Erik Gustavsson
b7bdf9861d
Run rotated gravity vector through smoothing filter to match phase with filtered accelerometer data.
2012-11-01 12:14:33 +01:00
Erik Gustavsson
c207afbfef
Implement smoothing filter for accelerometer data.
2012-10-31 19:05:59 +01:00
Laura Sebesta
8997df2438
Merge branch 'next' into kenz/diag_stack_split
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Conflicts:
flight/Modules/Stabilization/stabilization.c
2012-09-27 19:29:23 +02:00
James Cotton
4717c376c0
Stabilization: For the inner loop call the setpoint shaping version so that
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the derivative term can weight the sticks and gyros independently.
2012-09-11 13:21:53 -05:00
James Cotton
11b099b1ef
Stabilization: Add configuration terms for the derivative calculation to the UAVO and pass
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them in to the PID system.
2012-09-11 12:29:38 -05:00
James Cotton
9763a70364
Merge remote-tracking branch 'origin/igor/pidt1' into relay_tuning
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Conflicts:
flight/Modules/Stabilization/stabilization.c
2012-09-10 03:10:26 -05:00
Igor Van Airde
8ca99739ed
Changed rate controller from PID to PIDT1 to improve flight stability.
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Low pass on D-Term makes the D-Term usable to improve flight stability.
Affects rate and stabilize mode.
2012-09-09 13:07:25 +02:00
Werner Backes
4803dfe99c
Fix: yaw bias correction wasn't applied on CC3D.
2012-09-06 13:13:58 +02:00
James Cotton
2f65fc1e8e
Merge branch 'next' into relay_tuning
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Conflicts:
shared/uavobjectdefinition/manualcontrolsettings.xml
shared/uavobjectdefinition/taskinfo.xml
2012-09-04 10:43:04 -05:00
James Cotton
59d1367d37
Autotuning: Make the output also follow the hysteresis output
2012-08-24 22:45:45 -05:00
James Cotton
a3f1894cd7
Autotuning: Make the estimator require the value to toggle above and below the hysteresis level.
2012-08-24 21:33:08 -05:00
James Cotton
8babe5d8a4
Autotuning: Increase the measurement time to 30 seconds.
2012-08-24 21:32:11 -05:00
Laura Sebesta
f2ffd1fb99
Changed DIAGNOSTICS flag to be individual to each module instead of global.
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The upshot is the stack usage monitor can be turned on at a lower RAM threshold.
2012-08-24 12:04:05 +02:00
Stacey Sheldon
29ab1d8cf3
actuator: factor out settings updates from main loop
2012-08-11 19:46:00 -04:00
Stacey Sheldon
b505602c15
Merge remote-tracking branch 'origin/stac/rc-tx-joystick-emulation' into next
2012-08-11 11:21:18 -04:00
Stacey Sheldon
49c153003c
hid joystick: use linearly scaled channels
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Scales each channel only based on max and min calibrated values.
The neutral value is now ignored so the joystick sees a linear
range between min and max.
This is particularly useful to allow the full range of values for
throttle to be passed through to the joystick.
2012-08-10 23:36:06 -04:00
James Cotton
06a6e367b0
Merge remote-tracking branch 'origin/hyper/OP-661' into next
2012-08-08 13:49:48 -05:00
Stacey Sheldon
ef0c12b1b6
hid joystick: emulate a USB HID joystick using RC Transmitter
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Adds a new RCTransmitter setting for the USB HID interface which
emulates a USB HID joystick. The scaled RC receiver channels
from any RCVR protocol are passed through to the various emulated
joystick controls.
The main use for this feature is to allow you to use your own RC
transmitter with any RC simulator on a PC.
This is known to work with CRRCsim but should work with any simulator
that supports joystick input.
2012-08-05 21:45:27 -04:00
James Cotton
9f3c8dddd3
Add a version of the sin lookup table that is in ram instead of flash
2012-08-03 12:15:57 -05:00
James Cotton
490955dbea
Use cos_lookup instead of sin_looup(x+90)
2012-08-03 11:34:05 -05:00
James Cotton
fc2f8376bc
Prevent an alarm from ManualControlCommand when using autotuning mode.
2012-08-03 09:37:47 -05:00
James Cotton
50c7641162
Move the PID methods into a standalone library
2012-08-03 09:37:46 -05:00
James Cotton
2723ff4be3
Factor the virtual flybar code out of the stabilization module
2012-08-03 09:37:46 -05:00
James Cotton
aae0e562c6
Create a sine lookup table that is cached in flash and make relay tuning start
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ot use this.
2012-08-03 09:37:46 -05:00
James Cotton
924c91ce1e
Fix mistake from previous merge with duplicate the STABILIZATIONOMDE_ATTITUDE
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case
2012-08-03 09:37:46 -05:00
James Cotton
8565dfbcc3
Factor the relay tuning out of the main stabilization.c file into it's own
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tool.
2012-08-03 09:37:46 -05:00
James Cotton
ee4bb84e36
Fix: Increase teh memory for autotune back to 1024 which leaves 100 free.
2012-08-03 09:37:46 -05:00
James Cotton
561cf994b0
Reduce the memory footprint of the sin lookup table by using sin(x+pi) =
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-sin(x). Still just needs to move into flash and have some options about
precision when in its own library function.
2012-08-03 09:37:46 -05:00
James Cotton
652647fc87
Make autotuning module optional
2012-08-03 09:37:46 -05:00
James Cotton
d0ef95ff9a
Fix idiotic bug in the stab_refactor
2012-08-03 09:37:46 -05:00
James Cotton
2ccd6605a4
Now the stabilization refactor is in we can make swapping between tuning the
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system in rate or attitude mode software configurable.
2012-08-03 09:37:45 -05:00
James Cotton
24d9e50c08
Based on the selected behavior either apply or save the stabilization settings
2012-08-03 09:37:45 -05:00
James Cotton
7ea14ecc22
Track the output gain instead of amplitude so the measured values are
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consistent if the settings are changed afterwards.
2012-08-03 09:37:45 -05:00
James Cotton
17878b32f3
Make autotune run within an attitude loop instead of direct rate mode. Easier
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for beginners.
2012-08-03 09:37:44 -05:00
James Cotton
a9af53b4f3
Create new autotuning module which rotates through the axes for autotuning and
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then computes new stabilization settings.
2012-08-03 09:37:44 -05:00
James Cotton
44e72d0a70
A big refactoring of stabilization.c to get rid of the two separate loops and
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move them into one big structure. This makes it easier to implement other
modes.
2012-08-03 09:37:44 -05:00
James Cotton
e01c5d5f87
Get online estimation of period and amplitude working
2012-08-03 09:37:44 -05:00
James Cotton
4ac8df6aa8
Make the system perform an online estimate of the period and amplitude of the
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oscillation during relay tuning
2012-08-03 09:37:44 -05:00
James Cotton
17a0d3ebb4
Add a relay stabilization mode
2012-08-03 09:37:44 -05:00
Richard Flay (Hyper)
6d34795494
Re-enabled simposix SDCard support, and removed obsolete SDCard alarm usage from System module
2012-08-01 19:53:59 +09:30
Werner Backes
e32152386a
Increased stack for PIOS_SETS_HOMELOCATION case to avoid running into low stack warnings when settings the home location from GPS was actually used.
2012-07-31 11:10:23 +02:00
James Cotton
6867068b9e
Merge branch 'saving_queue' into next
2012-07-25 13:28:17 -05:00
James Cotton
9865466da9
Make sure to create the system queue BEFORE calling task start. Systemmod
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initializes differently than other threads and I missed htat. Huge thanks to
Hyper for making me realize that despite the fact I didn't see it :D.
2012-07-24 09:51:03 -05:00
James Cotton
e38325c745
Should check that the queue allocates and initialize shoudl return -1 if not
2012-07-23 08:47:43 -05:00
James Cotton
545018244c
Make saving occur within the system thread instead of the event system thread
2012-07-22 23:03:27 -05:00
Oleg Semyonov
f3f34e8f9f
AeroSimRC: fix CC3D virtual sensor readings in simulation mode
2012-07-22 14:18:49 +03:00
James Cotton
a559286d0b
A few of the UBX types were missing a struct for the type.
2012-07-22 01:21:12 -05:00
Stacey Sheldon
123f199160
gps: fix case on GPS.h file
2012-07-21 14:42:04 -04:00
Stacey Sheldon
fc78d9f7d8
nmea: fix typo in DEBUG macro name
2012-07-21 14:23:14 -04:00
Stacey Sheldon
eafd525323
Merge remote-tracking branch 'origin/D-Lite/ubx-parser-next' into next
2012-07-21 14:22:10 -04:00
