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
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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
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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
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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
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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."
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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
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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
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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
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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
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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
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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
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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."
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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
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
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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
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
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
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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
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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
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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
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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
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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
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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
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through to Position Actual
2012-04-03 03:42:29 -05:00
