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
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
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
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
fbd8695d7d
Check in WIP for osx simulation
2012-04-03 09:16:30 -05:00
James Cotton
e97c1bc016
Include the module include file before any uavo ones
2012-04-03 09:16:27 -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
7f226867c6
Some bug fixes for revo attitude estimation.
2012-04-03 03:42:33 -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
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
55ee568fe2
Work on the INS algorithm
2012-04-03 03:42:21 -05:00
Corvus Corax
d32dd0ccd4
Fixed fmod() versus fmodf() usage in flight/...
2012-03-26 04:16:54 +02:00
James Cotton
0d42303d37
Fix some compilation errors/warnings in attitude.c
2012-03-11 16:30:18 -05:00
James Cotton
02bec750bd
In the attitude loop need to check all the queues even if unused or the event
...
system will have warnings
2012-02-07 08:46:34 -06:00
James Cotton
0432dd450e
Enable the mag to be used in the complimentary filter to stabilize the yaw
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direction
2011-12-15 00:56:50 -06:00
James Cotton
43ed6cd89c
Need to initialize the HomeLocation object
2011-12-14 14:08:03 -06:00
James Cotton
09864a8cf6
Get outdoor EKF running although need to add in the ability to swap modes
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(probably).
2011-12-14 02:07:33 -06:00
James Cotton
fd8899018f
Get EKF running
2011-12-14 01:54:06 -06:00
James Cotton
a37a17a4fb
Created a separate Sensor module and Attitude module for revolution
2011-12-12 21:40:39 -06:00
James Cotton
53cb5b67d1
Make the revo attitude now use the separate gyro object. CopterControl
...
attitude still needs an update.
2011-12-12 13:28:35 -06:00
James Cotton
d22e0e66dd
Create separate UAVOs for the sensors.
2011-12-12 13:05:40 -06:00
James Cotton
a9c61845af
Create a separate task for sensors and attitude on revo.
2011-12-12 00:47:16 -06:00
James Cotton
f7d13ebd57
Hack to tweak the gyro gain for now although its too far out at the moment so
...
something isn't configured properly. Possibly it is staying in 250 deg/s mode.
Also make sure if the MPU6000 fifo backs up to pull extra data.
2011-11-27 01:22:37 -06:00
James Cotton
8b7aca0dcd
Include the accel bias into revolution attitude function and also make sure
...
downsampling is correct.
2011-11-26 14:40:32 -06:00
James Cotton
7637e9f669
Get flash chip working and saving to memory. Also get the I2C working with
...
BMA180 driver.
2011-11-19 00:13:02 -06:00
James Cotton
a7ef5601e0
Update the MPU6000 FIFO code and also fix the temperature code
2011-11-18 00:24:55 -06:00
James Cotton
6d74e96c31
Got attitude working again. MPU6000 FIFO reading needs a bit of work.
2011-11-18 00:00:55 -06:00
James Cotton
0efffef1fa
Work on bringing the Revolution board up
2011-11-17 10:13:34 -06:00
James Cotton
1deb799b6f
Get simple attitude estimation working on F4 INS. Also make MPU6050 return
...
scaling that casts to degrees.
2011-11-16 11:36:04 -06:00
James Cotton
aeb42332d6
Get the MPU6050 fifo running and read by the attitude module
2011-11-14 11:23:14 -06:00
James Cotton
59507249e1
Hack in attitude to read directly from gyros instead of fifo. All sensors
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reading now.
2011-11-14 11:12:10 -06:00
James Cotton
2cc2e55248
Add attitude solution for revo
2011-11-14 10:49:37 -06:00
