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Commit Graph

1869 Commits

Author SHA1 Message Date
stac
cdb8aa37a0 ahrs: Only read mag data when it has been updated
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
2010-09-15 14:21:05 +00:00
stac
55d90970ed hmc5843: hide internal #defines and functions
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
2010-09-15 14:21:04 +00:00
stac
0e7a801e9e hmc5843: Add support for DRDY signal from magnetometer
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
2010-09-15 14:21:02 +00:00
stac
4ac001553d hmc5843: convert line endings from CRLF to LF
No functional changes.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1627 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:21:00 +00:00
stac
ac6989fbeb bmp085: fix configuration of EOC interrupt
The EOC EXTI interrupt configuration was incorrectly
pointing at GPIOG pin 8 rather than GPIOC pin 15.
This was preventing the EOC interrupt from working
properly.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1626 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:59 +00:00
stac
88e73906d0 i2c: Add recovery code for i2c bus errors
I2C bus errors are now recoverable.  The bus is properly reset
and an error indication is now provided to the caller whenever
a bus error occurs during processing of the transaction list.

For now, the users of the I2C layer just retry infinitely on
failure.  The BMP085 and HMC5843 code should be changed to
report errors to its callers to allow a more sensible retry
strategy.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1625 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:57 +00:00
stac
0122394481 i2c: consolidate handling of AUTO transitions
AUTO transitions in the FSM are now handled immediately
after processing each newly injected event rather than only
at the end of the EV ISR.

This consolidation allows the upcoming addition of event
injection from both the EV and ER ISR contexts.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1624 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:56 +00:00
stac
7d5463e5e6 i2c: Move polling for bus stopped from ISR to task/mainloop
Occasionally, the I2C driver races with the STM32 I2C peripheral
at the end of a bus cycle.  This leaves the bus in an errored
state and the stop condition is not properly asserted on the bus.

The polling for the stopped condition was previously implemented
in ISR context since it was expected to be nearly instananeous.
In the error condition, however, the stop condition will never
happen.  The polling for this case is now done by the initiating
task (or mainloop on the AHRS) to prevent the timeout condition
from triggering the watchdog.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1623 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:55 +00:00
stac
65ad2caf8a i2c: Make transaction initiator available in txn list
The info field in the pios_i2c_txn list can now be used
to provide a const string which describes the context
for this transaction.

This is very helpful when diagnosing an error that occurs
somewhere in the middle of the I2C FSM since the FSM runs
primarily in the ISR where the original context for the
transactions is no longer available in the traceback.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1622 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:53 +00:00
stac
85c60479c1 i2c: rename FSM faulted state
Differentiate the _FSM_ faulted from the (soon to
exist _BUS_ faulted state.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1621 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:52 +00:00
stac
139da048f6 ahrs: remove unused debug code
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1620 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:51 +00:00
edouard
d280204dd8 OP-151 Also update OPMap widget to use PathChooser, and make it use the path translation utilities. Not relevant on every platform, since typically on a Unix, the share path will not be user writeable. Still, doesn't hurt.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1619 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-14 20:27:39 +00:00
edouard
1cbd44f564 OP-151 Use PathChooser in all plugins, and update pathutils to behave consistently across platforms by always using "/" as its internal format. Should solve the issues we have been having with windows paths not being removed properly.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1618 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-14 16:58:40 +00:00
peabody124
6cc702b394 Makefile: Default is win32-g++ so that real OS can detect and overwrite this.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1617 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-14 16:15:21 +00:00
pip
cc3860daaf Added 'uint32_t PIOS_SYS_getCPUFlashSize(void)' into pios_sys.c/h files.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1616 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-14 09:18:55 +00:00
peabody124
c5fe985a45 AHRS: Gets timing working correctly to compute the EKF rate and idle time in real values
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1615 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-14 07:03:36 +00:00
peabody124
0875dc8442 AHRS: First pass refactoring the ADC code into another function. Still want to clean up a few constants make the downsampling go into a smaller circularbuffer nicely.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1614 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-14 07:03:34 +00:00
peabody124
1051d894b9 AHRS: Merged in some new code from Dschin that expliclity writes the prediction terms in the covariance matrix. Also made changes to compile with -Os. Now runs around 125 - 150 Hz depending on corrections used (this will become adjustable from GCS shortly).
Squashed commit of the following:

commit 897e3365ab6c762584c34238efd12dc144e72af0
Author: James Cotton <peabody124@gmail.com>
Date:   Mon Sep 13 22:15:21 2010 -0500

    AHRS: Getting it running nice and quickly.

commit 53d72fb849164730c89873cab81c9e09be0b112b
Author: James Cotton <peabody124@gmail.com>
Date:   Mon Sep 13 15:57:46 2010 -0500

    AHRS: Make more variables volatile for -Os.

commit 4fa90821b5d3d8c2ea5e67756313a8a63c0eeb8c
Author: James Cotton <peabody124@gmail.com>
Date:   Mon Sep 13 15:11:31 2010 -0500

    AHRS/Makefile: -O0 not added to allow me to try various space flags that don't break code.

commit 5bd17a304dc28dc271c2f3e8c6cb8ad4a830404f
Author: James Cotton <peabody124@gmail.com>
Date:   Mon Sep 13 14:44:05 2010 -0500

    AHRS: Make debuggign USART easy to disable

commit 5453f2a7939492769fe9e9cc822e69c107320670
Author: James Cotton <peabody124@gmail.com>
Date:   Mon Sep 13 14:38:37 2010 -0500

    AHRS: Explicitly expand covariance prediction.  Brings computations from 160 to 90.  Makes it not fit in AHRS though.

commit b6712da7eece2a464a2073d24b77be22bfa47094
Author: James Cotton <peabody124@gmail.com>
Date:   Sun Sep 12 22:59:42 2010 -0500

    AHRS: Make it easy to comment out the I2C/Magnetometers.

commit 8c84d0091f3d6f6bedc7a0224a4ed9cb099b022b
Author: James Cotton <peabody124@gmail.com>
Date:   Thu Sep 9 00:49:50 2010 -0500

    AHRS: Small change to INSGPS analysis tools

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1613 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-14 06:42:56 +00:00
pip
7da2fc2ba7 made ahrs_state 'volatile' in ahrs.c to prevent compiler optimization lockup
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1612 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 20:56:58 +00:00
pip
8bfaa997d3 made curr_state 'volatile' in pios_i2c_priv.h to prevernt compiler optimization lockup.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1611 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 20:52:56 +00:00
peabody124
4a4932e5ff AHRS/FSM: Small initialization detail to make compile with -Os
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1610 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 19:04:37 +00:00
zedamota
66560786f4 Flight - #ifdefs to make it work with both normal and bootloader packet formats.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1609 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 17:08:52 +00:00
sambas
41a23a8eeb Ground/GCSControl: weird problem with assert in windows environment, this hack seems to help it
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1608 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 15:12:58 +00:00
chebuzz
3b5b129445 Fix POSIX simulator to work with new VTOL UAVObjects
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1607 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 14:00:53 +00:00
martin
ba18af6ed9 Update Russian translation
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1606 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 00:54:02 +00:00
martin
f03958b4a6 rollback to the previous path to *.qm files
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1605 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 00:08:40 +00:00
peabody124
47a7b8548b Flight: Safety feature for VTOL. Don't enable motor until throttle brought above .5 then below or to zero.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1604 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 22:18:21 +00:00
peabody124
76971a807c AHRS: Some more tweaking of the timings.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1603 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 22:18:18 +00:00
peabody124
10cfeeb35f AHRS/Matlab: Small bug in the quaternion transformation in case anyone else uses this :)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1602 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 21:22:44 +00:00
zedamota
257b4d2c95 flight - BL AHRS Comms - fixes to make it compile, not tested yet.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1601 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 21:08:43 +00:00
erhard
be1dc09c29 OP-99 Import/Export: Reflect the format-changes from 1599 in the version-number.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1600 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 21:05:35 +00:00
cranphin
f826ee0a20 Use QSettings key/properties instead of byte arrays for plugin configurations.
I've left in the reading of the byte arrays for now, so people can load their old config files, on the next save they'll be converted. This should be removed at some point in the not too far future though, since it's a lot of duplicate code in each plugin.

I've converted all the plugins, it's certainly possible I made a typo somewhere, I tried to test as much as I could, sorry if I broke something though :)


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1599 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 16:24:54 +00:00
erhard
ddf6ee46ee OP-99 Import/Export: Prepare for version compatibility.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1598 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 15:51:14 +00:00
peabody124
ba34bb8c24 AHRS: Oops, didn't notice the message processing was removed from end of loop. Adding back.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1597 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 12:44:57 +00:00
pip
d0b8a9755d Added USB_LED_ON/USB_LED_OFF and checks to see if they are defined to the PIOS_USB_HID_ChangeConnectionState function ..
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1596 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 10:47:20 +00:00
pip
9fca16db41 Added an RTOS detection is 2 places because I'm using this file on the modem (without an RTOS). #if defined(PIOS_INCLUDE_FREERTOS) ...
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1595 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 10:33:45 +00:00
peabody124
59758122e1 AHRS: Cannot process messages while idling as this makes the main loop execution time non-deterministic based on OP (i.e. could get three messages and push the time up). It would be a nice featuer since you can get a raw and EKF update in the same step, but if the AHRS_Comm loop is fast (which is should be to keep update latency low) then this will hammer the AHRS with redunant requests.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1594 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:51 +00:00
peabody124
e90e714c2b Flight: Tweaked the throttle handling and VTOL use of it to make sure engines can be shut off easily in stabilization mode.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1593 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:49 +00:00
peabody124
56131476ef AHRS: Switch to sampling at 2khz, plenty of CPU usage. However need to make EKF rate different for outdoor mode with this patch because otherwise will drop samples :-(
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1592 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:47 +00:00
peabody124
5d1ebf76ea Flight/VTOLmixer: Fix bug in mixer that messed up roll mixing. Also changed minimum to -1 so that neutral can be position motors come on and -1 the off position. Also made failsafe throttle value -1 to be consistent.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1591 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:44 +00:00
peabody124
c376711405 Flight/Stabilization: Make the derivative account for the sampling time (dAngle/dt) for the PID loop since integral does and also make the integral bounds uavobject settings. It was originally bounded by constant/Ki but I'm not sure why as you change the gain of the error integral you also want to decrease the maximum error it can cause.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1590 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:41 +00:00
peabody124
8999355327 Flight: Made actuator a periodic task. I don't think the queue is low enough latency - should figure out how to make this happen as callback is the right way to go.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1589 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:38 +00:00
peabody124
dceb20b16d Flight: VTOLStatus object that returns the thrusts on all the engines
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1588 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:34 +00:00
peabody124
bba3b0c64a Flight: VTOLSetings object to contain the mixer settings for VTOL crafts
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1587 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:30 +00:00
stac
d18e0c3ef8 ahrscomms: Add low-level message code for bootloader msgs
Implement low-level utility functions for sending/receiving
the opahrs proto v0 (bootloader) messages.  These are used
by the OP firmware loader and the AHRS bootloader.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1586 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:31 +00:00
stac
c3c8a30bfc ahrscomms: fix return values on error
Some functions were returning -1 instead of one of the
valud enum values.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1585 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:29 +00:00
stac
6bf3038f3f ahrscomms: provide helper function for simple requests
This cleans up some of the boiler plate code that is
repeasted for simple (empty) requests that expect a
response.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1584 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:28 +00:00
stac
7ecbb5f5b8 opahrs_proto: Add new boot and versions messages
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1583 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:26 +00:00
stac
d1dc300081 ahrscomms: remove unused sync and switch_proto messages
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1582 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:25 +00:00
stac
80c92ba54b ahrs: process SPI messages while idle
This makes the AHRS continually process SPI messages
while waiting for new samples to be ready.  This has
the side effect of making the CPU utilization on the
AHRS pin at 99-100% (ie. we make use of all of our
otherwise idle time).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1581 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:23 +00:00