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
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
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
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
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
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
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
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
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
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
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
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
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
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
vassilis
9f2a01a78a
Flight/Servo Fix Servo driver buffer overflow, was messing up the I2C and altitude readings, now working fine. Servo index used to be 1-8 but the Servo driver was indexing a buffer out of bounds. Changed everything to use index 0-7 for servo outputs.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1061 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-11 01:54:43 +00:00
vassilis
106bdca20e
Flight/Actuator Go to failsafe actuator outputs when a command is not received
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@763 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-06-14 02:00:16 +00:00
vassilis
6b6740109e
OP-32 Flight Initial release of Actuator (ServoOut) and ManualControl (ServoIn) modules, still work in progress (not fully tested).
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@632 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-17 01:58:38 +00:00
