parallel for this update. Also removed comment for rawhid
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2012 ebee16cc-31ac-478f-84a7-5cbb03baadba
1) Moved the criteria for using GPS to defines in anticipation of moving into
AHRSSettings
2) Only use the mags for updates if the vector length is within 20% of nominal
to avoid updating when it's nonsense
3) Reinitialize position when swapping between indoor and outdoor
4) Dont use mags for first 5 seconds after initialization, sometimes seems to
cause issues
5) Dont use mags until magnetic field at your location is set and a magnetic
field is loaded
6) Dont use GPS if home location hasnt been set
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1959 ebee16cc-31ac-478f-84a7-5cbb03baadba
moved around where the axis are swapped and made the negative sign come from
calibration.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1931 ebee16cc-31ac-478f-84a7-5cbb03baadba
uavobjectgenerator to support multiple fields (thanks Les!). Also
changed default scale on mag to +/-6g
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1899 ebee16cc-31ac-478f-84a7-5cbb03baadba
home location. If you use INSGPS_INDOORS make sure your HomeLocation.Be fields
are correct for your GPS coordinates
http://maps.alfiordalis.com/declination.html
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1862 ebee16cc-31ac-478f-84a7-5cbb03baadba
fly (EKF rate up to a limit). Also, now the algorithm selects if you are
indoor or outdoor as well as if you use a mag indoor (if you do set the z
variance higher than it calibrates to).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1841 ebee16cc-31ac-478f-84a7-5cbb03baadba
approach again because ran out of numerical precision for single pass. Also
made ground force the gyro signs to be correct.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1806 ebee16cc-31ac-478f-84a7-5cbb03baadba
Flight: Create PositionDesired (the active waypoint) UAVObject and make the FlightSituationActual no update since it not used.
Flight: New velocity desired object that passes information between the look computing the desired velocity and the PID loop to get it (updated at different rates)
UAVObjects/PositionActual: Remove unused GPS fields
UAVObjects/PositionActual VelocityActual: Split the velocity into a separate object. ALso make sure all the information telemetered around is in cm to avoid using floats.
UAVObject/GuidanceSettings: New guidance settings object for the guidance module
Flight/Posix: Add the new objects to the Posix sim
Flight/Guidance: Computes a desired velocity based on position error than runs a PID loop to control roll and pitch to achieve that velocity. All distances are in cm, and updated the PositionActual fields to reflect this and use int32.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1760 ebee16cc-31ac-478f-84a7-5cbb03baadba
determine retransmitting calibration, home location and such.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1755 ebee16cc-31ac-478f-84a7-5cbb03baadba
Calibration should take less time now too (using second moments to estimate
variance in one pass). Now need to change to multiple messages to get the
calibration in to keep the request message size minimal. Also currently
running sensor calibrate doesn't store the gyro bias so if you want to use this
you'll have to tweak it manually. I'll fix that step tomorrow.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1741 ebee16cc-31ac-478f-84a7-5cbb03baadba
Leaving debug on allows the -g option to be enabled
so that we can have symbols in gdb even though we're
forcing the optimization flags to -Os.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1631 ebee16cc-31ac-478f-84a7-5cbb03baadba
The AHRS mainloop was reading the mag data on every
loop regardless of whether new data was actually
available. Now that the MAG_DRDY signal is monitored,
we can read only at the rate (10Hz) new data is actually
produced by the sensor.
This also enables future improvements that will remove the
filtering work that is still being done on the mag data on
every iteration.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1630 ebee16cc-31ac-478f-84a7-5cbb03baadba
Way too much was being exposed in the API for the
HMC5843. This commit properly hides internal
details of the driver.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1629 ebee16cc-31ac-478f-84a7-5cbb03baadba
The DRDY signal from the magnetometer is connected to PB8
on the STM32. This pin is now configured as an external
interrupt and is now used to signal when new data is
available from the magnetometer.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1628 ebee16cc-31ac-478f-84a7-5cbb03baadba
