zedamota
301d9cddfc
OP-268/PipX Bootloader - Trunk integration of Edouard's work.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2399 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-13 15:57:30 +00:00
zedamota
1f89ee1865
OP-21/Bootloader - Change HW ID to 16bits. Should still be compatible with the old version.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2398 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-13 14:36:32 +00:00
ligi
2db5d0eb1a
removing autogenerated flight/uavobject files with @ref http://forums.openpilot.org/topic/2811-uavtalk-code-generation/
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2396 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-13 10:22:44 +00:00
pip
df45cb7be8
PipX modem full source code moved into public SVN.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2394 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-13 08:45:18 +00:00
FredericG
cf71281bf4
OP-241 Fixed small issue with arming timeout + some refactoring of the arming/disarming code
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2393 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-13 07:48:46 +00:00
cwabbott
0f965df11e
SiTL: Updates for UAVObjects, and for the recent Actuator and Watchdog changes to compile with SiTL. Posix needs to be tested.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2387 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-12 00:39:18 +00:00
pip
a1b03ef55c
Added http reference address for source of coeffs and c code for if and when new coeffs are required.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2383 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-11 15:45:16 +00:00
pip
b3d1c1f822
Added a return code test when calling WMM_GetMagVector() function. If returned code is error then don't set home location.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2382 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-11 11:15:27 +00:00
pip
7b50e09eb9
Fixed possible memory leaks. Now check for NULL pointers from all MALLOC calls. Functions now return '0' if OK, otherwise returns a value < 0.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2381 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-11 11:11:23 +00:00
peabody124
d846288cec
OP-14 I2C: Remove delay in I2C IRQ handlers
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2378 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-11 03:50:23 +00:00
peabody124
5bcdfd6edd
OP-239 OP-210 GPS memory usage: Pip catching the memory on the stack in the WMM
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means this task only needs 800 bytes (of which only 120 is for the WMM). Free
heap is now 9k.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2376 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-10 21:31:31 +00:00
pip
1fbd7155f9
Moved a few large variables off the stack to dynamically allocate them from the heap ( http://progress.openpilot.org/browse/OP-225 ).
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2374 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-10 20:30:47 +00:00
peabody124
2fee1781ec
OP-239 OP-210 HomeLocation: This was causing resets on the board due to not
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enough memory. Increase task memory a little. I'm not sure that it's possible
to make the WMM memory usage less.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2372 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-10 18:45:16 +00:00
peabody124
3abcfc9608
OP-251 UAVObject/WatchdogStatus: Sorry forgot files earlier for monitoring what
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triggered previous watchdog resets
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2369 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-10 05:42:57 +00:00
peabody124
bbbd9a10e3
OP-14 I2C Diagnostics: Improve the logging so that the events going into FSM
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are logged, and separately the erirq and evirq logs are exported
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2368 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-10 05:42:53 +00:00
peabody124
aae4d113f5
OP-237 Actuator: Woops, typo
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2367 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-10 01:13:55 +00:00
peabody124
b173d74821
OP-237 I2C ESC support. This _will_ require you to reconfigure your
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ActuatorSettings although for PWM aircrafts it should be done exactly as before
Actuator: Store the update times and maximum update time
OP-14 I2C: Start tracking short history of events and states in driver for
logging
OP-237 Flight/Actuator: Support for I2C based ESCs
OP-237 MK_ESC: Send all four motors as one atomic transfer
OP-237 Flight/Actuator: Allow channels to be mapped to MK I2C interface. Currently
mixer channels are either PWM or MK but in the future this will change to
support more than 8 channels.
OP-16 PiOS/I2C: Further work to try and make I2C more stable, mstly special case
handline in IRQ
OP-237 I2C ESC: Support for Astect 4 channel ESCs
OP-237: When the I2C Actuator write update fails track this
OP-237 Actuator Settings: Change the way motor types are selected to keep that
information more appropriately within ActuatorSettings instead of MixerSettings
Also make motors stay at or above neutral when armed and throttle > 0
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2366 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-10 01:11:44 +00:00
peabody124
ed11e64bb2
OP-251 Watchdog: Get rid of the old extra watchdog module and instead have
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tasks directly update a flag for each module (which they register) and when all
flags set clear the watchdog then.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2365 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-10 00:16:30 +00:00
vassilis
1e78cc7a30
Flight/FlightPlan: First release of flight plan scripting. The scripting engine is based on the PyMite Python VM. The released code is able to execute a simple python script on the target. However it is currently disabled from the makefile due to a few issues with more complex scripts. When the library is enabled in the makefile a python interpreter will be needed to compile the firmware since some intermediate code is generated by PyMite.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2364 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-09 22:36:15 +00:00
peabody124
e393000c34
OP-238 PIOS/SPI: Decrease pin clock rate from 50 to 10 Mhz. Since data at
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1.125 MHz this should slow down the slew rates
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2361 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-09 20:49:46 +00:00
peabody124
5734e1f437
OP-176 PIOS/ADC: Decrease the priority of the ADC DMA/IRQ
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2360 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-09 20:49:43 +00:00
peabody124
0175e25ddf
Flight/ADC: If there is a DMA error for the ADC transfer dont copy those values
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2359 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-09 20:49:39 +00:00
peabody124
148ea6fdc1
Flight: Make PWM outputs default to 0 us to avoid either pushing servos to
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exteremes or running up motors
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2358 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-09 20:49:35 +00:00
peabody124
24c4e92b12
OP-176 FreeRTOS task priorities a bit more sensible
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2357 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-09 20:49:33 +00:00
peabody124
85b7619617
OP-176 OP-238 Flight/IRQ and DMA: Increased the priority of the AHRS DMA
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transfer, seems to reduce CRC errors
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2356 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-09 20:49:29 +00:00
peabody124
0f07d7f671
OP-240 OP-176 Flight: Setting the priority group back to 4 (anything higher
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priority preempts) and adjusting the priorities around to be more sensible.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2355 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-09 20:49:26 +00:00
vassilis
b851c11f53
Flight/Stack sizes: Reduced task stack sizes to free-up memory in preparation of the scripting release. If the firmware is unstable there might be a possible stack overflow, test carefully!
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2350 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-09 00:03:19 +00:00
vassilis
407e660c97
Flight/TaskMonitor: Create TaskMonitor library, used to monitor the remaining task size of all running tasks.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2349 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-08 23:43:34 +00:00
peabody124
d8022a320d
OP-238 PiOS/USB: Fix for problem Ed's being see where being plugged into usb
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but not having telemetry causes a reset. If the buffer got full enough it
would never start to transmit again.
Note: also making Telemetry non-blocking
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2346 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-08 08:05:02 +00:00
peabody124
ccc8bc089b
OP-235 AHRS: Not sending the out of range values to the mainboard was blocking
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calibration. Now only don't send them to the EKF.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2342 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-06 16:44:40 +00:00
cwabbott
050ade4899
PiOS.win32: UAVObject changes, and double the timer tick length to accommodate the MMCSS-set timer tick and be more in line with PiOS.posix.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2341 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-05 22:47:47 +00:00
pip
75793a1687
Now using down-sampling on the baro temperature & pressure readings.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2338 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-05 12:19:49 +00:00
pip
572284966d
Forgot to add "#ifdef ALT_PRES_MAF" into init code.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2337 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-05 11:28:04 +00:00
pip
cb8e9ef07b
Added a moving-average-filter to the pressure reading, and increased BMP085 oversampling from 2 to 3
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2336 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-05 11:26:47 +00:00
peabody124
6eae425644
OP-235 AHRS: Because of range checking at initialization the EKF can be blocked
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(which is good) but that stops the comms polling. This makes it happen
ocassionally but not too much.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2335 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-05 10:34:48 +00:00
peabody124
77d798071e
OP-235 AHRS: Check the downsampled data for either being ridiculously out of
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range of NaN. This would reflect a race condition probably from the SPI
interaction.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2334 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-05 10:34:45 +00:00
peabody124
0e7661539e
OP-238 AHRS Comms: Bring down clock rate of comms to AHRS to 2.25 MHz. Decrease
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to only transmitting one object per transmission too to keep size down.
Also move to using the driver structure so the paramter is in a clear place.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2333 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-05 10:34:42 +00:00
peabody124
3e9ee37c73
Flight/ManualControl: Require the roll signal to only go to 0.90 to arm and
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disarm
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2332 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-05 10:34:39 +00:00
pip
4a91f20277
Turn AHRS orange LED on at bootup (to try and spot possible bootup hangs).
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2331 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-05 09:15:37 +00:00
corvus
a59d08b7af
AHRS: Support for Linear Temperature Compensation Factors for Gyroscope X,Y,Z
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2327 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-04 00:54:31 +00:00
andrew
af77839747
OP-84
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Battery module for Power Sensor version 2
This is the first checkin of code for the new sensor board.
This has been tested for Voltage calibration bit not Current yet.
This will set and clear system alarms appropriately.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2323 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-03 01:23:04 +00:00
corvus
c01676eed2
sim_posix: Makefile: fixed line ending - and added missing UAVObject
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2314 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-31 19:31:55 +00:00
edouard
3bad347386
Reverted a change which caused resets on the MB under certain conditions. Should be back to normal now.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2311 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-30 19:24:57 +00:00
pip
c8a1a6771c
Added "AHRS_ADC_GetOverSampling" function
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2308 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-29 10:34:48 +00:00
sambas
0b2a0884ae
OP-22 Flight/PiOS: Spektrum improvements, removed my zero throttle glitch
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2306 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-28 18:37:36 +00:00
peabody124
7ccdb296ac
AHRS: Add interface to get old dump_raw function working for Pip
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2305 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-28 17:48:45 +00:00
andrew
c396279a37
Preparing Battery module for Power Sensor version 2
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2304 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-28 05:46:14 +00:00
andrew
eda227ec8b
Added BatterySettings UAVObject in preparation for updates to PowerSensor code.
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As this changes UAVObjects both flight and GCS software will need to be recompiled to stay in sync.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2303 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-28 05:13:19 +00:00
andrew
76be2b991b
Update to FlightBatteryState UAVObject in preparation for updates to PowerSensor code.
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As this changes UAVObjects both flight and GCS software will need to be recompiled to stay in sync.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2302 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-28 04:28:39 +00:00
andrew
2f38fe2269
Updated Alarms.c Modified flight alarm code to NOT set SystemAlarms to an "Uninitialised" value on startup.
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This allows the UAVObjectGenerator generated code to set the default values.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2301 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-28 04:19:41 +00:00
peabody124
2b0c75e46d
AHRS: Fix LED flashing light
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2300 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-28 02:10:52 +00:00
andrew
bdb2982ca5
Added alarm processing for GPS module.
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Error when GPS disconnected
OK when >=7 satellites and PDOP <3.5
Warning when only 3Dfix
Critical otherwise
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2297 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-27 19:59:43 +00:00
pip
26650724e4
Fixed coding error on line 317 .. changed while (xxx & xxxx) to while (xxx && xxxx)
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2296 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-27 09:48:11 +00:00
andrew
e7e0f6740b
Modified flight alarm code to set SystemAlarms to an "Uninitialised" value on startup.
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This means that any defined alarms that don't have their flight module compiled in will show uninitialised rather than OK
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2295 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-27 07:30:36 +00:00
andrew
39cb30d56f
Update to SystemAlarms UAVObject.
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Added:
Battery
Flight Time
I2C
GPS
Also added new alarm state of "Uninitialised"
no code to set these alarms yet.
As this changes UAVObjects both flight and GCS software will need to be recompiled to stay in sync.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2294 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-27 07:25:52 +00:00
peabody124
c364f45fb7
AHRS: If using mags then don't initialize until get a good mag update within
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250 ms of init call (mag works at 10 Hz).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2289 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-26 18:59:32 +00:00
peabody124
343b4095a3
Flight/WMM: Get rid of date structure and keep it on stack. Also don't need
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error message for embedded stuff.
Note: this was only tested on PC although I'm fairly confident about it.
Please let me know about any errors.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2285 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-24 21:57:15 +00:00
peabody124
b8476bea20
WMM: Memory reduction, variables computes from flash constants on fly. This
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will run slower but greatly reduce the memory footprint (360 floats less).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2284 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-24 21:57:12 +00:00
peabody124
35bc1e7d9b
Flight/AHRS: Make the mag raw data always update regardless of home location
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settings but only be used when home location is valid. Also discard any mag
data that is all zeros although we shouldn't see this.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2283 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-24 20:21:22 +00:00
peabody124
314a2fcf00
flight/AHRS: Make the 13 state INS default again, the accel bias drift can be a
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little aggressive. Also increased the drift rate of the gyro bias per Sambas'
testing (thanks) although not to the levels required for flying through 40 deg
C transitions.
Made the dump_ekf function handle both numbers of states
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2282 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-24 19:38:54 +00:00
peabody124
7ab6dfeeba
PiOS/USB_HID: Lower priority of USB interrupt
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2280 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-24 17:16:07 +00:00
peabody124
1142b1fb1e
PiOS/USB_HID: No longer clear buffer after getting a NAK. This was required
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before because if transmission got NAK then sending would stop. Now the next
time data is added to the buffer a new send will be attempted.
fifoBuf: in clearData just set the read pointer to the write pointer. This is
safer for multiple people accessing it assuming the reader will be clearing it.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2279 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-24 17:16:04 +00:00
peabody124
ba8351f60a
PiOS/USB_HID: When using FreeRTOS use a sempahore to stop multiple tasks
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pushing data to the transmit buffer
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2278 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-24 17:15:59 +00:00
pip
d072c30ba1
Settings additions.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2274 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-22 22:16:44 +00:00
cwabbott
7715a6d6cd
PiOS.win32: Add MMCSS support for Vista onward, and smarter priority boosting to XP. Also, add the Actuator module and the fake pios_servo.c. If you run this using Windows 7 or Vista, then you need to run OpenPilot.exe as administrator once to set up the registry.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2270 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-22 14:47:42 +00:00
zedamota
14ef24a3de
OP-21/Bootloader - Maximize flash space available for user code. Bring back delay on HID send (board->pc) it still hangs when blasted with data. AHRS is now Readable.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2263 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-21 17:25:24 +00:00
edouard
d8edab8371
Added a (fake) pios_servo module in PiOS.posix, this makes it possible to compile the Actuator module and see servo output values, or at least
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what they would be on a real board. Also fixed a typo in stabilization.c which made me lose time when trying to understand the code...
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2260 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-20 16:38:17 +00:00
osnwt
801568269c
2251 rev changes reverted. Let someone change UAVObjects to provide calibrated altitude and/or offset to HomeLocation and/or take off location (which can be quite different including elevation). But please do not forget that many of users do not have the GCS with Internet at field and/or do not have sufficient weather/baro/altitude condition info for their country. So the solution should provide also a way to 'drive-power-launch'.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2259 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-20 05:20:06 +00:00
corvus
1aa6a206db
Sim_Posix: Updated Makefile to include some recently changed/new UAVObjects
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2253 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-19 11:29:24 +00:00
osnwt
7d084aca49
Added power-up barometric altitude calibration. Height accuracy is not sufficient, for better results we may want some filtering and/or another sensor/ADC. But at least now the BaroAltitude.Altitude object provides meaningful data comparing to uncalibrated zero height.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2251 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-18 23:40:17 +00:00
zedamota
7f00e88321
OP-21/Bootloader - House cleaning only, shouldn't brake anything.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2250 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-18 20:41:13 +00:00
cwabbott
0b985b2168
PiOS.win32: Various fixes to get it working again, added a sim_win32 option to the main makefile.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2249 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-18 18:41:37 +00:00
pip
e84b222272
PipX modem settings update .. note that they do not yet function.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2248 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-18 13:54:35 +00:00
peabody124
ac24d86f40
AHRS Makefile: PT accidentially turned on DEBUG=YES when checking in
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FirmwareIAP to get me back for breaking Sys_Reset. You got me! :)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2246 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-18 08:56:12 +00:00
peabody124
f010502229
PiOS/I2C: Was throwing out repeated byte transmitted events but this is
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required for longer sequences, Need to deal with when it happens
inappropriately better.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2245 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-18 07:09:34 +00:00
peabody124
af99c31a61
PiOS/I2C: Fixed typo and also the values for I2C Diagnostics when disabled.
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Enabled by default though.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2243 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-18 07:09:28 +00:00
zedamota
917f03121d
Fixes a problem with the reset function introduced on the new ST libs migration, it was preventing the user space reset used with the bootloader to function properly.
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I think someone still likes to honor his avatar :)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2241 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-17 14:16:58 +00:00
peabody124
4b4a66c2d7
PiOS/I2C: Lots of small changes. Added a few weird bus events that are
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sometimes thrown, and made errors not lock it up by default. It works for me,
but since this has historically been associated with lots of lock ups please
check your systems carefully.
PiOS/I2C: Make the bus by default try to recover from errors instead of locking
up
PiOS/I2C: After a bus error and clocking all previous data create a STOP
condition to make sure bus is released (note, this also requires creating a
START condition first)
PiOS/I2C: If the same event hits the I2C bus twice in a row then disregard
second one, there is no situation where we should get the same event multiple
times that matters and this gets us out really quickly to catch the real
events. I was seeing this with repeated 0x70084 which means byte transmitted.
This is related to STM32 bugs in the IRQ timings I believe.
PiOS/I2C: 1) Mask out some bits we don't care about in the event flags
2) Don't lock up if the give semaphore fails, although why it does is strange
3) Recover from bus failure through the "auto" state path instead of just
coding state
PiOS/I2C: Change the reset bus code to follow
http://www.analog.com/static/imported-files/application_notes/54305147357414AN686_0.pdf
(thanks for the reference Neontangerine). Although this may actually NOT clear
the bus the first time through, subsequent bus errors should eventually clock
it out. The up side is it is less likely to clock a bunch of 1s into an ESC
and make it run up.
PiOS/I2C: Some cleaned up code for getting a snippet of the history when
something strange happens
PiOS/I2C: Export logging information from I2C through a UAV object
PiOS/I2C: Improve the diagnostic information
PiOS/I2C: Need to handle the event 0x30084. This seems to happen between a
byte transmitted and new byte started
PiOS/I2C: Handle the NACK condition by simply going to the stopping state.
PiOS/I2C: Add a new NACK state to handle sending the STOP signal after a NACK
following the STM documentation. Other error conditions still are not dealt
with.
PiOS/I2C: Should handle the NACK condition from all the write cases. Need to
think about read cases
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2239 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-17 07:01:58 +00:00
zedamota
c034a35d2c
OP-21/Bootloader - Changes to the IAPObject. Implements MB and AHRS user mode IAPObject. Added user mode reset command to the CLI. To many changes to bootloading system to write here, a Wiki page will have to be writen.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2238 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-15 19:06:28 +00:00
peabody124
08e888ac8c
Bootloader: Don't make it hang in bootloader by default. That's mean PT!
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2236 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-14 01:59:15 +00:00
peabody124
36ea75bc0d
Flight/HID: Change how the HID code handles the transmit buffer getting empty
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and starting transmission again. This should address the bootloader locking up
on verify.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2235 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-14 01:43:16 +00:00
edouard
4be34fdb0f
Modified all channel naming internally to use Channel 1 to Channel 8, instead of the previous convention of Channel0 to Channel7.
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BEWARE: I have not flown my quad with this code, so please be careful, test, and report!
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2234 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-13 23:54:30 +00:00
peabody124
68c656a724
AHRS: Add back the old 13 state INS if wanted and also code for tracking accel
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bias as gravity vector facing down (bad for planes) which is diabled by
default.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2232 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-13 15:15:50 +00:00
peabody124
1086a6b567
Flight: Changes to STM library to work with our code. Basically all the
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configuration structures are const which keeps them in flash instead of ram.
However the library needs to declare them const for the compiler to work.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2231 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-13 07:03:28 +00:00
peabody124
18858571ce
Flight: Updated to the latest StdPeriph libraries
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2230 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-13 07:03:24 +00:00
peabody124
9250470c98
Guidance: In velocity control use maximum groundspeed to cap the velocity
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2229 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-13 07:03:04 +00:00
pip
9ceda82fba
Updated UAVObjects
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2227 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-12 18:26:51 +00:00
pip
d5f6504aa2
Updated UAVObjects
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2224 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-12 18:16:24 +00:00
pip
b4e4d4ed5e
Adding PipX modem settings/status UAVObjects
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2219 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-11 10:56:42 +00:00
pip
8b2e1c32d7
Adding PipX modem settings/status UAVObjects
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2218 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-11 10:56:33 +00:00
peabody124
f30aa1d719
AHRS Comms: Send FirmwareIAP object to AHRS so that it can be remotely
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rebooted.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2214 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-10 21:03:29 +00:00
zedamota
cc5a4c2bb9
OP-21/Bootloader - NOT FUNCTIONAL
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Implements RS232(Telemetry) uploads using Kokomo's protocol.
This is a test version, the code will never timeout and jump to user space code.
If USB is connected on Power Up it will be used, if not RS232 will be used instead.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2211 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-10 19:11:29 +00:00
peabody124
fd10c6ffff
Guidance: Small sign error
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2209 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-10 17:14:35 +00:00
peabody124
d218e18ded
AHRS: Make arm timeout of 0 disable feature for planes. Don't want them arming
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out.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2205 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-08 20:07:34 +00:00
pip
5e91f46633
Added more telemetry baudrate options
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2198 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-06 08:31:24 +00:00
pip
49e99ea180
Added more telemetry baudrate options
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2195 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-06 08:23:20 +00:00
peabody124
e6a21977f1
OP-156 AHRS: Make the account for the fact the analog data is downsampled two
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times for each EKF update
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2193 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-04 18:13:08 +00:00
peabody124
4e8c6588b6
OP-156 AHRS: Run the accel data through a fifo so it can output raw data faster
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than the ekf runs and also be more tolerant of timing jitter
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2191 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-04 17:34:29 +00:00
peabody124
45e3ed27a7
OP-156 AHRS_ADC: Make the ADC system use a callback to better separate ADC code
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from the AHRS code (which will facilitate code integration with new INS) and
also will help set up a fifo queue for the downsampled data to allow gyro data
output from AHRS faster than EKF output. Also decreased ADC interrupt priority
so the SPI comms don't drop out.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2190 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-04 17:34:27 +00:00
peabody124
6f1e7b4e41
AHRS: Add a configuration to export the sensor data either with or without INS
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bias correction. This is useful for stabilization to get rid of the gyro bias.
Making it an option is important for calibration.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2189 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-04 17:34:25 +00:00
peabody124
81b2f88e75
AHRS: Swap to new code which tracks accel_bias and export the accelerometer
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bias
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2188 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-04 17:34:22 +00:00
peabody124
e861bcb9d0
Flight/Guidance: Convert PositionPID mode to PositionPI + Velocity feedback.
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Needs AHRS with accel_bias estimation to behave well.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2187 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-04 17:34:19 +00:00
peabody124
0679e8d472
AHRS: In indoor mode correct with a high variance 0 for position to keep it
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bounded. Velocity variance still comes from AHRSCalibration.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2186 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-04 17:34:18 +00:00
peabody124
a04e33ccc6
OP-192 Flight/ManualControl: Add an ArmedTimeout field to the
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ManualControlSettings so that planes can disable the timeout
feature for gliding (holding roll on a plane not so good).
Note: This will require you to reconfigure your ManualControlSettings
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2185 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-04 17:34:16 +00:00
dschin
f99eb5b0c7
No changes to mainline code.
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Three files added to AHRS which add accelerometer biases (16 states) to the INS/GPS. Added for evaluation (give it a try James).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2182 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-02 02:39:01 +00:00
peabody124
4f21bee0d7
OP-192 Flight/ManualControl: Correctly convert to ms in timeout code so system
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will automatically disarm after 30 seconds without motor. This behavior will
need to be parameterized for planes which might idle for a while.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2181 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-01 22:12:01 +00:00
dschin
18809ce3dc
AHRS - fixed time constant of baro altitude offset filter, added the offset to the EKF dump
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Added new EKF data parser (m-file) to ground
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2178 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-29 23:28:38 +00:00
peabody124
74249f8e41
OP-171 AHRS: I was flipping sign of baro when putting into INS but shouldn't
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have been.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2175 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-29 08:44:43 +00:00
peabody124
f51a5a824e
AHRS: Export the bias drift corrected gyro values to OP so stabilization see
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more accurate roll rates
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2174 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-29 08:44:41 +00:00
pip
0cae6df8b0
Aligned fifo buffers to 32-bit for possible speed improvement.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2173 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-28 11:06:45 +00:00
pip
d4c24de556
Updated to use the new fifo_init function
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2172 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-28 11:00:20 +00:00
pip
912ba59cf9
You now supply a buffer address and buffer size when initializing the fifo buffer.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2171 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-28 10:59:24 +00:00
andrew
c94c76ce40
Minor change to give back manual control to an axis when it is set to stabilization = None
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2165 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-27 04:03:37 +00:00
edouard
b840c5ec40
Update ActuatorSettings to remove obsolete fields.
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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
75363896fb
AHRS: In outdoor mode when no GPS for a few seconds start updating with zero
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velocity to help stabilize attitude. In principle the mag should be fine but
in practice I need this.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2160 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-26 15:57:14 +00:00
peabody124
b3251e2cfb
AHRS: Accidentally was using mags when in indoor_nomag mode
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2159 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-26 15:57:13 +00:00
peabody124
6a33043297
AHRS: Tweak setting when mag is used to allow greater error in vector length
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and start using from power up
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2158 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-26 15:57:12 +00:00
peabody124
e3d2645dea
AHRS: Small bug in the conditions for using the mag
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2157 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-26 15:57:10 +00:00
peabody124
ebcb272da6
AHRS: Add a separate parameter for velocity and position variance and remove
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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
peabody124
ac734d5f65
AHRS: Move structure definitions out of main code. Organized variable scopes
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properly.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2155 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-26 15:57:06 +00:00
peabody124
44069e64bc
AHRS: Separated out code for debugging output from the main code and cleaned up
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how various sensors are used in the INS update. Also added slow filter to
track offset between GPS and baro in outdoor mode.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2154 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-26 15:57:04 +00:00
peabody124
444dd5c311
AHRS: Split various update modes into individual functions
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2153 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-26 15:57:03 +00:00
dschin
b2a538375c
Changes in files supporting AHRS for new initialization methods.
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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
cfbdad5e0d
Flight/USB_HID: Change to deal with buffer filling up when GCS not ACK'ing the
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usb transmissions. Clear TX buffer after any NAK.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2147 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-23 19:29:10 +00:00
peabody124
88a0ede73b
OP-203: Flight/AHRS: Add fifo_buffer dependency for pios_usart
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2146 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-23 18:19:58 +00:00
peabody124
8ea727d10c
AHRS/Makefile: Remove trailing CR
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2145 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-23 18:19:56 +00:00
peabody124
e89911bb8a
OP-203 PIOS_USART: Don't disable interrupts for receive buffer since
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only one receive task. This is less generally safe but decreases the
frequency of resets in our current configuration
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2144 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-23 17:13:49 +00:00
peabody124
a454f06bf8
OP-203 PIOS_UART: Tweaked the way the interrupts are reenabled to get comms
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stable again
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2143 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-23 17:13:48 +00:00
peabody124
300a3bc8ad
OP-203 PIOS_USART: Get TX buffer using fifo_buffer
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2142 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-23 17:13:46 +00:00
peabody124
e3dd542609
OP-203 PIOS_USART: Make USART Rx code use fifo_buffer
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2141 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-23 17:13:44 +00:00
peabody124
d2b468d661
Flight/Stabilization: Need to either set or clear the alarm, but the way it was
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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
zedamota
d57441e8f4
OP-21/Bootloader - forgot to commit this too..sorry (check last commit)
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2137 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-21 22:58:14 +00:00
zedamota
98b0f406dc
OP-21/Bootloader - fixes GPS connected issues, enhances timings problems, further work on serial support
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2136 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-21 19:37:40 +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.
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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.
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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
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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
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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
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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
sambas
c74c9cc08e
OP-73 Flight/PiOS: deinits started, still just for review
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2107 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-11 20:38:44 +00:00
sambas
f94dc41712
OP-73 Flight/PiOS: runtime RC input change, initial files just for review, not integrated to build yet
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2106 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-11 19:09:39 +00:00
corvus
bb1b6d8b8d
sim_posix: added missing UAVobject source file to Makefile
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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
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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
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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
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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
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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
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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
corvus
ba781dec9a
port.c optimized for linux
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2051 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-11-01 11:54:02 +00:00
pip
9b22bb07e6
Fixed a bad bug in the fifo_getData functions.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2044 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-31 04:58:34 +00:00
edouard
d5752dff34
Update BL Makefile for buffer.c removal.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2043 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-30 18:39:07 +00:00
peabody124
800e6cbe2c
AHRS/INSGPS: Fix a swapped index Corvus caught
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2042 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-30 18:15:57 +00:00
peabody124
34bd4b7524
OP-198 Flight/GPS: Remove dependency on buffer.c, also made the detection of start and
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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.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2039 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-30 15:00:36 +00:00
edouard
8087fda6f9
Update Makefile so that the bootloader still compiles with the latest buffer_XXX changes...
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2032 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-29 17:54:05 +00:00
pip
7bdaaa3930
Renamed fifoBuf_size to fifoBuf_getSize and got it to return the actual usable size of the buffer (one less than the buffer size).
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2031 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-28 21:10:43 +00:00
pip
91e6fb1485
Added fifoBuf_size function
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2030 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-28 15:14:44 +00:00
peabody124
42a02e5662
Flight/HID: USB priority to 8 instead of 1. Probably Need to make the HID layer use a
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similar driver format to the PIOS_USART system. (p.s. are you happy now, PT?)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2029 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-28 15:07:07 +00:00
sambas
3f62776253
OP-97 flight/GPS: Few more fixes
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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
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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
peabody124
0bdaf4d0df
OP-197 Flight/USB: Make non-blocking send return -2 instead of -1 for not enough space
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2026 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-28 14:30:00 +00:00
sambas
365a2a121a
OP-97 flight/GPS: Few fixes
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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
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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
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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
peabody124
33e6cbebdc
AHRS debugging: Move dump to beginning of block to see the updated lines
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2015 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-27 17:16:25 +00:00
sambas
3e462b1434
OP-97 flight/GPS: Disable speed threshold command for those who knows it's needed, check gpsTask->DISABLE_GPS_TRESHOLD
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2014 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-27 15:51:33 +00:00
peabody124
4d7e053e06
AHRS Debugign code for dumping the EKF and importing into Matlab
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2013 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-27 14:31:34 +00:00
peabody124
2019edd612
AHRS: Store running time to make detect resets easier. Update OP and AHRS in
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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
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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
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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
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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
peabody124
acc6df4c2d
Flight/USB_HID: Make the userspace command wait until not in interrupt before
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running and block the interrupts while modifying the buffers
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2003 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-24 01:35:30 +00:00
ligi
523b6ad8f7
added hint on how to better distinguish FC/NC
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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
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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
peabody124
cd04845c3d
Flight/HID: NAK instead of stall USB bus (former was mistake) and change
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polling time to 4 ms
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1996 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-20 05:21:25 +00:00
corvus
50574841bd
Moved non primary Stabilization modules into Branches
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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
dankers
4ed3359f6f
Comment was misleading.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1992 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-19 17:25:07 +00:00
sambas
0384e359ba
My working eclipse workspace, atleast for windows
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1991 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-18 19:16:20 +00:00
corvus
8cb04a372f
Stabilization: new stabilization variant based on les stabilization module, with several options for coordinate system transformation
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1990 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-18 14:46:45 +00:00
corvus
7a37dc1f32
PiOS.posix - added some debugging code
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1977 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-17 16:27:49 +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).
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1972 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-17 14:15:47 +00:00
corvus
43beec24d6
flight/documentation/Architecture - Updated Architecture diagrams to reflect most of the current UAVObjects
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1966 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-16 18:05:12 +00:00
les
2125e2479d
Added AHRS boot loader SPI protocol
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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.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1962 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-16 12:15:47 +00:00
peabody124
300195ff18
AHRS: A few small changes
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1) Moved the criteria for using GPS to defines in anticipation of moving into
AHRSSettings
2) Only use the mags for updates if the vector length is within 20% of nominal
to avoid updating when it's nonsense
3) Reinitialize position when swapping between indoor and outdoor
4) Dont use mags for first 5 seconds after initialization, sometimes seems to
cause issues
5) Dont use mags until magnetic field at your location is set and a magnetic
field is loaded
6) Dont use GPS if home location hasnt been set
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1959 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-14 01:36:30 +00:00
peabody124
016bcad24a
AHRS: Detect when more than 2 seconds since last GPS update and in that case
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reinit INSGPS to new location
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1958 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-14 01:36:28 +00:00
pip
bd8ad90301
Added PipXtreme jtag cfg files.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1956 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-13 08:14:39 +00:00
pip
acadc4bc28
Added some files to the PipXtreme folder.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1955 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-13 07:49:05 +00:00
pip
a3ac3feae9
Added PipXtreme folder.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1954 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-13 07:43:32 +00:00
pip
0f7e0cf4db
Removed PipBee folder
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1953 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-13 07:40:36 +00:00
les
6d6ec37474
Manual control: Changed 'Position' stabilization mode to 'Attitude'
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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
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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
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1932 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-10 00:46:04 +00:00
peabody124
e72b6051b5
AHRS: Make mag variance account for the vector length of magnetic field. Also
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moved around where the axis are swapped and made the negative sign come from
calibration.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1931 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-10 00:46:01 +00:00
peabody124
ea85e98d7a
Flight/Stabilization: Move update time storage to before the set to make sure
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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
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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
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1920 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-08 15:38:23 +00:00
peabody124
0a9ab6ca5f
AHRS: Send PositionActual and VelocityActual out
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1919 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-08 15:38:19 +00:00
edouard
85aeffed9a
Removed example settings from OpenPilot flight SW makefile too..
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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
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1913 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-07 13:09:35 +00:00
kokomojoe
a0b3b47c48
OP-21 Flight/Bootloader - experimental modules implementing a simple serial packet (SSP) protocol. ssp_test is a test framework. ssp is the module, main_ssp.c prototype module on how this could be used in the bootloader, it is not fully functional, additional logic required for start-up detection to decide if serial initialization is required.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1909 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-07 04:59:18 +00:00
darkz
6b8aba07b1
Updated Makefile.posix to reflect the removal of example code
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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
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1905 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-06 21:50:57 +00:00
sambas
e32ddd5230
Flight/AHRS: gyrotemp raw actually shows now raw temp
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1903 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-06 18:14:12 +00:00
peabody124
dea5c91646
AHRSCalibration: Make default values correct now Les extended
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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.
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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
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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
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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.
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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
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1891 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-06 02:06:13 +00:00
kokomojoe
20c6e2292a
OP-185 Flight helper functions for the firmware IAP object. Allows setting/clearing of back-up registers
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1890 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-06 02:02:37 +00:00
les
7ddb0f6f80
Stabilization: Changed to new switch format. Both position and rate modes work.
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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
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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.
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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
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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
les
3aa72835d6
AHRS comms: Added GPL text
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1876 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-04 15:29:41 +00:00
peabody124
f03669733b
Flight/Guidance: Merge back into one task because memory requirements of a task
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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
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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
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1864 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-03 20:39:23 +00:00
les
dcef777ab0
AHRS SPI comms: Retries were not being tracked correctly
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1863 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-03 20:36:20 +00:00
peabody124
e743678d89
AHRS: This fixes the mags, I forgot to normalize the magnetic flux at your
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home location. If you use INSGPS_INDOORS make sure your HomeLocation.Be fields
are correct for your GPS coordinates
http://maps.alfiordalis.com/declination.html
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1862 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-03 20:35:22 +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 :( .
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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
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1857 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-03 18:37:07 +00:00
peabody124
1931c75a4c
AHRS: Deal better with DMA errors
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1856 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-03 18:14:36 +00:00
peabody124
a9495e2cbb
UAVObjects/AttitudeSettings: Remove unused object, moving data to AHRSettings.
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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
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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.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1853 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-03 16:43:10 +00:00
peabody124
840df39b78
AHRS: Export gyro data as deg/s instead of rad/s to match the object label
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1851 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-03 15:22:09 +00:00
peabody124
9165fb87b2
AHRS: Calibration values were sent but not locked into EKF
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1847 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-03 04:34:07 +00:00
peabody124
87a822e3f9
AHRS: Add back home location setting north axis
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1846 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-03 04:34:05 +00:00
peabody124
5c9b5f4a99
AHRS: Get calibration working again
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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
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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
104dc165a9
AHRS: Max downsample that doesn't cause huge amounts of drops right now is 20
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1840 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-02 02:17:34 +00:00
peabody124
29b087703b
Flight/AHRSComms: Decrease stack size, not needed to be that big. Also made
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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
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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
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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
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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
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scheme
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1835 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-02 02:17:18 +00:00
corvus
62300c9682
flight/Libraries/CoordinateConversion: ECEF2LLA() - Speed up the calculation with a primer coordinate.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1834 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-01 20:30:34 +00:00
peabody124
2a93f35807
UAVObjects/MixerSettings: Have values as int8, don't need float resolution
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1832 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-01 20:28:14 +00:00
les
683aa2b480
AHRS: Tidied up calibration sequence
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1831 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-01 19:41:00 +00:00
les
b2d56ca34c
AHRS: Added UAVObject based SPI communication between AHRS and OP.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1830 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-01 17:31:13 +00:00
les
498f3d0fa6
PIOS SPI: Added a function to detect if the channel is busy
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1829 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-01 16:52:20 +00:00
edouard
d2c1014e29
Re-enabled yaw stabilization after SystemSettings changed. There might be a lingering issue when the
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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.
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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
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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
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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
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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
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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
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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.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1817 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-10-01 12:33:20 +00:00
peabody124
e2d63cbf19
Flight & Ground/AHRS Calibration: Made variance estimation into a two pass
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approach again because ran out of numerical precision for single pass. Also
made ground force the gyro signs to be correct.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1806 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-30 04:30:29 +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.
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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
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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
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1799 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-29 18:51:34 +00:00
sambas
2d90a80e22
Flight/PiOS: this patch makes dosfs work with both MBR and VBR formats. Backup your SD files in case this messes something!! Testing needed.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1798 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-29 16:29:38 +00:00
peabody124
c95b1e6117
Ground/UAVControl: Working joystick support although currently not configurable
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1794 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-29 03:59:03 +00:00
kokomojoe
6f1f990d85
OP-21 AHRS/Bootloader - Moved start of user code to 0x08002000. Must be used with latest AHRS Bootloader compiled with DEBUG=OFF.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1788 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-28 02:21:48 +00:00
fredericg
f090b4bcf8
OP-174 ET OSD: Fixed build errors due to UABObject changes
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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
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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.
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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
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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
3c021c09d9
Flight/PiOS: Whitespace changes
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find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -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@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 07:28:45 +00:00
peabody124
6d0df704a7
Flight/Modules: Corrected code to use tabs
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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
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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
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1768 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-26 03:07:40 +00:00
peabody124
6d811cc4db
OP-140 AHRS: Don't run INSGPS until OP says board is initialized. This will
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also block heart beat.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1767 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-26 03:06:57 +00:00
peabody124
8475a68958
Flight/Stabilization: Keep command and error in deg/s for rate stabilization
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1766 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-26 03:06:54 +00:00
peabody124
a3ea9a5461
AHRS: Add a weak mag correction in indoor mode to remove gyro bias and try and
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get a reliable heading
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1765 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-26 03:06:51 +00:00
peabody124
77b68e5169
Flight/Guidance: Initial template for guidance module
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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
kokomojoe
ca4f3b53fa
OP-21/Flight Bootloader - added compiler and linker options to remove unused functions. Code is now smaller.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1759 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-26 02:34:04 +00:00
zedamota
9b05282be5
OP-21/Flight Bootloader - should make things cross platform.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1758 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-26 00:39:01 +00:00
zedamota
0371808099
OP-21/Flight Bootloader - should make things cross platform.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1757 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-26 00:36:42 +00:00
peabody124
a01783b2a8
OP-140 AHRS: Explicilty deal with if it is initialized or not, use that to
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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.
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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.
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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
zedamota
095cbb4dd5
OP-21/Flight Bootloader - Now pulls SS pin low again if no AHRS is found.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1733 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-24 15:46:59 +00:00
corvus
1472b342c1
1.0 Featur Freeze -
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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
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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
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1710 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-21 19:31:17 +00:00
peabody124
a1a3b0774f
Flight/AHRS: Update code to coding conventions.
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find ./flight/AHRS/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 {};'
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1707 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-21 19:29:39 +00:00
peabody124
833e8428d2
Flight/Libraries: Updated to coding conventions
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find ./flight/Libraries/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 {};'
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1706 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-21 19:29:35 +00:00
chebuzz
862e35def1
OP/PiOS.posix - Somebody added UAVObjects but did not add them to the posix sim
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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
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1701 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-21 07:08:51 +00:00
les
875437f483
Added matrix based actuator mixing. Note the makefile is set to use the original actuator code.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1698 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-20 19:27:08 +00:00
sambas
24840b461d
OP-22 Flight/PiOS: added failsafe and recovery "watchdog" timer
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1697 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-20 18:00:31 +00:00
zedamota
5fb45f835e
OP-21/Flight Bootloader - Bug fix, 1 more
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1696 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-20 17:09:06 +00:00
zedamota
87dc0908ce
OP-21/Flight Bootloader - Bug fix
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1695 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-20 16:29:34 +00:00
zedamota
3ba6372dc4
OP-21/Flight Bootloader - Clean up and linker files for the AHRS
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1691 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-19 18:27:53 +00:00
zedamota
128df749f0
OP-21/Flight Bootloader - small bug fix
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1683 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-18 23:38:45 +00:00
zedamota
c9752a6a3a
OP-21/Flight Bootloader - some changes for the bootloader to work
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1682 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-18 23:11:42 +00:00
zedamota
1b9811aa0e
OP-21/Flight Bootloader - AHRS programming fully working
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1681 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-18 23:10:26 +00:00
zedamota
97b44ffb04
OP-21/Flight Bootloader - Various fixes.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1678 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-18 00:46:34 +00:00
peabody124
11f2b1a8dc
Flight/Stabilization: Dont cap error at maximum stabilization value - that is to scale control throws. Create another variable if we want this.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1676 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-17 18:15:02 +00:00
peabody124
0ea95fbad1
AHRS: Separate covariance prediction from state prediction to get updated state out of spi a few milliseconds sooner.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1675 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-17 18:15:00 +00:00
peabody124
92c36114f3
AHRS: No longer reinit after a comms glitch. Allow time for EKF to converge (2-3 seconds) after power up.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1674 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-17 18:14:20 +00:00
peabody124
8e0c5136c0
AHRS/Comms: Make the polling delay 1ms instead of 20ms to make sure if a message isn't ready we don't pause for a long time.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1673 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-17 18:12:25 +00:00
andrew
da1a762072
Added basic code for Yaw stabilisation in manual mode for Helis.
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This is functionally the same as having a heading hold gyro in hardware.
Code is copied from the simple stabilisation routine and is a bit rough at the minute, but initial testing looks good.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1670 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-17 05:52:34 +00:00
peabody124
41b7a99883
Flight/Stabilization: Yaw rate stabilization error should be normalized by dt
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1669 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-17 02:00:55 +00:00
peabody124
a6ca5b82e7
OP-155 Flight/HID: Make the HID stall when buffer full. Not sure the consequences on ground (i.e. if it handles the stall correctly)
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1665 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-16 20:23:02 +00:00
zedamota
e8d6e7c557
Flight - Centralized board specific files, BL and User FW uses the same board definitions, no need to have 2.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1663 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-16 19:19:38 +00:00
peabody124
3b015b41c5
Flight: Got a much nicer arming/disarming system going. Made it a separate flag in the end to allow testing the stabilization code with motors not running. Also changes maxRoll/maxPitch/maxYaw to uint8 to keep object size smaller - no reason for float precision for this.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1660 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-16 15:41:11 +00:00
peabody124
a6e71177e4
AHRS: Yaw stabilization now supports rate stabilization or heading hold. Also need to cleanly support rate stabilization on all the other axis. Les suggested this be in manual mode which will require changing the logic somewhat (essentially for vtol it will always be running through the Stabilization module) in an aircraft dependent manner. An alternative would be a stabilization flag indicating to do full attitude hold, attitude + yaw stabilization, or all axis gyro stabilization. This would be my preference.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1659 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-16 15:41:08 +00:00
peabody124
110c46216e
OP-155 Flight: Increase the pios_com buffer size to support these larger objects. If this gets worse and we don't want to use as much OP memory we can make it stall the USB bus when the buffer is full.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1657 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-16 05:57:03 +00:00
peabody124
832b61ab86
OP-117 AHRS: Binary streaming of the raw data within EKF. Doesn't keep up while running this but does give accurate data that went into algorithm. Once we can dynamically change sampling rate will be good.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1655 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-16 05:26:14 +00:00
peabody124
0b8756d55c
OP-148 AHRS/Comms: For now don't retransmit calibration after comms glitch as this re-zeros gyro bias and makes attitude stutter. Need to explicitly communicate when comms glitches and query if AHRS actually rebooted.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1654 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-16 05:26:12 +00:00
peabody124
885c966e53
AHRS: Added a tracker for number of ADC updates the EKF misses. Also updated the Telemetry autogenerated files to accomodate the 11500 baud rate.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1652 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-16 02:59:00 +00:00
peabody124
ff1b303083
AHRS: Only do EKF correction with mag when new data available
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1651 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-16 02:58:56 +00:00
peabody124
19e80da928
AHRS: Update UAVObject with information about AHRS rate
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1650 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-16 01:54:21 +00:00
zedamota
4d0d865c31
OP-21/Flight Bootloader - fix to paths
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1647 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 18:03:52 +00:00
pip
82be9117d6
Added USART baudrate defines into pios_board.h & '#if defined's into pios_board.c
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1646 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 17:37:50 +00:00
pip
d2bc126e68
Added PIOS_COM_AUX_BAUDRATE to pios_board.h & '#if defined' to pios_board.c for easier baudrate setting.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1645 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 17:33:00 +00:00
pip
73c8194acc
Added PIOS_COM_TELEM_BAUDRATE, PIOS_COM_GPS_BAUDRATE, PIOS_COM_AUX_BAUDRATE & PIOS_COM_SPEKTRUM_BAUDRATE defines in pios_board.h with '#if defines' in pios_board.c for easier baudrate changing.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1644 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 17:18:38 +00:00
zedamota
3e89e388fa
OP-21/Flight Bootloader
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1643 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 17:09:27 +00:00
zedamota
c72a5b1cfe
OP-21/Flight Bootloader
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1642 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 17:08:24 +00:00
zedamota
f972b78bfb
OP-21/Flight Bootloader
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1641 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 17:07:43 +00:00
pip
cf864225fe
Added easier to find USART baudrate setting PIOS_USART_BAUDRATE.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1640 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 17:07:37 +00:00
zedamota
50b7931a1c
OP-21/Flight Bootloader - new bootloaders
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1639 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 17:06:51 +00:00
pip
89fb0b8582
Made pios_hmc5843_data_ready volatile (accessed by both interrupts and main exec loop).
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1638 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 17:00:36 +00:00
zedamota
df88140f51
OP-21/Flight Bootloader - Remove deprecated bootloaders
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1637 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 16:58:00 +00:00
stac
1017d0294b
ahrs: always enable -g for gdb debug symbols
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1635 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 15:45:41 +00:00
stac
7886a617dc
Revert "ahrs: No longer support -O0 since it doesn't fit"
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1634 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 15:45:39 +00:00
pip
22b9b2512e
Added a 115200 baud telemetry option to the OP main board/UAVTalk.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1632 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:43:42 +00:00
stac
73787f7f15
ahrs: No longer support -O0 since it doesn't fit
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Leaving debug on allows the -g option to be enabled
so that we can have symbols in gdb even though we're
forcing the optimization flags to -Os.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1631 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:21:06 +00:00
stac
cdb8aa37a0
ahrs: Only read mag data when it has been updated
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The AHRS mainloop was reading the mag data on every
loop regardless of whether new data was actually
available. Now that the MAG_DRDY signal is monitored,
we can read only at the rate (10Hz) new data is actually
produced by the sensor.
This also enables future improvements that will remove the
filtering work that is still being done on the mag data on
every iteration.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1630 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:21:05 +00:00
stac
55d90970ed
hmc5843: hide internal #defines and functions
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Way too much was being exposed in the API for the
HMC5843. This commit properly hides internal
details of the driver.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1629 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:21:04 +00:00
stac
0e7a801e9e
hmc5843: Add support for DRDY signal from magnetometer
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The DRDY signal from the magnetometer is connected to PB8
on the STM32. This pin is now configured as an external
interrupt and is now used to signal when new data is
available from the magnetometer.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1628 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:21:02 +00:00
stac
4ac001553d
hmc5843: convert line endings from CRLF to LF
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No functional changes.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1627 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:21:00 +00:00
stac
ac6989fbeb
bmp085: fix configuration of EOC interrupt
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The EOC EXTI interrupt configuration was incorrectly
pointing at GPIOG pin 8 rather than GPIOC pin 15.
This was preventing the EOC interrupt from working
properly.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1626 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:59 +00:00
stac
88e73906d0
i2c: Add recovery code for i2c bus errors
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I2C bus errors are now recoverable. The bus is properly reset
and an error indication is now provided to the caller whenever
a bus error occurs during processing of the transaction list.
For now, the users of the I2C layer just retry infinitely on
failure. The BMP085 and HMC5843 code should be changed to
report errors to its callers to allow a more sensible retry
strategy.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1625 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:57 +00:00
stac
0122394481
i2c: consolidate handling of AUTO transitions
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AUTO transitions in the FSM are now handled immediately
after processing each newly injected event rather than only
at the end of the EV ISR.
This consolidation allows the upcoming addition of event
injection from both the EV and ER ISR contexts.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1624 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:56 +00:00
stac
7d5463e5e6
i2c: Move polling for bus stopped from ISR to task/mainloop
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Occasionally, the I2C driver races with the STM32 I2C peripheral
at the end of a bus cycle. This leaves the bus in an errored
state and the stop condition is not properly asserted on the bus.
The polling for the stopped condition was previously implemented
in ISR context since it was expected to be nearly instananeous.
In the error condition, however, the stop condition will never
happen. The polling for this case is now done by the initiating
task (or mainloop on the AHRS) to prevent the timeout condition
from triggering the watchdog.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1623 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:55 +00:00
stac
65ad2caf8a
i2c: Make transaction initiator available in txn list
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The info field in the pios_i2c_txn list can now be used
to provide a const string which describes the context
for this transaction.
This is very helpful when diagnosing an error that occurs
somewhere in the middle of the I2C FSM since the FSM runs
primarily in the ISR where the original context for the
transactions is no longer available in the traceback.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1622 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:53 +00:00
stac
85c60479c1
i2c: rename FSM faulted state
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Differentiate the _FSM_ faulted from the (soon to
exist _BUS_ faulted state.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1621 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:52 +00:00
stac
139da048f6
ahrs: remove unused debug code
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1620 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:51 +00:00
pip
cc3860daaf
Added 'uint32_t PIOS_SYS_getCPUFlashSize(void)' into pios_sys.c/h files.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1616 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-14 09:18:55 +00:00
peabody124
c5fe985a45
AHRS: Gets timing working correctly to compute the EKF rate and idle time in real values
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1615 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-14 07:03:36 +00:00
peabody124
0875dc8442
AHRS: First pass refactoring the ADC code into another function. Still want to clean up a few constants make the downsampling go into a smaller circularbuffer nicely.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1614 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-14 07:03:34 +00:00
peabody124
1051d894b9
AHRS: Merged in some new code from Dschin that expliclity writes the prediction terms in the covariance matrix. Also made changes to compile with -Os. Now runs around 125 - 150 Hz depending on corrections used (this will become adjustable from GCS shortly).
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Squashed commit of the following:
commit 897e3365ab6c762584c34238efd12dc144e72af0
Author: James Cotton <peabody124@gmail.com>
Date: Mon Sep 13 22:15:21 2010 -0500
AHRS: Getting it running nice and quickly.
commit 53d72fb849164730c89873cab81c9e09be0b112b
Author: James Cotton <peabody124@gmail.com>
Date: Mon Sep 13 15:57:46 2010 -0500
AHRS: Make more variables volatile for -Os.
commit 4fa90821b5d3d8c2ea5e67756313a8a63c0eeb8c
Author: James Cotton <peabody124@gmail.com>
Date: Mon Sep 13 15:11:31 2010 -0500
AHRS/Makefile: -O0 not added to allow me to try various space flags that don't break code.
commit 5bd17a304dc28dc271c2f3e8c6cb8ad4a830404f
Author: James Cotton <peabody124@gmail.com>
Date: Mon Sep 13 14:44:05 2010 -0500
AHRS: Make debuggign USART easy to disable
commit 5453f2a7939492769fe9e9cc822e69c107320670
Author: James Cotton <peabody124@gmail.com>
Date: Mon Sep 13 14:38:37 2010 -0500
AHRS: Explicitly expand covariance prediction. Brings computations from 160 to 90. Makes it not fit in AHRS though.
commit b6712da7eece2a464a2073d24b77be22bfa47094
Author: James Cotton <peabody124@gmail.com>
Date: Sun Sep 12 22:59:42 2010 -0500
AHRS: Make it easy to comment out the I2C/Magnetometers.
commit 8c84d0091f3d6f6bedc7a0224a4ed9cb099b022b
Author: James Cotton <peabody124@gmail.com>
Date: Thu Sep 9 00:49:50 2010 -0500
AHRS: Small change to INSGPS analysis tools
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1613 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-14 06:42:56 +00:00
pip
7da2fc2ba7
made ahrs_state 'volatile' in ahrs.c to prevent compiler optimization lockup
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1612 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 20:56:58 +00:00
pip
8bfaa997d3
made curr_state 'volatile' in pios_i2c_priv.h to prevernt compiler optimization lockup.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1611 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 20:52:56 +00:00
peabody124
4a4932e5ff
AHRS/FSM: Small initialization detail to make compile with -Os
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1610 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 19:04:37 +00:00
zedamota
66560786f4
Flight - #ifdefs to make it work with both normal and bootloader packet formats.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1609 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 17:08:52 +00:00
chebuzz
3b5b129445
Fix POSIX simulator to work with new VTOL UAVObjects
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1607 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 14:00:53 +00:00
peabody124
47a7b8548b
Flight: Safety feature for VTOL. Don't enable motor until throttle brought above .5 then below or to zero.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1604 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 22:18:21 +00:00
peabody124
76971a807c
AHRS: Some more tweaking of the timings.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1603 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 22:18:18 +00:00
zedamota
257b4d2c95
flight - BL AHRS Comms - fixes to make it compile, not tested yet.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1601 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 21:08:43 +00:00
peabody124
ba34bb8c24
AHRS: Oops, didn't notice the message processing was removed from end of loop. Adding back.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1597 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 12:44:57 +00:00
pip
d0b8a9755d
Added USB_LED_ON/USB_LED_OFF and checks to see if they are defined to the PIOS_USB_HID_ChangeConnectionState function ..
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1596 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 10:47:20 +00:00
pip
9fca16db41
Added an RTOS detection is 2 places because I'm using this file on the modem (without an RTOS). #if defined(PIOS_INCLUDE_FREERTOS) ...
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1595 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 10:33:45 +00:00
peabody124
59758122e1
AHRS: Cannot process messages while idling as this makes the main loop execution time non-deterministic based on OP (i.e. could get three messages and push the time up). It would be a nice featuer since you can get a raw and EKF update in the same step, but if the AHRS_Comm loop is fast (which is should be to keep update latency low) then this will hammer the AHRS with redunant requests.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1594 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:51 +00:00
peabody124
e90e714c2b
Flight: Tweaked the throttle handling and VTOL use of it to make sure engines can be shut off easily in stabilization mode.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1593 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:49 +00:00
peabody124
56131476ef
AHRS: Switch to sampling at 2khz, plenty of CPU usage. However need to make EKF rate different for outdoor mode with this patch because otherwise will drop samples :-(
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1592 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:47 +00:00
peabody124
5d1ebf76ea
Flight/VTOLmixer: Fix bug in mixer that messed up roll mixing. Also changed minimum to -1 so that neutral can be position motors come on and -1 the off position. Also made failsafe throttle value -1 to be consistent.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1591 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:44 +00:00
peabody124
c376711405
Flight/Stabilization: Make the derivative account for the sampling time (dAngle/dt) for the PID loop since integral does and also make the integral bounds uavobject settings. It was originally bounded by constant/Ki but I'm not sure why as you change the gain of the error integral you also want to decrease the maximum error it can cause.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1590 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:41 +00:00
peabody124
8999355327
Flight: Made actuator a periodic task. I don't think the queue is low enough latency - should figure out how to make this happen as callback is the right way to go.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1589 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:38 +00:00
peabody124
dceb20b16d
Flight: VTOLStatus object that returns the thrusts on all the engines
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1588 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:34 +00:00
peabody124
bba3b0c64a
Flight: VTOLSetings object to contain the mixer settings for VTOL crafts
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1587 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:30 +00:00
stac
d18e0c3ef8
ahrscomms: Add low-level message code for bootloader msgs
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Implement low-level utility functions for sending/receiving
the opahrs proto v0 (bootloader) messages. These are used
by the OP firmware loader and the AHRS bootloader.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1586 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:31 +00:00
stac
c3c8a30bfc
ahrscomms: fix return values on error
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Some functions were returning -1 instead of one of the
valud enum values.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1585 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:29 +00:00
stac
6bf3038f3f
ahrscomms: provide helper function for simple requests
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This cleans up some of the boiler plate code that is
repeasted for simple (empty) requests that expect a
response.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1584 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:28 +00:00
stac
7ecbb5f5b8
opahrs_proto: Add new boot and versions messages
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1583 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:26 +00:00
stac
d1dc300081
ahrscomms: remove unused sync and switch_proto messages
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1582 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:25 +00:00
stac
80c92ba54b
ahrs: process SPI messages while idle
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This makes the AHRS continually process SPI messages
while waiting for new samples to be ready. This has
the side effect of making the CPU utilization on the
AHRS pin at 99-100% (ie. we make use of all of our
otherwise idle time).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1581 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:23 +00:00
stac
93ef510946
ahrscomms: use relative delays to avoid slipping
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Change from using vTaskDelay to using vTaskDelayUntil to
ensure that we're trying to stay periodic rather than
just waiting a fixed amount of time after each loop of
processing.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1580 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:22 +00:00
dschin
e6fea9bb76
Changed the feedback gain matrix K to a global variable in insgps so that it may be inspected.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1577 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-10 20:46:46 +00:00
zedamota
aa1af2b9f3
OP-21/Flight Bootloader - Changes to make it independent of RTOS
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1570 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-09 18:44:55 +00:00
peabody124
6cdb9b0b48
AHRS: Added Matlab code to analyze the INSGPS friendly data dump format and plot the important variables. This requires "DUMP_FRIENDLY" be enabled in the file.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1560 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-08 06:15:21 +00:00
peabody124
e499f33fd5
AHRS: Improved code to stream raw data from AHRS and added a matlab function to acquire and analyze the data. The QT program to analyze it should work but QextSerial seems to have a bug and drops or inserts data
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1559 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-08 06:15:18 +00:00
peabody124
9895b403c7
Ground/SerialLogging: Improved the serial dump from AHRS to have a big random frame header and to detect it on the logging program.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1556 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-07 16:33:10 +00:00
cwabbott
c2e93aa810
PiOS/win32: Made the process priority "high priority" for OpenPilot.exe to help with accurate timing. Also removed some unneeded debugging code from tasks.c.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1553 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-06 21:23:02 +00:00
peabody124
e06162fa3a
Flight/AHRS: Reorganized the code a little to make sure indoor used by default unless GPS updates come
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in. Also change the velocity variance in indoor mode to lower to make it get a better attitude estimate (primarily faster convergence - probably will tweak this in the future dynamically). Finally decreased barometer variance - in scope it's actually quite reasonable, normally within +/- .5 m.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1546 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-06 07:54:19 +00:00
peabody124
e260077247
Flight/ManualControl: Making failsafe test (which must explicitly look at receiver inputs instead of throttle values in case of reversal) also consider readonly flag to detect GCS control.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1545 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-06 02:58:41 +00:00
peabody124
61854ac6ab
Flight: Support for quadcoptors. The format of this control will change to support octo's and more flexible tuning.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1544 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-06 02:58:39 +00:00
stac
95595664c3
telemetry: fix comments around #ifdef
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No functional changes.
The closing comment on some of the USB_HID related
ifdefs was outdated. Fixed.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1541 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-05 23:10:34 +00:00
zedamota
492227c916
OP-21/Flight Bootloader - Donwload function is now interrupt driven. Had to increase IN polling interval due to some problems.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1530 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-05 00:17:20 +00:00
peabody124
f9a0b799a2
Foolishly forgot object like I always do
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1529 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 22:01:11 +00:00
peabody124
d3b677298c
Flight/ManualControl: Added a hysteresis loop to the manual control connection/disconnection status. I seem to get glitching without it - probably because of the receiver catching noise. It still occasionally glitches but I don't want to make it longer. Probably should be an adjustable setting.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1527 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 17:08:04 +00:00
peabody124
c21d058110
Flight: Added ability to use a third accessory input. Currently using that to select tuning roll/pitch bias and PID tuning. I also _STRONGLY_ recommend if you enable these accessory channels (and thus these features) you make the saved meta data for the StabilizationSettings and AttitudeSettings read-only, so only on flights where you mean to can you change these settings. I'm also not convinced about the interface - it seems like flicking TX switches to get into adjustments is a recipe for disaster. Probably need to just control through GCS.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1526 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 17:08:02 +00:00
peabody124
45e8131a30
Flight: Added ability to use additional TX inputs to tune attitude bias. Note this form of the calibration is temporary and will likely be replaced by a rotation matrix to deal with more general rotations.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1525 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 17:07:59 +00:00
peabody124
8dbc382e5b
Ground/CoordinateConversions: Shows correct location now. I just typed in a 3.14 constants and forgot to change to M_PI.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1520 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 05:58:43 +00:00
peabody124
b4ff14b725
Ground/GCSControl: Swapped sign conventions of sticks to match the sign convention of roll/pitch/yaw. I.e. now right on the roll causes a + roll, pulling down on the pitch causes + pitch.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1518 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 02:19:06 +00:00
peabody124
404e0c2f44
OP-132 AHRS: Changes to the Indoor flight handling to only use the barometer indoors and update with a zero for velocity and high variance.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1517 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 02:19:04 +00:00
peabody124
a406034ed9
OP-132 Flight/AHRS: Changed the heuristics regarding GPS quality and INSGPS updates. Now if satellites < 7 or PDOP > 3.5 it does not perform GPS updates. Professor is working on some code to fix parts of the covariance matrix. If indoor updates high a 0 position and velocity and high variance.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1515 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 02:19:00 +00:00
zedamota
8233f87b0a
OP-21/Flight Bootloader - Download function fixed.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1513 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 01:06:40 +00:00
dschin
84d054c4ed
gdb command file to enable debugging with interrupts in Eclipse
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See http://forums.openpilot.org/topic/1671-debugging-with-interrupts-in-eclipse/
for details.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1511 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-03 13:10:04 +00:00
cwabbott
d7a3ffb464
flight/PiOS.win32: update Makefile.win32 with new UAVObjects, also change UAVObject headers to have a newline at the end.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1510 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-02 23:55:24 +00:00
zedamota
749267aee5
OP-21/Flight Bootloader - Minor bug fix.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1508 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-02 22:43:32 +00:00
zedamota
7a66232be0
OP-21/Flight Bootloader - Complete recoding. WARNING- As with all flash memories, the one in your OP HW as limited write cycles. Errors in this bootloader may damage your HW if it falls under a write or erase dead loop. This is still under development, for devs only.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1507 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-02 20:13:41 +00:00
peabody124
d3bb821e82
Flight/ManualControl: Change to ManualControl module to make warning only kick in if input is less than the max and min for throttle. Disable going to (unimplemented) auto mode. Commiting based on one yay and no nay.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1505 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-02 16:33:02 +00:00
peabody124
a377bea862
Ground/CoordinateConversions: Found out from Dschin that rotation matrix inverse is rotation matrix transpose. Now should convert correctly from NED to ECEF. I will check tomorrow by frolicking around with a plane.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1494 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-01 03:12:06 +00:00
peabody124
ec7d059de8
Posix: Corrected makefile after UAVObjects mashup
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1489 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-31 17:21:44 +00:00
peabody124
b853c392f3
Flight: Was only returning half of the serial number (thanks for catching that Pip)
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1476 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-31 02:33:47 +00:00
peabody124
12657440c3
OP-132 AHRS: Added an indoor flight mode and also add an ad-hoc quality heuristic to the GPS signal to increase the measurement variance from GPS when fix quality is poor or when in indoor flight mode. In addition corrected the indentation to conform to the tab/space convention forum discussion.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1474 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-31 02:11:09 +00:00
pip
7813414f29
added casting to prevent int overflows when calculating the watchdog delay
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1467 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-30 16:48:33 +00:00
pip
ba5f1b37ee
changed pios watchdog from 8-bit to 16-bit ms capability, plus moved the .h file from the .c folder into the inc folder
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1466 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-30 16:29:36 +00:00
andrew
65dc5e9b04
Yaw stabilisation for the simple algorithm was calculating the error and not taking into account that 350º error is the same as -10º error.
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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
2010-08-30 01:20:43 +00:00
andrew
3c6d9d6976
manual control was mapping tx input as -180º -> 180º for AttitudeDesired.Yaw.
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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
2010-08-30 01:16:00 +00:00
cwabbott
f55e9cf819
Fixed a slight problem with the .metadata folder, the flight project wasn't pointing to the correct folder again.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1462 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-29 23:16:19 +00:00
dankers
7a1353506e
Just added my plugins dir to what was already there, no guarantees to fix things!
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Might just make them worse!
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1460 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-29 22:15:38 +00:00
stac
78befcba73
conversions: fix return code for ECEF2LLA
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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
2010-08-29 14:51:07 +00:00
peabody124
f202884ce8
AHRS: Numerous changes. Added CPU load monitoring for AHRS as well as some friendly debugging output options. Also added a new CalibrationMode setting to AHRS (Echo) to speed up sensor calibration. Cleaned up the 6 point calibration interface to make it more friendly, but I think Edouard will clobber it with something nice and sexy :).
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1455 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-29 06:38:30 +00:00
stac
ecac1fb79d
nmea: parse GSV sentences and populate GPSSatellites object
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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
2010-08-29 01:46:14 +00:00
stac
2ead641136
nmea: minor bug fixes and robustness improvements
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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
2010-08-29 01:46:11 +00:00
stac
679f59f19d
uavobjectparser: fix alignment of field init in generated code
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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
2010-08-29 01:46:09 +00:00
peabody124
8128c3bbfa
OP-118 AHRS: Added 6 point calibration routine to AHRS config widget. To use it, click "Cal Mode", then place the AHRS on each of 6 sides of a cube then click save position. Finally click compute to push the updated scale abd bias terms to the AHRS. Also fixed a bug in UAVObjectField that would not allow you to setDouble for extra fields.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1449 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-28 18:48:51 +00:00
andrew
3530428982
Fixed the bounding of servo outputs for the case when max < min
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1444 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-28 05:11:19 +00:00
peabody124
00cad250ea
Adding gpstime.h for flight.
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Seriously - I'm sorry I missed all these files. I suck.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1443 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-28 00:58:04 +00:00
peabody124
ced0a4b952
AHRS: Fixed silly bug that made the default mag variance be zero - explains "hopping around" default behavior. Still should run calibration though.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1439 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 21:05:41 +00:00
peabody124
5f9289f0c0
Flight: Keep getting WMM memory usage down
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1438 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 21:05:38 +00:00
zedamota
2142467751
OP-21/Flight Bootloader - Added more Led status modes. Fixed downloading for bigger packet format.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1436 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 20:03:51 +00:00
peabody124
16361dea12
AHRS: Making AHRS populate the NED/Vel fields of PositionActual. May rename object to PositionVelocityActual. Also created a GPSTime object which is populated from the GPRMC command. Also added a GPZDA parsing command, but by default OP GPS doesn't send this command. Made the computation of the world magnetic model use the current time to set the magnetic vector. Note: currently if you set your home location and save it to SD, this will not recompute the vector over time. I'm not sure how sensitive this is.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1435 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 19:59:25 +00:00
stac
a19c225697
ahrscomms: reduce retries and retry delay
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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
2010-08-27 02:15:02 +00:00
stac
24a4c6b791
gps: Update GPSPosition instead of PositionActual
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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
2010-08-27 02:15:00 +00:00
stac
47df1faa8d
ahrs: whitespace adjustments
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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
2010-08-27 02:14:58 +00:00
stac
670452307d
ahrs: remove unnecessary memset() of rx message buffer
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1429 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 02:14:56 +00:00
stac
0a7088c24a
ahrs: fix type on flags, remove redundant code
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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
2010-08-27 02:14:54 +00:00
peabody124
a0b21bef45
Flight: Got read only check working for UAVObjects and modified the ManualControl Module to use it. Edouard - please check over this.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1427 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 00:15:48 +00:00
peabody124
a8df6e2c4d
OP-128 Flight Documentation: Added description to all the UAVObject (now mandatory) and changed the parser to populate this information into the autogenerated files. Also added a function to test if an object is read only for flight.
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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
2010-08-27 00:15:42 +00:00
zedamota
7f76b7f5a0
OP-21/Flight Bootloader - Fixed an error introduced on last rev.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1417 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-26 16:26:51 +00:00
peabody124
c07e1416b7
AHRS: Serial output option for AHRS and corresponding serial logger.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1414 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-26 06:25:11 +00:00
andrew
2361af19fb
First attempt at ccpm mixing for single rotor helicopter.
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This has throttle and pitch curves implemented and can be configured for many swashplate configurations.
This has flown a 450 clone (with training wheels) and the ccpm worked well.
Still need to neaten up some stuff and work out how to implement yaw stabilisation in manual mode.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1412 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-26 06:00:57 +00:00
zedamota
d71ade8227
OP-21/Flight Bootloader - Now if USB not connected it jumps directly to FW. If connected it will wait 5 seconds for command, then jumps. Also changed led flashing to PWM and created a timer for the delays.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1409 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-25 22:31:14 +00:00
peabody124
8dd81443be
OP-122 Flight: Same changes regarding 62 byte limit applied to the receiving code on the device.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1405 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-25 05:32:56 +00:00
peabody124
dd491160c5
OP-121 OP-122 Flight: Improved the Blocking/Nonblocking behavior for USB to be correct. I'd like a mutex still around the transmission buffer but don't want to slow down the interrupt.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1404 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-25 05:32:54 +00:00
peabody124
4ca10e92c7
OP-121 OP-122 Flight: Improved USB HID communication.
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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
2010-08-25 05:32:52 +00:00
andrew
b467b419e6
OP-103, UAVObject update.
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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
2010-08-25 00:55:15 +00:00
zedamota
6da48dcc1a
OP-21/Flight Bootloader Changed packet size to 64byte
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1398 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-24 18:26:44 +00:00
zedamota
f91ae974a7
OP-21/Bootloader Small change. Now turns off interrupts before jumping to code.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1393 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 21:30:09 +00:00
peabody124
2db294caf7
OP-125 Flight: Changed GPS stack size to a bit closer to what the internal model needs to get rid of out of memory warning, but it could still use 1k less if it pulled all the constants from flash when needed and computed the time difference when called. Also changed ManualControl so it checks the active control values to determine the warning, so if GCS is controlling the warning light goes out.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1387 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 06:03:19 +00:00
peabody124
beac0c0ea9
AHRS: Get the signs for the simple algorithm correct
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1385 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 04:12:14 +00:00
peabody124
e94d3d3846
AHRS/Flight: Allow selecting simple algorithm as well as INSGPS
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1384 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 03:51:08 +00:00
peabody124
bd8fffe4d0
AHRS/Flight: Renamed AttitudeSettings to AhrsSettings to make it more intuitive. Added the ability to change the algorithm from GCS.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1383 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 03:39:13 +00:00
peabody124
b32184d1ec
OP-119 Flight: Converted HomeLocation object to use cm for the home base instead of floating point.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1382 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 02:49:53 +00:00
peabody124
2596f43511
OP-120 AHRS: Moved conversion of quaternion to RPY over from AHRS to OP to minimize transfer and computational load on AHRS.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1381 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 02:35:39 +00:00
peabody124
0d11493337
Flight: Added mixer settings for elevon. Also added bound checking on servo outputs which becomes important when multiple things are mixed and you want to use the full range.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1380 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 01:54:58 +00:00
cwabbott
19f6db79be
Added ManualControl to the win32 and posix makefiles. Also fixed a compiler error about "No newline at end of file."
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1379 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 00:52:56 +00:00
zedamota
002c746076
OP-21/Bootloader deleted old one, commited new one. Partly functional, but slow due to current packet size.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1378 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-22 19:51:55 +00:00
peabody124
2e705e6836
OP-116 AHRS: Made data going to the AHRS in NED format. Once the final estimate object is created I'll repeat the same calculation to populate it, although we want to avoid going back to LLA format on the OP because the CPU requirements are excessive.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1376 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-22 19:01:36 +00:00
zedamota
6adc834d9b
OP-21/Flight Prep work for the USB HID bootloader
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1375 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-22 18:57:29 +00:00
zedamota
2daa229a2d
OP-21/Flight Prep work for the USB HID bootloader
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1374 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-22 18:56:00 +00:00
zedamota
b0d1d0dd09
OP-21/Flight Prep work for the USB HID bootloader
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1373 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-22 18:54:57 +00:00
peabody124
60332efec0
OP-118 AHRS: Missed the auto generated files for the default values. Also no idea why last patch changed navigationsettings - either make uavobjects does differently on different platforms or someone forgot to run make uavobjects.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1372 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-22 17:02:12 +00:00
peabody124
0862d64b8c
OP-118 AHRS: Made default calibration values friendly for people. Also fixed bug that would repeatedly trigger calibration when it was requested.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1371 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-22 16:43:00 +00:00
sambas
7859a130e8
Fixed bug that caused Object Browser to crash
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1369 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-22 08:59:18 +00:00
pip
78868216ca
Fixed UART-1 structure definition error (pios_usart_cfg pios_usart_serial_cfg)
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1368 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-22 08:59:00 +00:00
cwabbott
e27adf700b
Fix posix and win32 makefiles for recent UAVObject changes.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1367 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-22 00:59:12 +00:00
peabody124
5662d85c4e
OP-120 AHRS: Tightened up the communication protocol so it runs more quickly. Looks ok in gdb but GCS not crashing right now (rendering error) so I can't test it properly.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1366 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-22 00:21:54 +00:00
corvus
9bb085b7fc
Documentation: Added Flowchart for HiTL mode
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1365 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 23:05:12 +00:00
peabody124
8897c441fa
OP-118 AHRS: Added AHRSCalibration object and messages associated with that to AHRS. Also made AHRS run calibration only when requested. We will create a GCS plugin that runs through computing the calibration settings. To compute the variances on the AHRS set the measure variances to true, wait ten seconds, then set it to false to read it back.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1363 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 21:46:02 +00:00
patrick
564a68e825
PipBee: Updating project files to fix compile errors. Routine just toggles each LED successively. There is a known error when enabling the PIOS_COM_Init(); or more specifically PIOS_USART_Init(); which blocks at some point when called. This may be due to the pios_board.c defines which I will check later today.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1361 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 20:01:37 +00:00
pip
227b389e99
Attempt 2 - trying to get LEDs to flash
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1359 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 18:14:18 +00:00
pip
519ce846ee
Just trying to get a simple 'Hello World' program going (LED flashing)
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1358 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 17:14:34 +00:00
stac
b36d251bd9
ahrs: remove debug code in attitude handler
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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
2010-08-21 16:23:14 +00:00
stac
26e257d340
spi: slow down OP <-> AHRS spi link
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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
2010-08-21 16:19:20 +00:00
stac
635df28c34
GPSPosition: Add new UAVObject for GPSPosition
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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
2010-08-21 16:19:18 +00:00
stac
7f85143bd2
OPModule: updated GPSPosition object
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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
2010-08-21 16:19:16 +00:00
stac
f388deef34
hmc5843: standardize line endings
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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
2010-08-21 16:19:14 +00:00
stac
a960d6e1b1
GPS: fix typo desimal->decimal throughout
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1352 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 16:19:12 +00:00
stac
7b2111e512
baroaltitude: rename AltitudeActual to BaroAltitude
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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
2010-08-21 16:19:10 +00:00
stac
47c36b3da0
i2c: fix error in FSM for restarted reads
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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
2010-08-21 16:19:06 +00:00
stac
98822bff98
i2c: force bus free on warm starts
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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
2010-08-21 16:19:02 +00:00
peabody124
ba4dc14cea
OP-124 Flight: Added fields to the AHRSStatus to track failures of each of the SPI message types.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1347 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 09:21:39 +00:00
peabody124
bb79ba66fa
OP-119 AHRS: Converted the big data structures for the WMM calculation to be allocated on the stack, which forced a dependency on FreeRTOS :-( but keeps things on the heap. Also changed the HomeLocation object to include a Set field. When this is false, OP will try and update it whenever it gets a 3D fix. If it is saved to disk with this field as true, then it won't need to get a lock to send the magnetic flux vector to the AHRS.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1346 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 08:35:44 +00:00
peabody124
4b0a0236d8
OP-119 AHRS: Increased GPS stack size to allow WWM to not overwrite other memory. In addition converted all the calls to use pointers so I will switch to using pvPortMalloc vPortFree to get it off the stack entirely. Now correctly computing flux for me and running.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1345 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 08:35:41 +00:00
peabody124
2031cfe4d0
OP-119 AHRS: Added error counters for the messages as well as changed an error on AHRS echo back for the HomeLocation message.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1344 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-20 22:52:13 +00:00
peabody124
86766ecc14
OP-119 AHRS: Removed WMM computation for now because it was triggering a reset (probably not watchdog) which is weird - it worked on AHRS. Maybe running out of memory? Also added the break on comm error in ahrs_comms to resync with it. I think the message to send the home location is also not working right now. Fixed chip reset.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1340 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-20 14:48:02 +00:00
peabody124
ef0b307353
[OP-119] Flight/AHRS: Created a HomeLocation object which is updated when the GPS gets an initial 3D fix and populated with the information to convert from LLA from the GPS to NED reference frame. Also added a message for passing the MagneticNorth vector to the AHRS and removed that computation from AHRS.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1337 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-19 20:38:27 +00:00
FredericG
fd986f3437
OP-90 Configuring the ET OSD without eLogger. The module can now read a opaque config-file from the SD-card card and send it to the OSD
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1336 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-19 17:32:18 +00:00
peabody124
3c4def13cc
AHRS: Added message to pass GPS information into AHRS from OP. This is then converted
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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
2010-08-19 05:18:34 +00:00
peabody124
8bcff21184
Flight: Made the actuator module perform a get after set to allow configuration module to override servo position.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1329 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-18 20:47:36 +00:00
FredericG
0b9079e277
ET OSD: removed existing debug and config code
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1327 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-18 19:15:43 +00:00
peabody124
cfd20922cd
AHRS: Added the filtered data to the attitude raw object. Even though this seems like an oxymoron it's still raw to the EKF algorithm, and nice to see the real values after filtering to make sure nothing weird is going on. However, if people don't like this I'm open to suggestions/patches. I'd maybe suggest the whole attituderaw object be converted to ahrsraw anyway since it's more like that (eg. none of the values are actually attitude estimates).
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1325 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-18 14:54:24 +00:00
peabody124
fda6fc8371
Merge branch 'mac_support'
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1324 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-18 14:29:53 +00:00
peabody124
450cf07a89
AHRS: Keeping magnetometer I2C address consistent with change to I2C driver.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1323 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-18 13:54:15 +00:00
FredericG
b46bc68e96
"addr" field of I2C transaction struct now takes real I2C address, and not address that is pre-shifted to accommodate the R/W bit
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1321 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-18 10:04:55 +00:00
FredericG
be2f5bbf70
ET OSD: Adapt to new I2C API
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1316 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-18 09:31:54 +00:00
peabody124
4cba4929c2
AHRS: Fixed another bug in decimation code - I stupidly used Matlab 1 based indexing. Adjusted timing of AHRS so it can process all the data and doesn't miss updates. Finally adjust all inputs to INS to have correct sign and orientation (I think). This is X is forward, Y is right, and Z is down which is mentioned in the forum as our standard and fits the algorithm. The magnetic sensor driver should be modified to return in this order (currently reads X,Y,Z registers which maps to left, back, up) but maybe since it's a board dependent orientation it's better where it is.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1315 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-18 05:47:44 +00:00
dschin
9ae9c87574
Six point sensor cal for accels and/or mags
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Uploaded here for now - belongs in GCS probably.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1310 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-17 19:02:07 +00:00
peabody124
64bcebb87a
AHRS: Fixed bug in the downsampling code (used a += a + blah, dumb). Also added initialization of the magnetic flux based on fixed GPS settings (I hope you're near Houston). I will add the GPS communication shortly.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1307 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-17 05:32:07 +00:00
dschin
ae18a8e89c
Added general functions for coordinate conversions
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1306 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-17 00:09:32 +00:00
dschin
4f31bfbef7
Fixes for the project files. Hopefully they don't break someone else.
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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
2010-08-16 23:40:27 +00:00
peabody124
f74268b5e5
Cleanup and documentation.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1304 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-16 16:58:24 +00:00
peabody124
a23f3c66f4
Behaving reasonably, added calibration code which runs by default on startup and take 6 seconds - this will be called from GCS in future and saved to SD card.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1303 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-16 16:58:22 +00:00
peabody124
e0d63103ec
Added a testing function for INS - currently doesn't stabilize for fixed inputs. Fixed two bugs I found in INSGPS (R[10] instead of R[9] initialized and Nav.Pos[2] was set to wrong X element).
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1302 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-16 16:58:20 +00:00
peabody124
d2e234b53a
Adding the code from Dr. Dale to the AHRS. Currently diverges though, but not on the PC.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1301 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-16 16:58:18 +00:00
peabody124
ddbd4f8c80
Simple attitude calculation based on gravity and magnetic vector
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1298 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-15 06:03:44 +00:00
peabody124
3f408ad655
AHRS: Changing AHRS to use a DMA double buffering scheme with continuous samping for the analog data, then a simple fixed point FIR/decimate function. Currently all the oversampling parameters are hard coded as definitions, but will be updated to be configurable via settings.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1297 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-15 04:09:01 +00:00
peabody124
cc2441d41b
Adding ADC downsampling code
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1296 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-15 04:08:57 +00:00
peabody124
ed70cb4794
[AHRS] Missed a setting for the ADC configuration.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1292 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-15 01:12:00 +00:00
stac
3125ecfc4e
AHRSComms: altitude sensor data is now sent to AHRS
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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
2010-08-15 01:02:13 +00:00
peabody124
d4c5dba234
[PIOS] The ADC mappings are strange because of the way the DMA engine works. Basically data is packed 16 bits ADC2 then 16 bits ADC1 channels, so the accels are pins [4 2 0] currently. Also there is inconsistency between the names of the pins in the config file which uses 1 based indexing and the index for PIOS_ADC_PinGet which is zero based and has to account for this interleaving. Probably should adjust config file to be zero based and then to make those pin numbers map to the function call. The actual order they appear is arbitrary as the ADC engine can scan in whatever order.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1290 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-15 00:53:30 +00:00
stac
c3e509c2cb
attituderaw: Replace HeadingActual with AttitudeRaw
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AttitudeRaw now includes:
- magnetometers XYZ (in mG)
- gyros XYZ (raw ADC samples)
- accelerometers XYZ (raw ADC samples)
- placeholder for gyro temp sensors (read as zero for now)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1289 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-14 23:42:14 +00:00
stac
5d635d4233
uavobjects: regenerate existing uavobjects
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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
2010-08-14 23:42:07 +00:00
vassilis
a075eafb98
FlightArchitecture: Updated description of Stabilization module (air/ground speed handled by guidance module)
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1285 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-14 14:19:33 +00:00
vassilis
9cd76fbe46
FlightArchitecture: Added Climbrate and Airspeed fields in Position objects
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1284 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-14 14:04:28 +00:00
vassilis
697b3510fb
Flight: First release of module architecture and dataflow diagram (still work in progress)
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1283 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-14 03:02:21 +00:00
peabody124
a084d21804
Merge branch 'watchdog'
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1281 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-13 05:18:17 +00:00
cwabbott
c1cf1ec71b
PiOS/Win32: Most stable version of port.c so far. Changed Makefile.win32 to use mingw32-gcc to avoid conflicts.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1278 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-12 14:32:52 +00:00
dschin
487b61473e
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1268 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-11 16:18:24 +00:00
cwabbott
1125311083
Fix Eclipse project files.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1252 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-09 18:24:26 +00:00
cwabbott
f041569bfe
fixed a small problem in port.c, also added some debug statements.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1246 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-08 18:38:03 +00:00
stac
f74c6ffdd5
i2c: rewrite i2c layer
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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
2010-08-08 04:15:08 +00:00
stac
b6c1f43145
i2c: Change API to allow passing const config data
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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
2010-08-08 04:14:58 +00:00
stac
f66e2cbd86
battery: fix doxygen header info
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1239 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-08 04:14:56 +00:00
stac
9050b9d26a
ahrs_fsm: minor style fixups
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No functional changes.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1238 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-08 04:14:55 +00:00
stac
a320a3e4d4
build: Turn modules back on
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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
2010-08-08 04:14:53 +00:00
stac
d7856b3d0a
gdb: Do not automatically reset target in gdb init file
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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
2010-08-08 04:14:52 +00:00
zedamota
a688b95eb6
Flight firmware-Start of the new bootloader
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1235 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-08 00:14:22 +00:00
dankers
297985c2a0
Move old bootloader to bootloader.old
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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
2010-08-07 23:55:28 +00:00
cwabbott
6f553efe45
debug_printf() for PiOS.win32. There are still many issues :(.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1226 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-07 02:30:35 +00:00
peabody124
0fdfbb2ffb
Deleting old USB code that I meant to delete a while ago. Also changed names of some functions to OP. Finally fixed the USB taking over PIOS telemetry. Detects the USB cable and that the configuration has been taken by the USB bus.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1217 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-05 23:43:52 +00:00
peabody124
0eac218572
Small update to make ManualControl get the command after setting it. That way if the flight system isn't meant to overwrite it (i.e. flying via GCS) it uses the right value. I think this should actually be the default behavior of UAVObject set... awaiting feedback from Vassilis.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1214 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-05 19:56:36 +00:00
pip
611aee73ad
Removed I2C support from PipBee as it's not used. Added 4 LED definitions.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1208 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-04 17:35:48 +00:00
pip
0331f05e9a
Added extra LED's .. now up to 4 LED's .. (PipBee has 4 controllable LED's)
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1207 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-04 17:32:42 +00:00
cwabbott
d910b8f756
slight changes to get PiOS.win32 to compile
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1205 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-04 14:21:58 +00:00
dankers
1a0f2e81e8
Foundations for PipBee modem code.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1203 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-04 09:37:09 +00:00
cwabbott
c2508bbb9e
PiOS for win32
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1200 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-03 19:29:14 +00:00
dankers
a3c1bbfc95
Remove no longer needed SDCard Files
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1190 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-01 14:00:09 +00:00
sambas
7f6336d324
OP-22 Flight/PiOS: Spektrum reworked, input is mapped to old aux in receiver connector, works nicely with calibration plugin. Also bind works, just needs config flag to bind on powerup
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1189 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-01 10:34:07 +00:00
peabody124
47da7326e7
Damn thought I'd commited this
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1176 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-29 13:50:24 +00:00
peabody124
23ed7c8435
Removing the device_desc line since it seems to advertise differenetly across platforms and openocd doesn't require it. Please revert this change if it starts block other OS but I don't think it will
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1175 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-28 21:29:27 +00:00
peabody124
7e6afe5a75
Updated HID code to do packet processing in OS indepdent layer. Should now work on all platforms. Please test and get back to me. Maximum object size of 62 bytes currently.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1174 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-28 18:55:04 +00:00
corvus
02a78f0470
moved Vassilis stabilization module as of r1153 into Stabilization/simple
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1173 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-28 15:03:55 +00:00
corvus
9ad9ffd466
moved new stabilization code into experimental subdirectory
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1172 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-28 15:00:51 +00:00
corvus
c8486d08e4
Fixed some bugs in OpenPilot Core.
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- 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
2010-07-28 14:34:48 +00:00
dankers
32e6d53b23
Small comment issue that was causing build to fail
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1170 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-28 11:28:18 +00:00
edouard
9145a4b1a6
Doxygen work: created "OpenPilot System" group for system libraries and core files. Changed a typo on the Osd Doxygen. Let me know if you're OK with this approach.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1169 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-28 07:28:21 +00:00
peabody124
6f63c10dca
Removing more debugging comments
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1168 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-27 23:48:12 +00:00
peabody124
3144e3157c
Added back checks on USB cable so falls back to serial telemetry if not plugged in
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1167 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-27 23:11:28 +00:00
peabody124
27bcd20882
HID working on Mac for telemetry. Need to tweak GCS code for Win/Linux
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1166 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-27 20:50:20 +00:00
peabody124
dac82b3c17
Getting closer for HID. Now a well behaved HID device. Just need to update GCS plugin for new data format and make PJRC wrappre work properly on Mac
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1165 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-27 19:09:55 +00:00
peabody124
27d429fe18
Got better HID report design with valid data length embedded in report
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1164 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-27 17:41:56 +00:00
FredericG
66e22b56ce
Fix in bmp085 driver. Was not checking correctly if lock on I2C succeeded => caused an assert when used in combination with other I2C devices
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1163 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-27 09:52:45 +00:00
FredericG
efaa6c910b
MKSerial: also report ground-speed
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1162 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-27 09:49:47 +00:00
peabody124
eb41a84acf
And this
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1161 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-27 08:09:43 +00:00
peabody124
7d7802593e
Oops, sorry missed these files
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1160 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-27 08:08:50 +00:00
peabody124
fe616df48d
Further tweaks. Will start trying to get reliable communication with larger report size tomorrow
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1159 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-27 07:56:50 +00:00
peabody124
840f7ff456
A version of the firmware that successfully Acks back and forth over HID. Still need to refine the PIOS interface and make GCS strip out the report ID data (if necessary). Also note: currently if you run too many modules the watchdog timer kicks in. I haven't determined if this is due to an interrupt binding up or what (and why it doesn't happen more often since I can't find any code that explicitly resets the WWDG).
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1157 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-27 06:22:34 +00:00
peabody124
d89cd43cd1
Further tweaks to the HID update
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1156 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-27 05:28:04 +00:00
peabody124
c46dcea73a
Pretty major update of the USB HID core. Removed a lot of old code related to custom drivers and BSL (which will be brought back under HID). Device enumerates but still not communicating. Hopefully nothing broken, lots changed.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1155 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-27 03:19:07 +00:00
corvus
2621d07574
Added UAVObjects: FlightSituationActual NavigationSettings NavigationDesired
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- 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
2010-07-26 21:26:28 +00:00
dankers
dab978cf98
DOh! should have been part of last commit.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1151 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-23 04:35:10 +00:00
dankers
1fb8fc797c
Floss-JTAG file for new Revision B of Floss-JTAG (Rowan JTAG).
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1150 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-23 04:34:32 +00:00
dschin
e5c19a38c5
In the the \OpenPilot\flight\Project\OpenOCD directory there were two JTAG debugging config files:
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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
2010-07-17 22:43:26 +00:00
peabody124
d928676f5e
More documentation updates, standardizing format to include addtogroup at the beginning of headers so files are associated with modules
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1121 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-16 19:53:35 +00:00
sambas
f5c24d169e
flight/osd: Parse config into setupbits and parameter slots
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1115 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-16 15:24:29 +00:00
peabody124
99e94228a9
More doxygen updates
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1106 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-16 05:31:11 +00:00
peabody124
1cd81e211f
Added Doxygen comments for OpenPilot modules
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1101 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-16 01:02:34 +00:00
peabody124
5c41f95a1e
Updating OSX project file for new file locations
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1100 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-15 02:16:54 +00:00
peabody124
ebeffa4392
Linux compiler error fix
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1097 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-14 15:45:36 +00:00
peabody124
700af355d4
Moved platform dependent configurations to FreeRTOSConfig.h and set windows to run without preemption to reduce CPU usage
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1096 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-14 15:34:57 +00:00