James Cotton
be21ec441e
Add ability to run guidance based on raw GPS velocity instead
2012-04-14 13:34:30 -05:00
James Cotton
1a98a46606
Merge branch 'revolution_ubx' into sim
2012-04-14 12:10:23 -05:00
James Cotton
5d160860a3
Fix from Corvus for gyro bias from EKF
2012-04-14 12:09:12 -05:00
James Cotton
3e2feb64cf
Fix bug limiting maximum velocity desired
2012-04-14 10:49:54 -05:00
James Cotton
b0ef456ccb
Kickstart MPU6000 if there is no data
2012-04-13 20:29:41 -05:00
James Cotton
a0d1b00ade
Cover an edge condition for the MPU6000 IRQ not firing
2012-04-13 19:37:30 -05:00
James Cotton
a1351fcdbe
Make the path velocity come from the waypoint.
2012-04-10 02:56:10 -05:00
James Cotton
a42d756b3e
Add path navigation mode to the path planner module. I don't like how this is
...
done because the mode is in the settings so can't be command from path planner.
I.e. it would be nice to be able to say do these paths then go to position hold
mode.
2012-04-10 02:51:50 -05:00
James Cotton
dfa18eaef1
Deal with the case where path start and endpoints are the same to avoid NAN.
2012-04-10 02:49:19 -05:00
James Cotton
1aec5b8deb
Add altitude control to the path navigation
2012-04-10 01:59:26 -05:00
James Cotton
26b73e3c8b
Add path navigation mode to guidance. Works well in simulation.
2012-04-10 01:48:03 -05:00
James Cotton
136bbe3814
Update the EKF code to use the GPSVelocity
2012-04-09 19:03:21 -05:00
James Cotton
dbcb47e249
Merge branch 'D-Lite/ubx-parser' into revolution_ubx
2012-04-09 17:34:34 -05:00
Werner Backes
4ede7a8af6
Experimental u-blox binary data format parser. See "u-blox 6
...
Receiver Description" for reference. Currently supports NAV-VELNED
message only and populates it to the GPSVelocity UAVObject.
2012-04-09 23:14:34 +02:00
Werner Backes
422944ce29
Experimental extension to the GPS stream parser to extract u-blox
...
binary data format. See "u-blox 6 Receiver Description" for
reference. GPS data stream may carry mixed NMEA and UBX data.
2012-04-09 23:12:24 +02:00
Werner Backes
56108b5381
Introduced GPSVelocity UAVObject
2012-04-09 22:59:38 +02:00
James Cotton
414e62f14e
Revert "Disable baro updates into INSGPS for now. Seems to cause issues."
...
This reverts commit 04591309770679e7b01c53a6cb54cac1c043f8b6.
2012-04-07 00:58:36 -05:00
James Cotton
fcb9193d25
Disable baro updates into INSGPS for now. Seems to cause issues.
2012-04-07 00:58:36 -05:00
James Cotton
aa6c8a451d
Shrink some stack sizes
2012-04-07 00:58:36 -05:00
James Cotton
81fcfd45c4
Some work on the code to initialize the INSGPS and allow setting the variance
...
of the baro
2012-04-07 00:37:42 -05:00
James Cotton
345b6578b1
Fix a possible race condition for complimentary filter on L3GD20 attitude
...
estimation where the accel queue wouldn't immediately have data available.
Added 1 ms timeout on queue.
2012-04-06 13:59:12 -05:00
James Cotton
e60c70251f
Slow down update rate for the altitude hold smoothed EKF
2012-04-06 13:58:46 -05:00
James Cotton
6c004678d5
Need a really big telemetry queue size on revo for object manager not to choke.
...
Probably should slow down how quickly AltHoldSmoothed is set.
2012-04-06 13:22:30 -05:00
James Cotton
ea13536da0
Take quidance settings from simulation and make the INSGPS pick up the GPS
...
noise from a setting.
2012-04-06 12:59:49 -05:00
Brian Webb
6911ecb4d8
Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into Brian-Metadata-Mods
2012-04-05 18:51:10 -07:00
Brian Webb
5542d7c995
Updated configvehicletypewidget.cpp with metadata mods.
2012-04-05 18:50:47 -07:00
James Cotton
3071f77d59
Add Baro offset to the simulation
2012-04-03 10:58:48 -05:00
James Cotton
ebb78ad7f0
Forgot to check in the attitude simulated xml
2012-04-03 09:19:46 -05:00
James Cotton
33874402ea
Store the mag node in the viewer widget
2012-04-03 09:17:56 -05:00
James Cotton
f4bd5a1c71
Add a camera tracker mode (on by default) and make the rotation apply in the
...
right coordinate system.
2012-04-03 09:17:56 -05:00
James Cotton
49d37a8382
Get rid of annoying black box around border of screen and use multithreading
...
for rendering.
2012-04-03 09:17:56 -05:00
James Cotton
86ac80e2f2
Add form to the OsgEarthView widget
2012-04-03 09:17:56 -05:00
James Cotton
c8d5a61316
Move the OSG logic into a standalone gadget instead of the widget gadget. This
...
will allow using the UI forms. Fixed the issues with requiring a popout. Also
the osgEarth takes LLA in the order long, lat, alt whereas our code takes lat,
long, alt. This was causing the NED frame to be rotated 90 degrees.
2012-04-03 09:17:56 -05:00
James Cotton
e804de0a7a
Get the attitude in there although there might be some convention problems on
...
the rotation
2012-04-03 09:17:56 -05:00
James Cotton
b2b44bd23b
Render the model in earth
2012-04-03 09:17:56 -05:00
James Cotton
19111dacd2
Get the Osg Earth View plugin stub working
2012-04-03 09:17:55 -05:00
James Cotton
b67a74a400
Import stub for the Osg Earthview Plugin
2012-04-03 09:17:55 -05:00
James Cotton
c988685293
Simulate GPS noise drift
2012-04-03 09:17:55 -05:00
James Cotton
f491c924d6
Start updating the OSX UDP simulation to use a separate thread for receiving
...
but it needs two - one as a task (where the com callback occurs) and another
for the physical process stuff that doesn't need to suspend (like teh TCP
thread does)
2012-04-03 09:17:55 -05:00
James Cotton
5d0e513678
Fix small deg/rad issue in generating gps data
2012-04-03 09:17:55 -05:00
James Cotton
df6bc4deff
Enable guidance on simulation and add wind model
2012-04-03 09:16:31 -05:00
James Cotton
fdfaac6559
More tweaks to OSX simulator
2012-04-03 09:16:31 -05:00
James Cotton
ca535c2632
Fix bugs in simulated sensor data. Now works well with INSGPS.
2012-04-03 09:16:31 -05:00
James Cotton
84040d25b4
Add attitudesimulated object to capture the simulated state
2012-04-03 09:16:30 -05:00
James Cotton
09ce6e1ab4
Restore the original Revolution FreeRTOSConfig and make the osx simulation
...
scheduler not start high priority tasks when they are created because I can't
reliably get the starting task to stop (because currently in a swapping mutex I
think).
2012-04-03 09:16:30 -05:00
James Cotton
6df9691609
Bring back the original module files and remove comments from FreeRTOS
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debugging
2012-04-03 09:16:30 -05:00
James Cotton
82a2987b2c
More improvements to the osx simulation FreeRTOS port. Only tick the tick
...
handler when we have confirmed the running thread has halted. This is more
like what would happen on a single core machine.
2012-04-03 09:16:30 -05:00
James Cotton
543500ed78
Improve the simulated sensors to produce (I think) consistent data now
2012-04-03 09:16:30 -05:00
James Cotton
0b342ea3d6
Changing the tick counter to only happen after current thread is suspended
...
seems to fix stability issues
2012-04-03 09:16:30 -05:00
James Cotton
fbd8695d7d
Check in WIP for osx simulation
2012-04-03 09:16:30 -05:00
