James Cotton
6a094ac326
Increase stack for the path planner
2012-04-15 12:31:50 -05:00
James Cotton
a1351fcdbe
Make the path velocity come from the waypoint.
2012-04-10 02:56:10 -05:00
James Cotton
a42d756b3e
Add path navigation mode to the path planner module. I don't like how this is
...
done because the mode is in the settings so can't be command from path planner.
I.e. it would be nice to be able to say do these paths then go to position hold
mode.
2012-04-10 02:51:50 -05:00
James Cotton
dfa18eaef1
Deal with the case where path start and endpoints are the same to avoid NAN.
2012-04-10 02:49:19 -05:00
James Cotton
1aec5b8deb
Add altitude control to the path navigation
2012-04-10 01:59:26 -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
414e62f14e
Revert "Disable baro updates into INSGPS for now. Seems to cause issues."
...
This reverts commit 04591309770679e7b01c53a6cb54cac1c043f8b6.
2012-04-07 00:58:36 -05:00
James Cotton
fcb9193d25
Disable baro updates into INSGPS for now. Seems to cause issues.
2012-04-07 00:58:36 -05:00
James Cotton
aa6c8a451d
Shrink some stack sizes
2012-04-07 00:58:36 -05:00
James Cotton
81fcfd45c4
Some work on the code to initialize the INSGPS and allow setting the variance
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of the baro
2012-04-07 00:37:42 -05:00
James Cotton
345b6578b1
Fix a possible race condition for complimentary filter on L3GD20 attitude
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estimation where the accel queue wouldn't immediately have data available.
Added 1 ms timeout on queue.
2012-04-06 13:59:12 -05:00
James Cotton
e60c70251f
Slow down update rate for the altitude hold smoothed EKF
2012-04-06 13:58:46 -05:00
James Cotton
6c004678d5
Need a really big telemetry queue size on revo for object manager not to choke.
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Probably should slow down how quickly AltHoldSmoothed is set.
2012-04-06 13:22:30 -05:00
James Cotton
ea13536da0
Take quidance settings from simulation and make the INSGPS pick up the GPS
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noise from a setting.
2012-04-06 12:59:49 -05:00
James Cotton
3071f77d59
Add Baro offset to the simulation
2012-04-03 10:58:48 -05:00
James Cotton
c988685293
Simulate GPS noise drift
2012-04-03 09:17:55 -05:00
James Cotton
f491c924d6
Start updating the OSX UDP simulation to use a separate thread for receiving
...
but it needs two - one as a task (where the com callback occurs) and another
for the physical process stuff that doesn't need to suspend (like teh TCP
thread does)
2012-04-03 09:17:55 -05:00
James Cotton
5d0e513678
Fix small deg/rad issue in generating gps data
2012-04-03 09:17:55 -05:00
James Cotton
df6bc4deff
Enable guidance on simulation and add wind model
2012-04-03 09:16:31 -05:00
James Cotton
fdfaac6559
More tweaks to OSX simulator
2012-04-03 09:16:31 -05:00
James Cotton
ca535c2632
Fix bugs in simulated sensor data. Now works well with INSGPS.
2012-04-03 09:16:31 -05:00
James Cotton
84040d25b4
Add attitudesimulated object to capture the simulated state
2012-04-03 09:16:30 -05:00
James Cotton
09ce6e1ab4
Restore the original Revolution FreeRTOSConfig and make the osx simulation
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scheduler not start high priority tasks when they are created because I can't
reliably get the starting task to stop (because currently in a swapping mutex I
think).
2012-04-03 09:16:30 -05:00
James Cotton
6df9691609
Bring back the original module files and remove comments from FreeRTOS
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debugging
2012-04-03 09:16:30 -05:00
James Cotton
82a2987b2c
More improvements to the osx simulation FreeRTOS port. Only tick the tick
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handler when we have confirmed the running thread has halted. This is more
like what would happen on a single core machine.
2012-04-03 09:16:30 -05:00
James Cotton
543500ed78
Improve the simulated sensors to produce (I think) consistent data now
2012-04-03 09:16:30 -05:00
James Cotton
0b342ea3d6
Changing the tick counter to only happen after current thread is suspended
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seems to fix stability issues
2012-04-03 09:16:30 -05:00
James Cotton
fbd8695d7d
Check in WIP for osx simulation
2012-04-03 09:16:30 -05:00
James Cotton
c1726e30e5
Make pios_tcp uses two threads - one for the socket stuff and another within
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FreeRTOS to receive the data.
2012-04-03 09:16:30 -05:00
James Cotton
75262b400a
More osx simulation work
2012-04-03 09:16:29 -05:00
James Cotton
da294384b6
Getting closer on osx simulation
2012-04-03 09:16:29 -05:00
James Cotton
a2bc7b8668
Osx Simulator Not running quickly but at least it's staying up
2012-04-03 09:16:29 -05:00
James Cotton
898a595d81
Delete old files
2012-04-03 09:16:29 -05:00
James Cotton
adad006530
More work on OSX simulation
2012-04-03 09:16:29 -05:00
James Cotton
99e246f151
More of the 7.0 files for OSX simulation
2012-04-03 09:16:29 -05:00
James Cotton
356802b5ac
Update to FreeRTOS 7 for OSX sim
2012-04-03 09:16:28 -05:00
James Cotton
0d3a6d94d8
Delete some old files
2012-04-03 09:16:28 -05:00
James Cotton
491df5d130
Small update to the osx wdg
2012-04-03 09:16:28 -05:00
James Cotton
51f0c3453b
More work on osx simulation engine
2012-04-03 09:16:28 -05:00
James Cotton
3c0b65fbf8
Implement a simulated watchdog to catch when the chip would have reboot
2012-04-03 09:16:28 -05:00
James Cotton
28cab678ce
Simulate a more complete QC model.
2012-04-03 09:16:28 -05:00
James Cotton
9d5dbe4bfe
Create stub for TCP connection of simulation
2012-04-03 09:16:28 -05:00
James Cotton
6aa1f1e344
Had some debugging outputs (logged to file) still enabled
2012-04-03 09:16:28 -05:00
James Cotton
f1aa3b658e
Add a new sensor simulation mode that essentially has a gyro rate that is rate
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desired and the accel based on the current attitude.
2012-04-03 09:16:28 -05:00
James Cotton
ce54c4205d
Disable a print from the port that was causing rashes
2012-04-03 09:16:27 -05:00
James Cotton
6df2df6eec
Get rid of the mutex when enabling/disabling soft IRQs. This isn't ideal but
...
it seems to be triggering deadlocks.
2012-04-03 09:16:27 -05:00
James Cotton
6adc74f6f9
Check in the fake sensor data module
2012-04-03 09:16:27 -05:00
James Cotton
dee17f8fd4
Enable task run time monitoring in osx simulation
2012-04-03 09:16:27 -05:00
James Cotton
0e815540ff
Patch from Stac that processes module names without using sed. Also enable
...
diagnostic stuff for simulation.
2012-04-03 09:16:27 -05:00
James Cotton
2391385788
Remove the pauase in the idle task. Increases load but also stability.
2012-04-03 09:16:27 -05:00
