Oleg Semyonov
7fbbb0e6af
Merge remote branch 'origin/next' into os/TxPID-module
2011-12-24 15:44:16 +02:00
James Cotton
0b00e748a9
OP-565: Added the ability to do a trim flight to compute the accels for level flight
2011-12-21 15:25:00 -06:00
James Cotton
5013e9e3df
Change back the default telemetry speed
2011-12-15 00:57:36 -06:00
James Cotton
9f50391fc5
Merge branch 'next' into revolution_sensors
...
Conflicts:
ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
2011-12-13 20:50:10 -06:00
James Cotton
a37a17a4fb
Created a separate Sensor module and Attitude module for revolution
2011-12-12 21:40:39 -06:00
James Cotton
d22e0e66dd
Create separate UAVOs for the sensors.
2011-12-12 13:05:40 -06:00
James Cotton
a9c61845af
Create a separate task for sensors and attitude on revo.
2011-12-12 00:47:16 -06:00
Oleg Semyonov
10287e3e29
CC: rename ReceiverPort PPM+Servo (Servo) options to PPM+Outputs (Outputs)
2011-12-11 22:52:51 +02:00
James Cotton
684715930a
Merge branch 'next' into revolution
...
Conflicts:
flight/OpenPilot/Makefile
flight/Revolution/System/inc/openpilot.h
2011-11-14 10:11:53 -06:00
Oleg Semyonov
de6e450b5f
Merge branch 'next' into os/TxPID-module
...
Conflicts:
flight/CopterControl/Makefile
flight/CopterControl/System/coptercontrol.c
ground/uavobjgenerator/generators/generator_common.h
shared/uavobjectdefinition/hwsettings.xml
component free heap used
----------------------------
Nothing 2544 -
PWM 2416 128
PPM 2392 152
DSM 2448 96
S.Bus 2432 112
GPS (port only) 2352 192
GPS (port+module) 1296 1248
CameraStab 2080 464
Telemetry 1912 632
TxPID 2272 272
2011-11-13 16:25:58 +02:00
Corvus Corax
aa69027cb2
Merge branch 'next' into CC_GPS
2011-11-11 11:44:11 +01:00
Oleg Semyonov
0116e6a007
spektrum: rework DSM2/DSMJ/DSMX driver for explicit DSMX resolution support
...
- both CC serial ports are now disabled by default (no telemetry);
- serial ports now have DSM2, DSMX (10bit) and DSMX (11bit) options;
- ReceiverGroups now have DSM (MainPort) and DSM (FlexiPort) options.
For DSM2 protocol there is an explicit resolution bit in the stream, so
the DSM2 should be selected. For DSMX there is no such bit, and user
should choose the resolution from the list configuring the spektrum port.
ReceiverGroups have single DSM option which is handled by the same driver.
Downside: this implementation saves received frame first, unrolls by the
end of frame. This should be ok, but may be improved by unrolling channels
on the fly in the rx callback.
Another minor difference is that a ChannelGroup is now bound to port:
DSM (MainPort) or DSM (FlexiPort). This was considered as acceptable
solution in order to not have 6 DSM options for each ChannelGroup and
even more in case of new DSM protocol variations.
Known problem: it is not possible to choose same protocols like
DSM2/DSM2 for two ports. It can be enabled by adding an exception to
common rule, though.
The DSMX throttle channel misbehavior (zero value) is not treated
specially yet. It should trigger the failsafe being out of bounds.
More info and data dumps are required to handle this properly.
2011-10-30 19:29:03 +02:00
James Cotton
0f8ae1e076
Merge branch 'next' into ins
...
Conflicts:
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-10-26 13:18:44 -05:00
Oleg Semyonov
4ed23dd891
Output Remapping: renamed PPM_SERVO option to PPM+Servo
2011-10-24 00:34:01 +03:00
James Cotton
24d6ae731b
Output Remapping: Added option to just use servo outputs on input lines but not
...
PPM. This saves resources. Good suggestion Os. In this configuration we
could allow 12 channels of output but for now I'll leave it capped at 10 to
lessen resources on the mixer table.
With spektrum and camera stab enabled there was
1632 bytes heap remaining
180 bytes irq stack remaining
2011-10-23 15:21:40 -05:00
James Cotton
46aa8916c6
Fix segfault when selected motors 9 or 10. Also make labels show up in output
...
panel.
2011-10-20 06:56:56 -05:00
James Cotton
0193187d0c
Make the UI support 10 output channels
2011-10-15 16:59:42 -05:00
James Cotton
9312610f3b
Output: Enable two more channels to support octo + camera
2011-10-15 16:59:42 -05:00
James Cotton
ce7f424131
CC: When receiver port is set to PPM_SERVO use the spare pins as outputs
2011-10-15 16:59:42 -05:00
Oleg Semyonov
a38c569cd0
HwSettings: move Telemetry and add GPS port speed to the HwSettings object
...
TelemetrySettings object removed (saved 200+ bytes of RAM). Telemetry
port speed moved to the HwSettings object. Added GPS port speed setting.
GCS code updated to reflect changes and support both fields.
2011-09-28 22:11:42 +03:00
Oleg Semyonov
53c098dd08
Merge branch 'next' into os/GPS-on-CopterControl_next_v2
...
Conflicts:
flight/OpenPilot/System/pios_board.c
flight/OpenPilot/UAVObjects.inc
shared/uavobjectdefinition/hwsettings.xml
2011-09-28 22:02:02 +03:00
Oleg Semyonov
a9137e9db1
TxPID: add update mode option as a workaround for GCS interaction
2011-09-19 16:16:28 +03:00
Oleg Semyonov
aad263bdd8
TxPID: enable ramp-shaped throttle-dependent PIDs
...
Besides of knob PID tuning it is now possible to use throttle channel
to ramp-shape PID coefficients. This can be used to lower some PIDs on
VTOL while sinking to prevent wobble.
To use the feature select throttle as control input, choose throttle
range max and min values, assign the instance to particular PID
coefficient and define a range for it. When throttle is lower than
defined throttle range min value (or higher than max), then min and max
PID values will be used accordingly. Changing throttle from throttle
min to max will linearly scale PID value.
Note that it is possible to set MinPID > MaxPID. In that case increasing
control input value will decrease the PID coefficient.
Up to 3 independent instances can be configured. The number can be
increased changing the UAVO definition, but at the cost of extra RAM.
2011-09-18 14:38:50 +03:00
Oleg Semyonov
d923117c25
TxPID: optional module to tune PID settings using R/C transmitter
...
This module will periodically update values of stabilization PID settings
depending on configured input control channels. New values of stabilization
settings are not saved to flash, but updated in RAM. It is expected that the
module will be enabled only for tuning. When desired values are found, they
can be read via GCS and saved permanently. Then this module should be
disabled again.
2011-09-17 22:49:51 +03:00
James Cotton
19763d1437
Add temp comp field to INS settings
2011-09-14 18:57:01 -05:00
James Cotton
1783817b96
INS: First pass at altitude hold code
2011-09-13 01:44:53 -05:00
James Cotton
400ba3bd47
Merge branch 'next' into ins
2011-09-12 18:57:11 -05:00
James Cotton
5b836db54c
INS/Guidance: Convert distance to using m instead of cm. This is mainly to be
...
able to use NAN to indicate when values aren't valid from INS.
2011-09-11 23:02:05 -05:00
James Cotton
6457276438
Merge branch 'input_configuration' into next
2011-09-11 18:52:35 -05:00
James Cotton
01cd2ded57
Mainboard config: The rcvr port is used for PPM/PWM/Spektrum so make these one
...
setting that is mutually exclusive.
2011-09-10 14:20:51 -05:00
James Cotton
c2a8cc3faa
Mainboard config: The rcvr port is used for PPM/PWM/Spektrum so make these one
...
setting that is mutually exclusive.
2011-09-10 14:19:12 -05:00
James Cotton
3239fdf21b
Merge branch 'next' into ins
...
Conflicts:
flight/CopterControl/Makefile
flight/OpenPilot/System/pios_board.c
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-09-09 08:33:34 -05:00
James Cotton
dfe91af686
UAVObjects: Space allocated in manualcontrolcommand did not match the number of
...
channels in settings. Fixed this and added assertion to catch in future.
2011-09-09 01:17:13 -05:00
James Cotton
1a5fd9f30e
Heli: Added an explicit collective channel. Also make the default channel
...
number 0 since that is not invalid.
2011-09-07 01:48:39 -05:00
James Cotton
8c91522e54
UAVO: Reorder field names of ManualControlSettings which affects the order of
...
channels listed in the UI configuration. This keeps it consistent with the
previous releases.
2011-09-06 16:42:03 -05:00
James Cotton
fa33c66f23
OP-553 StabilizationSettings: Change default max roll/pitch to 55 degrees from
...
35 degrees. I hope this doesn't make it too sensitive for any of the
beginngers.
2011-09-04 13:34:49 -05:00
James Cotton
c326c0941d
INS: Work on initialization. Improve the zeroing of the gyros at powerup.
2011-09-04 11:49:15 -05:00
James Cotton
dae11cf877
INS Logging: Enable temperature reading from gyro and accel (may be removed in
...
future), push it into UAVO and introduced a logging mode for INS that outputs
all sensor data from aux port.
2011-09-03 15:10:47 -05:00
James Cotton
d47778cf13
Change default values for ins settings
2011-09-02 13:27:13 -05:00
James Cotton
612d3336b4
This patch breaks backward compatibility with AHRS solidly.
...
Move the configuration files for INS from AHRS* to INS*. Strip out unused
fields in settings and merge calibration and settings since settings has
basically no information.
2011-09-01 12:21:33 -05:00
James Cotton
dc340596f5
Merge branch 'next' into GCS_ChangesToUI-RuntimeCFG
...
Conflicts:
flight/CopterControl/Makefile
flight/OpenPilot/System/pios_board.c
flight/OpenPilot/UAVObjects.inc
flight/PiOS/STM32F10x/pios_spektrum.c
ground/openpilotgcs/src/plugins/config/config.pro
ground/openpilotgcs/src/plugins/config/configgadget.qrc
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
shared/uavobjectdefinition/hwsettings.xml
2011-08-27 15:26:05 -05:00
Corvus Corax
4bd72923e5
Merge branch 'CorvusCorax_unidirectional-GPS-com' into CC_GPS
...
Conflicts:
flight/Modules/GPS/GPS.c
flight/Modules/GPS/GTOP_BIN.c
flight/Modules/GPS/NMEA.c
shared/uavobjectdefinition/hwsettings.xml
2011-08-25 15:33:23 +02:00
James Cotton
5f7a9b513a
Merge branch 'sambas/dsmx_stuff' of ssh://git.openpilot.org/OpenPilot into next
...
Conflicts:
shared/uavobjectdefinition/hwsettings.xml
2011-08-24 11:37:30 -05:00
James Cotton
b1c522def3
Merge remote-tracking branch 'origin/next' into ins
2011-08-21 01:34:40 -05:00
James Cotton
a642f3672c
Report running time per loop in us
2011-08-21 00:54:31 -05:00
James Cotton
368323fd59
Merge remote-tracking branch 'origin/james/erase_settings' into next
2011-08-20 13:07:01 -05:00
Corvus Corax
dfd301571a
HWSettings: Allow late Initialization and Start of Modules as defined in Makefile(available modules) and UAVObject(actually started modules)
2011-08-20 01:24:06 +02:00
James Cotton
f85ae84ec3
Merge branch 'camera_stabilization' into next
...
Conflicts:
flight/OpenPilot/System/pios_board_posix.c
2011-08-19 01:48:24 -05:00
James Cotton
25b54a4323
Change to default settings at request of Dave. AccelKp = 0.05. MaxAxisLock =
...
15 degrees.
2011-08-19 01:46:52 -05:00
James Cotton
35eef66bfe
OP-557: Add a UAVO access method to erase the entire flash chip. Normally not
...
needed by users because if too much changes I change the FS magic and trigger a
wipe.
Possibly the erase should require a particular "magic" object id value to
execute? This would make it harder to do manually through UAVOs though.
2011-08-15 10:33:27 -05:00
zedamota
e736b17cc4
Merge remote-tracking branch 'remotes/origin/next' into GCS_ChangesToUI-RuntimeCFG
...
Conflicts:
ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
2011-08-14 15:48:16 +01:00
James Cotton
98346186e3
The camera desired object can now be a single instance. I think it will be a
...
while before we have multiple cameras :) although it's easy to extend when we
do.
2011-08-11 14:07:24 -05:00
James Cotton
bbe3c1533a
Merge branch 'next' into camera_stabilization
2011-08-10 21:57:45 -05:00
James Cotton
ab288e95ab
Stabilization: Small patch so that by default the integral is zeroed while
...
throttle is low (good for quads) but can be disabled (good for planes and also
testing helis).
2011-08-10 03:51:46 -05:00
James Cotton
f23eaa8273
Make the Actuator pull from the CameraDesired fields
2011-08-09 21:47:42 -05:00
James Cotton
f11aa80444
CameraStabilization: Make the CameraStabilization module put the desired
...
position into another object (will help with configuration).
2011-08-09 20:45:38 -05:00
sambas
1e67b5e3b5
DSMx_binder, hw setting 0 disabled, 1-10 bind pulses. Manual disable after successful bind. Only for flexiport.
2011-08-06 22:16:47 +03:00
Stacey Sheldon
90b2625deb
rcvractivity: Add tracking of Rx channel activity
2011-08-02 01:27:37 -04:00
Stacey Sheldon
06cdeb7b61
rcvr: support multiple simultaneous receivers
...
Now also supports multiple instances of the Spektrum driver.
These are configured as Spektrum1 and Spektrum2.
2011-08-02 01:22:04 -04:00
Stacey Sheldon
829b8b83f6
rcvr: Add GCS receiver driver for rcvr via telemetry
...
This allows the GCS to emulate a receiver device via the
telemetry link.
Select "GCS" as your input type in the manualcontrol config
screen and calibrate it as normal.
Note: The expected values for the channels are in microseconds
just like a PWM or PPM input device. The channel values
are validated against minimum/maximum pulse lengths just
like normal receivers.
2011-08-02 01:22:04 -04:00
James Cotton
387a22398e
Make it possible to optionally enable the CameraStab module
2011-07-30 12:08:47 +09:00
James Cotton
96c2d24253
Merge branch 'next' into camera_stabilization
...
Conflicts:
flight/CopterControl/Makefile
flight/CopterControl/System/coptercontrol.c
flight/Modules/Actuator/actuator.c
flight/Modules/GPS/GPS.c
flight/Modules/ManualControl/manualcontrol.c
flight/Modules/Stabilization/stabilization.c
flight/Modules/System/systemmod.c
shared/uavobjectdefinition/manualcontrolsettings.xml
shared/uavobjectdefinition/stabilizationdesired.xml
2011-07-30 10:06:10 +09:00
James Cotton
53ca934b2b
Merge branch 'heli_stabilization'
...
Conflicts:
flight/CopterControl/System/inc/pios_config.h
flight/Modules/Attitude/attitude.c
flight/Modules/ManualControl/manualcontrol.c
flight/Modules/Stabilization/stabilization.c
2011-07-12 13:28:20 -05:00
Mathieu Rondonneau
d38f6167e3
OP-423:
...
Also reduce heap has it does not fit in SRAM anymore (not with current compiler).
(that's ok since if there is more space available, it will be reclaimed).
Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint
Conflicts:
flight/CopterControl/System/inc/pios_config.h
flight/Modules/ManualControl/manualcontrol.c
2011-07-08 06:29:34 -07:00
Stacey Sheldon
a8787ee015
bootcfg: Add support for selecting S.Bus receivers in inputtype
2011-07-06 22:38:23 -04:00
Stacey Sheldon
d9aac892a9
hwsettings: Cosmetic change of SBUS to S.Bus in UAVObject
2011-07-06 22:37:17 -04:00
Stacey Sheldon
cba0985f26
hwsettings: UAVObject to select hardware runtime hw config
2011-07-05 22:02:37 -04:00
James Cotton
ad8876c62a
OP-193: Weak leveling variant on rate mode. Slowly will return to level.
2011-07-04 20:44:55 -05:00
James Cotton
a7206361d2
Slightly different way to respond to sticks in axis lock that is much more
...
responsive and avoids overshoot.
2011-06-26 21:59:54 -05:00
James Cotton
e6ad21d881
Make gyro bias in deg/s * 100 to calibrate more precisely.
2011-06-24 10:51:07 -05:00
James Cotton
eb3f3d790f
Zero during arming on by default since we're changing these objects
2011-06-24 10:38:26 -05:00
James Cotton
038f955cb1
OP-410 OP-333: Axis lock (heading hold) implemented
2011-06-24 10:38:26 -05:00
James Cotton
c0eff41dc6
OP-410 OP-333: Created an Axis-lock setting for stabilization
2011-06-24 10:38:26 -05:00
James Cotton
0a4bbcc12e
Added a field for initial gyro bias to speed up initialization.
2011-06-24 10:38:26 -05:00
James Cotton
28501842c3
Expose the rate D term which in simulations seems to help damp oscillations for
...
high RateKp terms. However it might be sensitive to gyro noise (vibrations).
In addition it is mathematically similar to lead shapign so probably only use
one or the other.
2011-06-24 10:38:25 -05:00
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
Mathieu Rondonneau
3677521168
Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint
2011-06-24 06:48:10 -07:00
Oleg Semyonov
dc651b6604
Merge remote branch 'origin/OP-532_Heli_GUI_Improvements'
...
WARNING: this will wipe out system settings. Don't forget to export
settings first with old GCS and import using new GCS after upgrade.
2011-06-24 10:05:54 +03:00
James Cotton
f6312c7798
OP-410 OP-333: Created an Axis-lock setting for stabilization
2011-06-23 14:51:18 -05:00
James Cotton
a684592546
Stopped hoarding all the UAVObject definition files.
...
MUAHAHA
2011-06-23 11:20:37 -05:00
Mathieu Rondonneau
74e5e2015e
Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint
2011-06-20 20:28:12 -07:00
James Cotton
0f2e4730b4
Merge remote-tracking branch 'origin/OP-530-PT_Dreamer'
...
Note this requires redoing the mixer settings!
Conflicts:
shared/uavobjectdefinition/mixersettings.xml
2011-06-20 14:08:08 -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
Andrew Thoms
5c5a07b101
OP-532 Updated GUI config data definition, UI, and implemented three
...
sliders in mixer generation code
2011-06-16 00:09:27 -04:00
Andrew Thoms
31339e0414
OP-532 Modified system settings UAVObject to have GUI config data
2011-06-13 21:39:47 -04:00
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
Oleg Semyonov
f766642f0d
Merge branch 'master' into heli_improvements
...
Conflicts:
shared/uavobjectdefinition/manualcontrolsettings.xml
2011-06-09 10:11:27 +03:00
zedamota
dcccae7270
Change throttle default max value to 0.95 on multis
2011-06-08 18:21:29 +01:00
James Cotton
5aa8224181
Merge branch 'bugfix-flight' of ssh://git.openpilot.org/OpenPilot into bugfix-ground
2011-06-08 12:02:52 -05:00
dankers
0b59c34afb
Change Accel kP default to 0.03
...
Lots of testing with this but would like more thoughts as well.
2011-06-09 00:47:09 +10:00
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
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
468b7b562d
OP-493: Small bug in default value for Curve2Source
2011-06-05 15:38:57 -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
Corvus Corax
54d9977eb1
auxillaryControl
2011-06-05 15:38:30 -05:00
James Cotton
483deb2bfc
Changed the default values for manual control settings to none to avoid
...
problems with channel mappings being different by brand.
You will need to recalibrate your transmitter.
2011-06-05 11:01:00 -05:00
James Cotton
1c621fa4d7
OP-508: Make rotation fields int16 instead of int8 to allow +/- 180
2011-05-28 20:33:42 -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
dankers
f967714ad1
reduce defaults based on feedback and testing
2011-05-15 23:49:08 +10:00
dankers
67f084a9e1
Amazing how badly it flies with just missing one full stop
2011-05-15 06:19:32 +10:00
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
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
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
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
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
David Buzz Carlson
c93ab7e723
Change CC, OP MB, and AHRS to use bootloader by default.
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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
James Cotton
819bc9d441
Merge branch 'master' into OP-430_Ligi_UAVTalk-Code-Review
2011-04-26 12:49:32 -05:00
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
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
peabody124
3665209195
While changing defaults also changing some default variances
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3102 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-29 15:00:13 +00:00
peabody124
3b4a88e365
Update default gyro bias in the AHRSCalibration xml.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3101 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-29 14:29:10 +00:00
peabody124
a57c289b3a
CC-24: Support mounting CC at any angle by applying a rotation. Now need to
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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
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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
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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
edouard
c9db0794f7
Fix for typo in guidancesettings.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3078 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-26 11:55:10 +00:00
peabody124
e262e3c220
Convert outer position controller to PI
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3077 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-26 11:40:33 +00:00
peabody124
16723fbdf9
Change default yaw mode to rate
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3076 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-26 11:40:07 +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.
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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.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3055 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-21 00:48:32 +00:00
fredericg
d270f7e987
Changes to FlightBatterySettings as discussed in forums
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3047 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-19 18:45:40 +00:00
fredericg
8488da6039
rename batterysettings.xml => flightbatterysettings.xml
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3045 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-19 18:30:29 +00:00
FredericG
5bb3662820
OP-322 Implement Audible alarm via PWM - new "PWM Alarm Buzzer" channel type
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3027 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-12 08:58:38 +00:00
scott
afc788bea4
Added 2nd rudder to fixed wing config. This is necessary for flying wings, in particular, that have rudders on the wingtips.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2946 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-03 05:33:51 +00:00
peabody124
e4d9ef98a5
OP-315: Display run time as a percentage
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2944 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-03 04:28:45 +00:00
peabody124
528f74b512
OP-315: Extend TaskInfo to include run time stats. Still need to configure a
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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
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.
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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
c21e9f74b3
OP-329 Make the stabilization mode config gadget compatible with new mode.
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Feel free to revert the layout change part - but I'm trying to make it clear
that "stabilization1" no longer naturally matches "position1"
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2936 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-02 01:25:47 +00:00
peabody124
3b13ad6859
OP-329: Enumerate more possible flight modes now like multiple stabilization
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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
3e17c2ff55
OP-312: Create a StabilizationDesired object that is the generic input to
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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
loris
6e942d786a
OP-316 UAVObject Fix typo, indents, units, default values
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2896 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-27 00:38:59 +00:00
peabody124
ea390d0b90
CC-26: Add accel bias term. Note it's units are LSB, not m/s^s
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2895 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-26 22:21:44 +00:00
loris
463403ee82
OP-316 - UAVObject units Fix accelerations units
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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
loris
c5d1aea9f4
OP-316 - UAVObject units
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Fix accelerations units
Fix default mag values
Fix gyro scale
Fix var units
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2868 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-24 01:52:39 +00:00
peabody124
4972c99519
OP-316 Update accelerometer units to be right
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2823 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-21 05:58:21 +00:00
corvus
435072cf4e
Modules/Stabilization, Modules/ManualControl:
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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
stac
ec8135bd5d
gpsposition: minor text changes to description text
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No functional change.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2770 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 22:19:38 +00:00
peabody124
9f71f4121c
CC-18 Attitude: Change units to proper engineering ones. An accelKp=1 means
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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
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2754 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-08 16:34:31 +00:00
FredericG
d7fc7646b0
OP-246 UAVOBJ CHANGE - Setting to disable arming/disarming
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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
peabody124
810fa70856
UAVObjects: Remove the raw versus filtered fields in the sensor data. Save
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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
265737427b
CC-7: Make the gyro scale adjustable (for now at least, this was largely for
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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
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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
c33fa63581
TaskInfo: Remove Watchdog task, no longer used
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2689 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-02 08:57:17 +00:00
peabody124
1c6b51b704
UAVObjects/AttitudeSettinsg: Object for CC to tune the attitude estimation
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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
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2665 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-01 02:18:22 +00:00