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156 Commits

Author SHA1 Message Date
James Cotton
de7fc81795 Fixes to the GPS LLA to NED translation 2012-04-03 03:42:27 -05:00
James Cotton
e32ab9342c Shuffle some stack sizes around 2012-04-03 03:42:26 -05:00
James Cotton
4cadb7ec0e Forgot to initialize revo settings object 2012-04-03 03:42:26 -05:00
James Cotton
0eedaa1250 Change how we convert LLA to NED. Now it is done with a taylor expansion 
around the home LLA coordinate to avoid the conversion into ECEF coordinates.
This has the benefit of not requiring double precision math and uses less
operations.

Now we should remove the Rne and ECEF fields from HomeLocation as they are
unused
 2012-04-03 03:42:25 -05:00
James Cotton
e8cc7748af Clean up some unused variables in attitude code 2012-04-03 03:42:24 -05:00
James Cotton
a9aa6b696b Add object for setting the fusion algorithm 2012-04-03 03:42:24 -05:00
James Cotton
1911c7360d New NEDPosition object which is the transformed GPS location 2012-04-03 03:42:24 -05:00
James Cotton
e3c36ac99a Change requires for GSP updated to be set to true (wrong sign on PDOP check) 2012-04-03 03:42:23 -05:00
James Cotton
9e4651ab80 INS working on Revo 2012-04-03 03:42:22 -05:00
James Cotton
55ee568fe2 Work on the INS algorithm 2012-04-03 03:42:21 -05:00
James Cotton
3346e848e0 Attitude error timeout was 2 ms when sensors at 500 Hz. Caused lots of errors 
and overwhelmed event system.
 2012-04-03 02:07:04 -05:00
James Cotton
8032130769 Slow down gyro a bit on CC to give the CPU some breathing room. Might need to 
come down more.
 2012-04-03 02:07:03 -05:00
James Cotton
a960f3d07e Switch the MPU6000 driver to using a FreeRTOS queue. Need to update Revo code 
to take advantage of this.
 2012-04-03 02:07:03 -05:00
James Cotton
1415728762 Get the MPU6000 CC3D working. Right now the ADC system is commented out, which 
will break regular CC.
 2012-04-03 02:07:03 -05:00
Corvus Corax
d32dd0ccd4 Fixed fmod() versus fmodf() usage in flight/... 2012-03-26 04:16:54 +02:00
James Cotton
0d42303d37 Fix some compilation errors/warnings in attitude.c 2012-03-11 16:30:18 -05:00
Dmitry Zaitsev
d45e88515b firmware: disable Attitude module in simulation 
this part should be rewritten to completely disable the polling of sensors.
i just do not know how to do it correctly.
 2012-03-10 06:02:23 +04:00
James Cotton
e3df261213 Merge branch 'stac/revo-usb' into revolution 
Conflicts:
	flight/Revolution/System/pios_board.c
 2012-03-02 13:00:13 -06:00
James Cotton
d8f0494e57 Merge branch 'revolution' into revolution_overo 2012-02-11 20:02:20 -06:00
James Cotton
02bec750bd In the attitude loop need to check all the queues even if unused or the event 
system will have warnings
 2012-02-07 08:46:34 -06:00
Stacey Sheldon
e2939dae2a revo usb: Add support for USB to Revo 2012-02-07 02:25:31 -05:00
James Cotton
665801662d In cc3d update sensors add accelbias before scaling to allow more precision in 
levelinIn cc3d update sensors add accelbias before scaling to allow more
precision in levelingg
 2012-02-04 12:12:41 -06:00
James Cotton
84dd1dbc40 A bit more lenient settings for CC sensor timings 2012-01-26 13:00:06 -06:00
James Cotton
727f0befc5 Make the gyro go a bit more regularly to stabilization but needs updating 
regular CC
 2012-01-25 22:50:19 -06:00
James Cotton
205aabe895 L3GD20: Make this sensor push data onto a FreeRTOS queue so that the sensor 
reading task can block according.  Also now the gyro data is sent to
stabilization multiple times per update of the attitude loop.
 2012-01-25 01:20:07 -06:00
James Cotton
104c091590 Correct the range constants for the L3GD20 driver 2012-01-24 19:48:14 -06:00
James Cotton
a25d52785b Change the bus speed for the L3GD20 to 10MHz and some small cleanups 2012-01-24 19:17:49 -06:00
James Cotton
b6c056fef2 Use the updated L3GD20 format and make attitude.c use the gyro data from the 
fifo
 2012-01-24 15:52:17 -06:00
James Cotton
5efbfb02fa Make the BMA180 sensor system acquire from the queue. Correct the orientation 
and speed it up to 10 MHz communications.
 2012-01-24 15:09:20 -06:00
James Cotton
8c208412c9 Give the BMA180 a dynamically allocated device structure and also make it 
properly bind to a SPI and slave number.  Temporarily reducing spi bus to
slowest possible speed.
 2012-01-24 14:38:00 -06:00
James Cotton
8e79bc2ee2 Temporarily refactor attitude to directly read the sensors instead of pull from 
their queues until the interrupts are working properly
 2012-01-24 11:54:23 -06:00
James Cotton
e9552065a9 Reenable the CC3D sensors 2012-01-24 11:03:33 -06:00
James Cotton
486cdb5dbb Got CC running again although with altitude and bmp085 disabled as well as the 
CC3D drivers.
 2012-01-24 10:32:42 -06:00
James Cotton
4d3af7afbf Add ID test to ADXL345 2012-01-24 09:23:12 -06:00
James Cotton
728c05f973 Crude implementation of sensor reading for CC3D 2012-01-24 09:23:12 -06:00
James Cotton
11471ff68b Update drivers for CC to the new EXTI system and SPI calls 2012-01-24 09:23:12 -06:00
James Cotton
a20d654744 Update the attitude algorithm for CC to use the Gyros and Accels UAVObjects 
instead of AttitudeRaw
 2012-01-24 09:23:12 -06:00
James Cotton
bb0bfe0ae4 Merge branch 'next' into revolution3 
Conflicts:
	flight/Bootloaders/CopterControl/Makefile
	flight/Bootloaders/PipXtreme/Makefile
	flight/Bootloaders/Revolution/inc/pios_config.h
	flight/CopterControl/Makefile
	flight/INS/inc/pios_config.h
	flight/Libraries/taskmonitor.c
	flight/Modules/Altitude/altitude.c
	flight/Modules/Attitude/attitude.c
	flight/OpenPilot/Makefile
	flight/OpenPilot/Makefile.posix
	flight/OpenPilot/System/inc/pios_usb_board_data.h
	flight/OpenPilot/System/inc/taskmonitor.h
	flight/OpenPilot/System/pios_board.c
	flight/OpenPilot/System/taskmonitor.c
	flight/PiOS/Boards/STM32F4xx_Revolution.h
	flight/PiOS/STM32F4xx/pios_bmp085.c
	flight/PiOS/STM32F4xx/pios_iap.c
	flight/PiOS/pios.h
	flight/Revolution/System/inc/pios_config.h
	flight/Revolution/System/inc/taskmonitor.h
	flight/Revolution/System/taskmonitor.c
	ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp
	shared/uavobjectdefinition/systemalarms.xml
	shared/uavobjectdefinition/taskinfo.xml
 2012-01-21 11:27:03 -06:00
James Cotton
0b00e748a9 OP-565: Added the ability to do a trim flight to compute the accels for level flight 2011-12-21 15:25:00 -06:00
James Cotton
0432dd450e Enable the mag to be used in the complimentary filter to stabilize the yaw 
direction
 2011-12-15 00:56:50 -06:00
James Cotton
43ed6cd89c Need to initialize the HomeLocation object 2011-12-14 14:08:03 -06:00
James Cotton
09864a8cf6 Get outdoor EKF running although need to add in the ability to swap modes 
(probably).
 2011-12-14 02:07:33 -06:00
James Cotton
fd8899018f Get EKF running 2011-12-14 01:54:06 -06:00
James Cotton
a37a17a4fb Created a separate Sensor module and Attitude module for revolution 2011-12-12 21:40:39 -06:00
James Cotton
53cb5b67d1 Make the revo attitude now use the separate gyro object. CopterControl 
attitude still needs an update.
 2011-12-12 13:28:35 -06:00
James Cotton
d22e0e66dd Create separate UAVOs for the sensors. 2011-12-12 13:05:40 -06:00
James Cotton
a9c61845af Create a separate task for sensors and attitude on revo. 2011-12-12 00:47:16 -06:00
James Cotton
f7d13ebd57 Hack to tweak the gyro gain for now although its too far out at the moment so 
something isn't configured properly.  Possibly it is staying in 250 deg/s mode.
Also make sure if the MPU6000 fifo backs up to pull extra data.
 2011-11-27 01:22:37 -06:00
James Cotton
8b7aca0dcd Include the accel bias into revolution attitude function and also make sure 
downsampling is correct.
 2011-11-26 14:40:32 -06:00
James Cotton
7637e9f669 Get flash chip working and saving to memory. Also get the I2C working with 
BMA180 driver.
 2011-11-19 00:13:02 -06:00
James Cotton
a7ef5601e0 Update the MPU6000 FIFO code and also fix the temperature code 2011-11-18 00:24:55 -06:00
James Cotton
6d74e96c31 Got attitude working again. MPU6000 FIFO reading needs a bit of work. 2011-11-18 00:00:55 -06:00
James Cotton
0efffef1fa Work on bringing the Revolution board up 2011-11-17 10:13:34 -06:00
James Cotton
1deb799b6f Get simple attitude estimation working on F4 INS. Also make MPU6050 return 
scaling that casts to degrees.
 2011-11-16 11:36:04 -06:00
James Cotton
aeb42332d6 Get the MPU6050 fifo running and read by the attitude module 2011-11-14 11:23:14 -06:00
James Cotton
59507249e1 Hack in attitude to read directly from gyros instead of fifo. All sensors 
reading now.
 2011-11-14 11:12:10 -06:00
James Cotton
2cc2e55248 Add attitude solution for revo 2011-11-14 10:49:37 -06:00
James Cotton
f725fbe128 CopterControl: Fix build due to changing the AttitudeRaw structure. 2011-09-10 13:56:00 -05:00
James Cotton
86b652bbab Merge branch 'next' into camera_stabilization 2011-08-14 18:07:57 -05:00
James Cotton
a2b76adc33 Attitude: Do not start attitude estimation until accel data appears. This 
fixes the NaN when AttitudeSettings not available.
 2011-08-13 18:53:42 -05:00
James Cotton
c4e272b9ad Merge branch 'next' into camera_stabilization 2011-08-09 20:16:45 -05:00
James Cotton
ec2121bca8 Attitude: Keep first element of quaternion positive 2011-08-08 21:16:04 -05:00
James Cotton
96c2d24253 Merge branch 'next' into camera_stabilization 
Conflicts:
	flight/CopterControl/Makefile
	flight/CopterControl/System/coptercontrol.c
	flight/Modules/Actuator/actuator.c
	flight/Modules/GPS/GPS.c
	flight/Modules/ManualControl/manualcontrol.c
	flight/Modules/Stabilization/stabilization.c
	flight/Modules/System/systemmod.c
	shared/uavobjectdefinition/manualcontrolsettings.xml
	shared/uavobjectdefinition/stabilizationdesired.xml
 2011-07-30 10:06:10 +09:00
Mathieu Rondonneau
612a439199 OP-423: simplify the MODULE_INITCALL macro and remove the ordering loops 2011-07-12 20:44:32 -07:00
James Cotton
2c7cfe435f Somehow this task runs quite a few times at the beginning so dT was going to 
zero and making the attitude get NaN.  Wrote recovery code for that condition
(should never occur) and also force minimum dT to 1 ms (also shouldn't occur)
 2011-07-12 14:18:19 -05:00
James Cotton
53ca934b2b Merge branch 'heli_stabilization' 
Conflicts:
	flight/CopterControl/System/inc/pios_config.h
	flight/Modules/Attitude/attitude.c
	flight/Modules/ManualControl/manualcontrol.c
	flight/Modules/Stabilization/stabilization.c
 2011-07-12 13:28:20 -05:00
James Cotton
2d995dc2f7 OP-539: Don't call the gyro setting callback during init because it clears the 
gyro bias estimation.
 2011-07-05 22:27:03 -05:00
Mathieu Rondonneau
9b9b5a1367 OP-423: remove ';' at the end of macro 2011-07-05 19:44:54 -07:00
James Cotton
4c0245281d Now we store the gyro bias avoid quashing the initialization correction. 2011-06-25 12:32:06 -05:00
Mathieu Rondonneau
de55c56427 OP-423: Change capital on macro to be uppercase for consistency. 2011-06-24 22:03:03 -07:00
James Cotton
e6ad21d881 Make gyro bias in deg/s * 100 to calibrate more precisely. 2011-06-24 10:51:07 -05:00
James Cotton
ab7ff56d96 Compute initial gyro bias while calibrating to speed up convergence 2011-06-24 10:38:26 -05:00
James Cotton
0a4bbcc12e Added a field for initial gyro bias to speed up initialization. 2011-06-24 10:38:26 -05:00
Mathieu Rondonneau
fc1e3f574c OP-423: Split task create and module init in order to postpone task creation once the full heap is available. 
Also implement some ordering (quite ugly still) in the module init and task creation order so we can decide which module to start/init first
and which module to start/init last.
This will be replaced/adapter with the uavobject list later (once it's implemented).
reserving some space for module init and task create parameters to customize module/task creation (this will be usefull once we get the list and customization from customer).

Changes have been made for OP and CC. Tested comped with CC,OP, sim_posix.
Only ran on bench with CC for couple of minutes (code increase expected but no dropping of stack which is good).

This gives task creation at the time wherethe all heap is available.
 2011-06-19 22:35:40 -07:00
James Cotton
5044ea36de Start initializing objects in the modules that consume them. Shouldn't affect 
OP yet but not tested.
 2011-06-18 14:20:51 -05:00
Mathieu Rondonneau
65cf467ca4 OP-423: move the module initialize funtion into a specific section for OP and CC. 
- create linker section for those <module>Initialize()
- later this list will incorporate parameters as well. (this probably will be more a OP feature to swap/remove/delete module on the fly.
- this is not done at compile time anymore by Makefile.
- this will allow us to have control on the module start at run-time (not implemented but build the ground for it).
- this simplify the startup (Part of code re-org).
- this change does not affect sim_posix and win32 (since they don't need that)
- ensure it's compiling for PiOS.posix
- port to PiOS.win32 but not tested (not compiled)
- tested on CC
- compile on OP.
- this free ~200 bytes.
- current avalable bytes (is we keep the same remaining bytes on the stack than before) is easily passed the 1.2Ko mark on CC with new gcc (4.5.2)
- this does not include init-reorg for each module (I still think more can be freed)
 2011-06-16 22:13:19 -07:00
dankers
5f32803763 Changed accelKp = 1; in 3C filter when calibrating bias when arming. Increase default yaw by 0.005 2011-05-17 04:15:28 +10:00
dankers
71d582495e On arm bias calibration terms now matches boot calibration terms 2011-05-16 00:16:19 +10:00
dankers
84e09031a7 Faster attitude calc, be much more aggressive with working out bias. 
Change AccelkP to 0.05 to give accels more influence, just balacing out the 3C filter.

Change stab setting to be a better default fopr most Quads.
 2011-05-15 05:58:58 +10:00
James Cotton
dbf8a77a94 Now there are other attitude settings (like rotation angle) make sure these are 
loaded right away at power up
 2011-05-13 07:24:44 -05:00
James Cotton
4ec0263dfc OP-476: If AttitudeSettings.ZeroDuringArming is true, then while arming (1 
second) it will speed up the estimate of gyro bias.
 2011-05-07 15:29:21 -05:00
James Cotton
7e418866be Update the AttitudeSetting object to make the board rotation more human 
readable and update the GCS fields appropriately.
 2011-05-05 13:04:56 -05:00
peabody124
3afdc7e41c CC-24: Rotate the CC board at any angle relative to "flat and level" with GCS 
config plugin updates.  Has not been tested in flight yet although seems
sensible so please be careful when using this code.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3166 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-04-15 06:37:16 +00:00
peabody124
a57c289b3a CC-24: Support mounting CC at any angle by applying a rotation. Now need to 
rotate sensors to make sure stabilization behaves well so don't use till then.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3100 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-29 02:15:57 +00:00
peabody124
bd5925d526 CC-35: Separate term for CC yaw bias rate and others 
Note: AttitudeSettings changed so you'll need to re-zero it

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3090 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-28 18:42:48 +00:00
chebuzz
2e5863281c CC/Stabilization - Fix attitude bias not being applied over all sampled quantities 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3065 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-24 17:12:04 +00:00
osnwt
8d085552fb CC: Modules/Attitude/attitude.c: unused headers removed (do we have another?) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2967 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-04 21:12:37 +00:00
osnwt
e9d507dd3e CC: Fixed compilation error after uavobject rename 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2966 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-03-04 20:56:58 +00:00
peabody124
ea390d0b90 CC-26: Add accel bias term. Note it's units are LSB, not m/s^s 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2895 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-26 22:21:44 +00:00
pip
9a2bdac49c Reduced CC CPU usage from 57% to 46% by moving the floating point multiplies outside of the accelerometer downsample/averaging loop in the updateSensors() function. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2809 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-19 09:33:03 +00:00
peabody124
8498512855 CC-20 Attitude initialization: Make sure no divide by 0 condition possible 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2761 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:55 +00:00
peabody124
9f71f4121c CC-18 Attitude: Change units to proper engineering ones. An accelKp=1 means 
that it will completely follow the accel attitude each cycle and is way too
high.  Ki=1 means the gyro bias wil be correct by accels each cycle (way too
high).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2755 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:35 +00:00
peabody124
cfe295377c CC-18: Normalize the gravity vector to unity gain 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2754 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:31 +00:00
peabody124
74cc7dbfc9 CC-20 Attitude: Jack up Kp and Ki values for first 5 seconds to force faster 
convergence of gyro bias, then the normal values can be lower.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2753 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:28 +00:00
peabody124
03fb82ad0a CC Attitude: Change when AttitudeRaw is set to end of attitude estimation, 
because this is what is determines when the Stabilization code executes.
Because we aren't oversampling gyros relative to the PID in CC we should set
the attitude first (computational time to do so is negligible).

Also change update rate to 500 Hz.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2750 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:18 +00:00
peabody124
e5b26bc67d More memory tweaks to keep CC flowing 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2709 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 02:42:49 +00:00
peabody124
fedadb1275 CC-8: Move the queue registration into the ADC PIOS driver to allow other 
functions to use it easily

Conflicts:

	flight/Modules/Attitude/attitude.c

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2707 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 02:42:43 +00:00
peabody124
810fa70856 UAVObjects: Remove the raw versus filtered fields in the sensor data. Save 
some memory.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2706 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 02:42:39 +00:00
peabody124
c95a6447bf CC-8 Whenever the gyro data is updated the callback now pushes the data onto a 
queue, which update sensors waits for.  This confirms one update per gyro
update.  All available accel data will be pulled off each time.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2705 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 02:42:33 +00:00
peabody124
986e124202 CC-7 Reverse order of two lines so that yaw bias converges instead of diverges 
:-)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2693 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 09:16:28 +00:00