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Author SHA1 Message Date
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
edouard
929f7dd5d8 Make Notification plugin sound path portable too. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1579 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-11 21:17:44 +00:00
edouard
ce53757baa Servo input config was missing the accessory inputs. Changed the plugin to remove any hardcoded value, so it should be safe for future new channel assignement types 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1578 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-11 09:05:42 +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
edouard
3d388d2e93 Modelview: another ugly fix to complte the first one. There is a lingering issue of initing the GL context on the first valid 
model that is loaded, this fix addresses it but it could be much more elegant, I'm sure.


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1576 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-10 15:25:05 +00:00
edouard
4d399d7034 Fix for Mac build, sorry 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1575 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-09 22:01:45 +00:00
edouard
beed9c8936 Solved (please confirm) modelview crashing on non-existing files 
Made configuration portable for: dials, bargraph dials, pfd, modelview and system heatlh
THis means: if your config points to resources in the share directory, then the config will be portable


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1574 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-09 21:18:43 +00:00
cranphin
3b0b860c7b GPS Viewer: more layout tweaks. This looks kinda Ok, I think.. :) 
Suggestions/complaints welcome ;)


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1573 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-09 21:01:47 +00:00
cranphin
4db1849c6c GPS Viewer: Use a grid layout for the 4 main parts. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1572 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-09 20:12:42 +00:00
cranphin
2634067727 This should scale a bit better again, hopefully :) more coming! 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1571 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-09 19:56:16 +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
edouard
2b70ed53f7 New "PathUtils" Utils function, to help plugins detect where the "share" directory is located. Should be improved but it is a start. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1569 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-09 15:17:37 +00:00
sambas
c225153723 corrected the name 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1568 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-09 13:57:47 +00:00
edouard
8e17484136 Minute update to CREDITS.txt 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1567 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-09 05:22:43 +00:00
cranphin
38f0cffede GPS Viewer: Try to improve scaling a bit, add split thing between log 
and main view. Hope noone dislikes the changes ;) QT Layouts are fiddly!
:) Kinda a work in progress still.


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1566 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-08 23:20:31 +00:00
dankers
6b8d9aa3d1 Minor CREDITS.txt update, spelling and added Alex for his Russian translation work. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1565 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-08 21:45:08 +00:00
edouard
4b3096dd57 OP-38 Ground / Config Gadget: implemented channel reversal for output channels. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1564 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-08 21:31:09 +00:00
peabody124
cd9f5a0a5d Ground/Logging: Fix bug overwriting timestamp. Thanks Cranphin. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1563 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-08 18:48:16 +00:00
dankers
05aa044c21 Update to CREDITS.txt 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1562 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-08 09:13:54 +00:00
edouard
678f069b37 Update to credits file - cross check please 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1561 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-08 06:41:05 +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
edouard
b53f19dc03 OP-38 Ground/Config Gadget : another try at making AHRS settings more intuitive. And the Object queue now works (...) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1558 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-07 20:08:29 +00:00
edouard
b5608ed2ac OP-38 Ground/Config gadget: implementation of a queue to manage successive ObjectPersistence updates, will solve several issues (two updates 
one after another will fail if we don't wait for the transaction completed signal).


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1557 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-07 19:31:19 +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
chebuzz
755c47d666 OP/GCS ModelView - Added transparent rendering support, as well as debug output with right-click 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1555 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-07 12:52:52 +00:00
edouard
0af3d26981 OP-38 Ground/Config gadget: AHRS indoor mode works, as well as Home Location saving. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1554 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-07 12:26:33 +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
cranphin
d06d7025ff Don't forget to unhide the gps data stream when switching back to serial 
input :)


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1552 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-06 21:16:21 +00:00
cranphin
e8b0169b34 Add fix type (auto/manual), and fix sv's to nmea parser (not connected 
to anything atm.)


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1551 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-06 21:02:35 +00:00
cranphin
c87ff38039 Some fixing/cleanup: 
- Swap fix type and satelite count in UI.
- Use QString for the packet signal, if it ever happens to be
multithreaded signal/slot this will be better (And char* should perish
:) )
- Make QString in the slots const and by reference, that seems to be
preferred (const = safer, reference = faster).
- Don't use 'new' QStrings in the nmea parser, not sot sure if that
causes memory leakage, but it wouldn't surprise me.
- Emit fix type updates from the (Serial) nmea parser.


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1550 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-06 19:15:42 +00:00
zedamota
609d215749 OP-21/Flight Bootloader PC APP- Cosmetic changes only. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1549 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-06 19:05:41 +00:00
edouard
5c4ba7140b OP-38 Ground / Configuration gadget: automatically save results of 6-point calibration to SD (consistent with behaviour of sensor noise calibration). Other smaller updates. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1548 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-06 11:53:13 +00:00
edouard
ce6a4325e4 OP-38 Ground/Settings gadget : query uavobject properly for input channel assignements, so that any new input type is supported. Solves the issue with accessory inputs not appearing. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1547 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-06 08:26:27 +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