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98 Commits

Author SHA1 Message Date
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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