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Commit Graph

493 Commits

Author SHA1 Message Date
edouard
b840c5ec40 Update ActuatorSettings to remove obsolete fields.
YOU WILL NEED TO RECONFIGURE YOUR ACTUATORS!



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2162 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-26 20:55:05 +00:00
peabody124
ebcb272da6 AHRS: Add a separate parameter for velocity and position variance and remove
indoor from the name since it's used for both indoor and outdoor mode now.
Increased default value to 0.4 to better reflect the GPS accuracy.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2156 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-26 15:57:08 +00:00
dschin
b2a538375c Changes in files supporting AHRS for new initialization methods.
Changes in ahrs.c for new initialization and to fix issues with outdoor algorithm.  The changes in ahrs.c are pretty messy, but committed mostly to get the code to Peabody for more extensive restructuring of ahrs.c.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2150 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-24 01:27:43 +00:00
peabody124
d2b468d661 Flight/Stabilization: Need to either set or clear the alarm, but the way it was
before cleared at the end of each loop - including one after an alarm

Flight/Actuator: Similar change to make sure not having updates from
stabilization (i.e. no AHRS) doesn't trigger a watchdog reset

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2140 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-23 17:13:42 +00:00
osnwt
ed49f7fc40 Prevent some compiler warnings treated as errors during RELEASE build (possible use of uninitialized variables - CodeSourcery under Windows build system). It may be done with some #pragma as well, but this way is more portable.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2132 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-21 13:09:05 +00:00
cwabbott
2dde28843b PiOS/win32: UAVObject fixes.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2114 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-13 15:46:37 +00:00
peabody124
54aa09ce27 OP-163 Flight/Guidance: Take current position as desired position
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2111 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-12 16:57:16 +00:00
peabody124
6ebc8ccd57 OP-163 Flight/Guidance: Add variations on position hold to try out. Only one will end
up in the final code.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2110 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-12 16:57:13 +00:00
peabody124
5850c1804d OP-199 Flight/Stabilization: Increment a counter in actuatorDesired whenever an
update takes longer than 15 ms

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2109 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-12 04:36:04 +00:00
corvus
bb1b6d8b8d sim_posix: added missing UAVobject source file to Makefile
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2086 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-06 15:33:54 +00:00
peabody124
834eecfc1f OP-200 Flight/Watchdog: Have flag that is set from actuator, ahrs_comms, manual
and stabilization that is monitored by watchdog.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2078 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-05 14:28:21 +00:00
peabody124
f950b9f6c0 Flight/ManualControl: Make it so the disarmed signal itself changes when GCS
lost.  Warning though: it takes ~5-10 seconds for the flight telemetry status
to go from connected so this solution still isn't great.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2070 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-04 02:30:53 +00:00
peabody124
7bdd900409 Flight/Manual: Cleaner solution to deal with timer wraparound
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2069 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-04 02:30:51 +00:00
peabody124
1f87715719 OP-192 Flight/ManualControl: Add a timeout to the armed signal. Leaving throttle < 0
for 30 seconds disables it.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2068 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-04 02:30:49 +00:00
peabody124
c69c4157f1 Flight/Actuator: Add failsafe for when flying via GCS to disarm at
lost connection

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2067 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-04 02:30:47 +00:00
peabody124
34bd4b7524 OP-198 Flight/GPS: Remove dependency on buffer.c, also made the detection of start and
end characters occur while sentence coming in instead of reprocessing whole
sentence for each character

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2041 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-30 18:15:52 +00:00
pip
ed03a45ee5 Added extra error checking - making sure the packet size is valid and that packet sizes match.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2039 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-30 15:00:36 +00:00
sambas
3f62776253 OP-97 flight/GPS: Few more fixes
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2028 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-28 14:58:39 +00:00
peabody124
b9f74a86c3 OP-198 Flight/Libraries: Swap to using circular buffer code from Pip because it
supports thread safe write/read simultaneously

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2027 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-28 14:30:03 +00:00
sambas
365a2a121a OP-97 flight/GPS: Few fixes
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2025 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-28 13:50:34 +00:00
peabody124
aada18a0ea UAVTalk: Update protcol version number to go with new packet format and changed
a few constants to make it self documenting

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2017 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-27 17:41:41 +00:00
peabody124
4570d6df23 UAVTalk: Insert a sync byte (0x3C) and the packet size to facilitating handling
by PipX modems.  This is a change to UAVTalk so GCS and the hardware must all
be updated.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2016 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-27 17:16:29 +00:00
sambas
3e462b1434 OP-97 flight/GPS: Disable speed threshold command for those who knows it's needed, check gpsTask->DISABLE_GPS_TRESHOLD
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2014 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-27 15:51:33 +00:00
peabody124
2019edd612 AHRS: Store running time to make detect resets easier. Update OP and AHRS in
parallel for this update.  Also removed comment for rawhid

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2012 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-27 14:31:32 +00:00
sambas
f1ba558fa1 Flight/GPS: Some updates
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2011 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-27 10:39:38 +00:00
peabody124
a2e0cd2240 Stabilization: Dont make queue respond to both raw sensors and attitude because
causes it to trigger most of the time every 1 ms which is consuming tons of
CPU.  Also lower the failsafe timeout since its likely due to overloading the
event system and we don't want to delay 100 ms.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2005 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-24 20:00:05 +00:00
peabody124
9944cdfcb0 Flight/RateDesired: UAVObject for monitoring the desired rate out of
stabilization for diagnostics

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2004 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-24 20:00:02 +00:00
ligi
523b6ad8f7 added hint on how to better distinguish FC/NC
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2001 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-22 12:36:47 +00:00
peabody124
098b2fd693 Flight/System: Double heart rate when system is armed. This is per request in
IRC, but suggestions are welcome.  In the long run we probably need a sensible
way of embedding some information in the LED but it's not obvious to me.  Also
could have done with callback - sue me. ;)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1997 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-20 05:31:24 +00:00
corvus
50574841bd Moved non primary Stabilization modules into Branches
simple		- outdated - won't compile
Experimental	- outdated - won't compile
les		- development version - not stable
les+corvus	- development version - not stable




git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1993 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-19 19:12:37 +00:00
corvus
8cb04a372f Stabilization: new stabilization variant based on les stabilization module, with several options for coordinate system transformation
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1990 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-18 14:46:45 +00:00
edouard
82b702e239 Added the new Multirotor shapes to the SystemSettings object, as discussed on the forums. UID has not changed, but you should recompile still (sorry).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1972 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-17 14:15:47 +00:00
les
2125e2479d Added AHRS boot loader SPI protocol
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1965 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-16 17:54:00 +00:00
cwabbott
dff66607c7 More UAVObject fixes, stuff to get PiOS.win32 compiling again.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1962 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-16 12:15:47 +00:00
les
6d6ec37474 Manual control: Changed 'Position' stabilization mode to 'Attitude'
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1944 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-11 17:58:11 +00:00
peabody124
dc10998152 Flight/Stabilization: Make any throttle < 0 reset the pid integral windup
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1933 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-10 00:46:06 +00:00
peabody124
5f601bf5ab Flight/Guidance: Enable for any type of quad airframe
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1932 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-10 00:46:04 +00:00
peabody124
ea85e98d7a Flight/Stabilization: Move update time storage to before the set to make sure
it goes

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1922 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-08 15:38:28 +00:00
peabody124
8308e4a4fe Whitespace change: get rid of CR
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1921 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-08 15:38:26 +00:00
peabody124
4e6f100ae5 Flight: Swap to Les' code for main line
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1920 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-08 15:38:23 +00:00
edouard
85aeffed9a Removed example settings from OpenPilot flight SW makefile too..
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1914 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-07 17:42:59 +00:00
peabody124
c4cb494a22 UAVOBjects: Just ran object genearator to get things compiling again
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1913 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-07 13:09:35 +00:00
darkz
6b8aba07b1 Updated Makefile.posix to reflect the removal of example code
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1907 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-07 02:50:12 +00:00
edouard
5c48c29612 Remove example objects from the flight code, not needed anymore
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1905 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-06 21:50:57 +00:00
peabody124
dea5c91646 AHRSCalibration: Make default values correct now Les extended
uavobjectgenerator to support multiple fields (thanks Les!).  Also
changed default scale on mag to +/-6g

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1899 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-06 14:26:42 +00:00
peabody124
66bf9d53d4 AHRS: Paramaterize the variance used for the indoor algorithm.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1898 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-06 14:26:40 +00:00
kokomojoe
946283d67e OP-185 Flight - Added FirmwareIAP to the module load list in makefile, added uavobjectsinit.c with firmware IAP init calls
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1896 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-06 05:30:48 +00:00
kokomojoe
7cf0e9ba31 OP-185 Flight support for firmware IAP object. added the pios_iap.c and firmwareiapobj.c
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1895 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-06 02:58:07 +00:00
kokomojoe
6499da40e3 OP-185 Flight Added init function for PIOS_IAP helper functions.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1892 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-06 02:07:11 +00:00
kokomojoe
2fe266650f OP-185 Flight - support files for Firmware IAP object
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1891 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-06 02:06:13 +00:00
les
7ddb0f6f80 Stabilization: Changed to new switch format. Both position and rate modes work.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1886 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-05 14:51:33 +00:00
les
1e26ca11ee Manual control: Added some extra room at throttle zero when detecting a faulty signal
Before, moving your throttle trim slightly could cause ManualControl to think the receiver was not connected

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1885 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-05 14:50:03 +00:00
les
b2c81aceee Actuator: Fixed motors not going to min throttle in failsafe.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1884 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-05 14:47:48 +00:00
peabody124
ba3ecada1d Flight/ManualControl: Implemented settings to change what the Mode switch does
so it can also change parameters of Stabilization.  Please check your aircraft
behavior with this patch, but default behavior should be unchanged.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1878 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-04 19:48:09 +00:00
peabody124
f03669733b Flight/Guidance: Merge back into one task because memory requirements of a task
exceed CPU requirements of PID.  Also add add lesstabilization UAVObject to Makefile
to fix compile errors.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1870 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-04 02:01:34 +00:00
peabody124
d71e9df8c5 Flight/UAVObjects: Add a few files that were missed earlier, and get posix
worlking again

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1869 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-04 02:01:31 +00:00
les
05a85c8c95 New stabilization module based on PI-P algorithm used in FlightOS
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1864 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-03 20:39:23 +00:00
cwabbott
8d1a99ae15 PiOS.win32: Updated PiOS.win32 makefile for recent UAVObject changes, and also updated the experimental stabilization code to comply with recent changes to the simple code. Nobody uses SiTL anymore :( .
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1858 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-03 18:59:58 +00:00
les
11cf24a312 Actuator: Fixed uninitialised variables
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1857 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-03 18:37:07 +00:00
peabody124
a9495e2cbb UAVObjects/AttitudeSettings: Remove unused object, moving data to AHRSettings.
Added attitude bias to AHRSSettings.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1855 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-03 18:14:34 +00:00
peabody124
754200f9cf UAVObjects/Delete old VTOLSettings object
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1854 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-03 18:14:27 +00:00
edouard
eeb5eab177 Flight/Stabilization: fix for -180/+180 yaw transition which caused glitches in the stab module.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1853 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-03 16:43:10 +00:00
peabody124
5c9b5f4a99 AHRS: Get calibration working again
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1842 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-02 03:10:04 +00:00
peabody124
0c30101f54 AHRS: Made an object setting to allow the downsampling rate to be changed on the
fly (EKF rate up to a limit).  Also, now the algorithm selects if you are
indoor or outdoor as well as if you use a mag indoor (if you do set the z
variance higher than it calibrates to).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1841 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-02 03:10:01 +00:00
peabody124
29b087703b Flight/AHRSComms: Decrease stack size, not needed to be that big. Also made
ActuatorDesired dT in ms like the uavobject indicates

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1839 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-02 02:17:32 +00:00
peabody124
6d39d85b8f UAVObjects/AHRSStatus: Remove unused fields
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1838 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-02 02:17:29 +00:00
peabody124
2050864e59 UAVObjects/VTOLStatus: Remove unused object. Also added update time to
indicate stabilization loop time.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1837 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-02 02:17:26 +00:00
peabody124
0fd9fda7a6 Flight/AHRS Comms: Whitespace fixes
gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1836 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-02 02:17:22 +00:00
peabody124
ea3fb03c7f Flight/AHRS Communications: Switch to Les' very nice UAVObject communication
scheme

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1835 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-02 02:17:18 +00:00
peabody124
2a93f35807 UAVObjects/MixerSettings: Have values as int8, don't need float resolution
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1832 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-01 20:28:14 +00:00
les
b2d56ca34c AHRS: Added UAVObject based SPI communication between AHRS and OP.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1830 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-01 17:31:13 +00:00
edouard
d2c1014e29 Re-enabled yaw stabilization after SystemSettings changed. There might be a lingering issue when the
yaw angle crosses the zero-360 mark, beware.
You can disable yaw stabilization by setting all PID gains to zero for yaw.



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1828 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-01 16:26:43 +00:00
peabody124
d54c6bf0f8 Flight/Actuator: Use dT in seconds. Forgot to change MaxAccel.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1825 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-01 14:37:03 +00:00
peabody124
0dfdad4fc4 Flight/Actuator: Reset critical alarm
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1824 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-01 14:09:14 +00:00
peabody124
c076a695ce UAVObjects/ActuatorSettings: Default values are all 1000 now so that an
unconfigured motor can't turn on.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1823 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-01 13:45:26 +00:00
peabody124
9f4e3906e3 Flight/Actuator: Made it use the detected dT for the feedforward computation
and removed the unused field from actuator settings (old setting time and all
the aircraft specific stuff).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1820 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-01 12:33:33 +00:00
peabody124
2dc40d11a1 Flight/Stabilization: Use the system clock to determine time from previous
update since now drive by events.  This means StabilizationSettings object
changing so write down your settings.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1819 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-01 12:33:29 +00:00
peabody124
4461aba6d6 Flight/Stabilization: Move to object event system. Latency from ahrs_comm
update to actuator update now ~0.7 ms.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1818 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-01 12:33:26 +00:00
peabody124
b9943645e0 Flight/Actuator: Run actuator from queue again, latency well behaved.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1817 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-01 12:33:20 +00:00
sambas
ee4ca7b93a OP-177 Flight: All alarms fixed, AHRSComms stack size made critical stack alarm, event warning caused by queue that is not used at the moment.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1801 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-29 19:06:35 +00:00
peabody124
a4e0ee5fdf Flight/Actuator: Move Les' actuator to the active one
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1800 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-29 18:51:36 +00:00
peabody124
2f6f76d578 Flight/Actuator: Remove old mixer code
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1799 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-29 18:51:34 +00:00
fredericg
f090b4bcf8 OP-174 ET OSD: Fixed build errors due to UABObject changes
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1786 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 19:56:25 +00:00
peabody124
9b1d258a94 Flight/Les/Actuator: Space->Tab, somehow slipped passed previous patch
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1784 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 17:30:42 +00:00
peabody124
aa42256ad1 Flight/Stabilization: Convert all PID loops to units of seconds instead of ms.
THIS MEANS YOU MUST RETUNE YOUR PID LOOP IF YOU'RE FLYING WITH IT

Alternatively divide Kd by 1000 and multiply Ki by 1000

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1782 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:04:43 +00:00
peabody124
fef8cca5b6 Flight/Posix: Get compiling again (sorry Corvus, I think I messed up your
change earlier)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1778 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 07:28:48 +00:00
peabody124
6d0df704a7 Flight/Modules: Corrected code to use tabs
find ./flight/OpenPilot/Modules/ \! \( -name '*~' -a -prune \) -type f    |
xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss
-ncs -cp1 -il0 -hnl -l150 {};'

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1776 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 07:28:34 +00:00
peabody124
b85e322206 Flight/FlightSituation: Remove unused module
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1774 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 07:28:21 +00:00
peabody124
da583e0914 Flight/Guidance: Disable by default
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1768 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-26 03:07:40 +00:00
peabody124
8475a68958 Flight/Stabilization: Keep command and error in deg/s for rate stabilization
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1766 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-26 03:06:54 +00:00
peabody124
77b68e5169 Flight/Guidance: Initial template for guidance module
Flight: Create PositionDesired (the active waypoint) UAVObject and make the FlightSituationActual no update since it not used.
Flight: New velocity desired object that passes information between the look computing the desired velocity and the PID loop to get it (updated at different rates)
UAVObjects/PositionActual: Remove unused GPS fields
UAVObjects/PositionActual VelocityActual: Split the velocity into a separate object.  ALso make sure all the information telemetered around is in cm to avoid using floats.
UAVObject/GuidanceSettings: New guidance settings object for the guidance module
Flight/Posix: Add the new objects to the Posix sim
Flight/Guidance: Computes a desired velocity based on position error than runs a PID loop to control roll and pitch to achieve that velocity.  All distances are in cm, and updated the PositionActual fields to reflect this and use int32.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1760 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-26 03:06:27 +00:00
zedamota
9b05282be5 OP-21/Flight Bootloader - should make things cross platform.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1758 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-26 00:39:01 +00:00
peabody124
a01783b2a8 OP-140 AHRS: Explicilty deal with if it is initialized or not, use that to
determine retransmitting calibration, home location and such.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1755 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-25 21:05:38 +00:00
peabody124
9b28f2d72c OP-167 OP-157 AHRS/Calibration: Added mag scale and really cleaned up calibration.
Calibration should take less time now too (using second moments to estimate
variance in one pass).  Now need to change to multiple messages to get the
calibration in to keep the request message size minimal.  Also currently
running sensor calibrate doesn't store the gyro bias so if you want to use this
you'll have to tweak it manually.  I'll fix that step tomorrow.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1741 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-25 09:20:38 +00:00
edouard
eedf85a5ac OP-138 Start of the new Mixer configuration interface, for fixed wing only. This does not work yet, takes a long time to fully implement.
The system settings UAVObject is updated, you will have to recompile your firmware. If you want to take a look and let me know, please do!



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1737 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-24 20:39:37 +00:00
corvus
1472b342c1 1.0 Featur Freeze -
Removing some Experimental and Incomplete Modules and their UAVObjects not suited for 1.0
- they will be moved into an experimental branch:

Navigation     : experimental code only
FlightSituation: experimental code only 
Guidance       : preliminary draft - possibly to be replaced by peabody124 position hold code if finished in time.



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1729 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-23 22:05:03 +00:00
corvus
e44045f422 OP-165 : Guidance Module
Creating GuidanceModule together with PositionDesired UAVObject (as discussed),
so dschin and me can work on it :-)
Will compile and (on sim_posix) execute, but PID logic is yet untested and preliminary.



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1722 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-22 22:16:48 +00:00
les
ef7ee86d45 Mixer: zero throttle shuts off motors and changed MixernMatrix to MixernVector
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1710 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-21 19:31:17 +00:00
chebuzz
862e35def1 OP/PiOS.posix - Somebody added UAVObjects but did not add them to the posix sim
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1702 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-21 14:16:14 +00:00
peabody124
f96654ace1 Adding mixerstatus/mixersetting uavobject files that were missed
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1701 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-21 07:08:51 +00:00