The resultant error could range from -360º -> +360º
Since this is only used for Helicopters / multi rotors, and the aircraft can rotate in any direction, I added the modulo logic so that it is now from -180º -> +180º this should now take quickest path to correct the error.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1464 ebee16cc-31ac-478f-84a7-5cbb03baadba
The Wiki (http://wiki.openpilot.org/Unit_Standards) states this should be 0 - 360º
Made the code match the wiki.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1463 ebee16cc-31ac-478f-84a7-5cbb03baadba
As pointed out by osnwt in the forum, the
criteria for success of this function was
wrong.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1456 ebee16cc-31ac-478f-84a7-5cbb03baadba
This creates a new UAVObject called GPSSatellites to hold
information about which satellites the GPS receiver can see
and the quality of their signals.
NMEA GSV sentences are now parsed. The full set of GSV data
may be split across multiple GSV sentences, each containing
info for at most 4 satellites. Once an entire set of GSV
records has been collected, the GPSSatellites UAVObject is
updated.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1453 ebee16cc-31ac-478f-84a7-5cbb03baadba
Remove asserts on bad data, only assert on coding errors.
Remove unnecessary inline qualifier to reduce code size.
Handle more lat/lon precisions in conversion to fixed-point.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1452 ebee16cc-31ac-478f-84a7-5cbb03baadba
Change from spaces to <TAB> to match the formatting in
the template. No functional changes, just whitespace.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1451 ebee16cc-31ac-478f-84a7-5cbb03baadba
The number of retries and delay between retries was
increased in a previous commit. This doesn't appear
to be necessary so I'm reverting the increases.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1432 ebee16cc-31ac-478f-84a7-5cbb03baadba
GPS module now updates GPSPosition UAVObject
rather than the PositionActual object. The
GPSPosition object is intended to be consumed
only by the AHRS. The AHRS will use this (and
other inputs) to compute a filtered version of
the position in the PositionActual object.
This commit will cause temporary breakage of the
GPS functionality in the GCS until the PositionActual
object is properly updated by the AHRS. Most of the
GCS should continue to use PositionActual. The only
exception to this might be any tool for specifically
visualizing the raw GPS state.
GPS.c is now only responsible for receiving a
complete NMEA sentence from the COM interface.
NMEA parsing is now factored out into NMEA.[ch]
which is where GPSPosition is now updated based
on the complete NMEA sentences obtained from the
GPS.
Latitude and Longitude are now encoded in a
fixed-point notation in units of degrees x 10^-7
to prevent truncation of precision due to encoding
into a float.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1431 ebee16cc-31ac-478f-84a7-5cbb03baadba
No functional changes. Whitespace/tab fixups only.
Use TRUE/FALSE instead of 1/0.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1430 ebee16cc-31ac-478f-84a7-5cbb03baadba
No need to have boolean flags being floats.
Some of the attitude message was being populated twice.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1428 ebee16cc-31ac-478f-84a7-5cbb03baadba
Since there are a lot of autogenerated changes the important ones are:
flight/OpenPilot/UAVObjects/inc/uavobjecttemplate.h - added description and define to make the ObjectReadOnly query
flight/OpenPilot/UAVObjects/uavobjecttemplate.c
flight/OpenPilot/UAVObjects/uavobjectmanager.c - added the UAVObjReadOnly query
ground/src/libs/uavobjgenerator/uavobjectparser.cpp - added parsing of description field
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1425 ebee16cc-31ac-478f-84a7-5cbb03baadba
This has throttle and pitch curves implemented and can be configured for many swashplate configurations.
This has flown a 450 clone (with training wheels) and the ccpm worked well.
Still need to neaten up some stuff and work out how to implement yaw stabilisation in manual mode.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1412 ebee16cc-31ac-478f-84a7-5cbb03baadba
1. Added reenumeration function and call it on USB init (device will appear after reprogramming now)
2. Moved buffer.c to general flight/Libraries location
3. Removed the 62 byte transmission limitation by adding a transmission buffer
4. Sped up USB communication by increasing endpoint polling frequency
Note, that the nonblocking and blocking USB send functions are not blocking entirely correcting. The blocking calls the nonblocking, and the nonblocking blocks until the last chunk has started tranmission if it's a big transmission. The buffering I added would generalize to non-blocking nicely, but would require using the EP1(IN) callback to handle most of the tranmission. This creates a lot of issues if one function is pushing data onto the buffer and the interrupt is sending.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1403 ebee16cc-31ac-478f-84a7-5cbb03baadba
Adding settings for configuring CCPM mixing for Helicopters to ActuatorSettings and SystemSettings UAVObjects.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1402 ebee16cc-31ac-478f-84a7-5cbb03baadba
Debug code was previously using the q4 element
in the attitude message to encode a cycle counter
to measure performance on the AHRS. This is no
longer valid.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1357 ebee16cc-31ac-478f-84a7-5cbb03baadba
Issues have been reported with CRC errors
on the SPI link between the OP and AHRS
boards. Slowing the link down eliminates
the errors in my testing.
If we speed this link back up in the future,
further investigation will be required to
diagnose the source of the CRC errors.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1356 ebee16cc-31ac-478f-84a7-5cbb03baadba
This object is not yet populated or used. This
will soon hold the raw position data from the GPS
receiver. PositionActual will be converted to
hold the computed position from the AHRS.
Contents of this object are still subject to change.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1355 ebee16cc-31ac-478f-84a7-5cbb03baadba
Updated GPSPosition module to reflect the planned use
of a fixed a fixed point encoding for lat/lon.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1354 ebee16cc-31ac-478f-84a7-5cbb03baadba
This file had mixed line endings. Now they're all the same.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1353 ebee16cc-31ac-478f-84a7-5cbb03baadba
This is to align the object names to matches the UAVObject
architecture doc. No functional changes.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1351 ebee16cc-31ac-478f-84a7-5cbb03baadba
The transition from the ADDR state to the read state
was broken for non-final reads. The FSM diagram was
also wrong for this transition.
Since reads are always the last transaction in a sequence
in our current usage, this doesn't actually fix any known
bugs.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1350 ebee16cc-31ac-478f-84a7-5cbb03baadba
Since the i2c bus is bidirectional, there are certain
states (eg. part way through a read) where the slave
device is in control of driving the SDA line.
On a cold start (power on), the slave devices are all
quiescent and will not drive the bus. However, on a warm
start (eg. watchdog or jtag restart), it is possible that as
the CPU boots, the slave device may be holding the SDA line
low. This is a bus busy condition and will prevent the I2C
bus master in the CPU from being able to seize the bus during
init.
The fix for this is to clock the i2c bus sufficiently to ensure
that the the slave device finishes its transaction and releases
the bus.
Once the slave has released the bus, the bus master can properly
initialize and assert a STOP condition on the bus.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1349 ebee16cc-31ac-478f-84a7-5cbb03baadba
into NED reference frame and used in the INSGPS algorithm, although currently this
information isn't propagated back to OP. Data structures related to the GPS position
into the algorithm and the position estimate out will likely be in flux.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1334 ebee16cc-31ac-478f-84a7-5cbb03baadba
Eclipse Workspace:
- Made project in Eclipse workspace point to trunk/flight
- Re imported launch configurations from previous version
OpenOCD
- added "ft2232_device_desc "Dual RS232-HS"" back to jtag cfg files because windows didn't like it w/o it.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1305 ebee16cc-31ac-478f-84a7-5cbb03baadba
Altitude/pressure sensor data is sent to the AHRS whenever
the AltitudeActual object is updated.
Altitude, Pressure and Temperature are sent as floats.
Same as in the UAVObject that goes to the GCS.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1291 ebee16cc-31ac-478f-84a7-5cbb03baadba
No functional change, uavobjects were not regenerated since last
change to the object generator.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1288 ebee16cc-31ac-478f-84a7-5cbb03baadba
The STM32 I2C block has a number of errata associated with it.
These errata are primarily related to timing sensitivities between
the peripheral and the interrupt handler. In particular, the
correct generation of the stop bit relies on the I2C IRQ running
immediately and not being held off for any reason.
NOTE: The I2C interrupts must be the highest priority IRQs in the
system to ensure correct operation.
I2C protocol is now implemented as a formal state machine.
See: stm32_i2c_fsm.{dot,jpg} for FSM description.
I2C init is now expressed by const initializers in pios_board.c
for both OP and AHRS boards.
I2C device drivers (ie. bmp085/hmc5843) now pass in const arrays
of an unlimited number of bus transfers to be done atomically.
The I2C adapter driver now handles all bus-level locking across the
list of transactions. Generation of start/restart/stop conditions
are handled automatically over the list of transactions.
Timeouts have been removed from the API for now. May be added
back later.
This driver has run error free on both the OP and AHRS boards for
up to 48hrs but it still sometimes fails earlier than that on the OP
board. There is another possible set of improvements to the driver
that could employ the DMA engine for transfers of >= 2bytes. This
change would reduce the timing sensitivities between the peripheral
and the driver but unfortunately, both the SPI and I2C interfaces
share the DMA1 engine. That means only one of these two peripherals
can use the DMA engine and right now, SPI between OP and AHRS is
already using it.
Failures are currently fatal and will lock up the CPU. This allows
useful information to be obtained in the failure cases.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1241 ebee16cc-31ac-478f-84a7-5cbb03baadba
Mark the I2C_InitStruct parameter as const so that we can pass
const data as the initializer.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1240 ebee16cc-31ac-478f-84a7-5cbb03baadba
The modules were disabled for some reason in r1172.
This just turns them back on for the real targets.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1237 ebee16cc-31ac-478f-84a7-5cbb03baadba
The gdb init files would previously reset the target immediately
when gdb started up. This is sometimes an unpleasant side-effect
of running gdb.
In order to connect to the target, use the new "connect" function.
To reset the target use "mon reset".
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1236 ebee16cc-31ac-478f-84a7-5cbb03baadba
This should be removed at some point but can wait till we have a working bootloader.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1234 ebee16cc-31ac-478f-84a7-5cbb03baadba
- syntax error in pios_board_posix.c introduced with Doxygen comment blocks
- platform dependant code had been added to openpilot.c instead of pios_board.c
- redundant header inclusion (stm32... already included by PiOS)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1171 ebee16cc-31ac-478f-84a7-5cbb03baadba
- Added FlighSituation Module (development module for sensor fusion, mostly stub, possibly renamed later)
- Added Navigation Module (development module for navigating towards a point in space - DEVELOPMENT CODE, NOT STABLE YET (I am testing around with this))
- Changed Stabilization Module (uses local reference frame now. Stable except for code cleanup/review. Tested in simulator and outperforms old code.)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1154 ebee16cc-31ac-478f-84a7-5cbb03baadba
1) floss-jtag.arhs.cfg
2) floss-jtag.openpilot.cfg
But the Eclipse project the "external tools configurations" for the OpenOCD Debug is looking for the "floss-jtag.cfg" file in the command line arguments. The added file "floss-jtag.cfg" is a simply a copy of "floss-jtag.openpilot.cfg". The .arhs.cfg doesn't play well by itself.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1129 ebee16cc-31ac-478f-84a7-5cbb03baadba
(See? That's why I hate branching - thank the gods that subversion has the "merge" command)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1016 ebee16cc-31ac-478f-84a7-5cbb03baadba
The AHRS comms module now sync's with the AHRS and
exchanges interesting data periodically. Whenever
the link to the AHRS is down, the AHRSComms alarm is
raised.
This is fairly basic for now but provides the last
piece of the infrastructure to move data back/forth
between the OP and the AHRS.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1014 ebee16cc-31ac-478f-84a7-5cbb03baadba
- AHRS mainloop now runs flat out updating sensor data and
processing any messages sent from the OP board.
- Raw data is provided from the magnetometers
- Fake data is provided for attitude solution
- Correct data is provided for serial number queries
Note: There is a bug in the i2c code that very quickly leaves the
magnetometer in a broken state and returning incorrect values.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1013 ebee16cc-31ac-478f-84a7-5cbb03baadba
PIOS SPI devices may now make use of automatic CRC generation
and checking on block transfers. Only supports CRC8 for now.
Since the SPI interface CRC calculation continues across message
boundaries (ie. not reset on every transfer), we must manually reset
the CRC registers for every transfer to allow the two sides of the
link to resynchronize.
Unfortunately, resetting the CRC registers requires disabling the
SPI peripheral which must now be done on every block transfer.
Note: The last byte of the tx buffer is never sent and is assumed to
be a place holder for the tx CRC8.
Note: The last byte of the rx buffer is expected to hold the rx CRC8.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1011 ebee16cc-31ac-478f-84a7-5cbb03baadba
Tx buffers should not be modified. This allows passing const data
to the transfer function.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1010 ebee16cc-31ac-478f-84a7-5cbb03baadba
The Attitude module will soon be handling updates for all UAVObjects
that require data from the AHRS. To reflect this expansion of scope,
it has been renamed to AHRSComms.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1009 ebee16cc-31ac-478f-84a7-5cbb03baadba
This object currently only holds the serial number of the attached
AHRS board. This will be retrieved each time communications are
(re)established with the AHRS board.
This will eventually be extended to hold some statistics for OP to
AHRS comms.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1008 ebee16cc-31ac-478f-84a7-5cbb03baadba
This object currently holds only the raw magnetometer readings and
an instantaneous heading calculation which are only really useful
for debugging. The contents of this object will change often as
development progresses.
Note: The magnetometer values are often garbage due to a problem
with i2c software on the AHRS.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1007 ebee16cc-31ac-478f-84a7-5cbb03baadba
The input data lines between the OP and AHRS boards had internal
pull-ups enabled. This seemed to be causing issues early on
during development of the inter-board comms. Not sure if this
is still necessary but this is how the current code was tested.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1006 ebee16cc-31ac-478f-84a7-5cbb03baadba
To the outside world, the AHRS can be in one of only a few
primary states:
Not present - AHRS is absent or non-responsive via SPI
Inactive - Only link-level status messages are processed
Ready - Ready to receive the next application level message
Busy - Application level message is being processed
Internal to the AHRS, there are many more states that need to be
managed. This FSM provides the necessary decoupling between the
ISR (which is being driven by the SPI link) and the AHRS main
processing loop which must continue to run its filters independently
of the SPI messaging rate.
With this structure, SPI messages can be received at any time but
processed at only specific points within the filter chains.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1005 ebee16cc-31ac-478f-84a7-5cbb03baadba
This defines the SPI message format as well as a few
initial messages for moving data across the link.
The v0 messages are place holders for firmware download
in the bootloader.
The v1 messages are to be used by the main application.
Note: This is not the final protocol definition.
Subject to change without notice.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1004 ebee16cc-31ac-478f-84a7-5cbb03baadba
Mark the device specific DMA IRQ handlers as strongly linked
aliases for the genericly named interrupt vector symbol.
Here's how this works...
* The address of the symbol DMA1_Channel2_IRQHandler is written
into the DMA1/Channel2 interrupt vector by the linker script.
* The startup_*.S file specifies Default_Handler() as a weakly
linked alias for DMA1_Channel2_IRQHandler.
* We now override the weakly linked alias with the strongly linked
PIOS_SPI_sdcard_irq_handler().
* This results in the address of PIOS_SPI_sdcard_irq_handler() being
written to the vector table for the DMA1/Channel2 interrupt.
* The PIOS_SPI_sdcard_irq_handler() function is now called whenever
the DMA1/Channel2 interrupt fires.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1003 ebee16cc-31ac-478f-84a7-5cbb03baadba
The AHRSComms alarm will be raised whenever the OP board
is not able to communicate with the AHRS board.
The navigation software on the OP board could use this
alarm to trigger its best attempt at an emergency landing.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1002 ebee16cc-31ac-478f-84a7-5cbb03baadba
The com layer transmit functions should provide guarantees
that they will not modify the buffer that you're transmitting.
Declaring the parameter as a pointer to const keeps the underlying
implementations honest.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1001 ebee16cc-31ac-478f-84a7-5cbb03baadba
The sequence number field for the attitude solution is
likely unnecessary. Removed.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1000 ebee16cc-31ac-478f-84a7-5cbb03baadba
TransferByte API is simplified to either assert or
return the rx byte.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@999 ebee16cc-31ac-478f-84a7-5cbb03baadba
SD R1 response format is defined as any byte with the MSb
cleared. The code was testing for any byte that was not 0xFF
which can lead to misinterpreting a byte as the response.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@998 ebee16cc-31ac-478f-84a7-5cbb03baadba
- created temporary branch of OpenPilot (OpenPilot.posix) in order to test multi platform changes on hardware before committing to the main branch
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@995 ebee16cc-31ac-478f-84a7-5cbb03baadba
