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2,194 Commits 5 Branches 8 Tags 266 MiB
4be34fdb0f
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37 Commits

Author SHA1 Message Date
edouard
4be34fdb0f Modified all channel naming internally to use Channel 1 to Channel 8, instead of the previous convention of Channel0 to Channel7. 
BEWARE: I have not flown my quad with this code, so please be careful, test, and report!



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2234 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-13 23:54:30 +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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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