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5,329 Commits 5 Branches 8 Tags 266 MiB
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2658 Commits

Author SHA1 Message Date
Werner Backes
f52f5b3d83 Don't process RMC sentences that are flaged as 'void' 2012-05-05 11:10:45 -05:00
Werner Backes
6b463e5c9e Check GGA NMEA sentence for no/invalid fix flag 2012-05-05 11:10:38 -05:00
Werner Backes
217860c187 Check for empty fields during lat/lon conversion (invalid GPS fix) 2012-05-05 11:10:32 -05:00
James Cotton
513c36f19a Update the F4 ADC to compile again. Still not fully compliant with API but 
then again API is not great and unused currently so no rush.
 2012-05-04 21:37:46 -05:00
James Cotton
3ef01569b8 Merge remote-tracking branch 'origin/kenz/PT_UI_fixes' into next 
Conflicts:
	flight/OpenPilot/System/openpilot.c
	shared/uavobjectdefinition/positionactual.xml
	shared/uavobjectdefinition/positiondesired.xml
	shared/uavobjectdefinition/velocityactual.xml
	shared/uavobjectdefinition/velocitydesired.xml
 2012-05-04 13:21:23 -05:00
James Cotton
a9b8e74b0d Disable LEDs on the bootloader update as without knowing the particular 
hardware revision it cannot know which pios_led_cfg_ structure to use.
Possibly this should be abstracted further into board_hw_defs to create
functions like board_init_led.

Also the BU should probably compare the hw_revision of the original and new
bootloader to make sure the user doesn't break their board.
 2012-05-04 08:53:14 -05:00
James Cotton
d93bf5d2a2 Clean up the XCode project 2012-05-03 22:20:00 -05:00
James Cotton
3155324384 Merge branch 'next' into cc3d 
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
James Cotton
07a5d98020 Merge remote-tracking branch 'origin/Brian-Metadata-Mods' into next 2012-05-03 08:50:24 -05:00
James Cotton
3f63051df8 PiOS ADC: This could still use a lot of cleanup and needs to be implemented in 
the non-FreeRTOS case but now the ADC device is allocated dynamically which
means CC3D won't waste heap on it.
 2012-05-01 11:11:31 -05:00
James Cotton
311cbe37d2 Reenable PIOS_ADC for coptercontrol 2012-05-01 00:30:41 -05:00
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 
warning.
 2012-04-22 19:01:18 -05:00
Corvus Corax
b97b0617aa bugfix, use correct variance parameter on z velocity 2012-04-22 18:43:17 -05:00
James Cotton
f06439ecf5 Fix a bug in calculating air temperature in baro sensor when it goes below 20 
deg C.
 2012-04-22 18:43:07 -05:00
Stacey Sheldon
63285ea451 bu: remove LED support from bootloader updaters 
Bootloader updaters were all broken due to recent
changes in LED configuration handling.  Removing
LED support from the BU loads allows them to build
again, but they provide no feedback about when they're
finished writing flash.
 2012-04-22 18:42:58 -05:00
Stacey Sheldon
2ec197298b gpio: stop enabling pull-ups on all GPIOs in bootloader 
The bootloader has been enabling pull-ups on all GPIO
pins during early init.  These pull-ups are disabled
immediately before jumping to the firmware.  This transition
results in all servos seeing a wide pulse as the board
resets making them jerk sideways aggresively and then snap
back to neutral.
 2012-04-22 18:42:53 -05:00
Stacey Sheldon
14cc9ef57c ppm: adjust min frame pulse width for 8ch x 18ms frames 
All channels at max when using the FrSKY 4ch D4FR in PPM
mode results in the frame pulse shrinking well below our
threshold of 3800us and we lose frame.

With all 8 channels at max, the frame pulse becomes
indistinguishable from the other channels.  Using all 8
channels with the FrSKY in PPM mode is NOT recommended
even after this change.

Recommend using at most 7 active channels in this mode so
we can still find the frame pulse.
 2012-04-22 18:42:45 -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
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
Laura Sebesta
6feb198437 Improved comment message, aimed at beginners. 2012-04-20 17:10:16 -04:00
Brian Webb
19166cc830 Added UPDATEMODE_THROTTLED to UAVObjects update modes. 2012-04-18 18:47:13 -07:00
Stacey Sheldon
7f03a77492 bu: remove LED support from bootloader updaters 
Bootloader updaters were all broken due to recent
changes in LED configuration handling.  Removing
LED support from the BU loads allows them to build
again, but they provide no feedback about when they're
finished writing flash.
 2012-04-16 15:09:10 -04:00
Stacey Sheldon
62fb009acd gpio: stop enabling pull-ups on all GPIOs in bootloader 
The bootloader has been enabling pull-ups on all GPIO
pins during early init.  These pull-ups are disabled
immediately before jumping to the firmware.  This transition
results in all servos seeing a wide pulse as the board
resets making them jerk sideways aggresively and then snap
back to neutral.
 2012-04-16 14:41:25 -04:00
Stacey Sheldon
5ca4ec7934 ppm: adjust min frame pulse width for 8ch x 18ms frames 
All channels at max when using the FrSKY 4ch D4FR in PPM
mode results in the frame pulse shrinking well below our
threshold of 3800us and we lose frame.

With all 8 channels at max, the frame pulse becomes
indistinguishable from the other channels.  Using all 8
channels with the FrSKY in PPM mode is NOT recommended
even after this change.

Recommend using at most 7 active channels in this mode so
we can still find the frame pulse.
 2012-04-16 14:33:28 -04:00
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 
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 
GPSPosition
 2012-04-15 11:50:56 -05:00
James Cotton
6e215bd029 Updating INS Pos/Vel variance includes the vertical velocity 2012-04-15 11:50:11 -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." 
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 
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 
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 
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
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 
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
dfa18eaef1 Deal with the case where path start and endpoints are the same to avoid NAN. 2012-04-10 02:49:19 -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 
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 
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
Werner Backes
56108b5381 Introduced GPSVelocity UAVObject 2012-04-09 22:59:38 +02:00
James Cotton
414e62f14e Revert "Disable baro updates into INSGPS for now. Seems to cause issues." 
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 
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
e60c70251f Slow down update rate for the altitude hold smoothed EKF 2012-04-06 13:58:46 -05:00
James Cotton
6c004678d5 Need a really big telemetry queue size on revo for object manager not to choke. 
Probably should slow down how quickly AltHoldSmoothed is set.
 2012-04-06 13:22:30 -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
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
f491c924d6 Start updating the OSX UDP simulation to use a separate thread for receiving 
but it needs two - one as a task (where the com callback occurs) and another
for the physical process stuff that doesn't need to suspend (like teh TCP
thread does)
 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
fdfaac6559 More tweaks to OSX simulator 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
09ce6e1ab4 Restore the original Revolution FreeRTOSConfig and make the osx simulation 
scheduler not start high priority tasks when they are created because I can't
reliably get the starting task to stop (because currently in a swapping mutex I
think).
 2012-04-03 09:16:30 -05:00
James Cotton
6df9691609 Bring back the original module files and remove comments from FreeRTOS 
debugging
 2012-04-03 09:16:30 -05:00
James Cotton
82a2987b2c More improvements to the osx simulation FreeRTOS port. Only tick the tick 
handler when we have confirmed the running thread has halted.  This is more
like what would happen on a single core machine.
 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
0b342ea3d6 Changing the tick counter to only happen after current thread is suspended 
seems to fix stability issues
 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
c1726e30e5 Make pios_tcp uses two threads - one for the socket stuff and another within 
FreeRTOS to receive the data.
 2012-04-03 09:16:30 -05:00
James Cotton
75262b400a More osx simulation work 2012-04-03 09:16:29 -05:00
James Cotton
da294384b6 Getting closer on osx simulation 2012-04-03 09:16:29 -05:00
James Cotton
a2bc7b8668 Osx Simulator Not running quickly but at least it's staying up 2012-04-03 09:16:29 -05:00
James Cotton
898a595d81 Delete old files 2012-04-03 09:16:29 -05:00
James Cotton
adad006530 More work on OSX simulation 2012-04-03 09:16:29 -05:00
James Cotton
99e246f151 More of the 7.0 files for OSX simulation 2012-04-03 09:16:29 -05:00
James Cotton
356802b5ac Update to FreeRTOS 7 for OSX sim 2012-04-03 09:16:28 -05:00
James Cotton
0d3a6d94d8 Delete some old files 2012-04-03 09:16:28 -05:00
James Cotton
491df5d130 Small update to the osx wdg 2012-04-03 09:16:28 -05:00
James Cotton
51f0c3453b More work on osx simulation engine 2012-04-03 09:16:28 -05:00
James Cotton
3c0b65fbf8 Implement a simulated watchdog to catch when the chip would have reboot 2012-04-03 09:16:28 -05:00
James Cotton
28cab678ce Simulate a more complete QC model. 2012-04-03 09:16:28 -05:00
James Cotton
9d5dbe4bfe Create stub for TCP connection of simulation 2012-04-03 09:16:28 -05:00
James Cotton
6aa1f1e344 Had some debugging outputs (logged to file) still enabled 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 
desired and the accel based on the current attitude.
 2012-04-03 09:16:28 -05:00