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188 Commits

Author SHA1 Message Date
stac
4e6b539086 debugpins: Add definitions for debug pins 
Not yet used anywhere but will eventually allow
debug pins to be assigned during runtime init based
on configuration found in a new uavobject.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2741 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-06 01:03:06 +00:00
peabody124
810fa70856 UAVObjects: Remove the raw versus filtered fields in the sensor data. Save 
some memory.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2706 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 02:42:39 +00:00
pip
5daf6fd1c0 Added PIP_DUMP_RAW option in ahrs.c and brought back public acces to function PIOS_ADC_GetOverSampling(void). 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2623 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-29 15:59:35 +00:00
corvus
0cc957bc9c reverting bad commit of these files 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2605 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-28 12:31:13 +00:00
corvus
e6004ae95e PiOS.posix - split up FreeRTOS port into a linux version (original FreeRTOS linux code) and a non linux POSIX compatible version (Mac OSX, BSD, ...) - OS detection by Makefile.posix 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2604 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-28 12:26:45 +00:00
peabody124
1daabba5c1 Build: Change the lower makefiles to use forward slashes but also create 
directories on
windows

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2585 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-24 20:01:06 +00:00
peabody124
ba1d519192 Get CC working with new file locations and also fix AHRS build to work with 
these locations

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2581 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-24 08:14:00 +00:00
sambas
826ce00bf4 another one for Big Mess 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2546 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-23 18:18:52 +00:00
stac
2d53902148 UAVObjects-flight: Move generated files into build dir 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2520 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-22 17:38:15 +00:00
pip
7bcdcee5ad Capitalised #define values 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2507 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-21 16:48:03 +00:00
pip
500a199a70 Added deg_to_rad & rad_to_deg to help understanding calculations. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2501 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-21 10:52:41 +00:00
pip
5f87966727 Corrected "mag_data.raw.axis[]" indexing errors 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2482 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-19 15:20:17 +00:00
edouard
b3ca037308 OP-277 Update all files to use a BOARD_TYPE and BOARD_REVISION scheme through the whole codebase. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2458 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-16 20:41:55 +00:00
peabody124
0259b6d1f1 OP-269 PIOS/ADC: First part of conversion to driver structures 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2444 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-16 02:45:39 +00:00
peabody124
d4460aa97f Deleting unused file from svn 
Conflicts:

	flight/AHRS/ahrs_adc.c

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2442 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-16 02:45:31 +00:00
peabody124
81b0c3fdb6 OP-269 PiOS/ADC: Moved AHRS ADC code to PiOS and made all the projects use it 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2440 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-16 02:45:22 +00:00
pip
3d8edce5ee More speed improvement to the AHRS_ADC_downsample_data() function. Removed a bypassable multiple inside the inner loop. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2430 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-14 12:40:29 +00:00
pip
403c9ea2da Improved AHRS_ADC_downsample_data() efficiency/speed. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2429 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-14 12:31:34 +00:00
peabody124
7c9b3b3d69 OP-265 AHRS: New file locations 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2420 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-14 01:38:34 +00:00
zedamota
691c58a583 OP-268/PipX Bootloader - Changed the size of BL def. 
New naming convention for the linker files:
link_(board_name)_(density)_(bl usage).ld

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2401 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-13 17:34:22 +00:00
peabody124
e393000c34 OP-238 PIOS/SPI: Decrease pin clock rate from 50 to 10 Mhz. Since data at 
1.125 MHz this should slow down the slew rates

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2361 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-09 20:49:46 +00:00
peabody124
0f07d7f671 OP-240 OP-176 Flight: Setting the priority group back to 4 (anything higher 
priority preempts) and adjusting the priorities around to be more sensible.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2355 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-09 20:49:26 +00:00
peabody124
ccc8bc089b OP-235 AHRS: Not sending the out of range values to the mainboard was blocking 
calibration.  Now only don't send them to the EKF.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2342 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-06 16:44:40 +00:00
peabody124
6eae425644 OP-235 AHRS: Because of range checking at initialization the EKF can be blocked 
(which is good) but that stops the comms polling.  This makes it happen
ocassionally but not too much.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2335 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-05 10:34:48 +00:00
peabody124
77d798071e OP-235 AHRS: Check the downsampled data for either being ridiculously out of 
range of NaN.  This would reflect a race condition probably from the SPI
interaction.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2334 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-05 10:34:45 +00:00
pip
4a91f20277 Turn AHRS orange LED on at bootup (to try and spot possible bootup hangs). 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2331 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-05 09:15:37 +00:00
corvus
a59d08b7af AHRS: Support for Linear Temperature Compensation Factors for Gyroscope X,Y,Z 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2327 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-01-04 00:54:31 +00:00
pip
c8a1a6771c Added "AHRS_ADC_GetOverSampling" function 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2308 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-29 10:34:48 +00:00
peabody124
7ccdb296ac AHRS: Add interface to get old dump_raw function working for Pip 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2305 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-28 17:48:45 +00:00
peabody124
2b0c75e46d AHRS: Fix LED flashing light 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2300 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-28 02:10:52 +00:00
pip
26650724e4 Fixed coding error on line 317 .. changed while (xxx & xxxx) to while (xxx && xxxx) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2296 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-27 09:48:11 +00:00
peabody124
c364f45fb7 AHRS: If using mags then don't initialize until get a good mag update within 
250 ms of init call (mag works at 10 Hz).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2289 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-26 18:59:32 +00:00
peabody124
35bc1e7d9b Flight/AHRS: Make the mag raw data always update regardless of home location 
settings but only be used when home location is valid.  Also discard any mag
data that is all zeros although we shouldn't see this.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2283 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-24 20:21:22 +00:00
peabody124
314a2fcf00 flight/AHRS: Make the 13 state INS default again, the accel bias drift can be a 
little aggressive.  Also increased the drift rate of the gyro bias per Sambas'
testing (thanks) although not to the levels required for flying through 40 deg
C transitions.

Made the dump_ekf function handle both numbers of states

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2282 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-24 19:38:54 +00:00
peabody124
ac24d86f40 AHRS Makefile: PT accidentially turned on DEBUG=YES when checking in 
FirmwareIAP to get me back for breaking Sys_Reset.  You got me! :)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2246 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-18 08:56:12 +00:00
zedamota
c034a35d2c OP-21/Bootloader - Changes to the IAPObject. Implements MB and AHRS user mode IAPObject. Added user mode reset command to the CLI. To many changes to bootloading system to write here, a Wiki page will have to be writen. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2238 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-15 19:06:28 +00:00
peabody124
68c656a724 AHRS: Add back the old 13 state INS if wanted and also code for tracking accel 
bias as gravity vector facing down (bad for planes) which is diabled by
default.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2232 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-13 15:15:50 +00:00
peabody124
f30aa1d719 AHRS Comms: Send FirmwareIAP object to AHRS so that it can be remotely 
rebooted.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2214 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-10 21:03:29 +00:00
peabody124
4e8c6588b6 OP-156 AHRS: Run the accel data through a fifo so it can output raw data faster 
than the ekf runs and also be more tolerant of timing jitter

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2191 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-04 17:34:29 +00:00
peabody124
45e3ed27a7 OP-156 AHRS_ADC: Make the ADC system use a callback to better separate ADC code 
from the AHRS code (which will facilitate code integration with new INS) and
also will help set up a fifo queue for the downsampled data to allow gyro data
output from AHRS faster than EKF output.  Also decreased ADC interrupt priority
so the SPI comms don't drop out.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2190 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-04 17:34:27 +00:00
peabody124
6f1e7b4e41 AHRS: Add a configuration to export the sensor data either with or without INS 
bias correction.  This is useful for stabilization to get rid of the gyro bias.
Making it an option is important for calibration.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2189 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-04 17:34:25 +00:00
peabody124
81b2f88e75 AHRS: Swap to new code which tracks accel_bias and export the accelerometer 
bias

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2188 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-04 17:34:22 +00:00
peabody124
0679e8d472 AHRS: In indoor mode correct with a high variance 0 for position to keep it 
bounded.  Velocity variance still comes from AHRSCalibration.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2186 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-04 17:34:18 +00:00
dschin
f99eb5b0c7 No changes to mainline code. 
Three files added to  AHRS which add accelerometer biases (16 states) to the INS/GPS.  Added for evaluation (give it a try James).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2182 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-12-02 02:39:01 +00:00
dschin
18809ce3dc AHRS - fixed time constant of baro altitude offset filter, added the offset to the EKF dump 
Added new EKF data parser (m-file) to ground



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2178 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-11-29 23:28:38 +00:00
peabody124
74249f8e41 OP-171 AHRS: I was flipping sign of baro when putting into INS but shouldn't 
have been.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2175 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-11-29 08:44:43 +00:00
peabody124
f51a5a824e AHRS: Export the bias drift corrected gyro values to OP so stabilization see 
more accurate roll rates

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2174 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-11-29 08:44:41 +00:00
peabody124
75363896fb AHRS: In outdoor mode when no GPS for a few seconds start updating with zero 
velocity to help stabilize attitude.  In principle the mag should be fine but
in practice I need this.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2160 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-11-26 15:57:14 +00:00
peabody124
b3251e2cfb AHRS: Accidentally was using mags when in indoor_nomag mode 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2159 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-11-26 15:57:13 +00:00
peabody124
6a33043297 AHRS: Tweak setting when mag is used to allow greater error in vector length 
and start using from power up

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2158 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-11-26 15:57:12 +00:00