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875 Commits

Author SHA1 Message Date
Mike LaBranche
bf591ebe45 Merge branch 'next' into MikeL 
Conflicts:
	flight/Bootloaders/Revolution/inc/pios_config.h
	flight/Modules/OveroSync/inc/overosync.h
	flight/Modules/Sensors/inc/sensors.h
	flight/PiOS/Boards/STM32F4xx_Revolution.h
	flight/PiOS/STM32F4xx/pios_iap.c
	flight/Revolution/System/inc/pios_config.h
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
	ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
 2012-06-04 15:38:57 -07:00
James Cotton
0b828fbdd0 Merge branch 'next' into revo 
Conflicts:
	Makefile
 2012-06-04 14:12:19 -05:00
James Cotton
ff0a3a156e Merge remote-tracking branch 'origin/os/AeroSimRC' into next 2012-06-04 12:25:59 -05:00
James Cotton
ed2fb5cb09 Merge branch 'next' into revo 2012-06-04 12:23:58 -05:00
James Cotton
46a52fc5ce Apply the virtual flybar stick scaling in stabilization.c because we need to 
know the true stick position to dampen the gyros appropriately.
 2012-06-04 12:22:39 -05:00
James Cotton
bda3f301cb Rename VBar mode to VirtualBar 2012-06-04 12:22:39 -05:00
James Cotton
4c562b88d1 Make the amount to suppress the gyros adjustable instead of binary 2012-06-04 12:22:39 -05:00
James Cotton
59972d5570 Limit the number of degrees the vbar can deflect. This is good for fast flips 
etc.
 2012-06-04 12:22:39 -05:00
James Cotton
42ac4018b8 Woops. Fix really nasty bug in vbar mode I introduced. Also fix small bug in 
scoping of gyro gain that made it not work.
 2012-06-04 12:22:39 -05:00
James Cotton
6719ee8639 Add piro compensation option to the vbar mode 2012-06-04 12:22:39 -05:00
James Cotton
3283b99d4e For hardcode flipping allow full stick to completely override the gyro 
feedback.
 2012-06-04 12:22:39 -05:00
James Cotton
fe978504bc Add friendly settings for the vbar mode including the VbarTau which acts like 
the time constant.
 2012-06-04 12:22:39 -05:00
James Cotton
ff1b1a93cf Implement a virtual flybar in a way inspired by behavior of Align 3G which 
seems apply a leaky integrator to the swash angle.  This is the similar to what
is done by Phubar (http://code.google.com/p/phubar/) as well although we refer
to the gyro term as the proportional and the flybar angle as the integral
 2012-06-04 12:22:38 -05:00
James Cotton
1b55df733d Create virtual flybar setting for stabilization modes 2012-06-04 12:22:38 -05:00
James Cotton
daaa661080 Turned "Battery" into an optional module. It otherwise prevents flying if no voltage sensor is installed. 
Conflicts:

	shared/uavobjectdefinition/hwsettings.xml
 2012-06-04 10:50:45 -05:00
James Cotton
b11b606ddc Fix RTH mode. Now works in simulation when GCSReceiver goes invalid. 
There is a small issue that when it is in RTH failsafe mode and you regain
signal and your throttle is low you will disarm due to the timeout.  That
means you'd suddenly get it back and plumet ouf of the sky.  If you are
still holding throttle (which most people might do?) you will have control.

The timeout needs to probably start when you regain signal.
 2012-06-04 10:25:43 -05:00
James Cotton
10aa31a57f When ManualControlSettings.FailsafeBehavior is set to RTH and no valid input is 
detected and the aircraft is armed enter RTH mode.
 2012-06-04 09:48:05 -05:00
James Cotton
21eb48c58c Add a RTH flight mode and remove it from the waypoint actions as that is 
redundant with flying to (0,0,0)
 2012-06-03 22:14:11 -05:00
James Cotton
9707c6152a Merge remote-tracking branch 'origin/Brian-PipXtreme-V2' into revo 2012-06-03 19:13:01 -05:00
James Cotton
71e14a691e Merge branch 'next' into revo 2012-06-03 19:00:51 -05:00
James Cotton
e341a37bd1 Need to add a small delay after save for the load to work correctly. Odd. 2012-06-03 17:26:10 -05:00
Brian Webb
36f62be3b9 Fixed packet error detection and improved RSSI reading. 2012-06-03 10:07:08 -07:00
Corvus Corax
be72d24c5f Attitude: Fixed calculation for baro offset adjustment time 2012-06-03 09:52:24 -05:00
Corvus Corax
b06b51f1b2 Revolution/Attitude: Added offset calculation for barometric altitude 2012-06-03 09:52:14 -05:00
James Cotton
c892a28970 Fix firmware to work with new usage of the action waypoint field 2012-06-03 09:36:21 -05:00
James Cotton
4ad23864c8 Treat the waypoint action as something to do once you hit that location. (e.g. 
PathToNext) and add a Stop value to indicate not to advance to the next
waypoint.  This is essentially a perament loiter to the pathfollower (I think)
but it's really just to have the ability to "delete" waypoints.
 2012-06-02 18:40:53 -05:00
James Cotton
25f85ee4fe Add an error flag to ObjectPersistence and when saving a setting make it verify 
that the data reads successfully.
 2012-06-02 10:23:27 -05:00
Brian Webb
df8a5f8f27 Changed update period for PPM inputs on the PipX. Fixed LED code. 2012-05-31 18:56:07 -07:00
Brian Webb
9a6fb60dd6 Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2 2012-05-28 20:18:59 -07:00
James Cotton
a89b880609 Fix compilation error on CopterControl because it doesn't support some of the 
path functionality.  These configurations that could result in
updatePathDesired or altitudeHoldDesired being called should result in an error
on startup to block arming.
 2012-05-28 20:33:49 -05:00
James Cotton
88cf100430 Merge remote-tracking branch 'revo/amorale/revo' into revo 2012-05-28 20:27:51 -05:00
a*morale
d071491265 removed include for positiondesired.h 2012-05-29 00:56:39 +02:00
a*morale
468e8732f5 Fix for FlightBattertData ConsumedEnergy calculation 2012-05-29 00:55:03 +02:00
James Cotton
1934752d50 Merge branch 'revo-next' into revo 2012-05-28 15:23:14 -05:00
Oleg Semyonov
5739dfbfc8 Merge remote-tracking branch 'origin/next' into os/aerosimrc 
Conflicts:
	shared/uavobjectdefinition/gcsreceiver.xml
 2012-05-28 21:46:43 +03:00
Oleg Semyonov
910b465ac6 AeroSimRC: do not update sensor and/or attitude data if read-only flag is set 2012-05-28 19:44:34 +03:00
James Cotton
4360d8adfd Merge branch 'next' into revo-next 2012-05-28 11:25:40 -05:00
James Cotton
8a6073fbaf Merge remote-tracking branch 'revo/revo-next' into testing 
Conflicts:
	Makefile
	flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
	flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/task.c
	flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/port_posix.c
	flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/tasks.c
	flight/Revolution/Makefile
	ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
	ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
	shared/uavobjectdefinition/taskinfo.xml
 2012-05-28 09:13:26 -05:00
Corvus Corax
978ab5b96c Merge remote branch 'origin/stac/etasv3' into revo-next 2012-05-28 12:56:27 +02:00
Oleg Semyonov
f95d29a3b8 TxPID: add GyroTau to the list of parameters (OP-637) 2012-05-28 12:48:55 +03:00
James Cotton
5a6e02a688 Merge remote-tracking branch 'origin/Brian-PipXtreme-V2' into next 2012-05-25 20:37:23 -05:00
Brian Webb
b824c87056 Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2 2012-05-25 06:26:29 -07:00
Brian Webb
701a480f01 Tuning configutation of PipX. 2012-05-24 18:08:29 -07:00
Corvus Corax
64c1ac3bd6 Stabilization: Bugfix: moved queue initialisation to TaskStart where it belongs 2012-05-22 22:19:31 +02:00
Brian Webb
2f1a9e3e7d Added PPM input to the PipXtreme. Also added configurable GCSReceiver timeout. 2012-05-20 18:30:37 -07:00
Brian Webb
6a7179120d Fixed setting of PipX description, and changed gcs receiver object to be update on change on flight side so that it works on the PipX. 2012-05-19 09:25:11 -07:00
Brian Webb
c25884bcaf Cleanup on the PipX branch. 2012-05-18 17:42:25 -07:00
Brian Webb
68d66d4181 Fixed firmware description in PipX status. 2012-05-17 20:35:17 -07:00
Brian Webb
6fbc3339d5 Fixed processing of UAVTalk packets when in transparent com mode. 2012-05-17 18:37:45 -07:00
Brian Webb
44a1663eb9 Fixed transparent comm on PipX. 2012-05-16 19:02:53 -07:00
Brian Webb
7082eda175 Fixed returning status for currently paired modem. 2012-05-15 20:11:52 -07:00
Brian Webb
93ec7c11a6 Fixed race condition on getting packets. 2012-05-15 19:38:14 -07:00
James Cotton
af8d65616e Comment out some unused variables in the PIOS_ADC structure for now since they 
were consuming lots of memory.  Probably should make a simple adc version that
just queries the line when needed since we are only using this data at 500 ms.
However, the accumulator scheme in place is quite good for averaging over time.
 2012-05-15 03:48:32 -05:00
James Cotton
39ce3cea17 Clean up the battery module 2012-05-15 03:08:18 -05:00
James Cotton
0a7f5fd5d3 Enable battery code again 2012-05-15 00:38:11 -05:00
Brian Webb
a3269aaf2f Reverted some file permission changes. 2012-05-13 14:24:57 -07:00
Brian Webb
68d12b1b2f Fixed some bugs with setting PairIDs in GCS. 2012-05-13 14:24:00 -07:00
Brian Webb
dd03b0b159 Added reporting of stats from the remote modem. 2012-05-13 09:34:21 -07:00
Brian Webb
ec67742ff6 Added configuration of COM ports on PipX. 2012-05-12 13:16:36 -07:00
James Cotton
46fc5fa4fb Create a PathPlannerSettings object and move the PathMode setting to there. 
Also add a (temporary) field to allow storing some custom paths to select on
the fly.  Later will be replaced with some code to fetch from the flash chip.
 2012-05-12 13:12:57 -05:00
James Cotton
836e34a483 Change revo sensors to update at 500 Hz and make sure in all cases it waits for 
the relevant queue to provide data.  Also disable the quaternion stabilization
flag.
 2012-05-12 13:12:56 -05:00
James Cotton
2ca3cde83f Improve EKF initialization. For some reason we must read an extra mag sample 
when power up value of attitude algorithm is EKF.  I don't understand why the
first mag value is bad.
 2012-05-12 13:00:51 -05:00
James Cotton
98655aacc8 Fix initialization of the complimentary filter where it didn't get the right 
initial dT
 2012-05-12 13:00:50 -05:00
Brian Webb
1f5dbcf57c Mostly complete PipX configuration GUI. 2012-05-11 17:51:18 -07:00
James Cotton
4ec4edd15c When enabling position hold altitude mode take the throttle from before as the 
"hover" throttle
 2012-05-08 03:12:14 -05:00
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
27d1c4be93 Extend list of airframe types for VTOL guidance 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
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
James Cotton
6aa7142f5e When guidance finds an incorrect airframe, delay 100ms to avoid hammering the 
alarms
 2012-05-07 12:55:35 -05:00
Sambas
dedbbec8f0 Make guidance support my Y6, also caused telemetry/usb RXdatarate go thru the roof (Guidance Warning). Almost impossible to change dataframe type to supported one with clean board. 
USB interrupt fix.
Heap warning critical sizes backwards.
 2012-05-07 12:51:07 -05:00
Oleg Semyonov
a3906aa7ea Merge remote-tracking branch 'origin/hhrhhr/AeroSimRC_plugin' into os/aerosimrc 2012-05-07 16:09:35 +03:00
James Cotton
a40a0b0e31 Small fix to be able to build CC for Revo branch and to include revo in 
package.
 2012-05-07 01:55:52 -05:00
Brian Webb
454144f46c Pairing and saving settings working. 2012-05-06 20:47:21 -07:00
Brian Webb
352471857f Reverted USB configuration and switched all non-blocking COM calls to blocking, which appears to help prevent lockups now that all sends are in a different thread. 2012-05-06 15:07:07 -07:00
Brian Webb
ef4828032b Fixed failed merge with next. 2012-05-06 12:38:13 -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
James Cotton
6c0dc80978 Shuffle more stack sizes around 2012-05-05 11:33:47 -05:00
Werner Backes
22df8310c4 Fixed typo in comment 2012-05-05 11:10:53 -05:00
Werner Backes
f52f5b3d83 Don't process RMC sentences that are flaged as 'void' 2012-05-05 11:10:45 -05:00
Werner Backes
6b463e5c9e Check GGA NMEA sentence for no/invalid fix flag 2012-05-05 11:10:38 -05:00
Werner Backes
217860c187 Check for empty fields during lat/lon conversion (invalid GPS fix) 2012-05-05 11:10:32 -05:00
Brian Webb
44d95003f3 Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2 2012-05-03 17:56:08 -07:00
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
249ededcfd Added responding to OBJ_REQ and sending ACK/NACK on PipX. 2012-05-02 20:51:29 -07:00
Brian Webb
290acf0398 Fixed watchdog timeouts. 2012-05-01 20:48:35 -07:00
Brian Webb
217aad8c37 Now using read and write threads for both radio and com ports on PipX. Also cleaned up UAVTalk message handling. 2012-05-01 19:14:58 -07:00
Brian Webb
25ffb99cee Added initialization of flash eeprom for saving settings to PipX. 2012-04-28 19:29:56 -07:00
James Cotton
fb53d5621a Change the magKp term (hardcoded still) for revo complimentary filter so it 
tracks magnetic north when homelocation is set.
 2012-04-22 19:01:41 -05:00
James Cotton
2890fcdc9f When in complimentary filter mode use GPSVelocity so event system doesn't have 
warning.
 2012-04-22 19:01:18 -05:00
Brian Webb
aab47d6ed4 Final updates to throttled mode and further memeory reduction in the object manager and event dispatcher to reflect smaller data sizes in metadata. 2012-04-22 14:56:26 -07:00
Brian Webb
ed1937958e Changed PipX UAVTalkProcessInputStream calls to UAVTalkProcessInputStreamQuiet. 2012-04-22 08:45:01 -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
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
3da88601a1 Airspeed module works, needs conversion 2012-04-17 20:32:56 +02:00
Corvus Corax
317cff10dd debug code added - revert this when no longer needed 2012-04-17 18:59:46 +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
ad074aee4b Fix nasty bug in guidance where I missed some breaks 2012-04-16 08:59:25 -05:00
James Cotton
a7ba6d96c1 Allow guidance to run purely off raw GPS data 2012-04-15 16:23:34 -05:00
James Cotton
050c756d54 Merge branch 'revolution_path' into testing 2012-04-15 12:34:31 -05:00
James Cotton
4928cbba44 Merge branch 'sim' into testing 2012-04-15 12:34:27 -05:00
James Cotton
59da9deffb Merge remote-tracking branch 'revo/D-Lite/ubx-parser' into sim 2012-04-15 12:33:54 -05:00
James Cotton
6a094ac326 Increase stack for the path planner 2012-04-15 12:31:50 -05:00
Corvus Corax
88f7567247 change to GPS: do not update UAVObject more than 1ce per cycle 2012-04-15 19:17:03 +02:00
James Cotton
85852df00b Make simulation produce data asynchronously for testing and add random accel 
bias
 2012-04-15 11:51:42 -05:00
James Cotton
08fd08deb8 Fix some compiler warnings in guidance code 2012-04-15 11:51:26 -05:00
James Cotton
1559eeb2e1 Use GPSVelocity updates when they are available instead of timing based on 
GPSPosition
 2012-04-15 11:50:56 -05:00
James Cotton
b71e9fc9dc Create simulated OveroSync module which simply drops updates to log file 2012-04-14 22:01:33 -05:00
unknown
0b7538c3fe Constants changed to float for better portability. 2012-04-15 01:28:31 +02:00
James Cotton
9a2e0b071c Revert "Allow simulated quadcopter to include GyroBias in the artificial sensor data." 
This reverts commit 212a10bcd4.
 2012-04-14 17:20:01 -05:00
James Cotton
212a10bcd4 Allow simulated quadcopter to include GyroBias in the artificial sensor data. 2012-04-14 14:52:56 -05:00
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
267e9fa87c Merge branch 'revolution' into testing 2012-04-14 14:40:11 -05:00
James Cotton
a86e75bc99 Merge branch 'revolution' into sim 2012-04-14 14:12:03 -05:00
James Cotton
deb3336729 Make sure for revolution all the GPS objects are always initialized even if 
there is no GPS port.  Otherwise connecting to relevant queues will fail.
 2012-04-14 14:02:20 -05:00
James Cotton
b7c3b1fdd1 Make the simulation provide GPSVelocity object since this is critical for EKF 
now
 2012-04-14 14:01:42 -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
1a98a46606 Merge branch 'revolution_ubx' into sim 2012-04-14 12:10:23 -05:00
James Cotton
5d160860a3 Fix from Corvus for gyro bias from EKF 2012-04-14 12:09:12 -05:00
James Cotton
3e2feb64cf Fix bug limiting maximum velocity desired 2012-04-14 10:49:54 -05:00
James Cotton
b0ef456ccb Kickstart MPU6000 if there is no data 2012-04-13 20:29:41 -05:00
James Cotton
a0d1b00ade Cover an edge condition for the MPU6000 IRQ not firing 2012-04-13 19:37:30 -05:00
Brian Webb
4936cd8fd2 Added PipXStatus and PipXSettings UAVObjects and added support the sending/receiving UAVTalk objects on the PipX. 2012-04-10 20:22:53 -07:00
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
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
136bbe3814 Update the EKF code to use the GPSVelocity 2012-04-09 19:03:21 -05:00
James Cotton
dbcb47e249 Merge branch 'D-Lite/ubx-parser' into revolution_ubx 2012-04-09 17:34:34 -05:00
Werner Backes
4ede7a8af6 Experimental u-blox binary data format parser. See "u-blox 6 
Receiver Description" for reference. Currently supports NAV-VELNED
message only and populates it to the GPSVelocity UAVObject.
 2012-04-09 23:14:34 +02:00
Werner Backes
422944ce29 Experimental extension to the GPS stream parser to extract u-blox 
binary data format. See "u-blox 6 Receiver Description" for
reference. GPS data stream may carry mixed NMEA and UBX data.
 2012-04-09 23:12:24 +02:00
Brian Webb
7b49a6b820 Added watchdog to radio com bridge in PipXtreme. 2012-04-07 19:12:49 -07:00
Brian Webb
f4d886de75 Added support for determining when the radio->com link is between UAVTalk packets. This is required to inject UAVTalk messages into the message stream. 2012-04-07 18:17:57 -07:00
Brian Webb
0f9f897870 Added PPM packet to packet handler, created replacement system module for PipXtreme (PipXtreme module), removed all UAVObjects from PipXtreme, and added parsing of incoming (over USB/COM) UAVTalk stream. 2012-04-07 18:17:32 -07:00
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 
of the baro
 2012-04-07 00:37:42 -05:00
Brian Webb
56a2006fd8 Reconfigured to run on the real PipX board. 2012-04-06 18:44:31 -07:00
Brian Webb
bc1adb2519 Some cleanup of rfm22 driver. 2012-04-06 17:36:35 -07:00
James Cotton
345b6578b1 Fix a possible race condition for complimentary filter on L3GD20 attitude 
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
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
Brian Webb
fff93910e2 RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module. 2012-04-05 20:24:50 -07:00
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
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
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
6df9691609 Bring back the original module files and remove comments from FreeRTOS 
debugging
 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
fbd8695d7d Check in WIP for osx simulation 2012-04-03 09:16:30 -05:00
James Cotton
28cab678ce Simulate a more complete QC model. 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 
desired and the accel based on the current attitude.
 2012-04-03 09:16:28 -05:00
James Cotton
6adc74f6f9 Check in the fake sensor data module 2012-04-03 09:16:27 -05:00
James Cotton
e97c1bc016 Include the module include file before any uavo ones 2012-04-03 09:16:27 -05:00
James Cotton
cfd92de87a Add explicit casts in manualcontrol to avoid compiler warnings/errors 2012-04-03 09:16:24 -05:00
James Cotton
5827e3f565 Add box around logo path 2012-04-03 03:42:37 -05:00
James Cotton
bfb0c6935e Make pathplanner use callbacks on the waypoints and their index to pick up 
changes from the GCS while flying
 2012-04-03 03:42:37 -05:00
James Cotton
c26cceb47b If the waypoint index is changed then update teh position desired. This should 
probably be done with change callbacks because currently changing the waypoints
themselves doesn't update position desired.
 2012-04-03 03:42:36 -05:00
James Cotton
6d1c36680f Scale the max velocity as a magnitude on teh vector instead of independently on 
each direction
 2012-04-03 03:42:36 -05:00
James Cotton
5b3cc4876e In simulations a higher GPS noise is required for the INS 2012-04-03 03:42:35 -05:00
James Cotton
32f76db8ae Only update position desired when you change waypoints active 2012-04-03 03:42:35 -05:00
James Cotton
ba1ade33cb Get navigation working and program hardcoded flight path 2012-04-03 03:42:34 -05:00
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
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
a83fb019f6 When in complimentary filter mode pass the GPS information straight 
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 
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 
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 
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
9e4651ab80 INS working on Revo 2012-04-03 03:42:22 -05:00
James Cotton
96edea9d4b Some fixes to GPS parsing 2012-04-03 03:42:21 -05:00