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752 Commits

Author SHA1 Message Date
James Cotton
420829e549 Update the default AltitudeHoldSettings to something that works well on my quad 2012-05-12 13:12:56 -05:00
Brian Webb
1f5dbcf57c Mostly complete PipX configuration GUI. 2012-05-11 17:51:18 -07:00
James Cotton
2857b58f8e Migrate path planner from position desired to path desired 2012-05-08 03:04:44 -05:00
James Cotton
37bb2cfb77 Finish getting rid of PositionDesired in favor of PathDesired and add the 
ability to move the magic waypoint with the transmitter
 2012-05-08 02:42:58 -05:00
James Cotton
a8bdd4a44a Coalescene PositionDesired and PathDesired into PathDesired and add a mode 
field to indicate how it should be interpreted.
 2012-05-08 02:29:58 -05:00
James Cotton
cbedb5b53b Move Guidance to VtolPathFollower to make room for FWPathFollower 2012-05-08 02:29:50 -05:00
James Cotton
e4cec48f35 Update the logging mode of a few objects for the meta data reduction 2012-05-07 22:22:30 -05:00
James Cotton
0f2c41ac5d Merge branch 'revolution' into navigation 
Conflicts:
	flight/Modules/ManualControl/manualcontrol.c
	flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
 2012-05-07 21:53:10 -05:00
Oleg Semyonov
a3906aa7ea Merge remote-tracking branch 'origin/hhrhhr/AeroSimRC_plugin' into os/aerosimrc 2012-05-07 16:09:35 +03:00
Brian Webb
454144f46c Pairing and saving settings working. 2012-05-06 20:47:21 -07:00
Brian Webb
480371a43e Resolving merge with origin/next 2012-05-05 09:53:54 -07:00
Brian Webb
e83fec0463 Merged latest origin/next. 2012-05-05 09:40:44 -07:00
Brian Webb
44d95003f3 Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2 2012-05-03 17:56:08 -07:00
James Cotton
297ed01aee Update the logging modes for these objects to match the new meta information 2012-05-03 17:00:41 -05:00
James Cotton
3155324384 Merge branch 'next' into cc3d 
Conflicts:
	Makefile
	ground/openpilotgcs/src/plugins/config/configahrswidget.cpp
	shared/uavobjectdefinition/ahrscalibration.xml
	shared/uavobjectdefinition/ahrssettings.xml
	shared/uavobjectdefinition/attituderaw.xml
 2012-05-03 16:31:49 -05:00
Brian Webb
8da4b9c745 Merge remote-tracking branch 'origin/stac/pt-win-vcp-fix' into Brian-PipXtreme-V2 2012-05-02 06:42:30 -07:00
Brian Webb
f726cc6a9d Added a RTC supervisor timer to RFM22B driver. 2012-04-21 18:31:49 -07:00
Brian Webb
eb6f175af4 Fixed metadata settings in object browswer, and removed update mode never from all uavobjects that used it (changed to manual). 2012-04-21 11:59:14 -07:00
Stacey Sheldon
41d4ba4b1a hid+vcp: change default USB descriptor to HID+VCP 
Now that we have a USB descriptor for HID+VCP that works
on Ubuntu 11.10, MacOS 10.7.3, Win7-SP1-32bit,
WinXP-SP3-32bit, Win7-SP1-64bit.

VCP will is known to not work on WinXP without service pack 3.
 2012-04-20 08:39:04 -04:00
Laura Sebesta
48d018f9bb Fixed [cm] vs. [m] unit discrepencies in PFD and xml files, as per revo update to [m-kg-s] units. 2012-04-20 06:11:44 -04:00
Brian Webb
19166cc830 Added UPDATEMODE_THROTTLED to UAVObjects update modes. 2012-04-18 18:47:13 -07:00
Corvus Corax
1c3dc9c9e1 Airspeed: fixed calculation math - no more zero zone 2012-04-18 14:41:41 +02:00
Corvus Corax
d125abf335 Baro calibration 2012-04-18 10:48:31 +02:00
Brian Webb
62c5036220 Added PipXStatus and PipXSetting UAVobjects and some initial support for them. 2012-04-17 17:36:05 -07:00
Corvus Corax
ea4ef46873 added airspeed module to taskinfo 2012-04-17 18:59:27 +02:00
Corvus Corax
edf26d15e6 Airspeed: some more fixes 2012-04-17 16:38:53 +02:00
Corvus Corax
5159d2029b new airspeed module - still needs matching PIOS driver from stac 2012-04-17 15:54:05 +02:00
James Cotton
af02eb6517 Merge branch 'sim' into testing 
Conflicts:
	ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
 2012-04-14 14:40:43 -05:00
James Cotton
ce6def870b Add feedforward component to guidance 2012-04-14 13:38:10 -05:00
James Cotton
be21ec441e Add ability to run guidance based on raw GPS velocity instead 2012-04-14 13:34:30 -05:00
James Cotton
26b73e3c8b Add path navigation mode to guidance. Works well in simulation. 2012-04-10 01:48:03 -05:00
James Cotton
dbcb47e249 Merge branch 'D-Lite/ubx-parser' into revolution_ubx 2012-04-09 17:34:34 -05:00
Werner Backes
56108b5381 Introduced GPSVelocity UAVObject 2012-04-09 22:59:38 +02:00
James Cotton
81fcfd45c4 Some work on the code to initialize the INSGPS and allow setting the variance 
of the baro
 2012-04-07 00:37:42 -05:00
James Cotton
ea13536da0 Take quidance settings from simulation and make the INSGPS pick up the GPS 
noise from a setting.
 2012-04-06 12:59:49 -05:00
James Cotton
ebb78ad7f0 Forgot to check in the attitude simulated xml 2012-04-03 09:19:46 -05:00
James Cotton
d93ee95a4a For now update waypoints periodically or GCS not aware of them 2012-04-03 03:42:35 -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
23625904c5 Remove the now unused ECEF and Rne fields from HomeLocation. Also reenable 
calculation of the WMM and HomeLocation from the GPS code for revolution.
 2012-04-03 03:42:28 -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
eccdab9da2 Merge remote-tracking branch 'origin/kenz/GroundVehicle2' into next 2012-03-31 18:42:35 -05:00
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
James Cotton
1bb1ef470e Merge remote-tracking branch 'origin/amorale/OP-627' into next 2012-03-27 10:05:07 -05:00
Laura Sebesta
88a46f9062 Merge GroundVehicle into latest next 2012-03-25 12:21:58 -04:00
Sambas
4c6ee740e2 Merge remote-tracking branch 'remotes/origin/james/revolution' into osd_test_v1 2012-03-25 14:28:25 +03:00
James Cotton
c7ff2a46c7 Merge remote-tracking branch 'origin/laurent/modelview' into revolution 
Conflicts:
	flight/CopterControl/Makefile
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
 2012-03-22 02:58:24 -05:00
James Cotton
6350ec575e Merge remote-tracking branch 'origin/os/features/stick-deadband-next' into next 
Conflicts:
	ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
 2012-03-21 16:03:40 -05:00
James Cotton
f4663b98e4 When the event system or object manager has an error store the object ID in the 
SystemStats.
 2012-03-20 23:18:07 -05:00
a*morale
92f4dd4f1a fixed indentation 2012-03-20 00:56:42 +01:00
a*morale
702114763f Added Mixer9/Mixer10 to mixerstatus.xml 2012-03-19 23:49:47 +01:00
James Cotton
bbbca319d8 Merge commit 'c4df0c0ceff8ba985bb20d815f27910b9e59d992' into revolution 2012-03-11 13:14:06 -05:00
Alessio Morale
c4df0c0cef Support for port remapping on serial ports 
Support for receiver configuration (PPM, PWM and DSM)
There are still problems with Flexi port (not sure if related to a problem with my board) and Uart/SBUS that has the input always inverted.
 2012-03-11 18:38:49 +01:00
Sambas
742f3ff24d Merge remote-tracking branch 'remotes/origin/james/revolution' into osd_test 
Conflicts:
	ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp
 2012-03-11 09:39:51 +02:00
James Cotton
f4705551b6 Update task info to cover the AltitudeHold module 2012-03-10 11:14:30 -06:00
Dmitry Zaitsev
933dfa8609 GCSReciver: fix UI and increase number of channels 2012-03-10 06:00:00 +04:00
Sambas
91a9e45888 Updates, first UAVtalk client test 2012-03-05 19:53:52 +02:00
James Cotton
f20e5da9ed Merge branch 'next' into revolution 
Conflicts:
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configrevowidget.h
	ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp
 2012-03-03 11:41:41 -06:00
Oleg Semyonov
2271b95816 Merge remote branch 'origin/next' into os/features/stick-deadband-next 
Conflicts:
	ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
	ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
	ground/openpilotgcs/src/plugins/config/configtaskwidget.h
 2012-02-23 08:32:27 +02:00
Oleg Semyonov
e62cc8914c Merge remote branch 'origin/next' into os/features/pid-tuning-from-transmitter-next 
Conflicts:
	flight/CopterControl/Makefile
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
	ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
	shared/uavobjectdefinition/hwsettings.xml
 2012-02-22 23:03:17 +02:00
Oleg Semyonov
403e9cd220 TxPID module: add ILimit values to the list of settings 2012-02-21 19:57:10 +02:00
James Cotton
94d76ea62f Bump overo submodule 2012-02-12 11:01:57 -06:00
James Cotton
f23f53dc4e Add settings for the altitude kalman filter settings and init the state when 
first measurement arrives
 2012-02-12 09:07:27 -06:00
James Cotton
ab41bae071 Separately smooth the error estimate from the derivative 2012-02-08 11:15:33 -06:00
James Cotton
c6b1d6b8df Rework the altitude hold code a bit 2012-02-08 09:42:10 -06:00
James Cotton
49a03a868b Merge branch 'altitudehold' into revolution_overo 
Conflicts:
	flight/OpenPilot/UAVObjects.inc
	flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
	flight/Revolution/Makefile
	flight/Revolution/ins.c
 2012-02-07 23:00:29 -06:00
zedamota
5cfd763f2a Bug fixes and showcase UI setup (partial). 2012-02-07 20:29:32 +00:00
James Cotton
221a0c5e53 Add the number of dropped updates to the overosync stats 2012-02-07 09:13:26 -06:00
zedamota
e2c6a9d58a Added Dado's UI. 
Several scale bug fixes.
Added lots of debug info, will clean later.
 2012-02-06 17:33:54 +00:00
James Cotton
dbcb499d7f Add object to monitor the overo link status. Current just records the bytes/s 
being sent and the connected status (based on sending more than 500 bytes per
second)
 2012-02-06 09:37:31 -06:00
James Cotton
4e190f99e2 Improved the revo overosync code to put multiple uavobjects into a packet 2012-02-04 12:06:03 -06:00
James Cotton
bb0bfe0ae4 Merge branch 'next' into revolution3 
Conflicts:
	flight/Bootloaders/CopterControl/Makefile
	flight/Bootloaders/PipXtreme/Makefile
	flight/Bootloaders/Revolution/inc/pios_config.h
	flight/CopterControl/Makefile
	flight/INS/inc/pios_config.h
	flight/Libraries/taskmonitor.c
	flight/Modules/Altitude/altitude.c
	flight/Modules/Attitude/attitude.c
	flight/OpenPilot/Makefile
	flight/OpenPilot/Makefile.posix
	flight/OpenPilot/System/inc/pios_usb_board_data.h
	flight/OpenPilot/System/inc/taskmonitor.h
	flight/OpenPilot/System/pios_board.c
	flight/OpenPilot/System/taskmonitor.c
	flight/PiOS/Boards/STM32F4xx_Revolution.h
	flight/PiOS/STM32F4xx/pios_bmp085.c
	flight/PiOS/STM32F4xx/pios_iap.c
	flight/PiOS/pios.h
	flight/Revolution/System/inc/pios_config.h
	flight/Revolution/System/inc/taskmonitor.h
	flight/Revolution/System/taskmonitor.c
	ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp
	shared/uavobjectdefinition/systemalarms.xml
	shared/uavobjectdefinition/taskinfo.xml
 2012-01-21 11:27:03 -06:00
Stacey Sheldon
64202ce092 Merge remote-tracking branch 'origin/stac/i2c_decoupling' into next 2012-01-17 22:35:36 -05:00
Stacey Sheldon
ad141c908a Merge remote-tracking branch 'origin/stac/usb-composite-device-v2' into next 2012-01-17 22:26:38 -05:00
Oleg Semyonov
912bea559f Add stick deadband option for Roll/Pitch/Yaw inputs to firmware 2012-01-15 21:13:22 +02:00
Oleg Semyonov
887a8e89ec TxPID: fix units for ThrottleRange 2012-01-15 00:34:19 +02:00
Stacey Sheldon
717c1311e6 altitude: allow altitude to be an optional module 2012-01-14 15:38:56 -05:00
Stacey Sheldon
a51bf72bc7 usb: allow runtime selection of USB descriptors via hwsettings 2012-01-14 14:28:15 -05:00
James Cotton
d2ce7761c5 Add derivative term 2012-01-03 12:37:18 -06:00
Stacey Sheldon
025ed0f43c Merge remote-tracking branch 'origin/stac/usb-composite-device-v2' into next 
Conflicts:
	HISTORY.txt
 2012-01-03 00:02:45 -05:00
Oleg Semyonov
77a459af5c Merge remote branch 'origin/next' into os/TxPID-module 2012-01-02 14:49:54 +02:00
Oleg Semyonov
b01e332e03 CameraStab: rename UAVO field 2012-01-02 14:27:05 +02:00
Oleg Semyonov
e11904c42f CameraStab: change ResponseTime type from float to int16 2012-01-02 14:26:56 +02:00
Oleg Semyonov
2eb5130a7c CameraStab: new camera stabilization mode and low-pass stick input filtering 
This patch is based on work of Crubier (LPF) and Cossacs (AxisLock mode).
I've just reworked it a bit by adding a dynamic memory allocation for
static module data.
 2012-01-02 14:26:54 +02:00
James Cotton
ef05cafaca Merge branch 'revolution' into altitudehold 
Conflicts:
	flight/Libraries/insgps13state.c
	flight/OpenPilot/Makefile
	ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
 2012-01-01 10:50:35 -06:00
Stacey Sheldon
5c0921e92c fault: add optional fault insertion module 
This module and its associated settings uavo can be used
to test various fault conditions during initialization.

To enable the module, add the TEST_FAULTS=YES to your make
command line:
  make fw_coptercontrol TEST_FAULTS=YES

Once this module is part of your firmware load, you can
enable it in the hwsettings uavo and then select the
type of fault to insert by editing the faultsettings uavo.
On the next reset, the configured fault will be inserted
into the init sequence to allow you to test the boot fault
recovery code.

With a fault inserted, you should see 3 failed boot attempts
followed by a successful (recovery) boot.  You will see the
BootFault alarm set to Critical, and the RAM version of your
hwsettings will be reset to defaults.  Since the defaults have
all optional modules disabled, the fault module will be out of
the way during the recovery boot.

You can then "Load" the flash version of the hwsettings uavo
in the object browser, disable the Fault module and then "Save"
the hwsettings module back to the board.  The next reset will
boot normally without the fault inserted.
 2011-12-30 23:05:39 -05:00
Stacey Sheldon
f886af186d bootfault: add support for recovery from init failures 
After 3 failed warm start attempts, the init sequence
will force the RAM version of the HWSettings object
to its defaults.  This should allow a user to regain
connectivity to a board that is continually faulting
during init.

This is accomplished by:
 - Incrementing a boot counter that is stored in the
   STM32 BKP registers.  These registers survive a
   warm start but are cleared on a cold start (ie. powerup).
 - On multiple failures, force hwsettings to defaults
   and raise the (new) BootFault alarm to prevent arming.
 - Resetting the boot counter whenever the system manages
   to successfully run the System Module task.

NOTE: This does not actually change the hwsettings object in
      flash.  That's up to the user.

This is intended to catch ONLY faults during early initialization.
It should not be used to recover from faults after the application
is up and running.
 2011-12-30 23:05:38 -05:00
Stacey Sheldon
60969b57d8 usb-hid: split apart hwsettings for HID and VCP ports 
This allows the HID and VCP functions to be configured
separately so that additional functions can be more easily
bound to the VCP port.

This change also provides a safety net that forces either
the HID or VCP to be configured for USB Telemetry.  This
safety net may vanish in the future once the GCS can check
it.  Disabling USB Telemetry entirely would save more than
400 bytes of RAM.
 2011-12-30 23:05:37 -05:00
Stacey Sheldon
ab135aa00b com-bridge: Make com-bridge an optional (and configurable) module 2011-12-30 23:05:36 -05:00
Stacey Sheldon
64f498e48a com-bridge: add usart to usb vcp bridge 2011-12-30 23:05:34 -05:00
Stacey Sheldon
eebdda6276 usb cdc: make HID/CDC configurable in hwsettings 2011-12-30 23:05:34 -05:00
James Cotton
c080080810 Add ability to change the SPI bus runs at 2011-12-29 00:09:53 -06:00
James Cotton
d78d345953 Configuration tab for revo 2011-12-24 14:08:08 -06:00
Oleg Semyonov
7fbbb0e6af Merge remote branch 'origin/next' into os/TxPID-module 2011-12-24 15:44:16 +02:00
James Cotton
0b00e748a9 OP-565: Added the ability to do a trim flight to compute the accels for level flight 2011-12-21 15:25:00 -06:00
James Cotton
5013e9e3df Change back the default telemetry speed 2011-12-15 00:57:36 -06:00
James Cotton
9f50391fc5 Merge branch 'next' into revolution_sensors 
Conflicts:
	ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
 2011-12-13 20:50:10 -06:00
James Cotton
a37a17a4fb Created a separate Sensor module and Attitude module for revolution 2011-12-12 21:40:39 -06:00
James Cotton
d22e0e66dd Create separate UAVOs for the sensors. 2011-12-12 13:05:40 -06:00
James Cotton
a9c61845af Create a separate task for sensors and attitude on revo. 2011-12-12 00:47:16 -06:00
Oleg Semyonov
10287e3e29 CC: rename ReceiverPort PPM+Servo (Servo) options to PPM+Outputs (Outputs) 2011-12-11 22:52:51 +02:00
James Cotton
684715930a Merge branch 'next' into revolution 
Conflicts:
	flight/OpenPilot/Makefile
	flight/Revolution/System/inc/openpilot.h
 2011-11-14 10:11:53 -06:00
Oleg Semyonov
de6e450b5f Merge branch 'next' into os/TxPID-module 
Conflicts:
	flight/CopterControl/Makefile
	flight/CopterControl/System/coptercontrol.c
	ground/uavobjgenerator/generators/generator_common.h
	shared/uavobjectdefinition/hwsettings.xml

component    	free heap used
----------------------------
Nothing            2544    -
PWM                2416  128
PPM                2392  152
DSM                2448   96
S.Bus              2432  112
GPS (port only)    2352  192
GPS (port+module)  1296 1248
CameraStab         2080  464
Telemetry          1912  632
TxPID              2272  272
 2011-11-13 16:25:58 +02:00
Corvus Corax
aa69027cb2 Merge branch 'next' into CC_GPS 2011-11-11 11:44:11 +01:00
Oleg Semyonov
0116e6a007 spektrum: rework DSM2/DSMJ/DSMX driver for explicit DSMX resolution support 
- both CC serial ports are now disabled by default (no telemetry);
- serial ports now have DSM2, DSMX (10bit) and DSMX (11bit) options;
- ReceiverGroups now have DSM (MainPort) and DSM (FlexiPort) options.

For DSM2 protocol there is an explicit resolution bit in the stream, so
the DSM2 should be selected. For DSMX there is no such bit, and user
should choose the resolution from the list configuring the spektrum port.
ReceiverGroups have single DSM option which is handled by the same driver.

Downside: this implementation saves received frame first, unrolls by the
end of frame. This should be ok, but may be improved by unrolling channels
on the fly in the rx callback.

Another minor difference is that a ChannelGroup is now bound to port:
DSM (MainPort) or DSM (FlexiPort). This was considered as acceptable
solution in order to not have 6 DSM options for each ChannelGroup and
even more in case of new DSM protocol variations.

Known problem: it is not possible to choose same protocols like
DSM2/DSM2 for two ports. It can be enabled by adding an exception to
common rule, though.

The DSMX throttle channel misbehavior (zero value) is not treated
specially yet. It should trigger the failsafe being out of bounds.
More info and data dumps are required to handle this properly.
 2011-10-30 19:29:03 +02:00
James Cotton
0f8ae1e076 Merge branch 'next' into ins 
Conflicts:
	flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
 2011-10-26 13:18:44 -05:00
Oleg Semyonov
4ed23dd891 Output Remapping: renamed PPM_SERVO option to PPM+Servo 2011-10-24 00:34:01 +03:00
James Cotton
24d6ae731b Output Remapping: Added option to just use servo outputs on input lines but not 
PPM.  This saves resources.  Good suggestion Os.  In this configuration we
could allow 12 channels of output but for now I'll leave it capped at 10 to
lessen resources on the mixer table.

With spektrum and camera stab enabled there was
1632 bytes heap remaining
180 bytes irq stack remaining
 2011-10-23 15:21:40 -05:00
James Cotton
46aa8916c6 Fix segfault when selected motors 9 or 10. Also make labels show up in output 
panel.
 2011-10-20 06:56:56 -05:00
James Cotton
0193187d0c Make the UI support 10 output channels 2011-10-15 16:59:42 -05:00
James Cotton
9312610f3b Output: Enable two more channels to support octo + camera 2011-10-15 16:59:42 -05:00
James Cotton
ce7f424131 CC: When receiver port is set to PPM_SERVO use the spare pins as outputs 2011-10-15 16:59:42 -05:00
Oleg Semyonov
a38c569cd0 HwSettings: move Telemetry and add GPS port speed to the HwSettings object 
TelemetrySettings object removed (saved 200+ bytes of RAM). Telemetry
port speed moved to the HwSettings object. Added GPS port speed setting.
GCS code updated to reflect changes and support both fields.
 2011-09-28 22:11:42 +03:00
Oleg Semyonov
53c098dd08 Merge branch 'next' into os/GPS-on-CopterControl_next_v2 
Conflicts:
	flight/OpenPilot/System/pios_board.c
	flight/OpenPilot/UAVObjects.inc
	shared/uavobjectdefinition/hwsettings.xml
 2011-09-28 22:02:02 +03:00
Oleg Semyonov
a9137e9db1 TxPID: add update mode option as a workaround for GCS interaction 2011-09-19 16:16:28 +03:00
Oleg Semyonov
aad263bdd8 TxPID: enable ramp-shaped throttle-dependent PIDs 
Besides of knob PID tuning it is now possible to use throttle channel
to ramp-shape PID coefficients. This can be used to lower some PIDs on
VTOL while sinking to prevent wobble.

To use the feature select throttle as control input, choose throttle
range max and min values, assign the instance to particular PID
coefficient and define a range for it. When throttle is lower than
defined throttle range min value (or higher than max), then min and max
PID values will be used accordingly. Changing throttle from throttle
min to max will linearly scale PID value.

Note that it is possible to set MinPID > MaxPID. In that case increasing
control input value will decrease the PID coefficient.

Up to 3 independent instances can be configured. The number can be
increased changing the UAVO definition, but at the cost of extra RAM.
 2011-09-18 14:38:50 +03:00
Oleg Semyonov
d923117c25 TxPID: optional module to tune PID settings using R/C transmitter 
This module will periodically update values of stabilization PID settings
depending on configured input control channels. New values of stabilization
settings are not saved to flash, but updated in RAM. It is expected that the
module will be enabled only for tuning. When desired values are found, they
can be read via GCS and saved permanently. Then this module should be
disabled again.
 2011-09-17 22:49:51 +03:00
James Cotton
19763d1437 Add temp comp field to INS settings 2011-09-14 18:57:01 -05:00
James Cotton
1783817b96 INS: First pass at altitude hold code 2011-09-13 01:44:53 -05:00
James Cotton
400ba3bd47 Merge branch 'next' into ins 2011-09-12 18:57:11 -05:00
James Cotton
5b836db54c INS/Guidance: Convert distance to using m instead of cm. This is mainly to be 
able to use NAN to indicate when values aren't valid from INS.
 2011-09-11 23:02:05 -05:00
James Cotton
6457276438 Merge branch 'input_configuration' into next 2011-09-11 18:52:35 -05:00
James Cotton
01cd2ded57 Mainboard config: The rcvr port is used for PPM/PWM/Spektrum so make these one 
setting that is mutually exclusive.
 2011-09-10 14:20:51 -05:00
James Cotton
c2a8cc3faa Mainboard config: The rcvr port is used for PPM/PWM/Spektrum so make these one 
setting that is mutually exclusive.
 2011-09-10 14:19:12 -05:00
James Cotton
3239fdf21b Merge branch 'next' into ins 
Conflicts:
	flight/CopterControl/Makefile
	flight/OpenPilot/System/pios_board.c
	flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
 2011-09-09 08:33:34 -05:00
James Cotton
dfe91af686 UAVObjects: Space allocated in manualcontrolcommand did not match the number of 
channels in settings.  Fixed this and added assertion to catch in future.
 2011-09-09 01:17:13 -05:00
James Cotton
1a5fd9f30e Heli: Added an explicit collective channel. Also make the default channel 
number 0 since that is not invalid.
 2011-09-07 01:48:39 -05:00
James Cotton
8c91522e54 UAVO: Reorder field names of ManualControlSettings which affects the order of 
channels listed in the UI configuration.  This keeps it consistent with the
previous releases.
 2011-09-06 16:42:03 -05:00
James Cotton
fa33c66f23 OP-553 StabilizationSettings: Change default max roll/pitch to 55 degrees from 
35 degrees.  I hope this doesn't make it too sensitive for any of the
beginngers.
 2011-09-04 13:34:49 -05:00
James Cotton
c326c0941d INS: Work on initialization. Improve the zeroing of the gyros at powerup. 2011-09-04 11:49:15 -05:00
James Cotton
dae11cf877 INS Logging: Enable temperature reading from gyro and accel (may be removed in 
future), push it into UAVO and introduced a logging mode for INS that outputs
all sensor data from aux port.
 2011-09-03 15:10:47 -05:00
James Cotton
d47778cf13 Change default values for ins settings 2011-09-02 13:27:13 -05:00
James Cotton
612d3336b4 This patch breaks backward compatibility with AHRS solidly. 
Move the configuration files for INS from AHRS* to INS*.  Strip out unused
fields in settings and merge calibration and settings since settings has
basically no information.
 2011-09-01 12:21:33 -05:00
James Cotton
dc340596f5 Merge branch 'next' into GCS_ChangesToUI-RuntimeCFG 
Conflicts:
	flight/CopterControl/Makefile
	flight/OpenPilot/System/pios_board.c
	flight/OpenPilot/UAVObjects.inc
	flight/PiOS/STM32F10x/pios_spektrum.c
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configgadget.qrc
	ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
	shared/uavobjectdefinition/hwsettings.xml
 2011-08-27 15:26:05 -05:00
Corvus Corax
4bd72923e5 Merge branch 'CorvusCorax_unidirectional-GPS-com' into CC_GPS 
Conflicts:
	flight/Modules/GPS/GPS.c
	flight/Modules/GPS/GTOP_BIN.c
	flight/Modules/GPS/NMEA.c
	shared/uavobjectdefinition/hwsettings.xml
 2011-08-25 15:33:23 +02:00
James Cotton
5f7a9b513a Merge branch 'sambas/dsmx_stuff' of ssh://git.openpilot.org/OpenPilot into next 
Conflicts:
	shared/uavobjectdefinition/hwsettings.xml
 2011-08-24 11:37:30 -05:00
James Cotton
b1c522def3 Merge remote-tracking branch 'origin/next' into ins 2011-08-21 01:34:40 -05:00
James Cotton
a642f3672c Report running time per loop in us 2011-08-21 00:54:31 -05:00
James Cotton
368323fd59 Merge remote-tracking branch 'origin/james/erase_settings' into next 2011-08-20 13:07:01 -05:00
Corvus Corax
dfd301571a HWSettings: Allow late Initialization and Start of Modules as defined in Makefile(available modules) and UAVObject(actually started modules) 2011-08-20 01:24:06 +02:00
James Cotton
f85ae84ec3 Merge branch 'camera_stabilization' into next 
Conflicts:
	flight/OpenPilot/System/pios_board_posix.c
 2011-08-19 01:48:24 -05:00
James Cotton
25b54a4323 Change to default settings at request of Dave. AccelKp = 0.05. MaxAxisLock = 
15 degrees.
 2011-08-19 01:46:52 -05:00
James Cotton
35eef66bfe OP-557: Add a UAVO access method to erase the entire flash chip. Normally not 
needed by users because if too much changes I change the FS magic and trigger a
wipe.

Possibly the erase should require a particular "magic" object id value to
execute?  This would make it harder to do manually through UAVOs though.
 2011-08-15 10:33:27 -05:00
zedamota
e736b17cc4 Merge remote-tracking branch 'remotes/origin/next' into GCS_ChangesToUI-RuntimeCFG 
Conflicts:
	ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
	ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
	ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
 2011-08-14 15:48:16 +01:00
James Cotton
98346186e3 The camera desired object can now be a single instance. I think it will be a 
while before we have multiple cameras :) although it's easy to extend when we
do.
 2011-08-11 14:07:24 -05:00
James Cotton
bbe3c1533a Merge branch 'next' into camera_stabilization 2011-08-10 21:57:45 -05:00
James Cotton
ab288e95ab Stabilization: Small patch so that by default the integral is zeroed while 
throttle is low (good for quads) but can be disabled (good for planes and also
testing helis).
 2011-08-10 03:51:46 -05:00
James Cotton
f23eaa8273 Make the Actuator pull from the CameraDesired fields 2011-08-09 21:47:42 -05:00
James Cotton
f11aa80444 CameraStabilization: Make the CameraStabilization module put the desired 
position into another object (will help with configuration).
 2011-08-09 20:45:38 -05:00
sambas
1e67b5e3b5 DSMx_binder, hw setting 0 disabled, 1-10 bind pulses. Manual disable after successful bind. Only for flexiport. 2011-08-06 22:16:47 +03:00
Stacey Sheldon
90b2625deb rcvractivity: Add tracking of Rx channel activity 2011-08-02 01:27:37 -04:00
Stacey Sheldon
06cdeb7b61 rcvr: support multiple simultaneous receivers 
Now also supports multiple instances of the Spektrum driver.
These are configured as Spektrum1 and Spektrum2.
 2011-08-02 01:22:04 -04:00
Stacey Sheldon
829b8b83f6 rcvr: Add GCS receiver driver for rcvr via telemetry 
This allows the GCS to emulate a receiver device via the
telemetry link.

Select "GCS" as your input type in the manualcontrol config
screen and calibrate it as normal.

Note: The expected values for the channels are in microseconds
      just like a PWM or PPM input device.  The channel values
      are validated against minimum/maximum pulse lengths just
      like normal receivers.
 2011-08-02 01:22:04 -04:00
James Cotton
387a22398e Make it possible to optionally enable the CameraStab module 2011-07-30 12:08:47 +09:00
James Cotton
96c2d24253 Merge branch 'next' into camera_stabilization 
Conflicts:
	flight/CopterControl/Makefile
	flight/CopterControl/System/coptercontrol.c
	flight/Modules/Actuator/actuator.c
	flight/Modules/GPS/GPS.c
	flight/Modules/ManualControl/manualcontrol.c
	flight/Modules/Stabilization/stabilization.c
	flight/Modules/System/systemmod.c
	shared/uavobjectdefinition/manualcontrolsettings.xml
	shared/uavobjectdefinition/stabilizationdesired.xml
 2011-07-30 10:06:10 +09:00
James Cotton
53ca934b2b Merge branch 'heli_stabilization' 
Conflicts:
	flight/CopterControl/System/inc/pios_config.h
	flight/Modules/Attitude/attitude.c
	flight/Modules/ManualControl/manualcontrol.c
	flight/Modules/Stabilization/stabilization.c
 2011-07-12 13:28:20 -05:00
Mathieu Rondonneau
d38f6167e3 OP-423: 
Also reduce heap has it does not fit in SRAM anymore (not with current compiler).
(that's ok since if there is more space available, it will be reclaimed).

Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint

Conflicts:
	flight/CopterControl/System/inc/pios_config.h
	flight/Modules/ManualControl/manualcontrol.c
 2011-07-08 06:29:34 -07:00
Stacey Sheldon
a8787ee015 bootcfg: Add support for selecting S.Bus receivers in inputtype 2011-07-06 22:38:23 -04:00
Stacey Sheldon
d9aac892a9 hwsettings: Cosmetic change of SBUS to S.Bus in UAVObject 2011-07-06 22:37:17 -04:00
Stacey Sheldon
cba0985f26 hwsettings: UAVObject to select hardware runtime hw config 2011-07-05 22:02:37 -04:00
James Cotton
ad8876c62a OP-193: Weak leveling variant on rate mode. Slowly will return to level. 2011-07-04 20:44:55 -05:00
James Cotton
a7206361d2 Slightly different way to respond to sticks in axis lock that is much more 
responsive and avoids overshoot.
 2011-06-26 21:59:54 -05:00
James Cotton
e6ad21d881 Make gyro bias in deg/s * 100 to calibrate more precisely. 2011-06-24 10:51:07 -05:00
James Cotton
eb3f3d790f Zero during arming on by default since we're changing these objects 2011-06-24 10:38:26 -05:00
James Cotton
038f955cb1 OP-410 OP-333: Axis lock (heading hold) implemented 2011-06-24 10:38:26 -05:00
James Cotton
c0eff41dc6 OP-410 OP-333: Created an Axis-lock setting for stabilization 2011-06-24 10:38:26 -05:00
James Cotton
0a4bbcc12e Added a field for initial gyro bias to speed up initialization. 2011-06-24 10:38:26 -05:00
James Cotton
28501842c3 Expose the rate D term which in simulations seems to help damp oscillations for 
high RateKp terms.  However it might be sensitive to gyro noise (vibrations).
In addition it is mathematically similar to lead shapign so probably only use
one or the other.
 2011-06-24 10:38:25 -05:00
James Cotton
373689207a Add a 1-tap IIR filter into the gyros in the feedback path. This will make the 
stabilization output a bit more resilient to the high frequency noise from
gyros.  However this value shouldn't be too high as it will increase the phase
delay of the feedback loop and decrease stability.  Default is 5 ms.

Note: this resests the stabilizationsettings object.  Sorry guys.
 2011-06-24 10:38:25 -05:00
Mathieu Rondonneau
3677521168 Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint 2011-06-24 06:48:10 -07:00
Oleg Semyonov
dc651b6604 Merge remote branch 'origin/OP-532_Heli_GUI_Improvements' 
WARNING: this will wipe out system settings. Don't forget to export
settings first with old GCS and import using new GCS after upgrade.
 2011-06-24 10:05:54 +03:00
James Cotton
f6312c7798 OP-410 OP-333: Created an Axis-lock setting for stabilization 2011-06-23 14:51:18 -05:00
James Cotton
a684592546 Stopped hoarding all the UAVObject definition files. 
MUAHAHA
 2011-06-23 11:20:37 -05:00
Mathieu Rondonneau
74e5e2015e Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint 2011-06-20 20:28:12 -07:00
James Cotton
0f2e4730b4 Merge remote-tracking branch 'origin/OP-530-PT_Dreamer' 
Note this requires redoing the mixer settings!

Conflicts:
	shared/uavobjectdefinition/mixersettings.xml
 2011-06-20 14:08:08 -05:00
Mathieu Rondonneau
b67a38661e OP-423: merge master into that branch, resolve conflicts and test with CC and bl_CC 
heap reamining is low (about 500) but stacks can be ajusted (specially the 200 bytes from system) to give the level close to 1Ko if needed.

Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint

Conflicts:
	flight/CopterControl/System/inc/FreeRTOSConfig.h
	flight/CopterControl/System/inc/pios_config.h
 2011-06-17 19:04:09 -07:00
Andrew Thoms
5c5a07b101 OP-532 Updated GUI config data definition, UI, and implemented three 
sliders in mixer generation code
 2011-06-16 00:09:27 -04:00
Andrew Thoms
31339e0414 OP-532 Modified system settings UAVObject to have GUI config data 2011-06-13 21:39:47 -04:00
Mathieu Rondonneau
7598e898fa OP-423 Step-1: split system stack and implement water mark for IRQstack: 
- use IRQStack for ISRs (at begening of SRAM) (let's call it the irq stack)
- use end of heap for stack needed during initialization (let's call it the init stack).
- the systemStats in GCS indicate the remaining bytes in the IRQ stack (this is realy usefull to monitor our (nested) IRQs.

This is the base ground to provide as much memory as possible available at task creation time.

Next step is to re-organize the initialization in order to move all the init out of the thread's stacks onto the init stack.
This will provide as much memory as possible available at task creation time.
Basically the stack during initialization will be destroyed once the scheduler starts and dynamic alloc are made (since the init stack is at the end of the heap). We will need to make sure we don't clobber the heap during initialization otherwise this will lead to stack corruption.
 2011-06-12 20:23:00 -07:00
Oleg Semyonov
f766642f0d Merge branch 'master' into heli_improvements 
Conflicts:
	shared/uavobjectdefinition/manualcontrolsettings.xml
 2011-06-09 10:11:27 +03:00
zedamota
dcccae7270 Change throttle default max value to 0.95 on multis 2011-06-08 18:21:29 +01:00
James Cotton
5aa8224181 Merge branch 'bugfix-flight' of ssh://git.openpilot.org/OpenPilot into bugfix-ground 2011-06-08 12:02:52 -05:00
dankers
0b59c34afb Change Accel kP default to 0.03 
Lots of testing with this but would like more thoughts as well.
 2011-06-09 00:47:09 +10:00
James Cotton
bdc9094975 OP-493 OP-505 OP-511: Make up to 6 accessory channels so some can go from 
ManualCommand to a camera module and some could go from that camera module to
output (i.e. mixing of inputs to pan tilt with stabilization)
 2011-06-06 10:56:31 -05:00
James Cotton
6c6906d61e OP-493: Switch to using Accessory0:2 to match the InstId 2011-06-05 15:38:58 -05:00
James Cotton
99b3a629a8 OP-493: Force three AccessoryDesired objects to always exist. Routing to 
Mixing channel now works.  However Accessory desired instances do not show up
in GCS.
 2011-06-05 15:38:58 -05:00
James Cotton
468b7b562d OP-493: Small bug in default value for Curve2Source 2011-06-05 15:38:57 -05:00
James Cotton
a1336e4d03 OP-493: Make sure accessory desired is not a single instance object 2011-06-05 15:38:57 -05:00
James Cotton
8ebd6a83d6 OP-493: Add support to bypass the mixer and route accessory data straight to 
outputs.  Warning: This has no failsafes like arming.  We should discuss if
this is appropriate.

In addition accessory objects can be routed throught the mixer for collective
or flaperon.
 2011-06-05 15:38:57 -05:00
James Cotton
a1d60cb77d OP-493: Use multiple instances when using multiple accessory channels 2011-06-05 15:38:57 -05:00
Corvus Corax
54d9977eb1 auxillaryControl 2011-06-05 15:38:30 -05:00
James Cotton
483deb2bfc Changed the default values for manual control settings to none to avoid 
problems with channel mappings being different by brand.

You will need to recalibrate your transmitter.
 2011-06-05 11:01:00 -05:00
James Cotton
1c621fa4d7 OP-508: Make rotation fields int16 instead of int8 to allow +/- 180 2011-05-28 20:33:42 -05:00
dankers
5f32803763 Changed accelKp = 1; in 3C filter when calibrating bias when arming. Increase default yaw by 0.005 2011-05-17 04:15:28 +10:00
dankers
f967714ad1 reduce defaults based on feedback and testing 2011-05-15 23:49:08 +10:00
dankers
67f084a9e1 Amazing how badly it flies with just missing one full stop 2011-05-15 06:19:32 +10:00
dankers
84e09031a7 Faster attitude calc, be much more aggressive with working out bias. 
Change AccelkP to 0.05 to give accels more influence, just balacing out the 3C filter.

Change stab setting to be a better default fopr most Quads.
 2011-05-15 05:58:58 +10:00
James Cotton
4ec0263dfc OP-476: If AttitudeSettings.ZeroDuringArming is true, then while arming (1 
second) it will speed up the estimate of gyro bias.
 2011-05-07 15:29:21 -05:00
James Cotton
80c839d5bb OP-475: Starting to use the new FlightStatus object 2011-05-07 13:17:21 -05:00
James Cotton
ae841d57cb OP-475: New FlightStatus object. Removed from ManualControlCommand. Won't 
build yet.
 2011-05-07 12:45:35 -05:00
James Cotton
7e418866be Update the AttitudeSetting object to make the board rotation more human 
readable and update the GCS fields appropriately.
 2011-05-05 13:04:56 -05:00
James Cotton
401a989c63 OP-474: Add option to ActuatorSettings to allow people to request their propellers always spin an neutral when armed (I don't recommend this). 2011-05-03 00:08:39 -05:00
David Buzz Carlson
c93ab7e723 Change CC, OP MB, and AHRS to use bootloader by default. 
Also change AttitudeActual to update at 10Hz rather than 2 Hz.  The increased bandwidth is minimal and the resulting "polish" that it adds to the look-and-feel of the GCS is signifcant.
 2011-05-02 00:50:42 -07:00
James Cotton
819bc9d441 Merge branch 'master' into OP-430_Ligi_UAVTalk-Code-Review 2011-04-26 12:49:32 -05:00
marcus bueschleb
06ac71b784 do not force telemetry update when alarm is changed - this was bypassing the MetaData of the UAVObject and seem to be a relict from times where no metadata existed - now doing it the MetaData way with onchange as updatemode - see http://forums.openpilot.org/topic/4208-systemalarms-bypassing-updatemode-from-metadata/ and OP-431 2011-04-24 03:43:05 +02:00
elafargue
e4112e210f Reduce size of FirmwareIAPObj to 40 bytes: only takes the 40 first bytes of the firmware description, ignores the rest. Makes the FWIAP UAVObject more decent size-wise, and does not break USB TX anymore. 2011-04-19 20:45:49 +02:00
elafargue
45e92d654e Implemented support for the Unique STM32 CPU serial number in the firmwareIAP object. 2011-04-19 00:31:20 +02:00
peabody124
3665209195 While changing defaults also changing some default variances 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3102 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-29 15:00:13 +00:00
peabody124
3b4a88e365 Update default gyro bias in the AHRSCalibration xml. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3101 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-29 14:29:10 +00:00
peabody124
a57c289b3a CC-24: Support mounting CC at any angle by applying a rotation. Now need to 
rotate sensors to make sure stabilization behaves well so don't use till then.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3100 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-29 02:15:57 +00:00
peabody124
48c20d37a9 OP-349 CC-32: Added a Completed operation that is returned after successful 
save or load

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3093 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-28 19:16:50 +00:00
peabody124
bd5925d526 CC-35: Separate term for CC yaw bias rate and others 
Note: AttitudeSettings changed so you'll need to re-zero it

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3090 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-28 18:42:48 +00:00
edouard
c9db0794f7 Fix for typo in guidancesettings. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3078 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-26 11:55:10 +00:00
peabody124
e262e3c220 Convert outer position controller to PI 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3077 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-26 11:40:33 +00:00
peabody124
16723fbdf9 Change default yaw mode to rate 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3076 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-26 11:40:07 +00:00
jonathan
5d23666839 OP-191: Merge from full-calibration branch. Add orthogonality calibration to the accelerometer, and use it. Also adjust the treatment of accelerometer scale factors, such that the diagonal elements of the calibration scale factor matrix are positive. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3057 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-21 00:51:45 +00:00
jonathan
160695e546 OP-191: Merge from full-calibration branch. Add the local gravitational field strength to the home location. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3055 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-21 00:48:32 +00:00
fredericg
d270f7e987 Changes to FlightBatterySettings as discussed in forums 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3047 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-19 18:45:40 +00:00
fredericg
8488da6039 rename batterysettings.xml => flightbatterysettings.xml 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3045 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-19 18:30:29 +00:00
FredericG
5bb3662820 OP-322 Implement Audible alarm via PWM - new "PWM Alarm Buzzer" channel type 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3027 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-12 08:58:38 +00:00
scott
afc788bea4 Added 2nd rudder to fixed wing config. This is necessary for flying wings, in particular, that have rudders on the wingtips. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2946 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-03 05:33:51 +00:00
peabody124
e4d9ef98a5 OP-315: Display run time as a percentage 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2944 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-03 04:28:45 +00:00
peabody124
528f74b512 OP-315: Extend TaskInfo to include run time stats. Still need to configure a 
timer to run at around 10 khz.  RTC a good option.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2940 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-03 04:28:29 +00:00
vassilis
b084ea7ea1 FlightPlan/Python: Updated object generator to create a Python file for each UAVObject. It is now possible to access all UAVObjects from the FlightPlan Python scripts. 
Warning: The memory utilization when importing objects is unacceptably high making it unusable in the flight code at this point. It can be however used with the SITL simulator. Some more investigation is needed to understand why several kb of memory are used each time a module is imported (even before any functions are called or objects from the module are created). 


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2938 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-03 02:22:50 +00:00
peabody124
c21e9f74b3 OP-329 Make the stabilization mode config gadget compatible with new mode. 
Feel free to revert the layout change part - but I'm trying to make it clear
that "stabilization1" no longer naturally matches "position1"

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2936 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-02 01:25:47 +00:00
peabody124
3b13ad6859 OP-329: Enumerate more possible flight modes now like multiple stabilization 
modes so that the FlightMode field is complete in terms of being informative
enough

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2935 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-02 01:25:44 +00:00
peabody124
3e17c2ff55 OP-312: Create a StabilizationDesired object that is the generic input to 
Stabilization, carries the desired rate or attitude as well as a flag on how to
intepret it.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2930 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-02 01:25:27 +00:00
loris
6e942d786a OP-316 UAVObject Fix typo, indents, units, default values 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2896 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-27 00:38:59 +00:00
peabody124
ea390d0b90 CC-26: Add accel bias term. Note it's units are LSB, not m/s^s 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2895 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-26 22:21:44 +00:00
loris
463403ee82 OP-316 - UAVObject units Fix accelerations units 
Fix default calibration values

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2869 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-24 02:52:19 +00:00
loris
c5d1aea9f4 OP-316 - UAVObject units 
Fix accelerations units
Fix default mag values
Fix gyro scale
Fix var units

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2868 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-24 01:52:39 +00:00
peabody124
4972c99519 OP-316 Update accelerometer units to be right 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2823 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-21 05:58:21 +00:00
corvus
435072cf4e Modules/Stabilization, Modules/ManualControl: 
Move channel StabilizationSettings from ManualControlCommand to
AttitudeDesired, unify channel normalization and put them all into ManualControl

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2797 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-15 14:55:00 +00:00
stac
ec8135bd5d gpsposition: minor text changes to description text 
No functional change.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2770 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-12 22:19:38 +00:00
peabody124
9f71f4121c CC-18 Attitude: Change units to proper engineering ones. An accelKp=1 means 
that it will completely follow the accel attitude each cycle and is way too
high.  Ki=1 means the gyro bias wil be correct by accels each cycle (way too
high).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2755 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:35 +00:00
peabody124
cfe295377c CC-18: Normalize the gravity vector to unity gain 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2754 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:31 +00:00
FredericG
d7fc7646b0 OP-246 UAVOBJ CHANGE - Setting to disable arming/disarming 
options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2744 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-06 16:16:20 +00:00
peabody124
810fa70856 UAVObjects: Remove the raw versus filtered fields in the sensor data. Save 
some memory.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2706 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 02:42:39 +00:00
peabody124
265737427b CC-7: Make the gyro scale adjustable (for now at least, this was largely for 
debugging, let's compare values).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2692 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 08:57:42 +00:00
peabody124
1663a838ff CC-7 Full complimentary filter ala Mahoney paper using quaternion 
representation.  Also improved gyro bias initialization.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2691 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 08:57:38 +00:00
peabody124
c33fa63581 TaskInfo: Remove Watchdog task, no longer used 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2689 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 08:57:17 +00:00
peabody124
1c6b51b704 UAVObjects/AttitudeSettinsg: Object for CC to tune the attitude estimation 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2666 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:18:26 +00:00
peabody124
15f3ada700 Get rid of ms * 10 units since the time resolution of FreeRTOS is in ms 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2665 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:18:22 +00:00
peabody124
c9207b3754 CC-14 PIOS/Servo: Set more than two bank speeds 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2658 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:17:55 +00:00
peabody124
85d42868d6 CC-10 Rename the TaskInfo and Alarm field for CCAttitude to Attitude 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2654 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:17:36 +00:00
corvus
000a45f1bf CopterControl - Build CopterControl with a Makefile specified subset of UAVObjects - code generation by uavobjgenerator 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2622 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-29 12:36:41 +00:00
sambas
ba5ebb6b13 OP-303 PIOS/Sonar: preliminary support for HCSR04 ultrasound altimeter module, tested and working :) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2610 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-28 19:21:22 +00:00
pip
811604649d Change the manual microsecond values from int16 to uint16 - no more negative microsecond PWM readings 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2608 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-28 18:17:26 +00:00
vassilis
b297ef0ae5 Flight/FlightPlanner: First release of openpilot.py library giving access to RTOS and debug fields. Implemented STOP command, this should be the normal way for stopping scripts. The KILL command should be only used as a last resort for misbehaving scripts. The KILL command will delete the VM thread. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2535 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-22 21:32:23 +00:00
stac
5e6d87b2db UAVObjects-xml: Move UAVObject definitions outside of gcs dir 
The UAVObject definition (.xml) files are used by both the
GCS build as well as the flight software builds.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2526 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-22 17:38:43 +00:00