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2781 Commits

Author SHA1 Message Date
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
Brian Webb
3914d22b09 Turned off watchdog timer, which was crashing on real PipX. 2012-04-07 19:56:12 -07:00
Brian Webb
e639d173a0 Create ID from a hashed CPU serial number. 2012-04-07 19:41:23 -07:00
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." 
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
Brian Webb
56a2006fd8 Reconfigured to run on the real PipX board. 2012-04-06 18:44:31 -07:00
Brian Webb
eeb96955f9 Fixed ADC configuration 2012-04-06 17:43:43 -07:00
Brian Webb
253de47967 Merge remote-tracking branch 'raid/Brian-PipXtreme-V2' into Brian-PipXtreme-V2 2012-04-06 17:37:31 -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 
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
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
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
James Cotton
ce54c4205d Disable a print from the port that was causing rashes 2012-04-03 09:16:27 -05:00
James Cotton
6df2df6eec Get rid of the mutex when enabling/disabling soft IRQs. This isn't ideal but 
it seems to be triggering deadlocks.
 2012-04-03 09:16:27 -05:00
James Cotton
6adc74f6f9 Check in the fake sensor data module 2012-04-03 09:16:27 -05:00
James Cotton
dee17f8fd4 Enable task run time monitoring in osx simulation 2012-04-03 09:16:27 -05:00
James Cotton
0e815540ff Patch from Stac that processes module names without using sed. Also enable 
diagnostic stuff for simulation.
 2012-04-03 09:16:27 -05:00
James Cotton
2391385788 Remove the pauase in the idle task. Increases load but also stability. 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
dfa39b59bf Rename the pios_config file for simulation 2012-04-03 09:16:26 -05:00
James Cotton
cb7b475d03 Remove the need ot have two ways of listing the modules for simulation 2012-04-03 09:16:26 -05:00
James Cotton
76bdd09795 Rename the pios_config file for simulation 2012-04-03 09:16:26 -05:00
James Cotton
e79a6e292b Add watchdog flag for simulated sensor task 2012-04-03 09:16:26 -05:00
James Cotton
e0fbdaf9fe Move the pios_board_posix file to something more general 2012-04-03 09:16:26 -05:00
James Cotton
c8a64ccbc7 Need to use slightly different code to generate the InitMods.c function for 
simulation because of the Attitude/Revolution format.
 2012-04-03 09:16:26 -05:00
James Cotton
1763d0c72c Switch to conditional signaling. Seems more robust. 2012-04-03 09:16:26 -05:00
James Cotton
f0e84088c1 Simulated LED now flashing. 2012-04-03 09:16:26 -05:00
James Cotton
5589ca60db Check in compilation files for OSX simulation. Update to work on revolution 
tree.
 2012-04-03 09:16:26 -05:00
James Cotton
ea5b733ac8 Fix the soft timing in pios_delay. Also disable LED printing messages. 2012-04-03 09:16:26 -05:00
James Cotton
dd5a71c48d Add watchdog flag for simulated sensor task 2012-04-03 09:16:25 -05:00
James Cotton
ae2f1e95f6 Move the pios_board_posix file to something more general 2012-04-03 09:16:25 -05:00
James Cotton
5fd569829c Need to use slightly different code to generate the InitMods.c function for 
simulation because of the Attitude/Revolution format.
 2012-04-03 09:16:25 -05:00
James Cotton
5901a07eb1 Switch to conditional signaling. Seems more robust. 2012-04-03 09:16:25 -05:00
James Cotton
99b81c7159 Simulated LED now flashing. 2012-04-03 09:16:25 -05:00
James Cotton
4e64b27034 Disable matlab simulation for now 2012-04-03 09:16:24 -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
7ba32f8735 Check in compilation files for OSX simulation. Update to work on revolution 
tree.
 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 
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 
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 
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
c8ceea72e6 Increase the telemetry queue size from revolution 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 
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
337d5b7079 Enable guidance in revo. Update manual control to set the position desired 
when the switch is flipped.
 2012-04-03 03:42:25 -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
1630267324 Some small updates to 16 state INS 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
7e36d086de More work on INS algorithm to force constants to single 2012-04-03 03:42:22 -05:00
James Cotton
137429d92d More work for the simulation 2012-04-03 03:42:22 -05:00
James Cotton
96edea9d4b Some fixes to GPS parsing 2012-04-03 03:42:21 -05:00
James Cotton
55ee568fe2 Work on the INS algorithm 2012-04-03 03:42:21 -05:00
James Cotton
7034a45e44 Force more calculations to explicitly being float 2012-04-03 03:42:20 -05:00
James Cotton
8c8224c122 Use a bigger event queue for overo logging to avoid event system warnings, and 
add code to shortcircuit formatting a packet if it will not fit.
 2012-04-03 03:42:19 -05:00
James Cotton
e82323af32 Make revolution work with the FreeRTOS queue based MPU6000 driver 2012-04-03 03:41:52 -05:00
James Cotton
bb41bc1472 Add no for DIAG_TASKS to make file to make it easier not to miss. 2012-04-03 02:07:04 -05:00
James Cotton
d7cb232315 Add MPU6000 accel range to config structure. Also put in correct values. 2012-04-03 02:07:04 -05:00
James Cotton
3346e848e0 Attitude error timeout was 2 ms when sensors at 500 Hz. Caused lots of errors 
and overwhelmed event system.
 2012-04-03 02:07:04 -05:00
James Cotton
3f22ef8c66 Slow MPU6000 on CC3D to 500 Hz 2012-04-03 02:07:04 -05:00
James Cotton
35854b35f6 MPU6000 accel value coming out twice as high as it should. Need to store scale 
in cfg structure to fix this properly.
 2012-04-03 02:07:04 -05:00
James Cotton
8032130769 Slow down gyro a bit on CC to give the CPU some breathing room. Might need to 
come down more.
 2012-04-03 02:07:03 -05:00
James Cotton
a960f3d07e Switch the MPU6000 driver to using a FreeRTOS queue. Need to update Revo code 
to take advantage of this.
 2012-04-03 02:07:03 -05:00
James Cotton
1415728762 Get the MPU6000 CC3D working. Right now the ADC system is commented out, which 
will break regular CC.
 2012-04-03 02:07:03 -05:00
James Cotton
a0b7453580 Make the firmwareIAP variable not a global 2012-04-03 02:07:03 -05:00
Stacey Sheldon
9b33be5d65 ef: pad any gaps between the BL bank and the FW bank 
The Entire Flash (EF) image for revo has a gap between
the end of the BL bank and the start of the FW bank.
This fills the gap with 0xFF and properly aligns the
FW image in flash.
 2012-04-01 22:39:27 -04:00
Brian Webb
df0a1c2ac1 Upgraded Brian-Metadata-Mods to current next. 2012-04-01 12:25:13 -07:00
Brian Webb
496a323b7f Fixed indentaion. 2012-03-31 07:59:44 -07:00
Stacey Sheldon
eab923fee0 revo: move fw image into 128KB sectors 
This saves the more versatile 16KB and 64KB sectors
for other purposes.
 2012-03-28 21:52:43 -04:00
Stacey Sheldon
f971fc14d5 openocd: update to latest git snapshot (f1c01333) 2012-03-27 00:53:27 -04:00
Stacey Sheldon
91cffb1809 f4 usb: don't skip yield from ISR 
Function was returning prior to the code that might
need to yield from within the ISR.
 2012-03-27 00:18:44 -04:00
Corvus Corax
0742c88a98 enabled optional rtation of Revolution board 2012-03-26 05:25:52 +02:00
Corvus Corax
d32dd0ccd4 Fixed fmod() versus fmodf() usage in flight/... 2012-03-26 04:16:54 +02:00
Brian Webb
1669f00456 Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2 2012-03-24 15:21:16 -07:00
Brian Webb
23f6c8af73 Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2 2012-03-23 20:49:12 -07:00
Stacey Sheldon
730defb698 f4 flash: fix flash voltage range setting in bl_helper 
F4 boards are powered by 3.3V which corresponds to
VoltageRange_3.  Fix this to match actual VDD so we
get faster erase/write times.
 2012-03-22 22:37:31 -04:00
James Cotton
8059004755 Make sure if an event has a null handle and the queue is full we don't try and 
query UAVObjID
 2012-03-22 10:46:30 -05:00
James Cotton
c7ff2a46c7 Merge remote-tracking branch 'origin/laurent/modelview' into revolution 
Conflicts:
	flight/CopterControl/Makefile
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
 2012-03-22 02:58:24 -05:00
James Cotton
2f8049e20a Update the bootloader hw version for the mpu6000 board and make the sensor code 
and initialization respond appropriately.  Enable hte L3GD20 and BMA180.
Let the board type determine which is used.
 2012-03-22 00:41:37 -05:00
James Cotton
6350ec575e Merge remote-tracking branch 'origin/os/features/stick-deadband-next' into next 
Conflicts:
	ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
 2012-03-21 16:03:40 -05:00
James Cotton
e7ca02c038 Initialize mag before mpu6000. Seems more reliable but I don't know why. 2012-03-21 03:42:15 -05:00
James Cotton
e4290d678b Reenable the pressure sensor and other modules 2012-03-21 00:49:29 -05:00
James Cotton
720684c248 Flag to enable pressure/mag 2012-03-21 00:49:04 -05:00
James Cotton
a77a859e5c Using some config switches to get this board up and running 2012-03-21 00:48:31 -05:00
James Cotton
6b88a278b3 Disable overosync by default. It was triggering event system warnings due to 
the extra updates from altholdsmoothed.  Increase queue size when reenabled.
Also AltHold is is trigger warnings because other tasks starve it during
startup.
 2012-03-21 00:29:09 -05:00
James Cotton
f4663b98e4 When the event system or object manager has an error store the object ID in the 
SystemStats.
 2012-03-20 23:18:07 -05:00
Brian Webb
fc2d81cd8c Added optional ADC initialization to PipXtreme (turned off). 2012-03-19 17:59:05 -07:00
Brian Webb
fdf853a2fe Cleaned up the PipXtreme makefile. 2012-03-18 19:26:18 -07:00
Brian Webb
823b111d60 Added Reed-Solomon error correction to PipXtreme. The code is a slight modification of rsscode (http://rscode.sourceforge.net). Packet acking has also been turned on as the default, so each packet is error corrected, and if errors remain, the packet is NACKed, otherwise it is ACKed. Also temporarily turned off UAVTalk parsing. This was causing the CC to be identified as a PipX due to the PipX sending UAVObjects (I believe) from the system module. The system module is going to have to be modified/replaced for the PipX. 2012-03-18 17:43:29 -07:00
Brian Webb
aba3789d87 Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into Brian-Metadata-Mods 2012-03-18 13:28:11 -07:00
Brian Webb
346ae1bc6e Removed crc from PipXtreme build. 2012-03-18 10:29:28 -07:00
Brian Webb
620e862022 Moved unused crc.c/h back to PipXtreme directory. 2012-03-18 10:26:47 -07:00
Brian Webb
ecdf150946 Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data. 2012-03-18 10:22:05 -07:00
Brian Webb
41c68a6f6b Updates to PipX configration. 2012-03-15 19:51:46 -07:00
Brian Webb
78b622a8d8 Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into PipXtreme 2012-03-15 19:31:18 -07:00
Brian Webb
b34b849453 Added start at a modified PipX packet handler. 2012-03-15 19:29:54 -07:00
James Cotton
a319a6b14c Flags to disable mag/baro init 2012-03-14 22:35:09 -05:00
James Cotton
0d42303d37 Fix some compilation errors/warnings in attitude.c 2012-03-11 16:30:18 -05:00
James Cotton
c8d1534b87 Convert inline functions to static, let the compiler figure it out. Also some 
formatting since code was probably written with tabstop = 2 :)
 2012-03-11 13:18:08 -05:00
James Cotton
bbbca319d8 Merge commit 'c4df0c0ceff8ba985bb20d815f27910b9e59d992' into revolution 2012-03-11 13:14:06 -05:00
Alessio Morale
c4df0c0cef Support for port remapping on serial ports 
Support for receiver configuration (PPM, PWM and DSM)
There are still problems with Flexi port (not sure if related to a problem with my board) and Uart/SBUS that has the input always inverted.
 2012-03-11 18:38:49 +01:00
Stacey Sheldon
3782cdc58e bu: drop CC and PipX from BU targets since they don't build 
The CC and PipX bootloader updater (BU) builds don't currently
work due to some recent changes in how LEDs are handled.

Remove them from the default BU targets so that the all_flight
target can build clean again.

Also fix a linker warning in OP build.
 2012-03-10 20:41:15 -05:00
Stacey Sheldon
6038bfcb40 revo servo: swap servo pins 3 and 4 definitions to match schematic 
Note non-standard pin numbering on JP3 on the schematic.
 2012-03-10 15:06:21 -05:00
James Cotton
820ca6a970 Initialize loop variable OUTSIDE loop so that baro is used still for altitude 
hold.
 2012-03-10 11:28:51 -06:00
James Cotton
f4705551b6 Update task info to cover the AltitudeHold module 2012-03-10 11:14:30 -06:00
James Cotton
690f1b5f29 Enable camera stabilization 2012-03-08 01:37:34 -06:00
Stacey Sheldon
3210bd3f9c f4 usb_dcd: disable FIFO empty IRQ while waiting for tx completion 
CPU was being hammered with FIFO empty IRQs if we queued data but
the host wasn't actively draining the FIFO.

This was entirely unexpected so this hack should probably be
removed once we can figure out why this was happening.

This is almost certainly hiding some other issue.
 2012-03-07 20:36:37 -05:00
Stacey Sheldon
c4bd286739 f4 usb_hid: track whether we have buffers queued on endpoints 
Make sure we don't clobber our endpoint configuration by
double configuring an Rx or Tx buffer against it.  Wait for
the completion of the previous operation before allowing
endpoint configuration again.
 2012-03-07 20:36:36 -05:00
Brian Webb
d73895de7d Working PipX com relay. 2012-03-07 18:05:42 -07:00
Stacey Sheldon
65fc6104e6 f4 usb_hid: ignore upper layers if USB IF not yet enabled 
Upper (COM) layer was calling down into the HID layer before
the HID interface had been enabled.  This was leading to
interacting with the endpoint Rx and Tx FIFOs prior to init.
The FIFO config was then being clobbered when we the USB IF
was eventually enabled.
 2012-03-07 20:01:35 -05:00
Stacey Sheldon
1f37806eab f4 usb_hid: fix typo in EP IN registration call 
Code was using the size of the Rx buffer instead of the Tx
buffer when registering.  Buffers are currently the same
size so wasn't causing any issues.
 2012-03-07 20:01:35 -05:00
Stacey Sheldon
bc3ee6209c f4 usbhook: drop in/out bit from EP numbers before using as index 
USBHOOK endpoint callback arrays should not be indexed with the
0x80 (in/out) bit set.  Oops.
 2012-03-07 20:01:35 -05:00
Stacey Sheldon
6832a62872 f4 bl_helper: clear all flash errors as we unlock the flash 
Error flags being set were causing flash erase operations to
fail.  Not sure why these flags were set though so this might
be hiding some other problem.
 2012-03-07 19:53:18 -05:00
Stacey Sheldon
4ea1156e7b f4 bl_helper: teach bl_helper about f4 flash sector map 2012-03-07 19:53:17 -05:00
Stacey Sheldon
d1d123e4f6 revo bl: turn on USB and add support for OP DFU protocol 2012-03-07 19:53:17 -05:00
Stacey Sheldon
b8fcbad297 revo bl: remove unneeded code from revo BL 
Clean up BL source tree and makefile.
 2012-03-07 19:53:17 -05:00
Stacey Sheldon
c854c3f4a4 usbhook: add support in API for deactivating USB 2012-03-07 19:53:17 -05:00
Stacey Sheldon
cb9c3a9b7e usbhook: delete dead code 
Remove old code left-over from porting from F1 to F4.
 2012-03-07 19:53:17 -05:00
Stacey Sheldon
e2ab662b5d sysclk: pass in correct definition for HSE_VALUE 
The code in RCC_GetClocksFreq() uses HSE_VALUE to determine
the tick rate of the SYSCLK.  This in turn is used by the
code in PIOS_DELAY_* to compute delays.

ST Library defaults this to 25MHz for the F4.  Our board
actually has an 8MHz oscillator so delays were way off.

Mostly affects the bootloaders since most FW code uses RTOS
delays rather than busy-waiting using PIOS_DELAY_*.
 2012-03-07 19:52:54 -05:00
Stacey Sheldon
fdf54ab86c hid: fix response to HID descriptor 
HID driver was incorrectly giving back the HID interface
descriptor when asked for the HID descriptor.  This should
let OP boards interact better with generic HID layer drivers
and also gives us nicer output in lsusb once the HID descriptor
is read.
 2012-03-07 19:52:54 -05:00
Brian Webb
444150269a Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into PipXtreme 2012-03-05 18:22:08 -07:00
James Cotton
61d59828dc Disable the new features if not revolution and set an error flag. Fixes 
compilation errors.
 2012-03-05 00:24:11 -06:00
Alessio Morale
637af911ef Merge remote-tracking branch 'origin/james/revolution' into amorale/revolution 2012-03-04 12:31:13 +01:00
James Cotton
7961aba83c Clean up a few more compiler warnings 
Conflicts:

	flight/PiOS/Common/pios_ms5611.c
 2012-03-03 13:32:56 -06:00
James Cotton
91a226fc12 Sometimes the mag stops updating so kickstart it 2012-03-03 13:31:46 -06:00
James Cotton
bc8b72623e Get rid of some unused variables 2012-03-03 11:54:09 -06:00
James Cotton
b3f620af7c Merge remote-tracking branch 'revo/stac/openocd' into revolution 2012-03-03 11:52:09 -06:00
James Cotton
f20e5da9ed Merge branch 'next' into revolution 
Conflicts:
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configrevowidget.h
	ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp
 2012-03-03 11:41:41 -06:00
Stacey Sheldon
0684a42fac build: use board-specific JTAG interface for openocd 
Removes hard-coding of JTAG interface config in the
<board>_program make macros.

This allows the use of STLINKv2 for F4 boards while
continuing to use the FOSS JTAG revB on F1 boards.
 2012-03-03 08:43:01 -05:00
Stacey Sheldon
d78c5d2a9a openocd: reenable flash commands on f4 boards 2012-03-03 08:43:01 -05:00
Stacey Sheldon
c0c38609ec openocd: move to newer openocd (dec6b913) 
This update fixes flash writing on F4 chips
 2012-03-03 08:43:01 -05:00
Alessio Morale
226cd09a13 Merge branch 'james/revolution' into amorale/revolution 2012-03-02 21:24:56 +01:00
James Cotton
e3df261213 Merge branch 'stac/revo-usb' into revolution 
Conflicts:
	flight/Revolution/System/pios_board.c
 2012-03-02 13:00:13 -06:00
James Cotton
72a93dbae5 Fix from PT for OSX/Windows F4 USB HID to send the full report size even if not 
all used.
 2012-03-02 11:11:36 -06:00
Alessio Morale
e8880d7271 Removed duplicate InitClock for tim_4 2012-03-02 00:55:50 +01:00
Alessio Morale
691e8760bc Updated OpenPilotOSX.xcodeproj to include Flight as a reference to the actual folder 2012-02-29 23:13:02 +01:00
Brian Webb
a0bdc58e5b Added framework for rfm22b com device. 2012-02-28 21:30:06 -07:00
Brian Webb
992aa3bec6 Updated PipX branch to use CDC device with a VCP (not working yet). 2012-02-25 09:07:37 -07:00
Brian Webb
e2cb750dc6 First cut on RadioComBridge module, which is intended to pass data from either a USART or a USB port to the PipX radio link. 2012-02-25 07:37:05 -07:00
Brian Webb
01f314724b Updates to USB configuration on the PipXtreme. 2012-02-24 15:54:26 -07:00
Brian Webb
483a96c31d Some more cleanup to PipXtreme codebase. 2012-02-24 07:49:41 -07:00
Brian Webb
b69b285f58 Fixed PipXtreme bootloader. 2012-02-23 20:40:24 -07:00
Brian Webb
182f285e60 Added missing startup file for PipXtreme. 2012-02-23 20:06:34 -07:00
Brian Webb
cf34baec69 Some cleanup on PipXtreme codebase. 2012-02-23 19:58:23 -07:00
Oleg Semyonov
2271b95816 Merge remote branch 'origin/next' into os/features/stick-deadband-next 
Conflicts:
	ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
	ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
	ground/openpilotgcs/src/plugins/config/configtaskwidget.h
 2012-02-23 08:32:27 +02:00
Oleg Semyonov
e62cc8914c Merge remote branch 'origin/next' into os/features/pid-tuning-from-transmitter-next 
Conflicts:
	flight/CopterControl/Makefile
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
	ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
	shared/uavobjectdefinition/hwsettings.xml
 2012-02-22 23:03:17 +02:00
Brian Webb
f0dfba6fc0 Re-baslined the PipX codebase using the experimental Transmitter codebase. 2012-02-21 20:29:06 -07:00
Oleg Semyonov
403e9cd220 TxPID module: add ILimit values to the list of settings 2012-02-21 19:57:10 +02:00
James Cotton
7b548eaa54 Fix bug in the integral for altitude hold where it was accumulating wrong variable. 2012-02-21 00:40:55 -06:00
Brian Webb
43f6458f86 Reduced the sizeof the UAVObject metadata by: 
1) Combining all binary or mode values into a single byte
  2) Adding accessor functions to read/write the flag bits
  3) Reduced the size of the time values from 32 bits to 16 bits
 2012-02-20 18:45:18 -07:00
James Cotton
900780e10c Add bias estimation to the altitude fusion algorithm. Necessary to increase 
the gains on acceleration and velocity feedback terms (they are a problem when
biased).
 2012-02-19 11:38:09 -06:00
James Cotton
47fac7e31c Move the throttle setting code for alt hold into the fast accel loop. 2012-02-18 18:16:15 -06:00
Oleg Semyonov
c721d001c0 Subtract deadband offset from then input to still have fine control 2012-02-18 10:21:51 +02:00
James Cotton
7d4582e5f0 Update the altitude KF to use the updated measurements appropriately and check 
in the relevant matlab code to check it and genererate it.  Produces quite
smooth traces.
 2012-02-16 05:33:47 -06:00
James Cotton
c957172f8f In the case of swapping in userspace due to the buffer being blocked during 
ISR, make sure the latency is less than 50 us to avoid framesync errors.  Still
seeing a few nonsense packets on Overo side but fairly few.  Probably need to
add CRC to whole packet now and call it done.
 2012-02-14 11:06:16 -06:00
James Cotton
1930d092eb In the case where the overo scheduler cannot swap buffers (userspace loading 
it) then set a flag so as soon as the buffer is loaded then we schedule it.
 2012-02-14 11:00:29 -06:00
James Cotton
f04c58b0f4 Make the overo transaction occur based on the rising edge of the NSS line. 
This fixes most of the frame sync problems.  However, it's a bit hacky as
there is currently hardware information inside a module.
 2012-02-14 10:37:30 -06:00
James Cotton
d018d93e88 Clean up previous commit a bit and make the sampling rate a variable (and adapt 
the sampling time accordingly).
 2012-02-13 01:49:54 -06:00
James Cotton
3acbfbe96c Convert the pressure sensor code to most of the calculations as int64 to retain 
precision.
 2012-02-13 01:22:48 -06:00
James Cotton
4717af1afd Swap telemetry port and gps ports back 2012-02-12 13:55:52 -06:00
James Cotton
f23f53dc4e Add settings for the altitude kalman filter settings and init the state when 
first measurement arrives
 2012-02-12 09:07:27 -06:00
James Cotton
34ca5777dd Kalman filter for altitude 2012-02-11 21:08:19 -06:00
James Cotton
d8f0494e57 Merge branch 'revolution' into revolution_overo 2012-02-11 20:02:20 -06:00
Alessio Morale
22b211167c Ported pios_iap.c to F4 
restored failed boot count check on pios_board.c for revo
 2012-02-11 13:49:32 +01:00
James Cotton
3026527801 Now the desired altitude is relative to when the switch was flipped so that the 
baro altitude module can use a smoothed altitude estimate for the starting
point.
 2012-02-08 23:02:29 -06:00
James Cotton
80d602ef7b Switch order of some commands to make sure it loads the correct hover throttle 2012-02-08 20:47:10 -06:00
James Cotton
ab41bae071 Separately smooth the error estimate from the derivative 2012-02-08 11:15:33 -06:00
James Cotton
60c951843d Use backtracking to limit integral in altitude hold and smooth the velocity 
error.  Initialize the throttle integral better.
 2012-02-08 10:39:31 -06:00
James Cotton
c6b1d6b8df Rework the altitude hold code a bit 2012-02-08 09:42:10 -06:00
James Cotton
49a03a868b Merge branch 'altitudehold' into revolution_overo 
Conflicts:
	flight/OpenPilot/UAVObjects.inc
	flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
	flight/Revolution/Makefile
	flight/Revolution/ins.c
 2012-02-07 23:00:29 -06:00
James Cotton
6ec0f06c80 Back to 1024 byte packets 2012-02-07 13:02:11 -06:00
James Cotton
2c60447200 Switch back to 512 byte packets and fix bug when writing the header size that 
was smashing the crc
 2012-02-07 11:32:04 -06:00
James Cotton
221a0c5e53 Add the number of dropped updates to the overosync stats 2012-02-07 09:13:26 -06:00
James Cotton
a89d425b23 Reset the received rate for overo sync object 2012-02-07 09:01:58 -06:00
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
Stacey Sheldon
e2939dae2a revo usb: Add support for USB to Revo 2012-02-07 02:25:31 -05:00
Stacey Sheldon
8b73ae7d16 remove trailing whitespace 2012-02-07 02:25:31 -05:00
Stacey Sheldon
b8c16fe7a5 hw defs: move misc defines and non-const data out of board_hw_defs.c 
The board_hw_defs.c file should only contain static
const declarations that only describe the hardware.

All other non-const variables should be put into one
of the pios_board.c files.
 2012-02-07 02:25:31 -05:00
Stacey Sheldon
3c1b1001f9 f4 usb: Allow USB descriptors to be const through ST APIs 2012-02-07 02:25:31 -05:00
Stacey Sheldon
56102013aa f4 usb: correct function prototypes in bsp template 
This file is not actually used but it should still be accurate.
 2012-02-07 02:25:31 -05:00
Stacey Sheldon
57f9f6e3d1 f4 usb: configure and build ST USB OTG and USB DEV libraries 2012-02-07 02:25:31 -05:00
Stacey Sheldon
1e79ed6d54 f4 usb: fix invalid reference to stm32f4_discovery.h 2012-02-07 02:25:31 -05:00
Stacey Sheldon
04b81f13a7 f4 usb: fix invalid references to stm32f2xx.h 2012-02-07 02:25:31 -05:00
Stacey Sheldon
266b95561f f4 usb: rename device template to real config file 2012-02-07 02:25:30 -05:00
Stacey Sheldon
a4ae844f2b f4 usb: rename otg template to real config file 2012-02-07 02:25:30 -05:00
Stacey Sheldon
58bbe0870d f4 usb: allow device->host data to be const 
This allows the application code to pass const
descriptors to the Tx APIs in the STM32 USB
library.
 2012-02-07 02:25:30 -05:00
Stacey Sheldon
4b911bb3be f4 usb: remove unused device class examples 2012-02-07 02:25:30 -05:00
Stacey Sheldon
efbe8bbfdd f4 usb: convert all line endings to LF-only 
Line ending changes only.  No functional changes.
 2012-02-07 02:25:30 -05:00
Stacey Sheldon
6a43d1c7ed f4 usb: Import pristine STM32F4 USB Library v1.1.0 
Taken from version STM32F4-Discovery_FW_V1.1.0 of the
library from ST.
 2012-02-07 02:25:30 -05:00