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2037 Commits

Author SHA1 Message Date
James Cotton
373689207a Add a 1-tap IIR filter into the gyros in the feedback path. This will make the 
stabilization output a bit more resilient to the high frequency noise from
gyros.  However this value shouldn't be too high as it will increase the phase
delay of the feedback loop and decrease stability.  Default is 5 ms.

Note: this resests the stabilizationsettings object.  Sorry guys.
 2011-06-24 10:38:25 -05:00
Stacey Sheldon
d1104d3fdc alarms: lower heap warning and critical thresholds for CC 
Free heap on CC is currently 160 bytes so the current thresholds
were causing a continual alarm condition, thus preventing arming.
 2011-06-24 10:38:25 -05:00
Mathieu Rondonneau
dcd2774103 OP-423 Fix some comment from code review: 
- update example module
- use module init macro for POSIX and WIN to make code cleaner.
 2011-06-24 06:59:51 -07:00
Corvus Corax
f52f6d30c6 VTalk (flight): Buffers allocated dynamically with size calculated by UAVObjGenerator. Support for tx packet sizes < object size.i 2011-06-24 02:08:20 +02:00
James Cotton
f6312c7798 OP-410 OP-333: Created an Axis-lock setting for stabilization 2011-06-23 14:51:18 -05:00
James Cotton
9aba787b02 OP-193: Check for instance read success was backwards 2011-06-23 03:01:37 -05:00
James Cotton
368d5b649a OP-193: Output mixer should read from up to 6 accessory channels (may add more 
in future).
 2011-06-23 01:47:55 -05:00
James Cotton
493fcaef2a OP-193 OP-511: Add settings to scale the camera input output range 2011-06-23 00:47:27 -05:00
Mathieu Rondonneau
703919daf4 OP-423 Reduce IRQ stack limits (CC onlyt) 2011-06-22 06:32:27 -07:00
Mathieu Rondonneau
0ff5e9a46f Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint 2011-06-21 22:02:13 -07:00
James Cotton
9c1e523260 Drop 8 bytes per PID of unecessary information. Also trying to compute 
integral in ms instead of seconds to avoid rounding errors.
 2011-06-21 17:54:03 -05:00
James Cotton
8976d22fad Merge remote-tracking branch 'origin/OP-159_os_sbus' 2011-06-21 17:51:22 -05:00
Oleg Semyonov
fba201c8b3 usart: move default port numbers from pios_config.h to pios_board.c 2011-06-22 01:32:18 +03:00
Mathieu Rondonneau
74e5e2015e Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint 2011-06-20 20:28:12 -07:00
Stacey Sheldon
80709f356f alarms: lower heap warning and critical thresholds for CC 
Free heap on CC is currently 160 bytes so the current thresholds
were causing a continual alarm condition, thus preventing arming.
 2011-06-20 22:31:05 -04:00
unknown
9e632b532e Fix win32 SiTL by adding PiOS CRC and another missing function. 2011-06-20 15:48:05 -04:00
Mathieu Rondonneau
fc1e3f574c OP-423: Split task create and module init in order to postpone task creation once the full heap is available. 
Also implement some ordering (quite ugly still) in the module init and task creation order so we can decide which module to start/init first
and which module to start/init last.
This will be replaced/adapter with the uavobject list later (once it's implemented).
reserving some space for module init and task create parameters to customize module/task creation (this will be usefull once we get the list and customization from customer).

Changes have been made for OP and CC. Tested comped with CC,OP, sim_posix.
Only ran on bench with CC for couple of minutes (code increase expected but no dropping of stack which is good).

This gives task creation at the time wherethe all heap is available.
 2011-06-19 22:35:40 -07:00
James Cotton
17fa227d1f Fixed typo, thanks Os 2011-06-19 16:51:54 -05:00
Oleg Semyonov
6272210df7 sbus: some code cleanup (no functional changes) 2011-06-19 14:30:13 +03:00
Mathieu Rondonneau
2b11395a67 OP-423 just move stack from systemmod back to heap (200 bytes) that are not needed anymore. 2011-06-18 17:31:29 -07:00
Mathieu Rondonneau
5e3e7cc4e3 OP-423 Fix issue with init not properly started in the right order endup up object thinking other where not init. 2011-06-18 17:28:37 -07:00
Oleg Semyonov
59da5055cd usart: make USART ports configurable from make command line 
For CopterControl the following make options are available:

USE_TELEMETRY=[YES|NO|1|3]    (default is YES, USART1)
USE_GPS=[YES|NO|1|3]          (default is NO, USART3)
USE_SPEKTRUM=[YES|NO|1|3]     (default is NO, USART3)
USE_SBUS=[YES|NO|1]           (default is NO, USART1 only)
 2011-06-18 23:54:32 +03:00
Oleg Semyonov
311902f1f2 sbus: implemented S.Bus stream decoding 2011-06-18 23:19:57 +03:00
James Cotton
724016ffb0 When erasing flash at the end start flashing LED to indicate it is done 2011-06-18 14:32:09 -05:00
James Cotton
2218ff6fe9 Change to object template so when they are already registered it doesn't 
initialize them a second time (which causes the handle to get lost)
 2011-06-18 14:21:14 -05:00
James Cotton
5044ea36de Start initializing objects in the modules that consume them. Shouldn't affect 
OP yet but not tested.
 2011-06-18 14:20:51 -05:00
Mathieu Rondonneau
b67a38661e OP-423: merge master into that branch, resolve conflicts and test with CC and bl_CC 
heap reamining is low (about 500) but stacks can be ajusted (specially the 200 bytes from system) to give the level close to 1Ko if needed.

Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint

Conflicts:
	flight/CopterControl/System/inc/FreeRTOSConfig.h
	flight/CopterControl/System/inc/pios_config.h
 2011-06-17 19:04:09 -07:00
James Cotton
9720a8444f Make a few things optional if they are mostly for diagnostics to keep memory 
down
 2011-06-17 21:00:21 -05:00
Mathieu Rondonneau
693c6bc5b0 OP-423: fix bl and bu, also fix compiler problems encountered with make all 2011-06-17 18:54:25 -07:00
Mathieu Rondonneau
65cf467ca4 OP-423: move the module initialize funtion into a specific section for OP and CC. 
- create linker section for those <module>Initialize()
- later this list will incorporate parameters as well. (this probably will be more a OP feature to swap/remove/delete module on the fly.
- this is not done at compile time anymore by Makefile.
- this will allow us to have control on the module start at run-time (not implemented but build the ground for it).
- this simplify the startup (Part of code re-org).
- this change does not affect sim_posix and win32 (since they don't need that)
- ensure it's compiling for PiOS.posix
- port to PiOS.win32 but not tested (not compiled)
- tested on CC
- compile on OP.
- this free ~200 bytes.
- current avalable bytes (is we keep the same remaining bytes on the stack than before) is easily passed the 1.2Ko mark on CC with new gcc (4.5.2)
- this does not include init-reorg for each module (I still think more can be freed)
 2011-06-16 22:13:19 -07:00
Corvus Corax
926246b402 UAVTalk: Make UAVTalk object oriented, allowing multiple UAVTalk instances 2011-06-16 16:35:37 +02:00
Oleg Semyonov
aeda61d252 usart: serial telemetry can be disabled to free USART 
It was tested being merged with OP-472_CorvusCorax_CopterControl-Guidance_v3
branch, Spektrum on USART3 and GPS on USART1 and seems to work.

Currently defaults mimic original behavior, that is, if USE_SPEKTRUM
is not defined - define USE_PWM and USE_GPS. Thsi should be refactored
later to make it configurable from the Makefile.

Also it was not ported to the OP MB: it currently does not support the
S.Bus hardware and still has original behavior with the patch. But this
is one more step to dynamic configuration of ports.
 2011-06-16 15:06:01 +03:00
Mathieu Rondonneau
e8cdf22427 OP-423 Port to OP: Claim (at run-time) the remaining un-used bytes (between heap and end of RAM) that are for data growth (needed at compile time). 
CAREFULL: the heap section need to be the last section in RAM to avoid overwritting data...

also move address into linker (CC and OP)
 2011-06-15 18:54:35 -07:00
Oleg Semyonov
50e819192b usart: make CC USART ports compile-time configurable 
TODO: This should be dynamic in the future.
But for now define any compatile combination of:
   USE_I2C (shared with USART3)
   USE_TELEMETRY
   USE_GPS
   USE_SPEKTRUM
   USE_SBUS (USART1 only, it needs an invertor)
and optionally define PIOS_PORT_* to USART port numbers

Defaults are:

#define PIOS_PORT_TELEMETRY 1
#define PIOS_PORT_GPS       3
#define PIOS_PORT_SPEKTRUM  3
#define PIOS_PORT_SBUS      1

#define USE_TELEMETRY
#define USE_GPS

Telemetry, GPS and PWM input are enabled by default.
 2011-06-15 22:37:44 +03:00
Oleg Semyonov
d8201ec45b sbus: provide a stub based on Spektrum driver (for CC only) 2011-06-15 22:35:21 +03:00
James Cotton
7d7d03cfd0 OP-193 OP-511: Basic code for camera stabilization. Currently tune range with 
the servo endpoints and neutral.
 2011-06-15 11:18:29 -05:00
Mathieu Rondonneau
ab4e15e9aa OP-423 also claim (at run-time) the remaining un-used bytes (between heap and end of RAM) that are for data growth (needed at compile time). 
CAREFULL: the heap section need to be the last section in RAM to avoid overwritting data...

Tested with GCC 4.5.2 this gives 1K of free bytes usable in heap right away (including the 200 bytes saved just by using the new gcc).
This does not include any code re-org yet!
 2011-06-14 22:13:30 -07:00
Mathieu Rondonneau
3780de8d3e OP-423 port to OP (heap2) the previous changes done in CC (heap1) (see c95b199166) 
I managed to test CC with heap2 changes and the init stack claimed back to heap once scheduler starts.

the changes of this commit are OP related (just cleanup on CC side):
Arch specific stuff (in reset vector) to hide this from portable code:
     - switch back to MSP stack before starting the scheduler so that the sheduler can use the IRQ stack (when/if needed).
     - call the C portable function in heap2 to claim some stack back (the number to claim is taken from linker file).
     - start the scheduler from reset vector (I move this here from main because it make sense to not go back to C (so that I don't need to copy the rolled stack in case the sheduler returns). This make it more clean.
     - Also I have added the call to the mem manager if sheduler return. that way, we don't reset indefinitely if memory runs out. We will go to this handler and figure things out (right now, it's just looping but at least not rebooting. Probably trap NMI would be better (later improvement).
 2011-06-14 20:10:53 -07:00
James Cotton
144f36dfb7 Merge branch 'bugfix-flight' 2011-06-14 10:02:55 -05:00
Mathieu Rondonneau
c95b199166 OP-423 do the arch specific stuff (in reset vector) to hide this from portable code: 
- switch back to MSP stack before starting the scheduler so that the sheduler can use the IRQ stack (when/if needed).
 - call the C portable function in heap1 to claim some stack back (the number to claim is taken from linker file).
 - start the scheduler from reset vector (I move this here from main because it make sense to not go back to C (so that I don't need to copy the rolled stack in case the sheduler returns). This make it more clean.
 - Also I have added the call to the mem manager if sheduler return. that way, we don't reset indefinitely if memory runs out. We will go to this handler and figure things out (right now, it's just looping but at least not rebooting. Probably trap NMI would be better (later improvement).

The part missing for this part is the weak attribute for the function in heap1.c so that we don't have to update everything with empty stub.
I think the weak atrribute for C function called in assembly is arch dependent so I am not sure if this is possible (will look into it, maybe somebody outthere nows).
Right now, it's heap1 dependent and won't work with heap2. I will clean that up the next couple of days.

I did some test and it looks good.
this is without init code re-organization so we don't free as much as we will be it's good starts.

This compile with sim_posix (since it does not affect portable code) so this is really clean.
I only tested this with CC. I will port it for OP when I will work on heap2.
 2011-06-13 21:49:17 -07:00
Mathieu Rondonneau
1f54e32ea9 OP-423 also add changes to OP. (I can not test it because I don't have a board so only compile test) 2011-06-13 17:10:14 -07:00
James Cotton
404c026188 Patch from Zippe to use cycle timer for CPU monitoring. 2011-06-13 00:24:30 -05:00
Mathieu Rondonneau
7598e898fa OP-423 Step-1: split system stack and implement water mark for IRQstack: 
- use IRQStack for ISRs (at begening of SRAM) (let's call it the irq stack)
- use end of heap for stack needed during initialization (let's call it the init stack).
- the systemStats in GCS indicate the remaining bytes in the IRQ stack (this is realy usefull to monitor our (nested) IRQs.

This is the base ground to provide as much memory as possible available at task creation time.

Next step is to re-organize the initialization in order to move all the init out of the thread's stacks onto the init stack.
This will provide as much memory as possible available at task creation time.
Basically the stack during initialization will be destroyed once the scheduler starts and dynamic alloc are made (since the init stack is at the end of the heap). We will need to make sure we don't clobber the heap during initialization otherwise this will lead to stack corruption.
 2011-06-12 20:23:00 -07:00
James Cotton
0f5fe54329 FlashFS: Should clear the 0 sector when wiping flash chip, not 10 bytes in. 2011-06-11 22:31:51 -05:00
Oleg Semyonov
5d0c7fe42e Merge branch 'master' into heli_improvements 2011-06-11 12:19:07 +03:00
Corvus Corax
a7841a523a bugfix: forgot to add header file (pios.posix) 2011-06-10 22:04:54 +02:00
Corvus Corax
47a6643318 PiOS.posix: ported PiOS_CRC to PiOS.posix to fix compilation error on OpenPilot introduced by new dependency 2011-06-10 17:16:15 +02:00
James Cotton
4a59c03b0e OP-493: Unfortuantely have to change stack alarms for this to work :( 2011-06-07 10:31:40 -05:00
James Cotton
bdc9094975 OP-493 OP-505 OP-511: Make up to 6 accessory channels so some can go from 
ManualCommand to a camera module and some could go from that camera module to
output (i.e. mixing of inputs to pan tilt with stabilization)
 2011-06-06 10:56:31 -05:00
James Cotton
1ecd244aff OP-493 OP-505 OP-511: Fixed bug with the direct mapping where it looked at throttle curve 
source instead of directly bypassing
 2011-06-06 10:53:55 -05:00
James Cotton
6c6906d61e OP-493: Switch to using Accessory0:2 to match the InstId 2011-06-05 15:38:58 -05:00
James Cotton
99b3a629a8 OP-493: Force three AccessoryDesired objects to always exist. Routing to 
Mixing channel now works.  However Accessory desired instances do not show up
in GCS.
 2011-06-05 15:38:58 -05:00
James Cotton
a1336e4d03 OP-493: Make sure accessory desired is not a single instance object 2011-06-05 15:38:57 -05:00
James Cotton
8ebd6a83d6 OP-493: Add support to bypass the mixer and route accessory data straight to 
outputs.  Warning: This has no failsafes like arming.  We should discuss if
this is appropriate.

In addition accessory objects can be routed throught the mixer for collective
or flaperon.
 2011-06-05 15:38:57 -05:00
James Cotton
a1d60cb77d OP-493: Use multiple instances when using multiple accessory channels 2011-06-05 15:38:57 -05:00
James Cotton
1365542103 OP-493: Populate the Accessory Desired from TX 2011-06-05 15:38:57 -05:00
James Cotton
4f47c06547 Merge branch 'saving_crc' into bugfix-flight 2011-06-05 15:37:44 -05:00
James Cotton
624baeda5c Merge branch 'OP-423_Mathieu_GetSet_Uavobjects' into bugfix-flight 2011-06-05 09:48:22 -05:00
James Cotton
0a56129b35 OP-452: Made the CRC calculation run in chunks to balance efficiency and ram 
usage, because Stac caught me being lazy :)
 2011-06-05 09:05:59 -05:00
James Cotton
56faad594e OP-423: Make sure to unlock semaphore before returning from error condition 2011-06-05 08:41:21 -05:00
James Cotton
599483d5ac OP-152: Save CRC for object and header into flash and only load object if CRC 
matches.  Read the flash first bytewise to compute CRC instead of buffering
which is more RAM efficient but very inefficient as it sets up many one byte
SPI transfers.

Also incremented the filesystem magic flag to trigger an automatic flash wipe
on this upgrade.
 2011-06-04 18:36:38 -05:00
James Cotton
3e5d02cbaf OP-152: Abstract the CRC code out of uavtalk to allow it to be reused (PT - 
feel free to test moving this to the hardware CRC unit)
 2011-06-04 18:36:26 -05:00
dankers
3013a092d9 Merge branch 'OP-519_Mathieu_Upgrade_FreeRTOS' into bugfix-flight 2011-06-04 16:42:15 +10:00
Mathieu Rondonneau
7b8d09371b fixing minor compiler error/warnings when compiling OP with DEBUG=NO 2011-06-03 21:47:43 -07:00
Mathieu Rondonneau
31a06a5ae7 OP-423 add set/get uavobjects functions to access objects fields separately. 2011-06-02 21:18:34 -07:00
Mathieu Rondonneau
6e64a546df Remove un-used code 2011-06-02 20:21:26 -07:00
Mathieu Rondonneau
071a684248 OP-519 upgrade to FreeRTOS-7.0.1 
- only affect flight/PiOS (no change for posix and win32)
- tested on recent master (some runtime on CC with GCS)
- the new timer feature is not compiled-in since we don't use it yet.
- NO TEST FLIGHT
 2011-06-01 21:46:28 -07:00
Oleg Semyonov
f770870af7 Merge branch 'bugfix-flight' 2011-06-01 14:53:31 +03:00
Oleg Semyonov
6e418735cf OP-509: fix for ld symbol reference (also fixes build with 4.5.2 gcc) 2011-06-01 00:31:27 +03:00
James Cotton
524cdf7743 OP-378: Start of IMU3000 fifo reading code 2011-05-31 01:51:05 -05:00
James Cotton
b6a8293f69 OP-378: Get BMA180 interrupt working. Data gets pushed onto a fifo that is 
pulled from in the INS code.
 2011-05-30 03:40:51 -05:00
James Cotton
efe50012cb Merge branch 'spektrum_rtc_supervisor' 2011-05-29 17:19:48 -05:00
sambas
17fb31a7fa Spektrum rtc supervisor working, tested on CC and all outputs are activated. Needs review and testing before merge. 2011-05-29 14:52:22 +03:00
sambas
86d02e2d34 Merge branch 'master' of ssh://git.openpilot.org/OpenPilot into spektrum_rtc_supervisor 2011-05-29 10:40:17 +03:00
Stacey Sheldon
5be27fda83 coptercontrol: Increase stack size for system module 
When running flight software from master (cf74908), my
config was pushing the system module stack usage to within
16 bytes of its limit.  This triggers a stack overflow
alarm which prevents the quad from arming/flying.

This change increases the available stack size such
that there are 72 bytes of stack free (a previously stated
safe margin) when my quad is sitting idle and unarmed on
the bench.
 2011-05-29 00:12:26 -04:00
Stacey Sheldon
ac0eb3a5c7 Merge remote branch 'origin/stac_build-opf-image' 2011-05-26 21:29:53 -04:00
James Cotton
66b85acebd Merge branch 'bugfix-flight' 2011-05-26 20:07:58 -05:00
James Cotton
ca2205d35f OP-378: Tweak INS stack definition to avoid faults 2011-05-26 16:02:15 -05:00
James Cotton
52e72f20e2 OP-378: Map gyros to board orientation 2011-05-26 16:01:10 -05:00
James Cotton
4a9e7604a1 OP-378: Push the sensor data into the UAVObjects, also hardcoded scaling 
(temporary).  For some reason it segfaults when EKF enabled so use simple mode
for now.
 2011-05-26 15:06:56 -05:00
James Cotton
d4a0f55cb7 Altitude.c: Indentation 2011-05-26 14:06:47 -05:00
James Cotton
eab8896f16 OP-378: INS code starts taking in sensors (timing not optimized at all yet) 2011-05-26 14:06:22 -05:00
James Cotton
9ede84680e OP-378: Start working on IRQ driven BMA180 reading and also fixed the mag order 2011-05-26 13:57:41 -05:00
James Cotton
6e186bab35 Merge branch 'bugfix-flight' into OP-378_James_INS 2011-05-26 12:19:35 -05:00
James Cotton
0a60c5b57c Merge branch 'master' into OP-378_James_INS 2011-05-26 12:19:30 -05:00
James Cotton
4bc763dafc Extend PiOS DELAY to allow querying the time value in uS 2011-05-26 12:19:04 -05:00
James Cotton
74b9c58f39 Make sensors return data as int16 array instead of struct 2011-05-26 02:49:25 -05:00
James Cotton
20775e806c Merge branch 'OP-378_James_INS' of ssh://git.openpilot.org/OpenPilot into OP-378_James_INS 2011-05-25 22:19:31 -05:00
Oleg Semyonov
36d2a467e0 manualcontrol: fix copy/paste error 2011-05-26 00:16:36 +03:00
Stacey Sheldon
4da671fc82 build: change firmware files from .opf to .opfw extensions 2011-05-25 00:20:02 -04:00
Oleg Semyonov
66804076b8 build: fix release/Makefile for *.opf files and changed targets 2011-05-24 23:49:51 -04:00
Stacey Sheldon
8bd08e381a build: add support for EE bank on pipx boards 
The pipxtreme boards use a sector of the on-board flash
for configuration storage.  Adjust the memory maps to
reflect this.

The board_info_blob is also extended to include the EE
bank definitions.  This should be used by the pipxtreme
firmware rather than determining it based on chip size.
 2011-05-24 01:10:40 -04:00
Stacey Sheldon
91cb294730 build: remove redundant PHONY for size target 2011-05-24 01:10:40 -04:00
Stacey Sheldon
0eb92fad91 build: refactor jtag program and add jtag wipe target 
Macros for JTAG program and wipe for each target are now
provided in firmware-defs.mk.

The _wipe target for each firmware and bootloader image will
erase either the bootloader (bl_*_wipe) or firmware (fw_*_wipe)
bank.
 2011-05-24 01:10:31 -04:00
Stacey Sheldon
9973fda23b build: define bootloader and firmware bank spans 
The board-info.mk files now define the start and size
of the bootloader and the firmware banks.
 2011-05-24 01:03:01 -04:00
Stacey Sheldon
504fe7a664 dfu: fix typo WRITABLA -> WRITABLE 2011-05-24 00:58:10 -04:00
Stacey Sheldon
96827eecff build: Make all flight sw use pios_board_info_blob 
Now that every bootloader build has a board info blob,
make all fw and bl images use it.

The following MACROS are removed:
  BOARD_TYPE, BOARD_REVISION, BOOTLOADER_VERSION,
  START_OF_USER_CODE, HW_TYPE

These values are now ONLY available from the bootloader
flash via the pios_board_info_blob symbol.  These values
must not be #defined or otherwise hard-coded into the
firmware in any way.  The bootloader flash is the only
valid source for this information.

NOTE: To ensure that we have an upgrade path from an
      old bootloader (without board_info_blob) to a
      new bootloader (with board_info_blob), it is
      essential that the bu_* targets do not depend
      on (or validate) the board_info_blob being present
      in the bootloader flash.
 2011-05-24 00:58:10 -04:00
David Carlson
38d416cf92 Fix Y/Z axis mixup in self-test procedure (currently not used) 2011-05-23 20:53:15 -07:00
Stacey Sheldon
2d47427b05 link: Use alternate declaration of pios_board_info_blob 
Make use of a shorter notation to allow the linker to provide
the correct address for pios_board_info_blob.
 2011-05-23 18:21:42 -04:00
Stacey Sheldon
6e406c0232 build: remove all remaining use of -DUSE_BOOTLOADER 
The USE_BOOTLOADER compile flag was only being used
to determine where the ISR vector table was located.

Provide this explicitly from the linker since it knows
exactly where it is putting the ISR vector table.
 2011-05-23 18:21:42 -04:00
Stacey Sheldon
0a67730d0f build: refactor fw, bl and bu rules 
- New macros for fw, bl and bu rules in top-level make
- Per-board info factored into make/board/*/board-info.mk
- Per-board info now shared btw. fw, bl and blupd for each board
   - BOARD_TYPE, BOARD_REVISION, BOOTLOADER_VERSION, HW_TYPE
   - MCU, CHIP, BOARD, MODEL, MODEL_SUFFIX
   - START_OF_BL_CODE, START_OF_FW_CODE
- blupd_* goals renamed to bu_*
- all_blupd goal renamed to all_bu
- firmware goals renamed to fw_*, board name goals are preserved
- bu_*_program now writes updater to correct address for all boards
- BL updater firmware builds now produce .opf format including
  version info blob.
- BL updater firmware name now includes board name.
- INS makefile brought up to date w.r.t. linker scripts
 2011-05-23 18:21:42 -04:00
Stacey Sheldon
6ec6425f5e build: build opf images including firmware + version blob 2011-05-22 10:55:13 -04:00
James Cotton
50161b4ad8 OP-378: Continue updating BMA180 sensor driver. 2011-05-20 16:38:53 -05:00
James Cotton
460cc1adc9 Merge remote-tracking branch 'origin/stac_add-bootloader-info-blob' 2011-05-19 16:08:58 -05:00
James Cotton
5d78a68bee OP-378: Got BMA180 working. 2011-05-19 11:36:43 -05:00
James Cotton
3093d26cf4 OP-378: Update BMP085 driver for convention that 0 is success, < 0 is failure 2011-05-19 11:36:32 -05:00
James Cotton
750097ea73 OP-378: Small changes to get drivers working again. Fix I2C port for IMU3000 
and change convention so that 0 is success, < 0 is error.
 2011-05-18 23:35:45 -05:00
James Cotton
ab3127a0ea OP-378 Update the INS Makefile for the new file formats 2011-05-18 14:39:38 -05:00
James Cotton
b7f25ea5d8 OP-378: Get startup script for HD parts working for INS 2011-05-18 13:41:31 -05:00
James Cotton
328b3b5fee OP-378: Update INS bootloader to new format 2011-05-18 13:41:25 -05:00
James Cotton
81b7fb6185 Merge branch 'master' into OP-378_James_INS 2011-05-18 12:50:29 -05:00
James Cotton
dd1e10a15d PiOS/Spektrum: Start swapping to using RTC and calls to PIOS_Spektrum_Get() to 
monitor when call Spektrum watchdog
 2011-05-18 01:46:00 -05:00
James Cotton
bdf862a712 PIOS/RTC: Add functions to get the rate. Also changed Start to Init to be more 
consistent with pios.
 2011-05-18 01:45:21 -05:00
dankers
5f32803763 Changed accelKp = 1; in 3C filter when calibrating bias when arming. Increase default yaw by 0.005 2011-05-17 04:15:28 +10:00
Stacey Sheldon
2044d777e6 coptercontrol: always enable -g debug symbols 
This does not affect the size of the image or the RAM
used by the firmware image.  All debugging symbols are
stripped from the elf file during the conversion to a
.bin file.
 2011-05-16 08:35:41 -04:00
Stacey Sheldon
575010169a build: add pios_board_info_blob struct to bootloader flash image 
The board info blob is stored in the last 128 bytes of the
bootloader's flash bank.  You can access this data from the
application firmware like this:
  #include <pios_board_info.h>

  if (pios_board_info_blob.magic == PIOS_BOARD_INFO_BLOB_MAGIC) {
    /* Check some other fields */
  }

DO NOT link pios_board_info.c into your application firmware.
Only bootloaders should provide the content for the board info
structure.  The application firmware is only a user of the data.
 2011-05-16 08:30:30 -04:00
Oleg Semyonov
39d4f23b67 Merge branch 'master' into OP-483_os_release-packaging 2011-05-15 21:32:20 +03:00
James Cotton
ae2759a957 Merge branch 'bugfix-flight' 2011-05-15 12:50:45 -05:00
James Cotton
eb2d094a66 Merge branch 'OP-499_216_Saving' 2011-05-15 10:09:29 -05:00
dankers
71d582495e On arm bias calibration terms now matches boot calibration terms 2011-05-16 00:16:19 +10:00
James Cotton
886f36dca1 Merge branch 'master' into OP-499_216_Saving 2011-05-15 03:58:30 -05:00
James Cotton
feb9c02780 OP-216: Small typo in flashfs code (thanks Zippe) 2011-05-15 00:18:15 -05:00
Oleg Semyonov
0005729056 OP-500: fix PyMite dependencies on autogenerated files 
This is done by separating PyMite-dependent sources and making them
dependent on autogenerated python code. This was tested with make -j
on Windows and worked fine. It failed with errors otherwise:

In file included from ../Libraries/PyMite/vm/class.c:28:
../Libraries/PyMite/vm/pm.h:198: fatal error: pmfeatures.h: No such file or directory
 2011-05-15 04:14:17 +03:00
James Cotton
b01e897e36 Merge branch 'OP-488_NeverHaltWhileArmed_James' 2011-05-14 17:21:05 -05:00
James Cotton
d312e876c4 OP-216: Some small bugs where things were stored 2011-05-14 16:11:30 -05:00
Oleg Semyonov
bac95dae11 OP-483: get rid of -D install switch (doesn't work on Mac) and use mkdir -p instead 2011-05-14 23:17:08 +03:00
James Cotton
d883c8af9f Whitespace and line endings 2011-05-14 15:15:33 -05:00
James Cotton
934addfdcc OP-216: Silly typo 2011-05-14 15:11:33 -05:00
dankers
84e09031a7 Faster attitude calc, be much more aggressive with working out bias. 
Change AccelkP to 0.05 to give accels more influence, just balacing out the 3C filter.

Change stab setting to be a better default fopr most Quads.
 2011-05-15 05:58:58 +10:00
James Cotton
c689d97961 OP-216: Improved error handling 2011-05-14 14:28:11 -05:00
James Cotton
0438f5cf66 OP-216: Check for existence of file table in flash and wipe sector and create 
it if missing.
 2011-05-14 14:23:23 -05:00
James Cotton
2087441006 OP-216: Make the object manager use new flash fs for objects 2011-05-14 14:23:02 -05:00
James Cotton
7e6e7bb391 OP-499 OP-216: Simple list of objects saved in flash to prevent objId 
collision.  Note, this will wipe ALL your settings.
 2011-05-14 14:05:02 -05:00
zedamota
a38fbe6cea Make CopterControl firmware non functional when using the ERASE_FLASH=YES compile flag 2011-05-14 19:03:31 +01:00
dankers
52fd23a3b9 Merge remote-tracking branch 'origin/bugfix-flight' 2011-05-14 00:28:42 +10:00
dankers
8e436eb2ac Merge remote-tracking branch 'origin/bugfix-flight' 2011-05-14 00:28:19 +10:00
James Cotton
dbf8a77a94 Now there are other attitude settings (like rotation angle) make sure these are 
loaded right away at power up
 2011-05-13 07:24:44 -05:00
Oleg Semyonov
a7833e0120 OP-483: add install target for bootloader updater 2011-05-13 11:25:35 +03:00
Oleg Semyonov
45c609100a OP-483: add install target for bootloaders 2011-05-13 11:25:33 +03:00
Oleg Semyonov
37868a4c10 OP-483: add install target for firmware 
make INSTALL_DIR=dir INSTALL_PFX=pfx INSTALL_SFX=sfx install
installs binary file into specified install directory adding
optional prefix and/or suffix.
 2011-05-13 11:25:32 +03:00
Oleg Semyonov
bf8939eb30 OP-483: cleanup: remove unneeded test.bin from BootloaderUpdater 2011-05-13 11:25:30 +03:00
James Cotton
3d5244c4b8 Fix small typo THRSHOLD to THRESHOLD in gps.c 2011-05-12 18:57:16 -05:00
Corvus Corax
bce51d4258 OP-435 Optionally allow building of GPS without support for GPSSatellites and GPSTime UAVObjects to save memory 2011-05-12 21:00:59 +02:00
James Cotton
612cd4ff55 Merge branch 'bugfix-flight' 2011-05-11 20:10:38 -05:00
James Cotton
338d363289 When a channel is disabled in the mixer force the channel to have a 0 us pulse 
duration.  The default before was neutral in failsafe.
 2011-05-11 20:09:28 -05:00
James Cotton
5d28276c49 Reshuffle memory allocation on CC after FlightStatus object introduced 2011-05-11 17:35:52 -05:00
James Cotton
fdd591b700 OP-488: If the FirmwareIAP receives a halt signal but system is not disarmed 
abort the halt.
 2011-05-10 14:40:21 -05:00
James Cotton
163d41fb60 OP-466: Make the test output panel work when there is not a valid mixer 
configured.  However unlike previous patch keeps alarms showing so you will be
unable to arm normally.
 2011-05-10 02:43:55 -05:00
James Cotton
d140d9c1fc Fix from Ivan for BootloaderUpdater not building with 4.5.1 2011-05-10 02:11:34 -05:00
elafargue
f904e09353 Merge branch 'master' into OP-307_Firmware_Description_Packaging 2011-05-10 08:31:25 +02:00
James Cotton
808e3c8ea2 Fix bug I made where guidance didn't look at new flight status object 2011-05-09 11:37:06 -05:00
James Cotton
fb8417a0ff Merge remote-tracking branch 'origin/op_475_476_calibrate_during_arming' 2011-05-09 09:23:16 -05:00
elafargue
c4c9be37c6 Fix typo 2011-05-09 15:30:02 +02:00
elafargue
437d33526a Add command line arguments to versionblob.py so that it is easier to use. 2011-05-09 10:54:29 +02:00
elafargue
adb1e77869 Merge branch 'master' into OP-307_Firmware_Description_Packaging 2011-05-09 10:18:00 +02:00
Stacey Sheldon
b2b1c184de stopwatch: Add support for timers 5-8 
This fixes the OP bootloader getting stuck in the
bootloader forever when USB is plugged in.

This also fails hard on being passed an unsupported
timer value so that this can be caught more easily
in the future.
 2011-05-08 12:41:02 -04:00
Stacey Sheldon
965867de7a gdb: add config file for coptercontrol bootloader 2011-05-08 12:40:29 -04:00
Stacey Sheldon
29ec2f198b build: convert all app loads to require bootloaders 
This change is made up of a number of tightly coupled
changes:
 - Deprecate the use of the USE_BOOTLOADER command-line
   option.  It is now hard-coded in each Makefile.
   Overriding it on the command line is not allowed.
 - Split apart the memory declaration and the section
   declaration in all linker files (*_memory.ld and
   *_sections.ld).
 - Describe the split between bootloader and app sections
   of flash in each board's _memory.ld file.
 - Change program target to selectively erase flash so
   that the installed bootloader is preserved across even
   JTAG programming operations.
 - All elf files are built with debug symbols and are not
   stripped.  This should help debugging with gdb.  The
   images programmed on the boards are all .bin files now
   which do not include symbols.
 2011-05-08 12:40:29 -04:00
Stacey Sheldon
465034cf94 bootloaders: always build with debug symbols enabled 
This makes it easier to use gdb to debug issues.  This does
not change the -O flags, only makes -g always on and does
not strip the .elf files.
 2011-05-08 12:40:28 -04:00
Stacey Sheldon
18ea93119f build: Add support for BL_Updaters to top-level makefile 
New targets:
 - make blupd_all_clean
 - make blupd_all
 - make blupd_openpilot
 - make blupd_ahrs
 - make blupd_coptercontrol
 - make blupd_pipxtreme

These targets are also included in the 'all_flight' target.
 2011-05-08 12:40:28 -04:00
sambas
a2c62d9a1b Merge branch 'master' of ssh://git.openpilot.org/OpenPilot into OP-378_CheBuzz_INS 2011-05-08 08:44:13 +03:00
elafargue
a2656ed589 Merge branch 'master' into OP-307_Firmware_Description_Packaging 2011-05-08 00:08:09 +02:00
Stacey Sheldon
2301600f11 Make missing definitions for essential macros more obvious 2011-05-07 18:05:50 -04:00
Stacey Sheldon
7e99419c8a build: Add support for %.bin.o generation 
The .bin.o rule places the contents of a raw .bin file
into an .o file wrapped within fixed symbols for start
and end.  This can be used to embed a binary file inside
of an executable.

The symbols for the embedded binary blob are:
 _binary_start
 _binary_end
 _binary_size

NOTE: The way the .bin.o rule is currently written, you
can only embed one binary blob in an executable since the
symbol names will collide if you add multiple blobs.  This
limitation is easily removed later if necessary.
 2011-05-07 18:05:50 -04:00
Stacey Sheldon
58a2c71532 line-end changes only 2011-05-07 18:05:50 -04:00
James Cotton
4ec0263dfc OP-476: If AttitudeSettings.ZeroDuringArming is true, then while arming (1 
second) it will speed up the estimate of gyro bias.
 2011-05-07 15:29:21 -05:00
James Cotton
8e06eb3162 Get the "IDLE_NO_LOAD" level closer for CC with optimizations on, but it would 
be great if someone actually calibrated this for me!
 2011-05-07 15:07:14 -05:00
James Cotton
10e55c25bc OP-475: More changes to get the FlightStatus object to work for Armed and 
FlightMode
 2011-05-07 15:06:04 -05:00
James Cotton
80c839d5bb OP-475: Starting to use the new FlightStatus object 2011-05-07 13:17:21 -05:00
James Cotton
ae841d57cb OP-475: New FlightStatus object. Removed from ManualControlCommand. Won't 
build yet.
 2011-05-07 12:45:35 -05:00
James Cotton
e2819c6815 Restructure the ManualControlCommand code to be much more readable. Also 
facilitates the new FlightMode object.
 2011-05-07 12:43:27 -05:00
sambas
454e8a1540 ins bootloader fixes 2011-05-07 18:36:21 +03:00
sambas
d61f3d4d94 Merge branch 'OP-378_CheBuzz_INS' of ssh://git.openpilot.org/OpenPilot into OP-378_CheBuzz_INS 2011-05-07 18:26:12 +03:00
James Cotton
d1fb254a41 Merge branch 'master' into bugfix-flight 2011-05-07 06:56:54 -05:00
James Cotton
d3247c9946 Remove unused code from coptercontrol.c 2011-05-07 06:56:20 -05:00
James Cotton
fef1e2dc2e Merge remote-tracking branch 'origin/OP-174_Sambas_BaroAlt_to_ETOSD' 2011-05-07 04:41:13 -05:00
elafargue
98c38a4e5e Bugfix 2011-05-07 09:25:27 +02:00
elafargue
a216d050ab Prototype 'version blob' python script to generate a binary description file to append to end of firmware before uploading. 2011-05-06 21:46:36 +02:00
Corvus Corax
5f749dda7e Modules/ManualControl: bugfix GCS Control was broken due to connection state and arming being checked outside of the "object_writable()? {}" if clause 2011-05-06 01:26:34 +02:00
Corvus Corax
39a9087c98 Merge branch 'master' into bugfix-flight 2011-05-06 00:29:31 +02:00
James Cotton
7e418866be Update the AttitudeSetting object to make the board rotation more human 
readable and update the GCS fields appropriately.
 2011-05-05 13:04:56 -05:00
Corvus Corax
59dd0637a3 PiOS_posix: Add support for pios_debug API, to allow building of GPS module in x86 environment 2011-05-05 14:57:30 +02:00
James Cotton
dd36192e37 Merge branch 'bugfix-flight' 2011-05-05 00:36:55 -05:00
James Cotton
93d8449814 OP-474: When throttle < 0 and "spin while armed" mode enabled don't take into 
account stabilization or stick - stay at neutral
 2011-05-05 00:32:15 -05:00
James Cotton
21a71e5294 Merge branch 'master' into spin_while_armed 
Added back the "Spin arming" button to output panel and made it work
Conflicts:
	ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
	ground/openpilotgcs/src/plugins/config/output.ui
 2011-05-05 00:23:51 -05:00
James Cotton
05684e966b OP-470: Make arm/disarm threshold 50% instead of 90% 2011-05-04 22:53:00 -05:00
James Cotton
7e98bb42c9 OP-462: Patch from OS to override the debug flag for bootloaders 2011-05-03 12:54:11 -05:00
James Cotton
401a989c63 OP-474: Add option to ActuatorSettings to allow people to request their propellers always spin an neutral when armed (I don't recommend this). 2011-05-03 00:08:39 -05:00
James Cotton
9daca1ac41 OP-469: Wasn't paying attention and missed a line 2011-05-02 22:22:57 -05:00
James Cotton
2e552f767e OP-469: Wasn't paying attention and missed a line 2011-05-02 22:22:16 -05:00
Corvus Corax
8d8144f233 OP-441 Prevent double alarm set ( setFailsafe() already sets alarm to CRITICAL ) 2011-05-02 18:00:12 +02:00
James Cotton
9afedc0139 OP-469: Fix a bug I wrote where MaximumRate instead of ManualRate was used to 
scale sticks in rate mode.
 2011-05-02 04:33:32 -05:00
James Cotton
d9221fac06 Merge remote-tracking branch 'origin/OP-452_InputConfiguration' 2011-05-02 03:40:59 -05:00
James Cotton
1f36e00287 Merge remote-tracking branch 'origin/OP_442_OP_437_PT_Dreamer' 2011-05-02 03:34:09 -05:00
David Carlson
341dbd7ad9 Change blink rate to Hz rather than 1/2 Hz. As per comments in review OPReview-18. 2011-05-02 00:50:42 -07:00
David Buzz Carlson
edd5ad8a78 Update Stat LED blink rate when armed to 5 Hz from its current 1 Hz. This allows a more drastic change in LED behavior to highlight that the aircraft WILL NOW CUT YOUR FINGER OFF IF YOU DON'T RESPECT IT!! 2011-05-02 00:50:42 -07:00
David Buzz Carlson
c93ab7e723 Change CC, OP MB, and AHRS to use bootloader by default. 
Also change AttitudeActual to update at 10Hz rather than 2 Hz.  The increased bandwidth is minimal and the resulting "polish" that it adds to the look-and-feel of the GCS is signifcant.
 2011-05-02 00:50:42 -07:00
zedamota
5dd8a3eea2 Fix a silly mistake on the CC erase_flash compile flag. 2011-05-01 20:10:27 +01:00
elafargue
6b00ed3866 NACKs implemented on both ground and flight side, connect time goes under a few seconds now. 2011-04-30 19:32:42 +02:00
zedamota
3d209f2166 Fix to erase option. Erase must be performed after board initialization. 2011-04-30 14:17:44 +01:00
James Cotton
62e3d35a97 OP-452 Read the channel times even if a bad mixer is configured 2011-04-29 17:57:04 -05:00
zedamota
8dd46e1465 Should fix the CC showing as OP. 
Added a compile flag to make a CC fw version that will erase flash.

Signed-off-by: zedamota <josembarros@hotmail.com>
 2011-04-29 23:38:26 +01:00
zedamota
6172e45c0d Should fix CopterControl showing as Openpilot on DropDown box. 2011-04-29 21:42:59 +01:00
zedamota
1cc152b4dd More cleaning, moved stopwatch files to library folder, code formatting. 2011-04-29 20:48:13 +01:00
zedamota
3132de4e48 Fixes download being slow issue. Made some cleaning also 2011-04-29 19:22:21 +01:00
Sambas
2413fd451f OP-174 ET OSD: barometric altitude works now, units must be set metric with E-Logger 2011-04-29 19:08:28 +03:00
James Cotton
5f776f0b58 Merge branch 'master' into OP-439_CorvusCorax_Bootloader-Makefile-and-OpenOCD-config-for-Linux 2011-04-27 23:41:35 -05:00
James Cotton
819bc9d441 Merge branch 'master' into OP-430_Ligi_UAVTalk-Code-Review 2011-04-26 12:49:32 -05:00
Corvus Corax
8c7f3e2720 OP-435 #ifdef covered one command too many - bugfix 2011-04-25 18:37:28 +02:00
Corvus Corax
eb9ccc2f9b OP-383 Review 11 : Removed commented out unused variables as directed by review 2011-04-25 16:36:23 +02:00
Corvus Corax
cdb6b65e64 Merge branch 'master' into OP-383_Edouard_CPUSerial_in_FirmwareIAP 2011-04-25 02:36:44 +02:00
James Cotton
69d03ca101 OP-439: Simplify further. Abstract most of the OOCD flags into the common 
firmware include and delete all the extra foss-jtag config files.  There is now
a legacy file for the revA board a second for AHRS that changes the port
 2011-04-24 10:19:00 -05:00
Corvus Corax
ee7179bd53 OP-439 unified OpenOCD config for mac os x and Linux, Makefiles adapted accordingly 2011-04-24 12:10:33 +02:00
marcus bueschleb
06ac71b784 do not force telemetry update when alarm is changed - this was bypassing the MetaData of the UAVObject and seem to be a relict from times where no metadata existed - now doing it the MetaData way with onchange as updatemode - see http://forums.openpilot.org/topic/4208-systemalarms-bypassing-updatemode-from-metadata/ and OP-431 2011-04-24 03:43:05 +02:00
Corvus Corax
5d952f81e3 PIOS: BL_HELPER: refactored function names 2011-04-23 21:11:17 +02:00
Corvus Corax
150464344d BL_HELPER: call CRC_Ini() from within CRC check function 2011-04-23 20:55:21 +02:00
Corvus Corax
0a05896146 CopterControl: Added dependency: pios_bl_helper 2011-04-23 19:56:48 +02:00
Corvus Corax
357bc369db PIOS: Bootloader Helper functions should sit in HAL, not duplicated in every single architecture. 2011-04-23 19:40:41 +02:00
Corvus Corax
192e31986d PIOS, Modules/FirmwareIAP: Use correct HAL for CPU serial 2011-04-23 18:30:32 +02:00
Corvus Corax
2bf7ea2271 Modules/GPS: Make code to deal with home location optional to allow a sleeker GPS module for RAM challenged systems 2011-04-23 16:49:07 +02:00
David Buzz Carlson
876ca3044c Added EKF code. Most of this was bulk copy and paste from the AHRS, so a lot of verification needs to take place. Grabbing sensor data remains untested. 2011-04-20 03:37:50 -07:00
marcus bueschleb
b7eba1f9b9 made all periods unsigned 2011-04-20 12:33:16 +02:00
elafargue
e4112e210f Reduce size of FirmwareIAPObj to 40 bytes: only takes the 40 first bytes of the firmware description, ignores the rest. Makes the FWIAP UAVObject more decent size-wise, and does not break USB TX anymore. 2011-04-19 20:45:49 +02:00
elafargue
45e92d654e Implemented support for the Unique STM32 CPU serial number in the firmwareIAP object. 2011-04-19 00:31:20 +02:00
corvus
08eabd21e4 Fixed files with mixed line endings 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3168 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-15 12:03:20 +00:00
peabody124
3afdc7e41c CC-24: Rotate the CC board at any angle relative to "flat and level" with GCS 
config plugin updates.  Has not been tested in flight yet although seems
sensible so please be careful when using this code.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3166 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-15 06:37:16 +00:00
edouard
08b154590d Correct a typo in the CC bootloader USB descriptor define file (in the comments) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3164 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-14 21:35:09 +00:00
edouard
1f88b7f5aa Remove obsolete README files. Obsolete and actually misleading... 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3163 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-14 21:00:40 +00:00
chebuzz
06443b4281 OP-378 - OP/INS - Add initial support for INS. HMC5883, BMP085, BMA180, IMU300 all added. Throrough verification has not been done on any of them. main() simply calls self-test functions on all of the hardware. 
AHRS_comms still needs to be implemented.  INS/GPS functionality still needs to be implemented.  Double-check of the new drivers still needs to be done.


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3162 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-14 12:46:39 +00:00
chebuzz
7fcde2f248 OP-377 PiOS/BMP085 Update BMP085 driver to be FreeRTOS agnostic 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3161 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-14 09:53:04 +00:00
chebuzz
195e93c0d6 OP-377 PiOS/BMP085 - Update BMP085 driver to be FreeRTOS agnostic. This is required since new INS does not run FreeRTOS. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3160 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-14 09:46:23 +00:00
zedamota
a893cd99da flight - Linux Eclipse Workspace - cleaned the workspace. 
This file is exactly the same used in the video published on the wiki 

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3159 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-12 13:03:37 +00:00
peabody124
99c00fb9fe Revert changes to AHRS Makefile. Need to keep DEBUG=NO. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3155 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-11 18:47:36 +00:00
sambas
3b9e762b69 OP-22 Flight/PiOS: Spektrum bugfix, for other than DX7 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3154 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-11 13:42:32 +00:00
jonathan
9f5c393672 OP-191: Add svn:eol-style property for native line endings on checkout; 
Add (temporarily disabled) hooks for the rotational misalignment between the accelerometer and magnetometer.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3151 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-10 18:37:32 +00:00
jonathan
c70e134cf8 Add helper function for converting an Euler rotation vector to a rotation matrix 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3150 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-10 18:33:30 +00:00
pip
33d9d31082 Modified manual control input value checking to determine RC connection state - was previously checking only the throttle channel for semi-valid input range, it now checks the Throttle, Roll, Yaw and Pitch channels for full-valid values (manual value is within min and max values). 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3146 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-10 14:00:46 +00:00
dankers
d285dc6a46 Remove my old Eclipse workspace, Jose is handling these from now on. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3138 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-10 00:17:16 +00:00
zedamota
1d4eb11c0e flight - don't know why but after I commit this file under windows and try using it on Ubuntu it messes the workspace, this time I'll try to commit in nix 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3137 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-09 22:36:46 +00:00
zedamota
3f15b71755 flight - updated eclipse workspace files 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3136 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-09 18:27:19 +00:00
sambas
dabc33c71c OP-22 Flight/PiOS: fix for 11ms framerate, Spektrum supervisor timer must have atleast one interrupt between frames 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3134 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-09 14:51:39 +00:00
sambas
cdfbf8614c OP-22 Flight/PiOS: Spektrum parser handles all known TXs, or atleast should. Test it well before sending aircraft to the sky. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3133 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-09 14:17:23 +00:00
ligi
c9f9400d75 unify the style rxbytes are assembled & remove the need for a tmp-buffer 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3131 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-09 04:26:25 +00:00
zedamota
7b1d87475a Flight - Commited Linux Eclipse working workspace. A usage "movie" will follow soon. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3126 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-07 13:54:45 +00:00
corvus
8a49dbb6ab OpenPilot_posix: Added ENABLE_QUATERNION_STABILIZATION define 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3116 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-01 15:14:33 +00:00
corvus
da76192e47 Modules/Guidance: Bugfix in Position-Hold code 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3112 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-31 20:08:14 +00:00
peabody124
a57c289b3a CC-24: Support mounting CC at any angle by applying a rotation. Now need to 
rotate sensors to make sure stabilization behaves well so don't use till then.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3100 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-29 02:15:57 +00:00
peabody124
48c20d37a9 OP-349 CC-32: Added a Completed operation that is returned after successful 
save or load

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3093 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-28 19:16:50 +00:00
peabody124
bd5925d526 CC-35: Separate term for CC yaw bias rate and others 
Note: AttitudeSettings changed so you'll need to re-zero it

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3090 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-28 18:42:48 +00:00
peabody124
4120937391 OP-364 OP-191: Convert the OPMap setting of HomeLocation to mGau to match the 
changes in flight code

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3083 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-28 10:40:26 +00:00
peabody124
3fc88f69e2 Covering a case that should not occur 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3081 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-26 21:02:43 +00:00
edouard
bce3d21a0f Fix FirmwareIAP module, as it failed to reset the board if the object was queried before for other purposes. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3080 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-26 12:00:08 +00:00
peabody124
e262e3c220 Convert outer position controller to PI 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3077 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-26 11:40:33 +00:00
fredericg
662a3e5cc8 OP-361 Also parse ZDA message in order to get GPS time info with new GTOP FW 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3074 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-26 11:13:11 +00:00
peabody124
eafcf35fa6 Reenable position hold 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3072 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-25 20:17:31 +00:00
edouard
f19b0efc6f CC-40 Implemented support for FirmwareIAP on Coptercontrol: you can now use the "Halt" command on the uploader gadget. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3070 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-25 13:50:13 +00:00
chebuzz
2e5863281c CC/Stabilization - Fix attitude bias not being applied over all sampled quantities 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3065 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-24 17:12:04 +00:00
fredericg
b37dd770d2 Use attitudeActualData.Yaw for course 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3064 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-24 10:56:20 +00:00
peabody124
487b039229 Earlier patch broke coding conventions for line endings 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3062 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-22 12:47:15 +00:00
peabody124
cfb2ca4e1b OP-192 Fix ahrs mag problems from TWOSTEP mag units 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3061 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-22 12:46:50 +00:00
chebuzz
183ca03cc9 CC/Makefile - Make I2C conditional compilation, disabled by default. Unterminated I2C can cause boot process to hang. Thus disabling I2C by default should help to avoid problems in the future. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3059 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-21 09:18:21 +00:00
jonathan
5d23666839 OP-191: Merge from full-calibration branch. Add orthogonality calibration to the accelerometer, and use it. Also adjust the treatment of accelerometer scale factors, such that the diagonal elements of the calibration scale factor matrix are positive. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3057 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-21 00:51:45 +00:00
jonathan
160695e546 OP-191: Merge from full-calibration branch. Add the local gravitational field strength to the home location. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3055 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-21 00:48:32 +00:00
jonathan
8aef515456 OP-191: Merge from full-calibration branch. Scale the reference magnetic field vector to units of milliguass. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3054 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-21 00:47:02 +00:00
fredericg
d270f7e987 Changes to FlightBatterySettings as discussed in forums 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3047 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-19 18:45:40 +00:00
fredericg
ef1dcf6939 rename batterysettings.xml => flightbatterysettings.xml 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3046 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-19 18:31:58 +00:00
sambas
193f9720e5 unix style output dir for all, makes eclipse users happier 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3042 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-15 19:11:56 +00:00
FredericG
ea512a3da7 OP-322 Implement Audible alarm via PWM - Different tune for GPS and Battery Alarm 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3035 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-13 17:02:19 +00:00
peabody124
0c2c70bb60 Update OSX project 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3030 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-12 09:08:23 +00:00
peabody124
b76a235940 OP-317: Fixed the FirmwareIAP resetting the AHRS board. Sorry this took me so 
long to do.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3029 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-12 09:08:12 +00:00
FredericG
c3732bad93 OP-322 Implement Audible alarm via PWM - handle new "PWM Alarm Buzzer" channel type 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3028 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-12 09:02:02 +00:00
FredericG
5bdf836027 OP-324 No code change; commented debug-code 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3026 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-12 08:55:45 +00:00
pip
4fab429f50 Corrected the #ifdef line (line 26/27), it was "#ifndef STM32103CB_AHRS_H_", it's now "#ifndef STM32103CB_CC_H_" 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3022 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-10 20:22:20 +00:00
edouard
3fec8a6d72 OP-339 Update PipXtreme PID too. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3020 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-09 18:07:58 +00:00
pip
f4fef1bfb8 Rewrote PipX's PPM input decoder to do away with supervisor timer/monitor. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3019 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-09 17:36:11 +00:00
FredericG
fc18f1cb36 OP-326 Long I2C messages starve the other drivers 
We where hammered on the head with interrupts that the driver does not need, not allowing the ISRs of other drivers to run 

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3018 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-09 17:12:18 +00:00
FredericG
4c51e80b5b OP-340 I2C NACK causes next transfers to fail. 
Needed to clear the NACK flag in the ISR, or the next transfers seem to get a nack too because the IRQ comes back

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3017 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-09 16:58:37 +00:00
FredericG
f6a2584f12 No code change; commented debug-code 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3016 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-09 16:52:09 +00:00
edouard
aa097ec400 OP-339 Update USB descriptors on CopterControl and OpenPilot to reflect the new convention. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3015 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-09 07:21:01 +00:00
edouard
7631aeeb48 OP-338 USB Bootloaders on OpenPilot & CopterControl boards now use the new PID, and the right values for bcdDevice. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3014 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-09 07:06:53 +00:00
edouard
ae32bae5c7 OP-338: Use the new convention on bcdDevice for the PipXtreme. Also use the new PID for the modem. Careful, this breaks the uploader gadget on the GCS for now! 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3011 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-08 23:57:18 +00:00
sambas
b240915d05 PPM driver cleanup 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3010 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-08 18:52:50 +00:00
pip
0d389c4d34 Forgot to comment out serial port debugging option .. sorry - again 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3009 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-08 18:32:16 +00:00
pip
48cecfaacd Forgot to commit this file - sorry 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3008 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-08 18:29:48 +00:00
sambas
0eeacb44bd PPM driver for OP, first test 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3007 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-08 18:08:13 +00:00
cwabbott
f657dba49f Modified sitl win32 to output to /build/sitl_win32 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3006 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-08 02:36:33 +00:00
corvus
be1837ecd5 SiTL/SimPosix: Fixed compilation issue because of Timer macro eedeclaration in portmacro.h 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3005 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-07 22:43:20 +00:00
peabody124
b2abc73ae3 AHRS: Move getting mag data back into the main loop 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2998 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-07 19:28:25 +00:00
peabody124
aea0695f70 AHRS: Move out of bound checks to main loop instead of when getting the accel 
data

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2997 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-07 19:28:11 +00:00
pip
bfcfb3e88e Fixed problem with board rebooting when changing mode from PPM Rx or PPM Tx to some other mode. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2996 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-07 17:46:39 +00:00
pip
3e67bf19dc PPM generator module now working (the modem can generate a nice precise PPM stream) - not yet done the RF streaming side of PPM though. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2995 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-07 15:00:38 +00:00
pip
b71bc49ce3 Updated USB descriptor to use the BCD values stated on the wiki page http://wiki.openpilot.org/display/Doc/Firmware+USB+descriptors 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2993 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-06 21:08:12 +00:00
pip
88b2d360a3 Various minor changes to do with switch modem mode on the fly but mainly PPM Input decoder (with error/noise detection) is now working 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2992 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-06 18:52:18 +00:00
FredericG
baf0850690 OP-336 CPU usage calculation incorrect when armed - no measure the time between calculations 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2987 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-06 11:50:54 +00:00
FredericG
5554973cea OP-174 ET OSD support - fix for writing configurations - temp workaround for what seems to be an issue with I2C driver OP-305 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2986 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-06 11:19:29 +00:00
corvus
7c4f29508b useless note on documentation (needs update) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2982 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-06 00:29:50 +00:00
FredericG
6d0679b9e9 Small fix to PIOS_DEBUG_PinValue8Bit(), was also influencing other IO pins 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2975 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-05 12:53:52 +00:00
FredericG
35475820ad 2 new PIOS_DEBUG functions to output a value on the debug-pins. In its current implementation it will probably not work on CC.... 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2971 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-05 09:23:57 +00:00
FredericG
5f52ef6aaa fix: PIOS_DEBUG_Init() was no longer called 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2970 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-05 09:21:32 +00:00
osnwt
8d085552fb CC: Modules/Attitude/attitude.c: unused headers removed (do we have another?) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2967 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-04 21:12:37 +00:00
osnwt
e9d507dd3e CC: Fixed compilation error after uavobject rename 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2966 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-04 20:56:58 +00:00
pip
7317891d39 Slight reorganisation to allow easier continuous data transmission (DATA streaming and PPM streaming) and allow easier total configuration changes on the fly. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2961 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-04 08:34:44 +00:00
FredericG
32c7596636 OP-324 Make NMEA parser more resilient to corrupted messages - For the new GTOP GPS FW, parsing of the VTG message is needed to get Heading and GroundSpeed 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2960 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-04 07:57:18 +00:00
FredericG
c890f596e4 NMEA: minor change to debug-messages 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2953 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-03 19:53:10 +00:00
pip
eaea8f28cf Starting to add continuous streaming modes (DATA and PPM). 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2951 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-03 16:32:43 +00:00
scott
f1ee47dcff Added #include "pios_config.h" to make sim_posix build again. Some alarm constants were missing. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2945 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-03 05:09:11 +00:00
peabody124
e4d9ef98a5 OP-315: Display run time as a percentage 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2944 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-03 04:28:45 +00:00
peabody124
97163d2193 Update OSX project 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2943 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-03 04:28:42 +00:00
peabody124
ec29920a8d OP-315: Clean up RTC calls into a separate function. Unfortunately still need 
to add function headers into portmacro.h

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2942 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-03 04:28:38 +00:00
peabody124
3e2c542eef OP-315 Use RTC at 65 khz as time base for task switching 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2941 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-03 04:28:34 +00:00
peabody124
528f74b512 OP-315: Extend TaskInfo to include run time stats. Still need to configure a 
timer to run at around 10 khz.  RTC a good option.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2940 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-03 04:28:29 +00:00
peabody124
267efe0b88 OP-315: Patch to FreeRTOS port to allow querying the run time for tasks. This 
will need to be forward ported (and ideally pushed up stream) for FreeRTOS
updates

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2939 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-03 04:28:22 +00:00
vassilis
b084ea7ea1 FlightPlan/Python: Updated object generator to create a Python file for each UAVObject. It is now possible to access all UAVObjects from the FlightPlan Python scripts. 
Warning: The memory utilization when importing objects is unacceptably high making it unusable in the flight code at this point. It can be however used with the SITL simulator. Some more investigation is needed to understand why several kb of memory are used each time a module is imported (even before any functions are called or objects from the module are created). 


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2938 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-03 02:22:50 +00:00
peabody124
3b13ad6859 OP-329: Enumerate more possible flight modes now like multiple stabilization 
modes so that the FlightMode field is complete in terms of being informative
enough

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2935 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-02 01:25:44 +00:00
peabody124
915ae1ae3c OP-313 Account for which axis are in rate and none to get the desired 
quaternion

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2933 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-02 01:25:38 +00:00
peabody124
8930ec01de OP-313 Quaternion based stabilization, gets rid of lots of checking angle 
signs, should be stable for all orientations

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2932 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-02 01:25:34 +00:00
peabody124
3488d28a5b Whitespace fixes 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2931 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-02 01:25:30 +00:00
peabody124
3e17c2ff55 OP-312: Create a StabilizationDesired object that is the generic input to 
Stabilization, carries the desired rate or attitude as well as a flag on how to
intepret it.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2930 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-02 01:25:27 +00:00
peabody124
672b9ce961 Convert failure to mount SD card to an error so you can't arm with an 
unconfigured quad

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2929 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-02 01:25:23 +00:00
pip
beedb7fdad Added center stick deadband code - currently deadband is set to '0' so not used) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2927 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-01 21:43:20 +00:00
osnwt
0210334aa8 OP-305 Preparing the top level Makefile for unix-style Windows build. 
- fixed: dep directory problem (sometimes it cannot be created by make, so do it with mkdir);
- fixed: added -f option to all_clean target (or rm stops on Windows for hidden .svn and r/o files);
- fixed: overridden USE_BOOTLOADER var for bootloaders (should always be set to NO regardless of command line);
- verified: short compilation output works as expected.

Some TODOs still exist, see OP-305 comments for details.


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2918 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-28 10:25:56 +00:00
FredericG
7d679e01f0 ET-174 Adapted ET OSD Drv to current GPS coordinate format 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2910 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-27 19:58:34 +00:00
sambas
d9ad0e9a8f OP-22 Flight/PiOS: Spektrum hacks, doubled supervisor timer and ?loss? counter to the channel8 value 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2907 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-27 19:03:58 +00:00
FredericG
0124c42b8c OP-324 Make NMEA parser more resilient to corrupted messages - WANRING: NMEA parser refactored - VTG and ZDA messages no longer interpreted 
Sometimes corrupted NMEA messages can get passed the NMEA "CRC" check and this caused the NEMA parser to crash because it assumed that the correct amount of parameters are present.
Now the NMEA message is split into its different parameters before it is passed to the message-specific parser. Hence the function-signature of the parser functions has changed and the implementations of these functions has changed. 
I also decided to no longer interpret the VTG and ZDA because they do not contain more data than the other messages that are being parsed.
Not tested in flight, and could not test the TOP message.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2904 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-27 13:45:19 +00:00
pip
7bfb58ce73 clean up 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2903 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-27 13:13:10 +00:00
peabody124
ea390d0b90 CC-26: Add accel bias term. Note it's units are LSB, not m/s^s 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2895 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-26 22:21:44 +00:00
osnwt
899c1fe0bf Moved CPU and heap alarm thresholds into pios_config.h. 
Fixed heap thresholds for the CC (prevented arming).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2886 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-26 11:46:39 +00:00
pip
a2e1e3e7d0 Updated some RF module register settings 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2876 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-25 11:28:39 +00:00
pip
62e510a696 Set unused/unconnected pins as outputs. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2875 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-24 17:31:24 +00:00
pip
4b4d9043fb Set PDOP and VDOP to 99.99 in binary mode (theose values are not available in binary mode). A couple of cleanups too. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2874 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-24 10:55:45 +00:00
andrew
84c26f8905 OP-84 
Battery module for Power Sensor version 2
made a few variable declarations static so things work again after changes to make this module not run in it's own thread.

Fixed the energy consumed calcs to scale correctly.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2870 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-24 05:05:17 +00:00
loris
463403ee82 OP-316 - UAVObject units Fix accelerations units 
Fix default calibration values

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2869 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-24 02:52:19 +00:00
pip
bee704176b Fixed a bug when scanning for start of packet. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2861 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-23 10:11:26 +00:00
pip
d3ea16de99 Updated spectrum scanning code. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2859 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-23 09:30:06 +00:00
pip
e9d7ab09be Improved efficiency (a lot) when scanning for and locking onto the start of a GPS binary packet. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2858 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-23 09:24:17 +00:00
stac
76fed0387b makefile: refactor bootloader makefiles 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2856 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-23 04:19:00 +00:00
stac
ee3d890bfc makefile: convert to unix line-endings 
These files were a mix of line endings.  Now
they're all consistent as LF terminators.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2855 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-23 04:18:56 +00:00
stac
6700a74782 makefile: refactor makefiles and clean up output 
This significantly reduces the amount of duplication
across the various firmware makefiles.

The new firmware-defs.mk file should contain only
macros/declarations that will apply to all firmware
makefiles.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2854 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-23 04:18:53 +00:00
stac
251f227b31 makefile: reduce default verbosity level 
Add V=1 to your invocation of make to re-enable
printing of all command lines.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2851 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-23 04:18:46 +00:00
stac
9035ba3f6b makefile: clean up summary lines 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2849 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-23 04:18:41 +00:00
stac
fbe22e1d81 makefile: cleanup 
- Removed commented out code
- Removed "begin" "finished" and "end" targets

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2848 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-23 04:18:39 +00:00
pip
e7850ab25e Corrected scale for lat/lon - was out by a factor of 10 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2846 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-22 14:16:16 +00:00
pip
f6370a035d 'Slightly' more efficient binary packet handling. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2845 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-22 12:45:51 +00:00
pip
9da0fb47e2 Reduced GPS command resend to 2 second time-out, a few more white space corrections. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2844 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-22 12:32:08 +00:00
pip
3881c652c1 Simplified the binary code a little, added a 300ms delay after sending a FULL COLD RESTART to the GPS (IF we do that is), fixed some spelling mistakes. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2843 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-22 12:15:25 +00:00
pip
9d14723dcc Commenting tidy upping 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2842 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-22 11:32:24 +00:00
pip
d1d165adff More white space/tab corrections. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2841 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-22 11:19:12 +00:00
pip
0fd6170979 added another "#ifdef ENABLE_GPS_NMEA" 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2840 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-22 11:02:17 +00:00
pip
a2259201e5 removed tabs after spaces. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2839 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-22 10:55:01 +00:00
pip
414836a4c9 Added another parsing_errors++ line. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2838 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-22 10:36:27 +00:00
pip
4547013901 Added GTOP BINARY mode to the GPS module. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2837 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-22 10:16:50 +00:00
FredericG
42cf204dcd correctly detect 100% load 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2836 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-21 21:50:10 +00:00
peabody124
5f2c502172 Arm checks: Simply don't check GPS because the dependence on AHRS Settings 
breaks CC.  This should be done by the GPS alarm being set only when
appropriate (i.e. by AHRS on OP when needed) and not by the GPS module.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2824 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-21 05:58:24 +00:00
pip
0c48fe258a Changed alarm level checking from WARNING level to ERROR level before allowing arming. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2822 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-20 19:34:27 +00:00
pip
88cf1e276a Ignore Telemetry alarm when arming (telemetry alarm no longer prevents arming). 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2821 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-20 17:53:03 +00:00
pip
df26016c64 Added alarm check when trying to change state to ARMED mode (from DISAMRED mode), if any warnings are set then it will not go into ARMED mode - unless the GPS is not required, in which case the GPS alarm will be ignored (if using Simple or Indoor AHRS modes). These checks are done in the okToArm() function. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2820 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-20 16:42:31 +00:00
pip
578b779a76 Fixed PPM compile errors - you can now compile for PPM input if desired. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2818 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-20 13:41:19 +00:00
pip
c214833346 oops!! .. enabled PPM and disable PWM by default .. sorry 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2817 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-20 13:40:19 +00:00
pip
d733f08a0e Fixed PPM compile option (missing pin defines) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2816 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-20 13:12:08 +00:00
sambas
8d6f320fca Handle I2C defines better, needed in CC for now 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2815 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-20 07:14:02 +00:00
osnwt
6613158206 BootloaderUpdater: fixed compilation errors. It works with CC too (tested). 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2813 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-19 19:18:03 +00:00
FredericG
c9060393e5 OP-302 Remove threads from modules that do not need them - Battery Module 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2812 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-19 18:56:52 +00:00
FredericG
374e822f79 OP-302 Remove threads from modules that do not need them - ET OSD module 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2811 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-19 13:25:27 +00:00
FredericG
c5f814a931 ET OSD, WIP, measure timing 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2810 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-19 10:18:00 +00:00
pip
9a2bdac49c Reduced CC CPU usage from 57% to 46% by moving the floating point multiplies outside of the accelerometer downsample/averaging loop in the updateSensors() function. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2809 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-19 09:33:03 +00:00
FredericG
ec634ef3e7 debug-pins, small fix 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2808 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-19 09:11:00 +00:00
zedamota
9050608e6c Flight/Bootloader - Bootloader updater, minor update to help user with the CL options 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2805 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-17 15:02:10 +00:00
zedamota
56c195fa9a Flight/Bootloader - Bootloader updater, WORKING - tested with PipX only (should work for all boards though). 
Led(LED1 different color on each board) Sequence:
1-Power On
2-Led ON for 3 seconds (you can disconnect during this time - safety measure) 
3-Led flashes very quickly while the board is being programed (because the program is stored in memory this is very fast and looks like a led glitch)
4-If all good - LED flashes 3 times with a 1sec period and turns off - you may now reboot.
4-If an error ocurred - LED will keep flashing with a 500ms period until power off

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2804 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-17 14:54:57 +00:00
zedamota
949617e236 Flight/Bootloader - Bootloader updater, minor fix 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2801 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-16 15:04:59 +00:00
pip
60e7665aec A bug fixed that caused carrier frequency to go way off when setting the modem to one of the Tx-carrier/Tx-spectrum test modes (and back). 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2799 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-16 12:32:44 +00:00
zedamota
993a4a7c5f Flight/Bootloader - Bootloader updater, needs testing 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2798 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-15 17:42:24 +00:00
corvus
435072cf4e Modules/Stabilization, Modules/ManualControl: 
Move channel StabilizationSettings from ManualControlCommand to
AttitudeDesired, unify channel normalization and put them all into ManualControl

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2797 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-15 14:55:00 +00:00
pip
9899c270cb Removed unused code 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2796 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-15 13:10:18 +00:00
pip
ac7cfcc358 Added "Ready-To-Send-Time" parameter adjustment 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2795 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-15 12:57:46 +00:00
zedamota
0abec1908d Flight/Bootloadera - small cleaning up. Start of Bootloader Update firmware witch will enable users to update the Bootloader itself without JTAG. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2794 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-14 18:15:25 +00:00
pip
f75539dcc6 Reverted GYRO calibration detection. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2791 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-14 09:01:47 +00:00
stac
3b34cc71b4 bl_pipxtreme: bind to new COM driver 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2789 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-14 01:17:42 +00:00
stac
5ac55a35e3 bl_coptercontrol: bind to new COM driver 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2788 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-14 01:17:39 +00:00
stac
000234f036 bl_ahrs: bind to new COM, USART and SPI drivers 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2787 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-14 01:17:35 +00:00
stac
bbb3882826 bl_openpilot: bind to new COM, USART and SPI drivers 
- Removed all unnecessary device instances and their cfg's.
  - SPI to SD card
  - I2C
  - Aux USART
- Moved SPI baudrate setting into cfg rather than init func.
- Abstracted forcing slave select under OPAHRS API.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2786 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-14 01:17:32 +00:00
pip
74502852c3 Added GYRO calibration detection into the adc_callback() routine - to pass raw values when calibrating the gyro's. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2780 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-13 20:04:25 +00:00
peabody124
52f09e5d55 Add compile time flag (USE_SPEKTRUM) to enable spektrum support until the 
dynamic switching is done.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2778 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-13 17:43:44 +00:00
stac
967bb9bb9c pipx: COM device ids are now 32bit not 8bit 
The COM layer now uses 32bit device ids rather than
8bit.  All code that stores these ids must now use
uint32_t to hold them.

Since these 32bit numbers are really just opaque
pointers, it is (reasonably) safe to assume that
they won't be 0.  The logic around tracking the
*_previous_com_port could probably be cleaned up
to remove that assumption.

Missed this fixup in the recent hwinit changes.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2776 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-13 15:54:26 +00:00
sambas
f3bce1705b OP-22 Flight/PiOS: Spektrum fix, OP tested on ground not flown yet, CC not tested. 
pios_rcinput.[ch] outdated

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2775 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-13 13:10:02 +00:00
stac
66a9d53d0a hwinit: Convert I2C driver to dynamic init 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2773 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-12 22:19:54 +00:00
stac
3fda65c5d3 hwinit: Convert SPI drivers to dynamic init 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2772 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-12 22:19:50 +00:00
stac
841b0d3d6d hwinit: Convert COM and USART to dynamic init 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2771 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-12 22:19:43 +00:00
peabody124
ebb8596db0 AHRS: FIx calibration. Move the mag data processing into the loop that acquires accel and gyro 
data.  I don't like this but because of the way the calibration routine works
(sets all gains to 1) this makes the values so far out or range the EKF doesn't
get to run and the mag wasn't previously being updated.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2765 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-09 05:17:32 +00:00
peabody124
93ee2765be Whitespace fix (removing spaces) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2762 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:58 +00:00
peabody124
8498512855 CC-20 Attitude initialization: Make sure no divide by 0 condition possible 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2761 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:55 +00:00
peabody124
9ed0882df9 PiOS/USART: Apply same fix as Spektrum to force read of DR whenever there is an 
error flag set

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2760 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:52 +00:00
peabody124
7e78e8af04 CC-21 PiOS/Spektrum: Prevent condition that can tie up USART interrupt and locks up 
CC.  Must always read the DR to clear the error flags.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2759 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:49 +00:00
peabody124
a3ba9c3781 CC-21 Make it possible to enable Spektrum on CC, although it eats up S6 in 
order to free a timer.  Mode PIOS_DELAY (not working cleanly) to TIM3 because
Spektrum resets TIM2 count.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2758 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:45 +00:00
peabody124
9f71f4121c CC-18 Attitude: Change units to proper engineering ones. An accelKp=1 means 
that it will completely follow the accel attitude each cycle and is way too
high.  Ki=1 means the gyro bias wil be correct by accels each cycle (way too
high).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2755 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:35 +00:00
peabody124
cfe295377c CC-18: Normalize the gravity vector to unity gain 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2754 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:31 +00:00
peabody124
74cc7dbfc9 CC-20 Attitude: Jack up Kp and Ki values for first 5 seconds to force faster 
convergence of gyro bias, then the normal values can be lower.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2753 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:28 +00:00
peabody124
6ac2ddb0c1 CC: Make default build non-debug. This leaves a bit more RAM overhead. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2752 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:24 +00:00
peabody124
682b49df44 CC: Increase the SPI clock rate to minimize time spent in that routine 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2751 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:21 +00:00
peabody124
03fb82ad0a CC Attitude: Change when AttitudeRaw is set to end of attitude estimation, 
because this is what is determines when the Stabilization code executes.
Because we aren't oversampling gyros relative to the PID in CC we should set
the attitude first (computational time to do so is negligible).

Also change update rate to 500 Hz.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2750 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:18 +00:00
pip
d12868f1a3 A few more #define capitalizations. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2748 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-07 12:30:27 +00:00
pip
b2eb141c10 100mW appears to be working again. A few bug fixes. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2745 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-06 21:21:50 +00:00
FredericG
d7fc7646b0 OP-246 UAVOBJ CHANGE - Setting to disable arming/disarming 
options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2744 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-06 16:16:20 +00:00
pip
6559615ef8 Made quite a few constants/#defines capitals (previously lower case) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2743 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-06 10:55:08 +00:00
sambas
14641cd353 Fix, was outputting "\n" strings into InitMods.c which failed to build 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2742 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-06 07:21:45 +00:00
stac
4e6b539086 debugpins: Add definitions for debug pins 
Not yet used anywhere but will eventually allow
debug pins to be assigned during runtime init based
on configuration found in a new uavobject.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2741 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-06 01:03:06 +00:00
stac
9f595842dd modinit: put initcalls on separate lines 
This makes it easier to step through the module init
sequence in gdb.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2740 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-06 01:03:02 +00:00
corvus
afdaf88d4a UAVObjects: Allow Generation and Initialisation of individual UAVObjects 
per target as defined in Makefile (and/or Make include file) For
OpenPilot this is flight/OpenPilot/UAVObjects.inc For sim_posix and
sim_win32 needs rebuild of uavobjectgenerator and uavobjects!

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2736 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-05 22:17:40 +00:00
pip
9a5d099a79 Started to write the PPM, spectrum scanner and continuous packet stream modules. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2731 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-05 13:45:16 +00:00
peabody124
56d4d54a97 CC: Increase the memory for the modules after removing PriTxTask from CC and 
also increase the telem queue to decrease event errors (can be reverted later if
we need the memory back)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2730 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-05 10:52:59 +00:00
peabody124
f97d853c80 Make the PriTx queue optional which saves 700 bytes 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2729 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-05 10:52:52 +00:00
peabody124
efca295ea0 Modules/Guidance: Fix a bug Corvus caught 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2727 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-05 01:14:55 +00:00
pip
41768be215 Allows modem mode to be set - BUT NOT YET IMPLIMENTED, use NORMAL mode for now. 
Fixed bug in pipx plugin import function - wasn't restoring the AES key.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2726 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-04 23:00:48 +00:00
pip
b50965ba9f Fixed AFC reading 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2719 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-04 10:03:47 +00:00
peabody124
04f54928d6 Modules/Guidance: Fix a bug Dale caught about not grabbing settings and also 
correct a typo when NedAccel.Down wasn't used.  Finally increase stack size of
guidance task.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2718 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 20:00:00 +00:00
pip
3bad7982dd Fixed RSSI when no signal received. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2714 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 13:12:30 +00:00
pip
ac5155f3d9 Increased RF packet ping speed if the GCS is monitoring the RSSI. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2712 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 11:31:34 +00:00
pip
0e3ae58c96 New PipX config protocol packets. YOU NEED TO RECOMPILE THE GCS PLUGIN to use this. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2711 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 07:05:32 +00:00
peabody124
e5b26bc67d More memory tweaks to keep CC flowing 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2709 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 02:42:49 +00:00
peabody124
fedadb1275 CC-8: Move the queue registration into the ADC PIOS driver to allow other 
functions to use it easily

Conflicts:

	flight/Modules/Attitude/attitude.c

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2707 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 02:42:43 +00:00
peabody124
810fa70856 UAVObjects: Remove the raw versus filtered fields in the sensor data. Save 
some memory.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2706 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 02:42:39 +00:00
peabody124
c95a6447bf CC-8 Whenever the gyro data is updated the callback now pushes the data onto a 
queue, which update sensors waits for.  This confirms one update per gyro
update.  All available accel data will be pulled off each time.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2705 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 02:42:33 +00:00
vassilis
90fd4551b6 Flight/SITL: Enable debug of Python scripts 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2704 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 02:02:34 +00:00
corvus
f2ef99a2d9 SiTL_win32: Adapted for autogenerated UAVObject Makefile - needs testing 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2703 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 20:15:33 +00:00
corvus
16eef53f02 UAVObjectgenerator: Autogenerate Make include-file for flight UAVObjects to be used in firmware Makefiles. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2702 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 20:15:28 +00:00
corvus
8de340b5a8 UAVObjectgenerator: Autogenerate Make include-file for flight UAVObjects to be used in firmware Makefiles. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2701 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 20:15:16 +00:00
pip
7f8b0d5788 Fixed carrier frequency problems. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2700 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 17:53:46 +00:00
pip
40e9a592c8 PipX modem can now be configured from GCS in realtime. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2695 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 11:44:23 +00:00
peabody124
986e124202 CC-7 Reverse order of two lines so that yaw bias converges instead of diverges 
:-)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2693 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 09:16:28 +00:00
peabody124
265737427b CC-7: Make the gyro scale adjustable (for now at least, this was largely for 
debugging, let's compare values).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2692 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 08:57:42 +00:00
peabody124
1663a838ff CC-7 Full complimentary filter ala Mahoney paper using quaternion 
representation.  Also improved gyro bias initialization.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2691 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 08:57:38 +00:00
peabody124
cf2e9fb349 Memory: Also allow overriding Stabilization stack size 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2690 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 08:57:34 +00:00
pip
2c3e540637 Code added to allow GCS to configure modem. Not yet finished - modem needs rebooting after uploading new config - for the time being. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2687 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 23:40:40 +00:00
peabody124
77ce0d6391 Actuator: Fix bug I made a while ago that stops servos going negative values 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2677 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 21:05:00 +00:00
peabody124
877bcca880 Delete hardcoded min and max servo PWM times, they weren't used. Use the 
configuration settings.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2676 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 21:04:58 +00:00
cwabbott
23db2e9601 Fix UAVObject stuff for win32 sim, and fix pios_servo as well. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2675 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 19:11:24 +00:00
peabody124
c3aa5ed8f3 Posix: Add the constants for telemetry queue sizes and also make the actuator 
SetHz calls compatible with the PiOS API change

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2672 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 15:47:02 +00:00
peabody124
d33d044088 Revert "Revert "Fix to make stacs auto-loading of UAVObjects downwards compatible, since its not working on all architectures"" 
Putting Corvus patch back in.  Need to delete uavobjects-synthetics directory
for this to work.

This reverts commit 9cd98bec8fb5e0679c625eb256a94d161a8ce345.

Conflicts:

	flight/CopterControl/Makefile

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2671 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 15:46:59 +00:00
peabody124
f93ed5f01f CC Module memory: Make it clean for CC to override the stack sizes of modules 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2668 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:18:35 +00:00
peabody124
b1e4b65f3d CC-1 Bigger oversampling window for CC sensor data 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2667 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:18:31 +00:00
peabody124
1c6b51b704 UAVObjects/AttitudeSettinsg: Object for CC to tune the attitude estimation 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2666 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:18:26 +00:00
peabody124
15f3ada700 Get rid of ms * 10 units since the time resolution of FreeRTOS is in ms 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2665 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:18:22 +00:00
peabody124
3f088bed8d CC-9 1. Improve the timings of the attitude estimation 
2. Disable FirmareIAP module in CC (somehow causes lockups when also using vTaskDelayUntil in Attitude WTF)
3. Make the SPI bus run a little faster so we can handle the 3200 Hz from accel
while running the filter at 333 Hz

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2664 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:18:19 +00:00
peabody124
8b2034ea05 CC-15 Settings: Delete settings from flash chip (hacky sector based saving) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2663 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:18:15 +00:00
peabody124
97acaa2402 CC-15 Gets settings saved to flash chip on CC using crude sector based storage. 
Sector based on Object ID so could overlap :-(.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2662 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:18:12 +00:00
peabody124
ea91042f38 CC-6 Fixed bug in flash read write addresses 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2661 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:18:08 +00:00
peabody124
e27c9c0b7a CC-6 Rename Flash function to not be all upper case consistent with other PIOS 
functions

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2660 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:18:04 +00:00
peabody124
1d2ad6e9cb Telemetry: Move the telem stack size to the board definition file since CC 
needs less

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2659 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:17:59 +00:00
peabody124
c9207b3754 CC-14 PIOS/Servo: Set more than two bank speeds 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2658 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:17:55 +00:00
peabody124
200f9a7247 FirmwareIAP: Whitespace fix, spaces to tabs 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2657 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:17:51 +00:00
peabody124
79ed1578a8 Update XCode project 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2656 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:17:46 +00:00