d678720855	i2c: i2c errors no longer mapped to event channel ... Both EVents and ERrors were mistakenly being mapped to the EVent IRQ channel. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@659 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-24 16:33:49 +00:00
stac	874239154a	Turn on -Werror on openpilot firmware build ... This commit fixes all existing warnings. All basic compiler warnings will now be treated as errors. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@658 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-24 16:33:46 +00:00
stac	6b2760da1a	USB HID: basic COM functionality over USB HID ... This fixes the COM interface over USB HID to the point where it can establish and maintain solid communications with the UAVObject Browser in the GCS. Tested only on Linux. The USB HID interface is still disabled for now until it is tested successfully by a wider group. Edit telemetry.c and set ALLOW_HID_TELEMETRY to 1 to enable telemetry over the USB HID interface and report your results in the forum. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@656 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-24 16:33:40 +00:00
stac	69de42db49	Add AHRS attitude module and driver skeletons ... - New Attitude module for AHRS (skeleton) - New AttitudeSettings UAVobject - New AttitudeActual UAVobject - Regenerated UAVobjects - Added new UAVobjects to OpenPilot and GCS builds - New PiOS driver for OpenPilot AHRS (stubs only) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@655 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-24 16:33:36 +00:00
stac	e892dcb033	bmp085: create semaphore prior to configuring irq ... Since the EXTI and NVIC init routines automatically enable the IRQ when it is configured, it is possible for the EOC interrupt to fire immediately upon configuring the IRQ. Since the handler for the EOC interrupt (EXTI15_10_IRQHandler) does a xSemaphoreGiveFromISR, it is important to have the semaphore initialized prior to enabling the interrupt. Also, added missing include for altitude module. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@654 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-24 16:33:30 +00:00
stac	cc6348934f	bmp085: Add missing include for altitude module ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@653 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-24 16:33:29 +00:00
stac	41da33c920	irq_stack: provide a proper IRQ stack for FreeRTOS ... The MSP (IRQ stack) was trampling across the data segment. This was especially disastrous in the USB interrupts since they allocate and fill buffers on the stack. The root of this trampling was that no RAM was being reserved for the MSP and a hard-coded value of (0x20000400) was used as the initial MSP base address. This resulted in the first 1K bytes of the .data segment overlapping with the IRQ stack. As can be expected, all sorts of badness resulted when interrupts were firing and trampling over variables. This change reserves the first _isr_stack_size bytes at the beginning of RAM for the MSP. If an ISR call chain runs off of the end of the MSP, a Hard Fault will be generated as the (now invalid) sp is accessed. There are two stack pointers in the Cortex-M3 CPU. These are MSP (Main Stack Pointer) and PSP (Process Stack Pointer). Which stack is in use at any given time is determined by the following table: Mode CONTROL[ASPSEL] Stack ---- --------------- ----- Thread 0 MSP Thread 1 PSP Handler x MSP Out of reset, the CPU is in Thread mode using the MSP. The initial value of the MSP is automatically loaded from address 0 (lowest word in boot region -- typically FLASH) immediately prior to jumping to the reset vector. When running at interrupt level, the Cortex-M3 always uses the MSP and the ASPSEL bit is forced to zero. FreeRTOS allocates a separate stack for each task upon task creation. These task stacks are allocated from the heap. FreeRTOS sets the active stack to the PSP whenever running in a task context (both in privileged mode and user mode). git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@652 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-24 16:33:26 +00:00
FredericG	0723ff8b75	Started new module ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@650 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-23 19:01:07 +00:00
sambas	d7b3a158d6	OP-22 Flight/PiOS: Spektrum bind function tested and working. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@649 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-23 11:19:28 +00:00
FredericG	6f0401b0d9	insignificant changes ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@648 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-22 06:38:05 +00:00
FredericG	09981b39c2	A few small fixes ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@647 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-22 06:30:42 +00:00
vassilis	f143628e80	Flight/Altitude Update altitude object with new metafields, modified update rates in XML and flight s/w ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@645 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-20 01:21:44 +00:00
vassilis	e3556a3f31	OP-48 Flight/UAVObjects Add access mode field in the metadata. This field can be used to disable local UAVObject updates in the flight or GCS software. It is transparent to any modules and plug-ins, the access control is done by the UAVObjectManager. This functionality is needed for the HITL simulation since certain objects that are normally updated by the flight software (e.g. AttitudeActual, Airspeed etc) will now need to be updated by the GCS. The modules reading those objects do not need to know if the object is updated by the GCS or by the flight software, when HITL is enabled it is transparent to the modules. ... NOTE: Delete any metaobjects that you may have saved in the SD card (delete all .obj files). git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@643 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-20 00:58:40 +00:00
stac	d02a3325d9	altitude: Add altitude module which reads BMP085 ... This module reads from the BMP085 pressure sensor. It periodically updates the pressure (kPa) and temperature (C) as well as the calculated altitude (m). git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@640 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-19 04:55:56 +00:00
sambas	b7601c9765	OP-25 Flight/GPS: changes for OPGPS ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@639 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-18 12:49:47 +00:00
sambas	0e81831399	OP-25 Flight/GPS: port speed corrected for OPGPS ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@638 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-18 11:42:57 +00:00
stac	514d46f5b6	freertos: fix RTOS API calls from interrupt level ... FreeRTOS has a strict requirement that even interrupt-safe API calls (ie. those ending in "FromISR") can only be called from ISRs that are at lesser or equal priorities to configMAX_SYSCALL_INTERRUPT_PRIORITY. See the "configKERNEL_INTERRUPT_PRIORITY and configMAX_SYSCALL_INTERRUPT_PRIORITY" section at: http://www.freertos.org/a00110.html The interrupt numbers used on the Cortex-M3 CPU has a somewhat backward representation of the interrupt numbers so 255 = lowest priority and 0 = highest priority. The calculation is further complicated by the STM32 implementation only using the upper 4 bits of the priority value. Only 0x00, 0x10, 0x20, ..., 0xE0, 0xF0 represent useful interrupt priorities. FreeRTOS requires that MAX_SYSCALL and KERNEL interrupt priorities are expressed as raw unshifted 8-bit values to be programmed directly into the BASEPRI register. The priority values passed to the NVIC initialization, however, are expected to be 4-bit values and are shifted up by 4 within NVIC_Init() for you. The end result is that we need this arrangement: [highest priority] NVIC_0 (Non-maskable-interrupt) NVIC_1 NVIC_2 [Must NOT call FreeRTOS APIs above here] configMAX_SYSCALL_INTERRUPT_PRIORITY (now at 48 = 0x30 = NVIC_3) PIOS_IRQ_PRIO_HIGHEST (cur. NVIC_4) PIOS_IRQ_PRIO_HIGH (cur. NVIC_5) PIOS_IRQ_PRIO_MID (cur. NVIC_8) PIOS_IRQ_PRIO_LOW (cur. NVIC_12) configKERNEL_INTERRUPT_PRIORITY (240 = 0xF0 = NVIC_15) [lowest priority] The previous config had configMAX_SYSCALL_INTERRUPT_PRIORITY set at 191 (0xBF) which is effectively NVIC_11. This was allowing all of the MID, HIGH and HIGHEST interrupt handlers to preempt the OS in its critical sections. Since some of these ISRs were calling FreeRTOS APIs, this would result in corrupting internal data structures within the OS. It should be ok to move the configKERNEL_INTERRUPT_PRIORITY to a higher priority as long as it is less than configMAX_SYSCALL_INTERRUPT_PRIORITY. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@637 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-18 04:50:38 +00:00
stac	f6de7ff54f	gdb: Add pre/post hooks to fix stepi ... This fixes the gdb stepi command to allow the M3 core to make forward progress even when interrupts are pending. M3 Core interrupts are masked/unmasked in pre and post command hooks. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@636 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-18 04:50:36 +00:00
vassilis	6b6740109e	OP-32 Flight Initial release of Actuator (ServoOut) and ManualControl (ServoIn) modules, still work in progress (not fully tested). ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@632 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-17 01:58:38 +00:00
FredericG	3f79770f7f	More debug state info ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@631 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-16 18:07:41 +00:00
sambas	66fa56a1da	OP-22 Flight/PiOS: Spektrum simple decoder works, getting seven working channels with my DX7 tx ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@630 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-16 10:04:07 +00:00
sambas	76cd72915d	OP-22 Flight/PiOS: first tests done with spektrum satellite, I can read binded receiver serial stream ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@629 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-16 08:35:38 +00:00
stac	56f1e8b547	uavobjects: Move generated python classes ... Moved the generated python classes from the flight directory to the ground directory since they are only used on the host, not the embedded targets. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@628 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-16 03:05:10 +00:00
sambas	26aecf720d	OP-22 Flight/PiOS: Spektrum satellite protocol started ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@626 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-15 18:22:03 +00:00
gussy	5991a93739	Added GPIO functions for accelerometer full-scale selection. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@625 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-15 15:27:52 +00:00
gussy	73b5e29e02	Finalised and verified PIOS_HMC5843 library. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@624 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-15 12:50:05 +00:00
stac	e05f4cf068	uavobjects: Added support for generating python classes ... The uavobjectgenerator can now generate python classes for each UAVObject definition. This is useful for writing simple test applications in python that can exercise the UAVObject handling code on the embedded boards. This is a work in progress so the structure of the generated classes is likely to change. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@623 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-14 04:32:30 +00:00
stac	0e3a5550ba	gdb: Add pre/post hooks to fix step, next, finish ... The gdb commands step, next and finish on the M3 core would never make forward progress since there is almost always an interrupt pending. This is a known problem on the M3, and is fixed by adding pre and post command hooks which mask and unmask all ISRs on the M3 core. Step, next and finish now work as expected, but care should be taken when using these commands across any part of the code that actually _needs_ the interrupts in order to make forward progress. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@622 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-14 04:32:17 +00:00
gussy	f9256b22d0	AHRS basic sensor test code revision. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@619 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-13 09:40:00 +00:00
gussy	22fbd8e4bd	ADC Updates. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@618 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-12 12:09:35 +00:00
gussy	ff73ab5a80	More updates to cross-target compatibility. ... Added PIOS_I2C into AHRS code. Added PIOS_HMC5843 Module. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@617 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-12 08:18:49 +00:00
gussy	fe9aa9e38f	Small USART scalability fix. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@616 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-12 01:56:00 +00:00
gussy	8f3c2dbafb	Changes to PiOS to be compatible with the AHRS. ... Updates to AHRS code. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@615 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-11 13:36:13 +00:00
sambas	1bb32e78f1	Flight/telemetry: Missed one 38400 relates stuff ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@614 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-08 16:47:12 +00:00
sambas	9922df3524	Added 38400 for my XBEE ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@613 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-08 16:22:41 +00:00
vassilis	6dfd8caffb	OP-4 Flight/Telemetry Add connection timeout detection ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@608 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-08 04:11:03 +00:00
vassilis	a31215293d	Flight\Telemetry Implement telemetry settings object, added functions for changing the baud rate in PiOS ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@607 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-08 02:44:26 +00:00
vassilis	a337de22c7	OP-4 Flight/Telemetry Flush telemetry queues while connection is not yet established (to remove stale data) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@605 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-08 00:22:07 +00:00
stac	0826af11e5	Add startup script for gdb for openpilot board ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@597 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-07 01:44:57 +00:00
gussy	7544aab7fe	Comment out testing task. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@595 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-05 17:24:39 +00:00
stac	42c4c9b343	Lower priority of HIDTest task ... Commit @583 uncomments the HIDTest task creation. HIDTest task is configured to run at priority 4 (== tskIDLE_PRIORITY + 4) which is higher priority than the "System" task at priority 3 (== tskIDLE_PRIORITY + 3). The HIDTest task never blocks so it prevents the system task (and any other task of priority less than 4) from ever running. This commit does not fix the root problem of HIDTest never blocking, but rather lowers its priority to be equal to the system task so that they share the CPU. This is a temporary workaround. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@586 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-05 03:19:47 +00:00
gussy	a574f56961	HID Loopback test now working. GCS code now needs to be brought up to speed. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@583 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-04 19:56:06 +00:00
gussy	0aba12fe1f	Loopback test of HID working. Still a WIP but committing what I have to show progress. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@582 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-04 18:54:43 +00:00
vassilis	7ca10bf5d7	OP-4 Flight/ObjectPersistance Implemented saving/loading of individual objects from the SD card ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@580 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-04 02:11:16 +00:00
vassilis	e10a16f1c3	OP-4 Flight/Telemetry Implemented telemetry connection manager ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@578 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-04 01:29:04 +00:00
FredericG	0c65a90a9d	Write counter-value to memory in Task2 ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@577 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-03 18:31:34 +00:00
FredericG	58514baa49	Fixed test ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@576 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-03 18:18:43 +00:00
fredericg	8cdd056d84	Start using 2 I2C devices from 2 different threads - Untested ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@566 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-01 14:57:26 +00:00
FredericG	192134967d	Lock I2C before usage as it should ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@565 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-01 14:54:35 +00:00
fredericg	3281b1a128	OP-27 Use RTOS in LockDevice() and UnlockDevice() ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@564 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-01 14:49:51 +00:00
FredericG	724e82712b	Added vApplicationStackOverflowHook() ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@563 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-05-01 14:45:10 +00:00
FredericG	916f6163fd	Configurable address ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@562 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-30 06:40:13 +00:00
vassilis	0999c1ce58	Flight/Objects Metaobjects are now also stored in CF and retrieved on power-up. At this time settings and meta objects are automatically loaded on startup if they have been saved in the CF card (to test use Save button in the object browser), if a file is not found in the CF card then the defaults specified in the XML file will be used. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@561 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-30 02:28:16 +00:00
vassilis	99b67388bf	Flight/UAVObjects Added support for default field values (used to initialize settings with defaults) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@558 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-28 01:54:24 +00:00
vassilis	8c11a03129	Flight/Alarms Implemented Alarms library, now checking for stack overflow, out of memory, event and other errors (see the SystemAlarms object). All modules will be reporting their alarms using this library. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@554 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-27 01:55:28 +00:00
vassilis	613b17f970	OP-4 Flight/Telemetry Implement CRC in telemetry protocol ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@549 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-25 21:20:13 +00:00
vassilis	aaef72955e	OP-4 Flight/Telemetry Make objectTransaction() fully reentrant ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@547 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-25 18:34:03 +00:00
vassilis	7b99c3d7f0	Flight/System Restructure start-up code, now all initialization in done after the RTOS is started ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@541 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-25 02:21:03 +00:00
vassilis	4f0377194d	Flight/PiOS Remove use of semaphores in COM/USB ISR (not used and not working also causing random crashes) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@540 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-25 02:17:25 +00:00
vassilis	ecb83a52d3	OP-4 Flight/Telemetry Bug fixes and improved response when telemetry is fully loaded ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@539 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-24 04:05:39 +00:00
sambas	b8b5bffe4d	OP-25 Flight/GPS: using strsep instead of strtok_r (thanks for the hint PeterG). Prepared for GPGSA. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@535 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-21 09:56:23 +00:00
vassilis	f999028753	Flight/UAVObjects Added support for named arrays (i.e. each array element can have a name - needed for alarms) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@531 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-21 02:49:11 +00:00
sambas	923ee3ccaf	OP-25: gpsinfo removed, cleaned things up. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@522 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-18 07:37:55 +00:00
sambas	0ec2156f4a	OP-25: More fields for GPS Objects, preparing gpsinfo remove ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@521 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-18 07:14:00 +00:00
vassilis	40beb15129	OP-4 Flight/System Created CPU utilization measurement and created object to report system information (load, heap and time) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@519 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-18 02:13:59 +00:00
vassilis	ef36a79e12	Flight Updated gpsobject XML file (made it a single instance - less protocol overhead) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@517 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-17 22:28:19 +00:00
vassilis	89a6dd30d1	OP-4 Flight/Telemetry Create new objects to report statistics of the telemetry link (plus a few bug fixes, heap size was also increased) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@515 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-17 22:16:20 +00:00
sambas	6c4cd936e5	OP-25: GPS Objects working. You need to raise configTOTAL_HEAP_SIZE in FreeRTOSConfig.h if all tasks enabled. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@514 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-17 08:49:19 +00:00
sambas	670ac85e79	OP-25: GPS object update ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@513 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-17 08:12:05 +00:00
sambas	03a012c347	OP-25: Initial GPS Object ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@512 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-17 07:38:28 +00:00
vassilis	bc472102b4	OP-4 Flight/Telemetry More bug fixes after testing telemetry ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@506 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-16 01:56:08 +00:00
vassilis	5889849060	OP-4 Flight/Telemetry Various bug fixes while testing telemetry (working but not fully tested) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@500 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-15 02:15:46 +00:00
sambas	402b4e8e24	Telemetry and HID work, ugly hacks atm. Endianess needs checking. HID transmit doesn't work at all. Serialport works both ways ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@472 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-10 16:22:08 +00:00
vassilis	bf792a8058	Flight/SystemMod: Creation of the system module, for now it only responds to a request to load/save the settings objects ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@468 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-10 05:06:19 +00:00
vassilis	cb0d447043	Flight/UAVObject: Update metadata types ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@466 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-10 01:35:51 +00:00
vassilis	f4c4b1371a	Flight/Settings: Remove old settings implementation (replaced with binary settings as UAVObjects) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@465 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-10 01:35:13 +00:00
sambas	23aa2ea1cd	OP-25: lat, lon and alt to float, lat and lon to desimal degrees format ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@435 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-07 08:02:44 +00:00
vassilis	b00ab0e2ee	Flight/UAVObject: Added support for periodic queue events (in addition to callbacks), removed unused functions in GPS module ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@425 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-05 00:59:51 +00:00
vassilis	e2871a24e7	Flight/UAVObjects: Test harness and bug fixes ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@423 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-04 02:11:51 +00:00
vassilis	8ca3279aa6	OP-33 Flight/ExampleModule: Created three example modules that can be used as templates for actual modules ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@420 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-02 03:26:02 +00:00
vassilis	b51c29c2f9	OP-54: Flight/UAVObjects updated templates for enum field types ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@418 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-04-01 02:03:40 +00:00
pete	f1694527cc	Working on the PPM functionality. Getting there but it is still not 100% correct. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@411 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-30 04:48:15 +00:00
vassilis	2c9ffd0195	Flight/UAVObjects: Added an example settings object and included example objects in the makefie ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@408 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-28 22:23:57 +00:00
vassilis	9d7d297446	Flight/UAVObjects: Implemented loading and saving of objects from the file system and added support for settings objects ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@405 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-28 20:39:47 +00:00
sambas	066f42a2c5	OP-25: simplified gps structure ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@404 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-28 14:36:18 +00:00
sambas	3656caccbb	Checksum check for nmea sentences ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@399 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-27 13:13:39 +00:00
vassilis	a64cdc64ea	Updates on UAVObjects required by the object generator ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@396 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-27 03:19:56 +00:00
sambas	9490bcdb93	OP-25: GPS tested and working, using TrimbleGPS 5Hz, 5 lat/lon desimals ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@386 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-25 19:36:52 +00:00
sambas	37a0ce845c	Solved bad USART port init ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@383 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-25 10:52:38 +00:00
gussy	41fd921b14	Updated BMP085 test code. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@375 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-23 04:01:11 +00:00
gussy	bad62d3af3	Moved things around. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@372 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-22 02:51:52 +00:00
gussy	362163d48b	Added dependency checking, just in case. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@371 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-22 02:09:56 +00:00
gussy	6826706cb7	Moved external interrupts into it's own API. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@370 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-22 02:07:06 +00:00
gussy	62f4e2c636	Add PIOS_EXTI. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@367 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-21 20:23:20 +00:00
vassilis	20f29b40e4	Replace malloc with FreeRTOS built-in functions ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@358 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-21 14:19:38 +00:00
sambas	dad62c3316	Reworked the nmea sentence parser, most values still in string form ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@356 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-21 11:32:53 +00:00
gussy	a03952fb5d	Small updates and clean up. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@355 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-21 00:49:48 +00:00
dankers	58e4dd4757	Use usb-layout in floss-jtag - use OpenOCD 4 ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@354 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-20 22:02:35 +00:00
dankers	9b90cafb52	JTAG config files, also new floss-jtag for testing using the usb-layout ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@353 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-20 21:55:29 +00:00
dankers	ce99cc9ae9	Olimex config for Vassilis ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@352 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-20 20:12:36 +00:00
sambas	22698313fc	OP-25: preliminary GPS module, needs some cleaning. I'll start testing when I get HW ready. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@351 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-20 15:45:15 +00:00
pete	a3486477eb	Added PPM defines and created pios_ppm.c ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@325 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-17 04:00:13 +00:00
fredericg	2dbbe2ffc5	Added line to compile BMP085 testcode ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@321 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-15 12:04:41 +00:00
fredericg	ccc071a3c7	Extracted BMP085 tets-code from openpilot.c. Untested ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@320 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-15 12:04:03 +00:00
fredericg	e57ec315e1	fixed warning ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@319 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-15 12:00:47 +00:00
vassilis	34811cc16d	Minor updates in object manager and UAVTalk ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@318 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-15 01:54:25 +00:00
FredericG	8e873ec0e8	Use the new PIOS assert ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@315 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-14 17:13:27 +00:00
gussy	057def91e2	Small updates, removed some unused code. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@314 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-14 12:02:36 +00:00
gussy	a8d4297abe	Small optimisations in bootloader code. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@313 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-14 12:01:13 +00:00
gussy	f75fa5e567	Updated ADC to use the 3 auxillary inputs on the OpenPilot board. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@312 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-14 12:00:43 +00:00
gussy	e1504dafc6	Add PIOS_GPIO for controlling the auxiliary connections on the OpenPilot board. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@311 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-14 11:59:11 +00:00
FredericG	7bd573f043	OP-36 PIOS_DEBUG_Assert() function ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@307 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-14 10:20:27 +00:00
FredericG	a30f682a1e	Define DEBUG in debug-builds ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@306 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-14 10:14:45 +00:00
FredericG	c932e131f0	OP-11 Moved PIOS_BMP085_Init() since the OS must be running before the first I2C transfer can be issued ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@305 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-14 09:42:38 +00:00
julien	a2ea8b0e53	Some update for multi-platform. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@304 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-14 08:37:19 +00:00
gussy	7b5d85cb3e	PIOS_LED: Initialise all LED's as off. ... PIOS_SYS: Added system reset function. OpenPilot Makefile: Default USE_BOOTLOADER should be NO. OpenPilot Bootloader: Removed LED initialisation. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@303 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-14 06:47:57 +00:00
gussy	8ba2d76cd6	OP-21: Cleaning up a few things. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@302 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-13 20:46:46 +00:00
gussy	9b1e548550	OP-21: Made bootloader startup faster and more reliable. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@301 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-13 20:02:06 +00:00
gussy	a0a92d5a59	OP-21: Made changes to OpenPilot makefile too allow building for bootloader and non-bootloader targets. Use "USE_BOOTLOADER = YES" to build for the OpenPilot Bootloader. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@300 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-13 20:01:31 +00:00
gussy	444a652383	OP-21: Bootloader mostly complete. Working and tested. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@299 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-13 17:53:42 +00:00
FredericG	3b332c786f	OP-11 Use RTOS when waiting for an I2C transfer to finish when RTOS is enabled ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@298 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-13 17:28:42 +00:00
gussy	7863954f1a	Added debugging port buffer handling. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@297 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-13 15:37:00 +00:00
FredericG	50215e75c6	OP-28 Some changes in the I2C API ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@296 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-13 12:23:55 +00:00
FredericG	7b753399ec	Drive all debug pins low at startup ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@295 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-13 10:52:10 +00:00
gussy	978e07419d	Small FreeRTOS fixes. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@294 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-13 06:44:15 +00:00
gussy	3de8a31fa0	Added working and tested base for OpenPilot HID Bootloader. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@293 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-12 16:24:02 +00:00
gussy	6764a34285	Updated some FreeRTOS specific issues and fixed a few typos. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@292 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-12 16:22:56 +00:00
FredericG	223186f986	Show when Idle task runs ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@286 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-12 07:36:27 +00:00
fredericg	47038af0c0	PIOS_DONT_USE_XXX => PIOS_INCLUDE_XXX ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@283 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-11 12:38:51 +00:00
vassilis	18515b1897	UAVTalk bug fixes and API updates on object manager ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@282 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-11 02:31:32 +00:00
FredericG	dbde2b1bac	I2C: Some more fixes. I2C test passes at 400KBit and 200KBit but needs to be investigated further ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@280 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-10 21:11:19 +00:00
FredericG	964c1e5983	First version of I2C test ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@278 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-10 21:05:19 +00:00
dankers	e66c491942	Update to headers in the flight portion of the code. Just formatting. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@276 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-10 09:12:31 +00:00
gussy	b08eb71a9a	Changed USB VID and PID to our own ones now. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@272 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-08 18:48:00 +00:00
gussy	bcc84f00fb	Cleanup of unused code. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@271 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-08 10:14:38 +00:00
gussy	6fd5da7489	Type fix. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@270 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-08 10:10:26 +00:00
gussy	4f5d7ae83a	PIOS_PWM now reading 8 channels properly! ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@269 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-08 10:09:30 +00:00
vassilis	db01fe9e6b	Pack metadata structure ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@266 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-07 21:46:18 +00:00
gussy	1ed841946c	Added "supervisor" and comments to PIOS_PWM. ... Added timer usage diagram to pios_board.h Removed bloat for extra optimisation in PIOS_DELAY. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@265 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-07 14:19:43 +00:00
gussy	098cff2145	Small typo fix. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@264 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-03-07 12:25:29 +00:00