James Cotton
62117430cf
Flip the sign of throttle in the guidance altitude control
2012-04-03 03:42:34 -05:00
James Cotton
7f226867c6
Some bug fixes for revo attitude estimation.
2012-04-03 03:42:33 -05:00
James Cotton
d4488512c0
Add RTH waypoint action
2012-04-03 03:42:33 -05:00
James Cotton
3eac69e953
Create stub for waypoint navigation
2012-04-03 03:42:32 -05:00
James Cotton
c8ceea72e6
Increase the telemetry queue size from revolution
2012-04-03 03:42:32 -05:00
James Cotton
af9f36d7df
Improve the attitude initialization for all of the modes
2012-04-03 03:42:32 -05:00
James Cotton
3888d6ff69
Changed settings that makes updates smoother
2012-04-03 03:42:31 -05:00
James Cotton
319b53a342
Make sure full initialization routine for INSGPS occurs each time it is
...
restarted.
2012-04-03 03:42:31 -05:00
James Cotton
372f959c37
Refine some stack sizes
2012-04-03 03:42:30 -05:00
James Cotton
54880c83a0
Fix some task sizes and the memory limits
2012-04-03 03:42:30 -05:00
James Cotton
56af74d17c
Fix map to work with the new HomeLocation (no ECEF)
2012-04-03 03:42:30 -05:00
James Cotton
a83fb019f6
When in complimentary filter mode pass the GPS information straight
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through to Position Actual
2012-04-03 03:42:29 -05:00
James Cotton
98b1a21921
Fixup: Shouldn't update gps until home location is set
2012-04-03 03:42:29 -05:00
James Cotton
7a3ec3e173
Some code cleanup to get rid of some warning messages
2012-04-03 03:42:29 -05:00
James Cotton
23625904c5
Remove the now unused ECEF and Rne fields from HomeLocation. Also reenable
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calculation of the WMM and HomeLocation from the GPS code for revolution.
2012-04-03 03:42:28 -05:00
James Cotton
71d0180d45
Use the sensor variances from object
2012-04-03 03:42:28 -05:00
James Cotton
ce2d1f94f6
Better hardcoded constants for INS variances
2012-04-03 03:42:27 -05:00
James Cotton
de7fc81795
Fixes to the GPS LLA to NED translation
2012-04-03 03:42:27 -05:00
James Cotton
e32ab9342c
Shuffle some stack sizes around
2012-04-03 03:42:26 -05:00
James Cotton
4cadb7ec0e
Forgot to initialize revo settings object
2012-04-03 03:42:26 -05:00
James Cotton
337d5b7079
Enable guidance in revo. Update manual control to set the position desired
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when the switch is flipped.
2012-04-03 03:42:25 -05:00
James Cotton
0eedaa1250
Change how we convert LLA to NED. Now it is done with a taylor expansion
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around the home LLA coordinate to avoid the conversion into ECEF coordinates.
This has the benefit of not requiring double precision math and uses less
operations.
Now we should remove the Rne and ECEF fields from HomeLocation as they are
unused
2012-04-03 03:42:25 -05:00
James Cotton
e8cc7748af
Clean up some unused variables in attitude code
2012-04-03 03:42:24 -05:00
James Cotton
a9aa6b696b
Add object for setting the fusion algorithm
2012-04-03 03:42:24 -05:00
James Cotton
1911c7360d
New NEDPosition object which is the transformed GPS location
2012-04-03 03:42:24 -05:00
James Cotton
e3c36ac99a
Change requires for GSP updated to be set to true (wrong sign on PDOP check)
2012-04-03 03:42:23 -05:00
James Cotton
1630267324
Some small updates to 16 state INS
2012-04-03 03:42:23 -05:00
James Cotton
093d52b002
More simulation work
2012-04-03 03:42:23 -05:00
James Cotton
9e4651ab80
INS working on Revo
2012-04-03 03:42:22 -05:00
James Cotton
7e36d086de
More work on INS algorithm to force constants to single
2012-04-03 03:42:22 -05:00
James Cotton
137429d92d
More work for the simulation
2012-04-03 03:42:22 -05:00
James Cotton
96edea9d4b
Some fixes to GPS parsing
2012-04-03 03:42:21 -05:00
James Cotton
55ee568fe2
Work on the INS algorithm
2012-04-03 03:42:21 -05:00
James Cotton
7034a45e44
Force more calculations to explicitly being float
2012-04-03 03:42:20 -05:00
James Cotton
6f34153ae7
Check in some code for simulating the INSGPS
2012-04-03 03:42:20 -05:00
James Cotton
8c8224c122
Use a bigger event queue for overo logging to avoid event system warnings, and
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add code to shortcircuit formatting a packet if it will not fit.
2012-04-03 03:42:19 -05:00
James Cotton
e82323af32
Make revolution work with the FreeRTOS queue based MPU6000 driver
2012-04-03 03:41:52 -05:00
James Cotton
bb41bc1472
Add no for DIAG_TASKS to make file to make it easier not to miss.
2012-04-03 02:07:04 -05:00
James Cotton
d7cb232315
Add MPU6000 accel range to config structure. Also put in correct values.
2012-04-03 02:07:04 -05:00
James Cotton
3346e848e0
Attitude error timeout was 2 ms when sensors at 500 Hz. Caused lots of errors
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and overwhelmed event system.
2012-04-03 02:07:04 -05:00
James Cotton
3f22ef8c66
Slow MPU6000 on CC3D to 500 Hz
2012-04-03 02:07:04 -05:00
James Cotton
35854b35f6
MPU6000 accel value coming out twice as high as it should. Need to store scale
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in cfg structure to fix this properly.
2012-04-03 02:07:04 -05:00
James Cotton
8032130769
Slow down gyro a bit on CC to give the CPU some breathing room. Might need to
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come down more.
2012-04-03 02:07:03 -05:00
James Cotton
a960f3d07e
Switch the MPU6000 driver to using a FreeRTOS queue. Need to update Revo code
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to take advantage of this.
2012-04-03 02:07:03 -05:00
James Cotton
1415728762
Get the MPU6000 CC3D working. Right now the ADC system is commented out, which
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will break regular CC.
2012-04-03 02:07:03 -05:00
James Cotton
a0b7453580
Make the firmwareIAP variable not a global
2012-04-03 02:07:03 -05:00
Stacey Sheldon
9b33be5d65
ef: pad any gaps between the BL bank and the FW bank
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The Entire Flash (EF) image for revo has a gap between
the end of the BL bank and the start of the FW bank.
This fills the gap with 0xFF and properly aligns the
FW image in flash.
2012-04-01 22:39:27 -04:00
Stacey Sheldon
eab923fee0
revo: move fw image into 128KB sectors
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This saves the more versatile 16KB and 64KB sectors
for other purposes.
2012-03-28 21:52:43 -04:00
a*morale
8c77b01f9f
fixed indentation
2012-03-27 10:06:27 -05:00
a*morale
df9f3667d0
Added Mixer9/Mixer10 to mixerstatus.xml
2012-03-27 10:06:21 -05:00
