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Commit Graph

21 Commits

Author SHA1 Message Date
peabody124
45e8131a30 Flight: Added ability to use additional TX inputs to tune attitude bias. Note this form of the calibration is temporary and will likely be replaced by a rotation matrix to deal with more general rotations.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1525 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 17:07:59 +00:00
peabody124
a406034ed9 OP-132 Flight/AHRS: Changed the heuristics regarding GPS quality and INSGPS updates. Now if satellites < 7 or PDOP > 3.5 it does not perform GPS updates. Professor is working on some code to fix parts of the covariance matrix. If indoor updates high a 0 position and velocity and high variance.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1515 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 02:19:00 +00:00
peabody124
a377bea862 Ground/CoordinateConversions: Found out from Dschin that rotation matrix inverse is rotation matrix transpose. Now should convert correctly from NED to ECEF. I will check tomorrow by frolicking around with a plane.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1494 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-01 03:12:06 +00:00
peabody124
8128c3bbfa OP-118 AHRS: Added 6 point calibration routine to AHRS config widget. To use it, click "Cal Mode", then place the AHRS on each of 6 sides of a cube then click save position. Finally click compute to push the updated scale abd bias terms to the AHRS. Also fixed a bug in UAVObjectField that would not allow you to setDouble for extra fields.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1449 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-28 18:48:51 +00:00
peabody124
16361dea12 AHRS: Making AHRS populate the NED/Vel fields of PositionActual. May rename object to PositionVelocityActual. Also created a GPSTime object which is populated from the GPRMC command. Also added a GPZDA parsing command, but by default OP GPS doesn't send this command. Made the computation of the world magnetic model use the current time to set the magnetic vector. Note: currently if you set your home location and save it to SD, this will not recompute the vector over time. I'm not sure how sensitive this is.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1435 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 19:59:25 +00:00
peabody124
4ca10e92c7 OP-121 OP-122 Flight: Improved USB HID communication.
1. Added reenumeration function and call it on USB init (device will appear after reprogramming now)
  2. Moved buffer.c to general flight/Libraries location
  3. Removed the 62 byte transmission limitation by adding a transmission buffer
  4. Sped up USB communication by increasing endpoint polling frequency

Note, that the nonblocking and blocking USB send functions are not blocking entirely correcting.  The blocking calls the nonblocking, and the nonblocking blocks until the last chunk has started tranmission if it's a big transmission.  The buffering I added would generalize to non-blocking nicely, but would require using the EP1(IN) callback to handle most of the tranmission.  This creates a lot of issues if one function is pushing data onto the buffer and the interrupt is sending.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1403 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-25 05:32:52 +00:00
peabody124
e94d3d3846 AHRS/Flight: Allow selecting simple algorithm as well as INSGPS
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1384 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 03:51:08 +00:00
peabody124
bd8fffe4d0 AHRS/Flight: Renamed AttitudeSettings to AhrsSettings to make it more intuitive. Added the ability to change the algorithm from GCS.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1383 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 03:39:13 +00:00
peabody124
5662d85c4e OP-120 AHRS: Tightened up the communication protocol so it runs more quickly. Looks ok in gdb but GCS not crashing right now (rendering error) so I can't test it properly.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1366 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-22 00:21:54 +00:00
peabody124
bb79ba66fa OP-119 AHRS: Converted the big data structures for the WMM calculation to be allocated on the stack, which forced a dependency on FreeRTOS :-( but keeps things on the heap. Also changed the HomeLocation object to include a Set field. When this is false, OP will try and update it whenever it gets a 3D fix. If it is saved to disk with this field as true, then it won't need to get a lock to send the magnetic flux vector to the AHRS.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1346 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 08:35:44 +00:00
peabody124
ef0b307353 [OP-119] Flight/AHRS: Created a HomeLocation object which is updated when the GPS gets an initial 3D fix and populated with the information to convert from LLA from the GPS to NED reference frame. Also added a message for passing the MagneticNorth vector to the AHRS and removed that computation from AHRS.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1337 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-19 20:38:27 +00:00
peabody124
cfd20922cd AHRS: Added the filtered data to the attitude raw object. Even though this seems like an oxymoron it's still raw to the EKF algorithm, and nice to see the real values after filtering to make sure nothing weird is going on. However, if people don't like this I'm open to suggestions/patches. I'd maybe suggest the whole attituderaw object be converted to ahrsraw anyway since it's more like that (eg. none of the values are actually attitude estimates).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1325 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-18 14:54:24 +00:00
peabody124
64bcebb87a AHRS: Fixed bug in the downsampling code (used a += a + blah, dumb). Also added initialization of the magnetic flux based on fixed GPS settings (I hope you're near Houston). I will add the GPS communication shortly.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1307 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-17 05:32:07 +00:00
peabody124
a23f3c66f4 Behaving reasonably, added calibration code which runs by default on startup and take 6 seconds - this will be called from GCS in future and saved to SD card.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1303 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-16 16:58:22 +00:00
peabody124
e0d63103ec Added a testing function for INS - currently doesn't stabilize for fixed inputs. Fixed two bugs I found in INSGPS (R[10] instead of R[9] initialized and Nav.Pos[2] was set to wrong X element).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1302 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-16 16:58:20 +00:00
peabody124
ddbd4f8c80 Simple attitude calculation based on gravity and magnetic vector
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1298 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-15 06:03:44 +00:00
peabody124
a084d21804 Merge branch 'watchdog'
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1281 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-13 05:18:17 +00:00
peabody124
0fdfbb2ffb Deleting old USB code that I meant to delete a while ago. Also changed names of some functions to OP. Finally fixed the USB taking over PIOS telemetry. Detects the USB cable and that the configuration has been taken by the USB bus.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1217 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-05 23:43:52 +00:00
peabody124
99e94228a9 More doxygen updates
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1106 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-16 05:31:11 +00:00
peabody124
5c41f95a1e Updating OSX project file for new file locations
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1100 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-15 02:16:54 +00:00
peabody124
5f6b3eb11a XCode project file for Mac development (for the Posix port)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1039 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-07 14:28:48 +00:00