1153 Commits

Author	SHA1	Message	Date
peabody124	834eecfc1f	OP-200 Flight/Watchdog: Have flag that is set from actuator, ahrs_comms, manual ... and stabilization that is monitored by watchdog. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2078 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-05 14:28:21 +00:00
peabody124	f950b9f6c0	Flight/ManualControl: Make it so the disarmed signal itself changes when GCS ... lost. Warning though: it takes ~5-10 seconds for the flight telemetry status to go from connected so this solution still isn't great. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2070 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-04 02:30:53 +00:00
peabody124	7bdd900409	Flight/Manual: Cleaner solution to deal with timer wraparound ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2069 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-04 02:30:51 +00:00
peabody124	1f87715719	OP-192 Flight/ManualControl: Add a timeout to the armed signal. Leaving throttle < 0 ... for 30 seconds disables it. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2068 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-04 02:30:49 +00:00
peabody124	c69c4157f1	Flight/Actuator: Add failsafe for when flying via GCS to disarm at ... lost connection git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2067 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-04 02:30:47 +00:00
corvus	ba781dec9a	port.c optimized for linux ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2051 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-11-01 11:54:02 +00:00
pip	9b22bb07e6	Fixed a bad bug in the fifo_getData functions. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2044 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-31 04:58:34 +00:00
edouard	d5752dff34	Update BL Makefile for buffer.c removal. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2043 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-30 18:39:07 +00:00
peabody124	800e6cbe2c	AHRS/INSGPS: Fix a swapped index Corvus caught ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2042 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-30 18:15:57 +00:00
peabody124	34bd4b7524	OP-198 Flight/GPS: Remove dependency on buffer.c, also made the detection of start and ... end characters occur while sentence coming in instead of reprocessing whole sentence for each character git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2041 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-30 18:15:52 +00:00
pip	ed03a45ee5	Added extra error checking - making sure the packet size is valid and that packet sizes match. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2039 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-30 15:00:36 +00:00
edouard	8087fda6f9	Update Makefile so that the bootloader still compiles with the latest buffer_XXX changes... ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2032 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-29 17:54:05 +00:00
pip	7bdaaa3930	Renamed fifoBuf_size to fifoBuf_getSize and got it to return the actual usable size of the buffer (one less than the buffer size). ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2031 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-28 21:10:43 +00:00
pip	91e6fb1485	Added fifoBuf_size function ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2030 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-28 15:14:44 +00:00
peabody124	42a02e5662	Flight/HID: USB priority to 8 instead of 1. Probably Need to make the HID layer use a ... similar driver format to the PIOS_USART system. (p.s. are you happy now, PT?) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2029 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-28 15:07:07 +00:00
sambas	3f62776253	OP-97 flight/GPS: Few more fixes ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2028 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-28 14:58:39 +00:00
peabody124	b9f74a86c3	OP-198 Flight/Libraries: Swap to using circular buffer code from Pip because it ... supports thread safe write/read simultaneously git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2027 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-28 14:30:03 +00:00
peabody124	0bdaf4d0df	OP-197 Flight/USB: Make non-blocking send return -2 instead of -1 for not enough space ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2026 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-28 14:30:00 +00:00
sambas	365a2a121a	OP-97 flight/GPS: Few fixes ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2025 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-28 13:50:34 +00:00
peabody124	aada18a0ea	UAVTalk: Update protcol version number to go with new packet format and changed ... a few constants to make it self documenting git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2017 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-27 17:41:41 +00:00
peabody124	4570d6df23	UAVTalk: Insert a sync byte (0x3C) and the packet size to facilitating handling ... by PipX modems. This is a change to UAVTalk so GCS and the hardware must all be updated. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2016 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-27 17:16:29 +00:00
peabody124	33e6cbebdc	AHRS debugging: Move dump to beginning of block to see the updated lines ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2015 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-27 17:16:25 +00:00
sambas	3e462b1434	OP-97 flight/GPS: Disable speed threshold command for those who knows it's needed, check gpsTask->DISABLE_GPS_TRESHOLD ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2014 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-27 15:51:33 +00:00
peabody124	4d7e053e06	AHRS Debugign code for dumping the EKF and importing into Matlab ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2013 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-27 14:31:34 +00:00
peabody124	2019edd612	AHRS: Store running time to make detect resets easier. Update OP and AHRS in ... parallel for this update. Also removed comment for rawhid git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2012 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-27 14:31:32 +00:00
sambas	f1ba558fa1	Flight/GPS: Some updates ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2011 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-27 10:39:38 +00:00
peabody124	a2e0cd2240	Stabilization: Dont make queue respond to both raw sensors and attitude because ... causes it to trigger most of the time every 1 ms which is consuming tons of CPU. Also lower the failsafe timeout since its likely due to overloading the event system and we don't want to delay 100 ms. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2005 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-24 20:00:05 +00:00
peabody124	9944cdfcb0	Flight/RateDesired: UAVObject for monitoring the desired rate out of ... stabilization for diagnostics git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2004 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-24 20:00:02 +00:00
peabody124	acc6df4c2d	Flight/USB_HID: Make the userspace command wait until not in interrupt before ... running and block the interrupts while modifying the buffers git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2003 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-24 01:35:30 +00:00
ligi	523b6ad8f7	added hint on how to better distinguish FC/NC ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2001 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-22 12:36:47 +00:00
peabody124	098b2fd693	Flight/System: Double heart rate when system is armed. This is per request in ... IRC, but suggestions are welcome. In the long run we probably need a sensible way of embedding some information in the LED but it's not obvious to me. Also could have done with callback - sue me. ;) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1997 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-20 05:31:24 +00:00
peabody124	cd04845c3d	Flight/HID: NAK instead of stall USB bus (former was mistake) and change ... polling time to 4 ms git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1996 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-20 05:21:25 +00:00
corvus	50574841bd	Moved non primary Stabilization modules into Branches ... simple - outdated - won't compile Experimental - outdated - won't compile les - development version - not stable les+corvus - development version - not stable git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1993 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-19 19:12:37 +00:00
dankers	4ed3359f6f	Comment was misleading. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1992 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-19 17:25:07 +00:00
sambas	0384e359ba	My working eclipse workspace, atleast for windows ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1991 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-18 19:16:20 +00:00
corvus	8cb04a372f	Stabilization: new stabilization variant based on les stabilization module, with several options for coordinate system transformation ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1990 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-18 14:46:45 +00:00
corvus	7a37dc1f32	PiOS.posix - added some debugging code ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1977 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-17 16:27:49 +00:00
edouard	82b702e239	Added the new Multirotor shapes to the SystemSettings object, as discussed on the forums. UID has not changed, but you should recompile still (sorry). ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1972 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-17 14:15:47 +00:00
corvus	43beec24d6	flight/documentation/Architecture - Updated Architecture diagrams to reflect most of the current UAVObjects ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1966 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-16 18:05:12 +00:00
les	2125e2479d	Added AHRS boot loader SPI protocol ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1965 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-16 17:54:00 +00:00
cwabbott	dff66607c7	More UAVObject fixes, stuff to get PiOS.win32 compiling again. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1962 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-16 12:15:47 +00:00
peabody124	300195ff18	AHRS: A few small changes ... 1) Moved the criteria for using GPS to defines in anticipation of moving into AHRSSettings 2) Only use the mags for updates if the vector length is within 20% of nominal to avoid updating when it's nonsense 3) Reinitialize position when swapping between indoor and outdoor 4) Dont use mags for first 5 seconds after initialization, sometimes seems to cause issues 5) Dont use mags until magnetic field at your location is set and a magnetic field is loaded 6) Dont use GPS if home location hasnt been set git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1959 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-14 01:36:30 +00:00
peabody124	016bcad24a	AHRS: Detect when more than 2 seconds since last GPS update and in that case ... reinit INSGPS to new location git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1958 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-14 01:36:28 +00:00
pip	bd8ad90301	Added PipXtreme jtag cfg files. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1956 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-13 08:14:39 +00:00
pip	acadc4bc28	Added some files to the PipXtreme folder. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1955 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-13 07:49:05 +00:00
pip	a3ac3feae9	Added PipXtreme folder. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1954 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-13 07:43:32 +00:00
pip	0f7e0cf4db	Removed PipBee folder ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1953 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-13 07:40:36 +00:00
les	6d6ec37474	Manual control: Changed 'Position' stabilization mode to 'Attitude' ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1944 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-11 17:58:11 +00:00
peabody124	dc10998152	Flight/Stabilization: Make any throttle < 0 reset the pid integral windup ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1933 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-10 00:46:06 +00:00
peabody124	5f601bf5ab	Flight/Guidance: Enable for any type of quad airframe ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1932 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-10 00:46:04 +00:00
peabody124	e72b6051b5	AHRS: Make mag variance account for the vector length of magnetic field. Also ... moved around where the axis are swapped and made the negative sign come from calibration. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1931 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-10 00:46:01 +00:00
peabody124	ea85e98d7a	Flight/Stabilization: Move update time storage to before the set to make sure ... it goes git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1922 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-08 15:38:28 +00:00
peabody124	8308e4a4fe	Whitespace change: get rid of CR ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1921 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-08 15:38:26 +00:00
peabody124	4e6f100ae5	Flight: Swap to Les' code for main line ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1920 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-08 15:38:23 +00:00
peabody124	0a9ab6ca5f	AHRS: Send PositionActual and VelocityActual out ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1919 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-08 15:38:19 +00:00
edouard	85aeffed9a	Removed example settings from OpenPilot flight SW makefile too.. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1914 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-07 17:42:59 +00:00
peabody124	c4cb494a22	UAVOBjects: Just ran object genearator to get things compiling again ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1913 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-07 13:09:35 +00:00
kokomojoe	a0b3b47c48	OP-21 Flight/Bootloader - experimental modules implementing a simple serial packet (SSP) protocol. ssp_test is a test framework. ssp is the module, main_ssp.c prototype module on how this could be used in the bootloader, it is not fully functional, additional logic required for start-up detection to decide if serial initialization is required. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1909 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-07 04:59:18 +00:00
darkz	6b8aba07b1	Updated Makefile.posix to reflect the removal of example code ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1907 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-07 02:50:12 +00:00
edouard	5c48c29612	Remove example objects from the flight code, not needed anymore ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1905 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-06 21:50:57 +00:00
sambas	e32ddd5230	Flight/AHRS: gyrotemp raw actually shows now raw temp ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1903 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-06 18:14:12 +00:00
peabody124	dea5c91646	AHRSCalibration: Make default values correct now Les extended ... uavobjectgenerator to support multiple fields (thanks Les!). Also changed default scale on mag to +/-6g git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1899 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-06 14:26:42 +00:00
peabody124	66bf9d53d4	AHRS: Paramaterize the variance used for the indoor algorithm. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1898 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-06 14:26:40 +00:00
kokomojoe	946283d67e	OP-185 Flight - Added FirmwareIAP to the module load list in makefile, added uavobjectsinit.c with firmware IAP init calls ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1896 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-06 05:30:48 +00:00
kokomojoe	7cf0e9ba31	OP-185 Flight support for firmware IAP object. added the pios_iap.c and firmwareiapobj.c ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1895 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-06 02:58:07 +00:00
kokomojoe	6499da40e3	OP-185 Flight Added init function for PIOS_IAP helper functions. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1892 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-06 02:07:11 +00:00
kokomojoe	2fe266650f	OP-185 Flight - support files for Firmware IAP object ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1891 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-06 02:06:13 +00:00
kokomojoe	20c6e2292a	OP-185 Flight helper functions for the firmware IAP object. Allows setting/clearing of back-up registers ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1890 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-06 02:02:37 +00:00
les	7ddb0f6f80	Stabilization: Changed to new switch format. Both position and rate modes work. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1886 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-05 14:51:33 +00:00
les	1e26ca11ee	Manual control: Added some extra room at throttle zero when detecting a faulty signal ... Before, moving your throttle trim slightly could cause ManualControl to think the receiver was not connected git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1885 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-05 14:50:03 +00:00
les	b2c81aceee	Actuator: Fixed motors not going to min throttle in failsafe. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1884 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-05 14:47:48 +00:00
peabody124	ba3ecada1d	Flight/ManualControl: Implemented settings to change what the Mode switch does ... so it can also change parameters of Stabilization. Please check your aircraft behavior with this patch, but default behavior should be unchanged. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1878 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-04 19:48:09 +00:00
les	3aa72835d6	AHRS comms: Added GPL text ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1876 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-04 15:29:41 +00:00
peabody124	f03669733b	Flight/Guidance: Merge back into one task because memory requirements of a task ... exceed CPU requirements of PID. Also add add lesstabilization UAVObject to Makefile to fix compile errors. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1870 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-04 02:01:34 +00:00
peabody124	d71e9df8c5	Flight/UAVObjects: Add a few files that were missed earlier, and get posix ... worlking again git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1869 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-04 02:01:31 +00:00
les	05a85c8c95	New stabilization module based on PI-P algorithm used in FlightOS ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1864 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-03 20:39:23 +00:00
les	dcef777ab0	AHRS SPI comms: Retries were not being tracked correctly ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1863 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-03 20:36:20 +00:00
peabody124	e743678d89	AHRS: This fixes the mags, I forgot to normalize the magnetic flux at your ... home location. If you use INSGPS_INDOORS make sure your HomeLocation.Be fields are correct for your GPS coordinates http://maps.alfiordalis.com/declination.html git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1862 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-03 20:35:22 +00:00
cwabbott	8d1a99ae15	PiOS.win32: Updated PiOS.win32 makefile for recent UAVObject changes, and also updated the experimental stabilization code to comply with recent changes to the simple code. Nobody uses SiTL anymore :( . ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1858 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-03 18:59:58 +00:00
les	11cf24a312	Actuator: Fixed uninitialised variables ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1857 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-03 18:37:07 +00:00
peabody124	1931c75a4c	AHRS: Deal better with DMA errors ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1856 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-03 18:14:36 +00:00
peabody124	a9495e2cbb	UAVObjects/AttitudeSettings: Remove unused object, moving data to AHRSettings. ... Added attitude bias to AHRSSettings. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1855 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-03 18:14:34 +00:00
peabody124	754200f9cf	UAVObjects/Delete old VTOLSettings object ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1854 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-03 18:14:27 +00:00
edouard	eeb5eab177	Flight/Stabilization: fix for -180/+180 yaw transition which caused glitches in the stab module. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1853 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-03 16:43:10 +00:00
peabody124	840df39b78	AHRS: Export gyro data as deg/s instead of rad/s to match the object label ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1851 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-03 15:22:09 +00:00
peabody124	9165fb87b2	AHRS: Calibration values were sent but not locked into EKF ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1847 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-03 04:34:07 +00:00
peabody124	87a822e3f9	AHRS: Add back home location setting north axis ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1846 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-03 04:34:05 +00:00
peabody124	5c9b5f4a99	AHRS: Get calibration working again ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1842 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-02 03:10:04 +00:00
peabody124	0c30101f54	AHRS: Made an object setting to allow the downsampling rate to be changed on the ... fly (EKF rate up to a limit). Also, now the algorithm selects if you are indoor or outdoor as well as if you use a mag indoor (if you do set the z variance higher than it calibrates to). git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1841 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-02 03:10:01 +00:00
peabody124	104dc165a9	AHRS: Max downsample that doesn't cause huge amounts of drops right now is 20 ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1840 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-02 02:17:34 +00:00
peabody124	29b087703b	Flight/AHRSComms: Decrease stack size, not needed to be that big. Also made ... ActuatorDesired dT in ms like the uavobject indicates git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1839 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-02 02:17:32 +00:00
peabody124	6d39d85b8f	UAVObjects/AHRSStatus: Remove unused fields ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1838 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-02 02:17:29 +00:00
peabody124	2050864e59	UAVObjects/VTOLStatus: Remove unused object. Also added update time to ... indicate stabilization loop time. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1837 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-02 02:17:26 +00:00
peabody124	0fd9fda7a6	Flight/AHRS Comms: Whitespace fixes ... gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1836 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-02 02:17:22 +00:00
peabody124	ea3fb03c7f	Flight/AHRS Communications: Switch to Les' very nice UAVObject communication ... scheme git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1835 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-02 02:17:18 +00:00
corvus	62300c9682	flight/Libraries/CoordinateConversion: ECEF2LLA() - Speed up the calculation with a primer coordinate. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1834 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-01 20:30:34 +00:00
peabody124	2a93f35807	UAVObjects/MixerSettings: Have values as int8, don't need float resolution ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1832 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-01 20:28:14 +00:00
les	683aa2b480	AHRS: Tidied up calibration sequence ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1831 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-01 19:41:00 +00:00
les	b2d56ca34c	AHRS: Added UAVObject based SPI communication between AHRS and OP. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1830 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-01 17:31:13 +00:00
les	498f3d0fa6	PIOS SPI: Added a function to detect if the channel is busy ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1829 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-01 16:52:20 +00:00
edouard	d2c1014e29	Re-enabled yaw stabilization after SystemSettings changed. There might be a lingering issue when the ... yaw angle crosses the zero-360 mark, beware. You can disable yaw stabilization by setting all PID gains to zero for yaw. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1828 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-01 16:26:43 +00:00
peabody124	d54c6bf0f8	Flight/Actuator: Use dT in seconds. Forgot to change MaxAccel. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1825 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-01 14:37:03 +00:00
peabody124	0dfdad4fc4	Flight/Actuator: Reset critical alarm ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1824 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-01 14:09:14 +00:00
peabody124	c076a695ce	UAVObjects/ActuatorSettings: Default values are all 1000 now so that an ... unconfigured motor can't turn on. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1823 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-01 13:45:26 +00:00
peabody124	9f4e3906e3	Flight/Actuator: Made it use the detected dT for the feedforward computation ... and removed the unused field from actuator settings (old setting time and all the aircraft specific stuff). git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1820 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-01 12:33:33 +00:00
peabody124	2dc40d11a1	Flight/Stabilization: Use the system clock to determine time from previous ... update since now drive by events. This means StabilizationSettings object changing so write down your settings. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1819 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-01 12:33:29 +00:00
peabody124	4461aba6d6	Flight/Stabilization: Move to object event system. Latency from ahrs_comm ... update to actuator update now ~0.7 ms. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1818 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-01 12:33:26 +00:00
peabody124	b9943645e0	Flight/Actuator: Run actuator from queue again, latency well behaved. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1817 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-10-01 12:33:20 +00:00
peabody124	e2d63cbf19	Flight & Ground/AHRS Calibration: Made variance estimation into a two pass ... approach again because ran out of numerical precision for single pass. Also made ground force the gyro signs to be correct. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1806 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-30 04:30:29 +00:00
sambas	ee4ca7b93a	OP-177 Flight: All alarms fixed, AHRSComms stack size made critical stack alarm, event warning caused by queue that is not used at the moment. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1801 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-29 19:06:35 +00:00
peabody124	a4e0ee5fdf	Flight/Actuator: Move Les' actuator to the active one ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1800 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-29 18:51:36 +00:00
peabody124	2f6f76d578	Flight/Actuator: Remove old mixer code ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1799 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-29 18:51:34 +00:00
sambas	2d90a80e22	Flight/PiOS: this patch makes dosfs work with both MBR and VBR formats. Backup your SD files in case this messes something!! Testing needed. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1798 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-29 16:29:38 +00:00
peabody124	c95b1e6117	Ground/UAVControl: Working joystick support although currently not configurable ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1794 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-29 03:59:03 +00:00
kokomojoe	6f1f990d85	OP-21 AHRS/Bootloader - Moved start of user code to 0x08002000. Must be used with latest AHRS Bootloader compiled with DEBUG=OFF. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1788 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-28 02:21:48 +00:00
fredericg	f090b4bcf8	OP-174 ET OSD: Fixed build errors due to UABObject changes ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1786 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-27 19:56:25 +00:00
peabody124	9b1d258a94	Flight/Les/Actuator: Space->Tab, somehow slipped passed previous patch ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1784 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-27 17:30:42 +00:00
peabody124	aa42256ad1	Flight/Stabilization: Convert all PID loops to units of seconds instead of ms. ... THIS MEANS YOU MUST RETUNE YOUR PID LOOP IF YOU'RE FLYING WITH IT Alternatively divide Kd by 1000 and multiply Ki by 1000 git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1782 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-27 09:04:43 +00:00
peabody124	fef8cca5b6	Flight/Posix: Get compiling again (sorry Corvus, I think I messed up your ... change earlier) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1778 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-27 07:28:48 +00:00
peabody124	3c021c09d9	Flight/PiOS: Whitespace changes ... find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-27 07:28:45 +00:00
peabody124	6d0df704a7	Flight/Modules: Corrected code to use tabs ... find ./flight/OpenPilot/Modules/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1776 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-27 07:28:34 +00:00
peabody124	b85e322206	Flight/FlightSituation: Remove unused module ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1774 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-27 07:28:21 +00:00
peabody124	da583e0914	Flight/Guidance: Disable by default ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1768 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-26 03:07:40 +00:00
peabody124	6d811cc4db	OP-140 AHRS: Don't run INSGPS until OP says board is initialized. This will ... also block heart beat. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1767 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-26 03:06:57 +00:00
peabody124	8475a68958	Flight/Stabilization: Keep command and error in deg/s for rate stabilization ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1766 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-26 03:06:54 +00:00
peabody124	a3ea9a5461	AHRS: Add a weak mag correction in indoor mode to remove gyro bias and try and ... get a reliable heading git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1765 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-26 03:06:51 +00:00
peabody124	77b68e5169	Flight/Guidance: Initial template for guidance module ... Flight: Create PositionDesired (the active waypoint) UAVObject and make the FlightSituationActual no update since it not used. Flight: New velocity desired object that passes information between the look computing the desired velocity and the PID loop to get it (updated at different rates) UAVObjects/PositionActual: Remove unused GPS fields UAVObjects/PositionActual VelocityActual: Split the velocity into a separate object. ALso make sure all the information telemetered around is in cm to avoid using floats. UAVObject/GuidanceSettings: New guidance settings object for the guidance module Flight/Posix: Add the new objects to the Posix sim Flight/Guidance: Computes a desired velocity based on position error than runs a PID loop to control roll and pitch to achieve that velocity. All distances are in cm, and updated the PositionActual fields to reflect this and use int32. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1760 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-26 03:06:27 +00:00
kokomojoe	ca4f3b53fa	OP-21/Flight Bootloader - added compiler and linker options to remove unused functions. Code is now smaller. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1759 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-26 02:34:04 +00:00
zedamota	9b05282be5	OP-21/Flight Bootloader - should make things cross platform. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1758 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-26 00:39:01 +00:00
zedamota	0371808099	OP-21/Flight Bootloader - should make things cross platform. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1757 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-26 00:36:42 +00:00
peabody124	a01783b2a8	OP-140 AHRS: Explicilty deal with if it is initialized or not, use that to ... determine retransmitting calibration, home location and such. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1755 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-25 21:05:38 +00:00
peabody124	9b28f2d72c	OP-167 OP-157 AHRS/Calibration: Added mag scale and really cleaned up calibration. ... Calibration should take less time now too (using second moments to estimate variance in one pass). Now need to change to multiple messages to get the calibration in to keep the request message size minimal. Also currently running sensor calibrate doesn't store the gyro bias so if you want to use this you'll have to tweak it manually. I'll fix that step tomorrow. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1741 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-25 09:20:38 +00:00
edouard	eedf85a5ac	OP-138 Start of the new Mixer configuration interface, for fixed wing only. This does not work yet, takes a long time to fully implement. ... The system settings UAVObject is updated, you will have to recompile your firmware. If you want to take a look and let me know, please do! git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1737 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-24 20:39:37 +00:00
zedamota	095cbb4dd5	OP-21/Flight Bootloader - Now pulls SS pin low again if no AHRS is found. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1733 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-24 15:46:59 +00:00
corvus	1472b342c1	1.0 Featur Freeze - ... Removing some Experimental and Incomplete Modules and their UAVObjects not suited for 1.0 - they will be moved into an experimental branch: Navigation : experimental code only FlightSituation: experimental code only Guidance : preliminary draft - possibly to be replaced by peabody124 position hold code if finished in time. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1729 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-23 22:05:03 +00:00
corvus	e44045f422	OP-165 : Guidance Module ... Creating GuidanceModule together with PositionDesired UAVObject (as discussed), so dschin and me can work on it :-) Will compile and (on sim_posix) execute, but PID logic is yet untested and preliminary. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1722 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-22 22:16:48 +00:00
les	ef7ee86d45	Mixer: zero throttle shuts off motors and changed MixernMatrix to MixernVector ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1710 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-21 19:31:17 +00:00
peabody124	a1a3b0774f	Flight/AHRS: Update code to coding conventions. ... find ./flight/AHRS/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1707 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-21 19:29:39 +00:00
peabody124	833e8428d2	Flight/Libraries: Updated to coding conventions ... find ./flight/Libraries/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1706 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-21 19:29:35 +00:00
chebuzz	862e35def1	OP/PiOS.posix - Somebody added UAVObjects but did not add them to the posix sim ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1702 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-21 14:16:14 +00:00
peabody124	f96654ace1	Adding mixerstatus/mixersetting uavobject files that were missed ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1701 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-21 07:08:51 +00:00
les	875437f483	Added matrix based actuator mixing. Note the makefile is set to use the original actuator code. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1698 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-20 19:27:08 +00:00
sambas	24840b461d	OP-22 Flight/PiOS: added failsafe and recovery "watchdog" timer ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1697 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-20 18:00:31 +00:00
zedamota	5fb45f835e	OP-21/Flight Bootloader - Bug fix, 1 more ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1696 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-20 17:09:06 +00:00
zedamota	87dc0908ce	OP-21/Flight Bootloader - Bug fix ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1695 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-20 16:29:34 +00:00
zedamota	3ba6372dc4	OP-21/Flight Bootloader - Clean up and linker files for the AHRS ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1691 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-19 18:27:53 +00:00
zedamota	128df749f0	OP-21/Flight Bootloader - small bug fix ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1683 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-18 23:38:45 +00:00
zedamota	c9752a6a3a	OP-21/Flight Bootloader - some changes for the bootloader to work ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1682 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-18 23:11:42 +00:00
zedamota	1b9811aa0e	OP-21/Flight Bootloader - AHRS programming fully working ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1681 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-18 23:10:26 +00:00
zedamota	97b44ffb04	OP-21/Flight Bootloader - Various fixes. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1678 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-18 00:46:34 +00:00
peabody124	11f2b1a8dc	Flight/Stabilization: Dont cap error at maximum stabilization value - that is to scale control throws. Create another variable if we want this. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1676 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-17 18:15:02 +00:00
peabody124	0ea95fbad1	AHRS: Separate covariance prediction from state prediction to get updated state out of spi a few milliseconds sooner. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1675 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-17 18:15:00 +00:00
peabody124	92c36114f3	AHRS: No longer reinit after a comms glitch. Allow time for EKF to converge (2-3 seconds) after power up. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1674 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-17 18:14:20 +00:00
peabody124	8e0c5136c0	AHRS/Comms: Make the polling delay 1ms instead of 20ms to make sure if a message isn't ready we don't pause for a long time. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1673 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-17 18:12:25 +00:00
andrew	da1a762072	Added basic code for Yaw stabilisation in manual mode for Helis. ... This is functionally the same as having a heading hold gyro in hardware. Code is copied from the simple stabilisation routine and is a bit rough at the minute, but initial testing looks good. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1670 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-17 05:52:34 +00:00
peabody124	41b7a99883	Flight/Stabilization: Yaw rate stabilization error should be normalized by dt ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1669 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-17 02:00:55 +00:00
peabody124	a6ca5b82e7	OP-155 Flight/HID: Make the HID stall when buffer full. Not sure the consequences on ground (i.e. if it handles the stall correctly) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1665 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 20:23:02 +00:00
zedamota	e8d6e7c557	Flight - Centralized board specific files, BL and User FW uses the same board definitions, no need to have 2. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1663 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 19:19:38 +00:00
peabody124	3b015b41c5	Flight: Got a much nicer arming/disarming system going. Made it a separate flag in the end to allow testing the stabilization code with motors not running. Also changes maxRoll/maxPitch/maxYaw to uint8 to keep object size smaller - no reason for float precision for this. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1660 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 15:41:11 +00:00
peabody124	a6e71177e4	AHRS: Yaw stabilization now supports rate stabilization or heading hold. Also need to cleanly support rate stabilization on all the other axis. Les suggested this be in manual mode which will require changing the logic somewhat (essentially for vtol it will always be running through the Stabilization module) in an aircraft dependent manner. An alternative would be a stabilization flag indicating to do full attitude hold, attitude + yaw stabilization, or all axis gyro stabilization. This would be my preference. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1659 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 15:41:08 +00:00
peabody124	110c46216e	OP-155 Flight: Increase the pios_com buffer size to support these larger objects. If this gets worse and we don't want to use as much OP memory we can make it stall the USB bus when the buffer is full. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1657 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 05:57:03 +00:00
peabody124	832b61ab86	OP-117 AHRS: Binary streaming of the raw data within EKF. Doesn't keep up while running this but does give accurate data that went into algorithm. Once we can dynamically change sampling rate will be good. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1655 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 05:26:14 +00:00
peabody124	0b8756d55c	OP-148 AHRS/Comms: For now don't retransmit calibration after comms glitch as this re-zeros gyro bias and makes attitude stutter. Need to explicitly communicate when comms glitches and query if AHRS actually rebooted. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1654 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 05:26:12 +00:00
peabody124	885c966e53	AHRS: Added a tracker for number of ADC updates the EKF misses. Also updated the Telemetry autogenerated files to accomodate the 11500 baud rate. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1652 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 02:59:00 +00:00
peabody124	ff1b303083	AHRS: Only do EKF correction with mag when new data available ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1651 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 02:58:56 +00:00
peabody124	19e80da928	AHRS: Update UAVObject with information about AHRS rate ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1650 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-16 01:54:21 +00:00
zedamota	4d0d865c31	OP-21/Flight Bootloader - fix to paths ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1647 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 18:03:52 +00:00
pip	82be9117d6	Added USART baudrate defines into pios_board.h & '#if defined's into pios_board.c ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1646 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 17:37:50 +00:00
pip	d2bc126e68	Added PIOS_COM_AUX_BAUDRATE to pios_board.h & '#if defined' to pios_board.c for easier baudrate setting. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1645 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 17:33:00 +00:00
pip	73c8194acc	Added PIOS_COM_TELEM_BAUDRATE, PIOS_COM_GPS_BAUDRATE, PIOS_COM_AUX_BAUDRATE & PIOS_COM_SPEKTRUM_BAUDRATE defines in pios_board.h with '#if defines' in pios_board.c for easier baudrate changing. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1644 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 17:18:38 +00:00
zedamota	3e89e388fa	OP-21/Flight Bootloader ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1643 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 17:09:27 +00:00
zedamota	c72a5b1cfe	OP-21/Flight Bootloader ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1642 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 17:08:24 +00:00
zedamota	f972b78bfb	OP-21/Flight Bootloader ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1641 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 17:07:43 +00:00
pip	cf864225fe	Added easier to find USART baudrate setting PIOS_USART_BAUDRATE. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1640 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 17:07:37 +00:00
zedamota	50b7931a1c	OP-21/Flight Bootloader - new bootloaders ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1639 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 17:06:51 +00:00
pip	89fb0b8582	Made pios_hmc5843_data_ready volatile (accessed by both interrupts and main exec loop). ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1638 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 17:00:36 +00:00
zedamota	df88140f51	OP-21/Flight Bootloader - Remove deprecated bootloaders ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1637 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 16:58:00 +00:00
stac	1017d0294b	ahrs: always enable -g for gdb debug symbols ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1635 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 15:45:41 +00:00
stac	7886a617dc	Revert "ahrs: No longer support -O0 since it doesn't fit" ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1634 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 15:45:39 +00:00
pip	22b9b2512e	Added a 115200 baud telemetry option to the OP main board/UAVTalk. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1632 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:43:42 +00:00
stac	73787f7f15	ahrs: No longer support -O0 since it doesn't fit ... Leaving debug on allows the -g option to be enabled so that we can have symbols in gdb even though we're forcing the optimization flags to -Os. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1631 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:21:06 +00:00
stac	cdb8aa37a0	ahrs: Only read mag data when it has been updated ... The AHRS mainloop was reading the mag data on every loop regardless of whether new data was actually available. Now that the MAG_DRDY signal is monitored, we can read only at the rate (10Hz) new data is actually produced by the sensor. This also enables future improvements that will remove the filtering work that is still being done on the mag data on every iteration. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1630 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:21:05 +00:00
stac	55d90970ed	hmc5843: hide internal #defines and functions ... Way too much was being exposed in the API for the HMC5843. This commit properly hides internal details of the driver. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1629 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:21:04 +00:00
stac	0e7a801e9e	hmc5843: Add support for DRDY signal from magnetometer ... The DRDY signal from the magnetometer is connected to PB8 on the STM32. This pin is now configured as an external interrupt and is now used to signal when new data is available from the magnetometer. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1628 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:21:02 +00:00
stac	4ac001553d	hmc5843: convert line endings from CRLF to LF ... No functional changes. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1627 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:21:00 +00:00
stac	ac6989fbeb	bmp085: fix configuration of EOC interrupt ... The EOC EXTI interrupt configuration was incorrectly pointing at GPIOG pin 8 rather than GPIOC pin 15. This was preventing the EOC interrupt from working properly. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1626 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:20:59 +00:00
stac	88e73906d0	i2c: Add recovery code for i2c bus errors ... I2C bus errors are now recoverable. The bus is properly reset and an error indication is now provided to the caller whenever a bus error occurs during processing of the transaction list. For now, the users of the I2C layer just retry infinitely on failure. The BMP085 and HMC5843 code should be changed to report errors to its callers to allow a more sensible retry strategy. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1625 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:20:57 +00:00
stac	0122394481	i2c: consolidate handling of AUTO transitions ... AUTO transitions in the FSM are now handled immediately after processing each newly injected event rather than only at the end of the EV ISR. This consolidation allows the upcoming addition of event injection from both the EV and ER ISR contexts. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1624 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:20:56 +00:00
stac	7d5463e5e6	i2c: Move polling for bus stopped from ISR to task/mainloop ... Occasionally, the I2C driver races with the STM32 I2C peripheral at the end of a bus cycle. This leaves the bus in an errored state and the stop condition is not properly asserted on the bus. The polling for the stopped condition was previously implemented in ISR context since it was expected to be nearly instananeous. In the error condition, however, the stop condition will never happen. The polling for this case is now done by the initiating task (or mainloop on the AHRS) to prevent the timeout condition from triggering the watchdog. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1623 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:20:55 +00:00
stac	65ad2caf8a	i2c: Make transaction initiator available in txn list ... The info field in the pios_i2c_txn list can now be used to provide a const string which describes the context for this transaction. This is very helpful when diagnosing an error that occurs somewhere in the middle of the I2C FSM since the FSM runs primarily in the ISR where the original context for the transactions is no longer available in the traceback. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1622 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:20:53 +00:00
stac	85c60479c1	i2c: rename FSM faulted state ... Differentiate the _FSM_ faulted from the (soon to exist _BUS_ faulted state. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1621 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:20:52 +00:00
stac	139da048f6	ahrs: remove unused debug code ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1620 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-15 14:20:51 +00:00
pip	cc3860daaf	Added 'uint32_t PIOS_SYS_getCPUFlashSize(void)' into pios_sys.c/h files. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1616 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-14 09:18:55 +00:00
peabody124	c5fe985a45	AHRS: Gets timing working correctly to compute the EKF rate and idle time in real values ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1615 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-14 07:03:36 +00:00
peabody124	0875dc8442	AHRS: First pass refactoring the ADC code into another function. Still want to clean up a few constants make the downsampling go into a smaller circularbuffer nicely. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1614 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-14 07:03:34 +00:00
peabody124	1051d894b9	AHRS: Merged in some new code from Dschin that expliclity writes the prediction terms in the covariance matrix. Also made changes to compile with -Os. Now runs around 125 - 150 Hz depending on corrections used (this will become adjustable from GCS shortly). ... Squashed commit of the following: commit 897e3365ab6c762584c34238efd12dc144e72af0 Author: James Cotton <peabody124@gmail.com> Date: Mon Sep 13 22:15:21 2010 -0500 AHRS: Getting it running nice and quickly. commit 53d72fb849164730c89873cab81c9e09be0b112b Author: James Cotton <peabody124@gmail.com> Date: Mon Sep 13 15:57:46 2010 -0500 AHRS: Make more variables volatile for -Os. commit 4fa90821b5d3d8c2ea5e67756313a8a63c0eeb8c Author: James Cotton <peabody124@gmail.com> Date: Mon Sep 13 15:11:31 2010 -0500 AHRS/Makefile: -O0 not added to allow me to try various space flags that don't break code. commit 5bd17a304dc28dc271c2f3e8c6cb8ad4a830404f Author: James Cotton <peabody124@gmail.com> Date: Mon Sep 13 14:44:05 2010 -0500 AHRS: Make debuggign USART easy to disable commit 5453f2a7939492769fe9e9cc822e69c107320670 Author: James Cotton <peabody124@gmail.com> Date: Mon Sep 13 14:38:37 2010 -0500 AHRS: Explicitly expand covariance prediction. Brings computations from 160 to 90. Makes it not fit in AHRS though. commit b6712da7eece2a464a2073d24b77be22bfa47094 Author: James Cotton <peabody124@gmail.com> Date: Sun Sep 12 22:59:42 2010 -0500 AHRS: Make it easy to comment out the I2C/Magnetometers. commit 8c84d0091f3d6f6bedc7a0224a4ed9cb099b022b Author: James Cotton <peabody124@gmail.com> Date: Thu Sep 9 00:49:50 2010 -0500 AHRS: Small change to INSGPS analysis tools git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1613 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-14 06:42:56 +00:00
pip	7da2fc2ba7	made ahrs_state 'volatile' in ahrs.c to prevent compiler optimization lockup ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1612 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-13 20:56:58 +00:00
pip	8bfaa997d3	made curr_state 'volatile' in pios_i2c_priv.h to prevernt compiler optimization lockup. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1611 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-13 20:52:56 +00:00
peabody124	4a4932e5ff	AHRS/FSM: Small initialization detail to make compile with -Os ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1610 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-13 19:04:37 +00:00
zedamota	66560786f4	Flight - #ifdefs to make it work with both normal and bootloader packet formats. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1609 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-13 17:08:52 +00:00
chebuzz	3b5b129445	Fix POSIX simulator to work with new VTOL UAVObjects ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1607 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-13 14:00:53 +00:00
peabody124	47a7b8548b	Flight: Safety feature for VTOL. Don't enable motor until throttle brought above .5 then below or to zero. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1604 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 22:18:21 +00:00
peabody124	76971a807c	AHRS: Some more tweaking of the timings. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1603 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 22:18:18 +00:00
zedamota	257b4d2c95	flight - BL AHRS Comms - fixes to make it compile, not tested yet. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1601 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 21:08:43 +00:00
peabody124	ba34bb8c24	AHRS: Oops, didn't notice the message processing was removed from end of loop. Adding back. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1597 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 12:44:57 +00:00
pip	d0b8a9755d	Added USB_LED_ON/USB_LED_OFF and checks to see if they are defined to the PIOS_USB_HID_ChangeConnectionState function .. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1596 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 10:47:20 +00:00
pip	9fca16db41	Added an RTOS detection is 2 places because I'm using this file on the modem (without an RTOS). #if defined(PIOS_INCLUDE_FREERTOS) ... ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1595 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 10:33:45 +00:00
peabody124	59758122e1	AHRS: Cannot process messages while idling as this makes the main loop execution time non-deterministic based on OP (i.e. could get three messages and push the time up). It would be a nice featuer since you can get a raw and EKF update in the same step, but if the AHRS_Comm loop is fast (which is should be to keep update latency low) then this will hammer the AHRS with redunant requests. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1594 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 02:54:51 +00:00
peabody124	e90e714c2b	Flight: Tweaked the throttle handling and VTOL use of it to make sure engines can be shut off easily in stabilization mode. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1593 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 02:54:49 +00:00
peabody124	56131476ef	AHRS: Switch to sampling at 2khz, plenty of CPU usage. However need to make EKF rate different for outdoor mode with this patch because otherwise will drop samples :-( ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1592 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 02:54:47 +00:00
peabody124	5d1ebf76ea	Flight/VTOLmixer: Fix bug in mixer that messed up roll mixing. Also changed minimum to -1 so that neutral can be position motors come on and -1 the off position. Also made failsafe throttle value -1 to be consistent. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1591 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 02:54:44 +00:00
peabody124	c376711405	Flight/Stabilization: Make the derivative account for the sampling time (dAngle/dt) for the PID loop since integral does and also make the integral bounds uavobject settings. It was originally bounded by constant/Ki but I'm not sure why as you change the gain of the error integral you also want to decrease the maximum error it can cause. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1590 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 02:54:41 +00:00
peabody124	8999355327	Flight: Made actuator a periodic task. I don't think the queue is low enough latency - should figure out how to make this happen as callback is the right way to go. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1589 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 02:54:38 +00:00
peabody124	dceb20b16d	Flight: VTOLStatus object that returns the thrusts on all the engines ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1588 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 02:54:34 +00:00
peabody124	bba3b0c64a	Flight: VTOLSetings object to contain the mixer settings for VTOL crafts ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1587 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-12 02:54:30 +00:00
stac	d18e0c3ef8	ahrscomms: Add low-level message code for bootloader msgs ... Implement low-level utility functions for sending/receiving the opahrs proto v0 (bootloader) messages. These are used by the OP firmware loader and the AHRS bootloader. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1586 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-11 23:06:31 +00:00
stac	c3c8a30bfc	ahrscomms: fix return values on error ... Some functions were returning -1 instead of one of the valud enum values. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1585 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-11 23:06:29 +00:00
stac	6bf3038f3f	ahrscomms: provide helper function for simple requests ... This cleans up some of the boiler plate code that is repeasted for simple (empty) requests that expect a response. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1584 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-11 23:06:28 +00:00
stac	7ecbb5f5b8	opahrs_proto: Add new boot and versions messages ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1583 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-11 23:06:26 +00:00
stac	d1dc300081	ahrscomms: remove unused sync and switch_proto messages ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1582 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-11 23:06:25 +00:00
stac	80c92ba54b	ahrs: process SPI messages while idle ... This makes the AHRS continually process SPI messages while waiting for new samples to be ready. This has the side effect of making the CPU utilization on the AHRS pin at 99-100% (ie. we make use of all of our otherwise idle time). git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1581 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-11 23:06:23 +00:00
stac	93ef510946	ahrscomms: use relative delays to avoid slipping ... Change from using vTaskDelay to using vTaskDelayUntil to ensure that we're trying to stay periodic rather than just waiting a fixed amount of time after each loop of processing. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1580 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-11 23:06:22 +00:00
dschin	e6fea9bb76	Changed the feedback gain matrix K to a global variable in insgps so that it may be inspected. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1577 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-10 20:46:46 +00:00
zedamota	aa1af2b9f3	OP-21/Flight Bootloader - Changes to make it independent of RTOS ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1570 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-09 18:44:55 +00:00
peabody124	6cdb9b0b48	AHRS: Added Matlab code to analyze the INSGPS friendly data dump format and plot the important variables. This requires "DUMP_FRIENDLY" be enabled in the file. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1560 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-08 06:15:21 +00:00
peabody124	e499f33fd5	AHRS: Improved code to stream raw data from AHRS and added a matlab function to acquire and analyze the data. The QT program to analyze it should work but QextSerial seems to have a bug and drops or inserts data ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1559 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-08 06:15:18 +00:00
peabody124	9895b403c7	Ground/SerialLogging: Improved the serial dump from AHRS to have a big random frame header and to detect it on the logging program. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1556 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-07 16:33:10 +00:00
cwabbott	c2e93aa810	PiOS/win32: Made the process priority "high priority" for OpenPilot.exe to help with accurate timing. Also removed some unneeded debugging code from tasks.c. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1553 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-06 21:23:02 +00:00
peabody124	e06162fa3a	Flight/AHRS: Reorganized the code a little to make sure indoor used by default unless GPS updates come ... in. Also change the velocity variance in indoor mode to lower to make it get a better attitude estimate (primarily faster convergence - probably will tweak this in the future dynamically). Finally decreased barometer variance - in scope it's actually quite reasonable, normally within +/- .5 m. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1546 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-06 07:54:19 +00:00
peabody124	e260077247	Flight/ManualControl: Making failsafe test (which must explicitly look at receiver inputs instead of throttle values in case of reversal) also consider readonly flag to detect GCS control. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1545 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-06 02:58:41 +00:00
peabody124	61854ac6ab	Flight: Support for quadcoptors. The format of this control will change to support octo's and more flexible tuning. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1544 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-06 02:58:39 +00:00
stac	95595664c3	telemetry: fix comments around #ifdef ... No functional changes. The closing comment on some of the USB_HID related ifdefs was outdated. Fixed. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1541 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-05 23:10:34 +00:00
zedamota	492227c916	OP-21/Flight Bootloader - Donwload function is now interrupt driven. Had to increase IN polling interval due to some problems. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1530 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-05 00:17:20 +00:00
peabody124	f9a0b799a2	Foolishly forgot object like I always do ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1529 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-04 22:01:11 +00:00
peabody124	d3b677298c	Flight/ManualControl: Added a hysteresis loop to the manual control connection/disconnection status. I seem to get glitching without it - probably because of the receiver catching noise. It still occasionally glitches but I don't want to make it longer. Probably should be an adjustable setting. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1527 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-04 17:08:04 +00:00
peabody124	c21d058110	Flight: Added ability to use a third accessory input. Currently using that to select tuning roll/pitch bias and PID tuning. I also _STRONGLY_ recommend if you enable these accessory channels (and thus these features) you make the saved meta data for the StabilizationSettings and AttitudeSettings read-only, so only on flights where you mean to can you change these settings. I'm also not convinced about the interface - it seems like flicking TX switches to get into adjustments is a recipe for disaster. Probably need to just control through GCS. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1526 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-04 17:08:02 +00:00
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	8dbc382e5b	Ground/CoordinateConversions: Shows correct location now. I just typed in a 3.14 constants and forgot to change to M_PI. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1520 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-04 05:58:43 +00:00
peabody124	b4ff14b725	Ground/GCSControl: Swapped sign conventions of sticks to match the sign convention of roll/pitch/yaw. I.e. now right on the roll causes a + roll, pulling down on the pitch causes + pitch. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1518 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-04 02:19:06 +00:00
peabody124	404e0c2f44	OP-132 AHRS: Changes to the Indoor flight handling to only use the barometer indoors and update with a zero for velocity and high variance. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1517 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-04 02:19:04 +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
zedamota	8233f87b0a	OP-21/Flight Bootloader - Download function fixed. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1513 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-04 01:06:40 +00:00
dschin	84d054c4ed	gdb command file to enable debugging with interrupts in Eclipse ... See http://forums.openpilot.org/topic/1671-debugging-with-interrupts-in-eclipse/ for details. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1511 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-03 13:10:04 +00:00
cwabbott	d7a3ffb464	flight/PiOS.win32: update Makefile.win32 with new UAVObjects, also change UAVObject headers to have a newline at the end. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1510 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-02 23:55:24 +00:00
zedamota	749267aee5	OP-21/Flight Bootloader - Minor bug fix. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1508 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-02 22:43:32 +00:00
zedamota	7a66232be0	OP-21/Flight Bootloader - Complete recoding. WARNING- As with all flash memories, the one in your OP HW as limited write cycles. Errors in this bootloader may damage your HW if it falls under a write or erase dead loop. This is still under development, for devs only. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1507 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-02 20:13:41 +00:00
peabody124	d3bb821e82	Flight/ManualControl: Change to ManualControl module to make warning only kick in if input is less than the max and min for throttle. Disable going to (unimplemented) auto mode. Commiting based on one yay and no nay. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1505 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-09-02 16:33:02 +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	ec7d059de8	Posix: Corrected makefile after UAVObjects mashup ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1489 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-31 17:21:44 +00:00
peabody124	b853c392f3	Flight: Was only returning half of the serial number (thanks for catching that Pip) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1476 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-31 02:33:47 +00:00
peabody124	12657440c3	OP-132 AHRS: Added an indoor flight mode and also add an ad-hoc quality heuristic to the GPS signal to increase the measurement variance from GPS when fix quality is poor or when in indoor flight mode. In addition corrected the indentation to conform to the tab/space convention forum discussion. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1474 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-31 02:11:09 +00:00
pip	7813414f29	added casting to prevent int overflows when calculating the watchdog delay ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1467 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-30 16:48:33 +00:00
pip	ba5f1b37ee	changed pios watchdog from 8-bit to 16-bit ms capability, plus moved the .h file from the .c folder into the inc folder ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1466 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-30 16:29:36 +00:00
andrew	65dc5e9b04	Yaw stabilisation for the simple algorithm was calculating the error and not taking into account that 350º error is the same as -10º error. ... The resultant error could range from -360º -> +360º Since this is only used for Helicopters / multi rotors, and the aircraft can rotate in any direction, I added the modulo logic so that it is now from -180º -> +180º this should now take quickest path to correct the error. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1464 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-30 01:20:43 +00:00
andrew	3c6d9d6976	manual control was mapping tx input as -180º -> 180º for AttitudeDesired.Yaw. ... The Wiki (http://wiki.openpilot.org/Unit_Standards) states this should be 0 - 360º Made the code match the wiki. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1463 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-30 01:16:00 +00:00
cwabbott	f55e9cf819	Fixed a slight problem with the .metadata folder, the flight project wasn't pointing to the correct folder again. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1462 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-29 23:16:19 +00:00
dankers	7a1353506e	Just added my plugins dir to what was already there, no guarantees to fix things! ... Might just make them worse! git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1460 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-29 22:15:38 +00:00
stac	78befcba73	conversions: fix return code for ECEF2LLA ... As pointed out by osnwt in the forum, the criteria for success of this function was wrong. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1456 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-29 14:51:07 +00:00
peabody124	f202884ce8	AHRS: Numerous changes. Added CPU load monitoring for AHRS as well as some friendly debugging output options. Also added a new CalibrationMode setting to AHRS (Echo) to speed up sensor calibration. Cleaned up the 6 point calibration interface to make it more friendly, but I think Edouard will clobber it with something nice and sexy :). ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1455 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-29 06:38:30 +00:00
stac	ecac1fb79d	nmea: parse GSV sentences and populate GPSSatellites object ... This creates a new UAVObject called GPSSatellites to hold information about which satellites the GPS receiver can see and the quality of their signals. NMEA GSV sentences are now parsed. The full set of GSV data may be split across multiple GSV sentences, each containing info for at most 4 satellites. Once an entire set of GSV records has been collected, the GPSSatellites UAVObject is updated. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1453 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-29 01:46:14 +00:00
stac	2ead641136	nmea: minor bug fixes and robustness improvements ... Remove asserts on bad data, only assert on coding errors. Remove unnecessary inline qualifier to reduce code size. Handle more lat/lon precisions in conversion to fixed-point. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1452 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-29 01:46:11 +00:00
stac	679f59f19d	uavobjectparser: fix alignment of field init in generated code ... Change from spaces to <TAB> to match the formatting in the template. No functional changes, just whitespace. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1451 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-29 01:46:09 +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
andrew	3530428982	Fixed the bounding of servo outputs for the case when max < min ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1444 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-28 05:11:19 +00:00
peabody124	00cad250ea	Adding gpstime.h for flight. ... Seriously - I'm sorry I missed all these files. I suck. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1443 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-28 00:58:04 +00:00
peabody124	ced0a4b952	AHRS: Fixed silly bug that made the default mag variance be zero - explains "hopping around" default behavior. Still should run calibration though. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1439 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 21:05:41 +00:00
peabody124	5f9289f0c0	Flight: Keep getting WMM memory usage down ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1438 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 21:05:38 +00:00
zedamota	2142467751	OP-21/Flight Bootloader - Added more Led status modes. Fixed downloading for bigger packet format. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1436 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 20:03:51 +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
stac	a19c225697	ahrscomms: reduce retries and retry delay ... The number of retries and delay between retries was increased in a previous commit. This doesn't appear to be necessary so I'm reverting the increases. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1432 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 02:15:02 +00:00
stac	24a4c6b791	gps: Update GPSPosition instead of PositionActual ... GPS module now updates GPSPosition UAVObject rather than the PositionActual object. The GPSPosition object is intended to be consumed only by the AHRS. The AHRS will use this (and other inputs) to compute a filtered version of the position in the PositionActual object. This commit will cause temporary breakage of the GPS functionality in the GCS until the PositionActual object is properly updated by the AHRS. Most of the GCS should continue to use PositionActual. The only exception to this might be any tool for specifically visualizing the raw GPS state. GPS.c is now only responsible for receiving a complete NMEA sentence from the COM interface. NMEA parsing is now factored out into NMEA.[ch] which is where GPSPosition is now updated based on the complete NMEA sentences obtained from the GPS. Latitude and Longitude are now encoded in a fixed-point notation in units of degrees x 10^-7 to prevent truncation of precision due to encoding into a float. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1431 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 02:15:00 +00:00
stac	47df1faa8d	ahrs: whitespace adjustments ... No functional changes. Whitespace/tab fixups only. Use TRUE/FALSE instead of 1/0. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1430 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 02:14:58 +00:00
stac	670452307d	ahrs: remove unnecessary memset() of rx message buffer ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1429 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 02:14:56 +00:00
stac	0a7088c24a	ahrs: fix type on flags, remove redundant code ... No need to have boolean flags being floats. Some of the attitude message was being populated twice. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1428 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 02:14:54 +00:00
peabody124	a0b21bef45	Flight: Got read only check working for UAVObjects and modified the ManualControl Module to use it. Edouard - please check over this. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1427 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 00:15:48 +00:00
peabody124	a8df6e2c4d	OP-128 Flight Documentation: Added description to all the UAVObject (now mandatory) and changed the parser to populate this information into the autogenerated files. Also added a function to test if an object is read only for flight. ... Since there are a lot of autogenerated changes the important ones are: flight/OpenPilot/UAVObjects/inc/uavobjecttemplate.h - added description and define to make the ObjectReadOnly query flight/OpenPilot/UAVObjects/uavobjecttemplate.c flight/OpenPilot/UAVObjects/uavobjectmanager.c - added the UAVObjReadOnly query ground/src/libs/uavobjgenerator/uavobjectparser.cpp - added parsing of description field git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1425 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-27 00:15:42 +00:00
zedamota	7f76b7f5a0	OP-21/Flight Bootloader - Fixed an error introduced on last rev. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1417 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-26 16:26:51 +00:00
peabody124	c07e1416b7	AHRS: Serial output option for AHRS and corresponding serial logger. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1414 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-26 06:25:11 +00:00
andrew	2361af19fb	First attempt at ccpm mixing for single rotor helicopter. ... This has throttle and pitch curves implemented and can be configured for many swashplate configurations. This has flown a 450 clone (with training wheels) and the ccpm worked well. Still need to neaten up some stuff and work out how to implement yaw stabilisation in manual mode. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1412 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-26 06:00:57 +00:00
zedamota	d71ade8227	OP-21/Flight Bootloader - Now if USB not connected it jumps directly to FW. If connected it will wait 5 seconds for command, then jumps. Also changed led flashing to PWM and created a timer for the delays. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1409 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-25 22:31:14 +00:00
peabody124	8dd81443be	OP-122 Flight: Same changes regarding 62 byte limit applied to the receiving code on the device. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1405 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-25 05:32:56 +00:00
peabody124	dd491160c5	OP-121 OP-122 Flight: Improved the Blocking/Nonblocking behavior for USB to be correct. I'd like a mutex still around the transmission buffer but don't want to slow down the interrupt. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1404 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-25 05:32:54 +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
andrew	b467b419e6	OP-103, UAVObject update. ... Adding settings for configuring CCPM mixing for Helicopters to ActuatorSettings and SystemSettings UAVObjects. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1402 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-25 00:55:15 +00:00
zedamota	6da48dcc1a	OP-21/Flight Bootloader Changed packet size to 64byte ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1398 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-24 18:26:44 +00:00
zedamota	f91ae974a7	OP-21/Bootloader Small change. Now turns off interrupts before jumping to code. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1393 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-23 21:30:09 +00:00
peabody124	2db294caf7	OP-125 Flight: Changed GPS stack size to a bit closer to what the internal model needs to get rid of out of memory warning, but it could still use 1k less if it pulled all the constants from flash when needed and computed the time difference when called. Also changed ManualControl so it checks the active control values to determine the warning, so if GCS is controlling the warning light goes out. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1387 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-23 06:03:19 +00:00
peabody124	beac0c0ea9	AHRS: Get the signs for the simple algorithm correct ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1385 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-23 04:12:14 +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	b32184d1ec	OP-119 Flight: Converted HomeLocation object to use cm for the home base instead of floating point. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1382 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-23 02:49:53 +00:00
peabody124	2596f43511	OP-120 AHRS: Moved conversion of quaternion to RPY over from AHRS to OP to minimize transfer and computational load on AHRS. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1381 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-23 02:35:39 +00:00
peabody124	0d11493337	Flight: Added mixer settings for elevon. Also added bound checking on servo outputs which becomes important when multiple things are mixed and you want to use the full range. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1380 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-23 01:54:58 +00:00
cwabbott	19f6db79be	Added ManualControl to the win32 and posix makefiles. Also fixed a compiler error about "No newline at end of file." ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1379 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-23 00:52:56 +00:00
zedamota	002c746076	OP-21/Bootloader deleted old one, commited new one. Partly functional, but slow due to current packet size. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1378 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-22 19:51:55 +00:00
peabody124	2e705e6836	OP-116 AHRS: Made data going to the AHRS in NED format. Once the final estimate object is created I'll repeat the same calculation to populate it, although we want to avoid going back to LLA format on the OP because the CPU requirements are excessive. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1376 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-22 19:01:36 +00:00
zedamota	6adc834d9b	OP-21/Flight Prep work for the USB HID bootloader ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1375 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-22 18:57:29 +00:00
zedamota	2daa229a2d	OP-21/Flight Prep work for the USB HID bootloader ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1374 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-22 18:56:00 +00:00
zedamota	b0d1d0dd09	OP-21/Flight Prep work for the USB HID bootloader ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1373 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-22 18:54:57 +00:00
peabody124	60332efec0	OP-118 AHRS: Missed the auto generated files for the default values. Also no idea why last patch changed navigationsettings - either make uavobjects does differently on different platforms or someone forgot to run make uavobjects. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1372 ebee16cc-31ac-478f-84a7-5cbb03baadba	2010-08-22 17:02:12 +00:00