Brian Webb
f726cc6a9d
Added a RTC supervisor timer to RFM22B driver.
2012-04-21 18:31:49 -07:00
Brian Webb
eb6f175af4
Fixed metadata settings in object browswer, and removed update mode never from all uavobjects that used it (changed to manual).
2012-04-21 11:59:14 -07:00
Brian Webb
19166cc830
Added UPDATEMODE_THROTTLED to UAVObjects update modes.
2012-04-18 18:47:13 -07:00
Corvus Corax
1c3dc9c9e1
Airspeed: fixed calculation math - no more zero zone
2012-04-18 14:41:41 +02:00
Corvus Corax
d125abf335
Baro calibration
2012-04-18 10:48:31 +02:00
Brian Webb
62c5036220
Added PipXStatus and PipXSetting UAVobjects and some initial support for them.
2012-04-17 17:36:05 -07:00
Corvus Corax
3da88601a1
Airspeed module works, needs conversion
2012-04-17 20:32:56 +02:00
Corvus Corax
317cff10dd
debug code added - revert this when no longer needed
2012-04-17 18:59:46 +02:00
Corvus Corax
edf26d15e6
Airspeed: some more fixes
2012-04-17 16:38:53 +02:00
Corvus Corax
5159d2029b
new airspeed module - still needs matching PIOS driver from stac
2012-04-17 15:54:05 +02:00
James Cotton
ad074aee4b
Fix nasty bug in guidance where I missed some breaks
2012-04-16 08:59:25 -05:00
James Cotton
a7ba6d96c1
Allow guidance to run purely off raw GPS data
2012-04-15 16:23:34 -05:00
James Cotton
050c756d54
Merge branch 'revolution_path' into testing
2012-04-15 12:34:31 -05:00
James Cotton
4928cbba44
Merge branch 'sim' into testing
2012-04-15 12:34:27 -05:00
James Cotton
59da9deffb
Merge remote-tracking branch 'revo/D-Lite/ubx-parser' into sim
2012-04-15 12:33:54 -05:00
James Cotton
6a094ac326
Increase stack for the path planner
2012-04-15 12:31:50 -05:00
Corvus Corax
88f7567247
change to GPS: do not update UAVObject more than 1ce per cycle
2012-04-15 19:17:03 +02:00
James Cotton
85852df00b
Make simulation produce data asynchronously for testing and add random accel
...
bias
2012-04-15 11:51:42 -05:00
James Cotton
08fd08deb8
Fix some compiler warnings in guidance code
2012-04-15 11:51:26 -05:00
James Cotton
1559eeb2e1
Use GPSVelocity updates when they are available instead of timing based on
...
GPSPosition
2012-04-15 11:50:56 -05:00
James Cotton
b71e9fc9dc
Create simulated OveroSync module which simply drops updates to log file
2012-04-14 22:01:33 -05:00
unknown
0b7538c3fe
Constants changed to float for better portability.
2012-04-15 01:28:31 +02:00
James Cotton
9a2e0b071c
Revert "Allow simulated quadcopter to include GyroBias in the artificial sensor data."
...
This reverts commit 212a10bcd4
2012-04-14 17:20:01 -05:00
James Cotton
212a10bcd4
Allow simulated quadcopter to include GyroBias in the artificial sensor data.
2012-04-14 14:52:56 -05:00
James Cotton
af02eb6517
Merge branch 'sim' into testing
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Conflicts:
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
2012-04-14 14:40:43 -05:00
James Cotton
267e9fa87c
Merge branch 'revolution' into testing
2012-04-14 14:40:11 -05:00
James Cotton
a86e75bc99
Merge branch 'revolution' into sim
2012-04-14 14:12:03 -05:00
James Cotton
deb3336729
Make sure for revolution all the GPS objects are always initialized even if
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there is no GPS port. Otherwise connecting to relevant queues will fail.
2012-04-14 14:02:20 -05:00
James Cotton
b7c3b1fdd1
Make the simulation provide GPSVelocity object since this is critical for EKF
...
now
2012-04-14 14:01:42 -05:00
James Cotton
ce6def870b
Add feedforward component to guidance
2012-04-14 13:38:10 -05:00
James Cotton
be21ec441e
Add ability to run guidance based on raw GPS velocity instead
2012-04-14 13:34:30 -05:00
James Cotton
1a98a46606
Merge branch 'revolution_ubx' into sim
2012-04-14 12:10:23 -05:00
James Cotton
5d160860a3
Fix from Corvus for gyro bias from EKF
2012-04-14 12:09:12 -05:00
James Cotton
3e2feb64cf
Fix bug limiting maximum velocity desired
2012-04-14 10:49:54 -05:00
James Cotton
b0ef456ccb
Kickstart MPU6000 if there is no data
2012-04-13 20:29:41 -05:00
James Cotton
a0d1b00ade
Cover an edge condition for the MPU6000 IRQ not firing
2012-04-13 19:37:30 -05:00
Brian Webb
4936cd8fd2
Added PipXStatus and PipXSettings UAVObjects and added support the sending/receiving UAVTalk objects on the PipX.
2012-04-10 20:22:53 -07:00
James Cotton
a1351fcdbe
Make the path velocity come from the waypoint.
2012-04-10 02:56:10 -05:00
James Cotton
a42d756b3e
Add path navigation mode to the path planner module. I don't like how this is
...
done because the mode is in the settings so can't be command from path planner.
I.e. it would be nice to be able to say do these paths then go to position hold
mode.
2012-04-10 02:51:50 -05:00
James Cotton
1aec5b8deb
Add altitude control to the path navigation
2012-04-10 01:59:26 -05:00
James Cotton
26b73e3c8b
Add path navigation mode to guidance. Works well in simulation.
2012-04-10 01:48:03 -05:00
James Cotton
136bbe3814
Update the EKF code to use the GPSVelocity
2012-04-09 19:03:21 -05:00
James Cotton
dbcb47e249
Merge branch 'D-Lite/ubx-parser' into revolution_ubx
2012-04-09 17:34:34 -05:00
Werner Backes
4ede7a8af6
Experimental u-blox binary data format parser. See "u-blox 6
...
Receiver Description" for reference. Currently supports NAV-VELNED
message only and populates it to the GPSVelocity UAVObject.
2012-04-09 23:14:34 +02:00
Werner Backes
422944ce29
Experimental extension to the GPS stream parser to extract u-blox
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binary data format. See "u-blox 6 Receiver Description" for
reference. GPS data stream may carry mixed NMEA and UBX data.
2012-04-09 23:12:24 +02:00
Brian Webb
7b49a6b820
Added watchdog to radio com bridge in PipXtreme.
2012-04-07 19:12:49 -07:00
Brian Webb
f4d886de75
Added support for determining when the radio->com link is between UAVTalk packets. This is required to inject UAVTalk messages into the message stream.
2012-04-07 18:17:57 -07:00
Brian Webb
0f9f897870
Added PPM packet to packet handler, created replacement system module for PipXtreme (PipXtreme module), removed all UAVObjects from PipXtreme, and added parsing of incoming (over USB/COM) UAVTalk stream.
2012-04-07 18:17:32 -07:00
James Cotton
414e62f14e
Revert "Disable baro updates into INSGPS for now. Seems to cause issues."
...
This reverts commit 04591309770679e7b01c53a6cb54cac1c043f8b6.
2012-04-07 00:58:36 -05:00
James Cotton
fcb9193d25
Disable baro updates into INSGPS for now. Seems to cause issues.
2012-04-07 00:58:36 -05:00
James Cotton
aa6c8a451d
Shrink some stack sizes
2012-04-07 00:58:36 -05:00
James Cotton
81fcfd45c4
Some work on the code to initialize the INSGPS and allow setting the variance
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of the baro
2012-04-07 00:37:42 -05:00
Brian Webb
56a2006fd8
Reconfigured to run on the real PipX board.
2012-04-06 18:44:31 -07:00
Brian Webb
bc1adb2519
Some cleanup of rfm22 driver.
2012-04-06 17:36:35 -07:00
James Cotton
345b6578b1
Fix a possible race condition for complimentary filter on L3GD20 attitude
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estimation where the accel queue wouldn't immediately have data available.
Added 1 ms timeout on queue.
2012-04-06 13:59:12 -05:00
James Cotton
e60c70251f
Slow down update rate for the altitude hold smoothed EKF
2012-04-06 13:58:46 -05:00
James Cotton
ea13536da0
Take quidance settings from simulation and make the INSGPS pick up the GPS
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noise from a setting.
2012-04-06 12:59:49 -05:00
Brian Webb
fff93910e2
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-05 20:24:50 -07:00
James Cotton
3071f77d59
Add Baro offset to the simulation
2012-04-03 10:58:48 -05:00
James Cotton
c988685293
Simulate GPS noise drift
2012-04-03 09:17:55 -05:00
James Cotton
5d0e513678
Fix small deg/rad issue in generating gps data
2012-04-03 09:17:55 -05:00
James Cotton
df6bc4deff
Enable guidance on simulation and add wind model
2012-04-03 09:16:31 -05:00
James Cotton
ca535c2632
Fix bugs in simulated sensor data. Now works well with INSGPS.
2012-04-03 09:16:31 -05:00
James Cotton
84040d25b4
Add attitudesimulated object to capture the simulated state
2012-04-03 09:16:30 -05:00
James Cotton
6df9691609
Bring back the original module files and remove comments from FreeRTOS
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debugging
2012-04-03 09:16:30 -05:00
James Cotton
543500ed78
Improve the simulated sensors to produce (I think) consistent data now
2012-04-03 09:16:30 -05:00
James Cotton
fbd8695d7d
Check in WIP for osx simulation
2012-04-03 09:16:30 -05:00
James Cotton
28cab678ce
Simulate a more complete QC model.
2012-04-03 09:16:28 -05:00
James Cotton
f1aa3b658e
Add a new sensor simulation mode that essentially has a gyro rate that is rate
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desired and the accel based on the current attitude.
2012-04-03 09:16:28 -05:00
James Cotton
6adc74f6f9
Check in the fake sensor data module
2012-04-03 09:16:27 -05:00
James Cotton
e97c1bc016
Include the module include file before any uavo ones
2012-04-03 09:16:27 -05:00
James Cotton
cfd92de87a
Add explicit casts in manualcontrol to avoid compiler warnings/errors
2012-04-03 09:16:24 -05:00
James Cotton
5827e3f565
Add box around logo path
2012-04-03 03:42:37 -05:00
James Cotton
bfb0c6935e
Make pathplanner use callbacks on the waypoints and their index to pick up
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changes from the GCS while flying
2012-04-03 03:42:37 -05:00
James Cotton
c26cceb47b
If the waypoint index is changed then update teh position desired. This should
...
probably be done with change callbacks because currently changing the waypoints
themselves doesn't update position desired.
2012-04-03 03:42:36 -05:00
James Cotton
6d1c36680f
Scale the max velocity as a magnitude on teh vector instead of independently on
...
each direction
2012-04-03 03:42:36 -05:00
James Cotton
5b3cc4876e
In simulations a higher GPS noise is required for the INS
2012-04-03 03:42:35 -05:00
James Cotton
32f76db8ae
Only update position desired when you change waypoints active
2012-04-03 03:42:35 -05:00
James Cotton
ba1ade33cb
Get navigation working and program hardcoded flight path
2012-04-03 03:42:34 -05:00
James Cotton
62117430cf
Flip the sign of throttle in the guidance altitude control
2012-04-03 03:42:34 -05:00
James Cotton
7f226867c6
Some bug fixes for revo attitude estimation.
2012-04-03 03:42:33 -05:00
James Cotton
d4488512c0
Add RTH waypoint action
2012-04-03 03:42:33 -05:00
James Cotton
3eac69e953
Create stub for waypoint navigation
2012-04-03 03:42:32 -05:00
James Cotton
af9f36d7df
Improve the attitude initialization for all of the modes
2012-04-03 03:42:32 -05:00
James Cotton
3888d6ff69
Changed settings that makes updates smoother
2012-04-03 03:42:31 -05:00
James Cotton
319b53a342
Make sure full initialization routine for INSGPS occurs each time it is
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restarted.
2012-04-03 03:42:31 -05:00
James Cotton
372f959c37
Refine some stack sizes
2012-04-03 03:42:30 -05:00
James Cotton
54880c83a0
Fix some task sizes and the memory limits
2012-04-03 03:42:30 -05:00
James Cotton
a83fb019f6
When in complimentary filter mode pass the GPS information straight
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through to Position Actual
2012-04-03 03:42:29 -05:00
James Cotton
98b1a21921
Fixup: Shouldn't update gps until home location is set
2012-04-03 03:42:29 -05:00
James Cotton
7a3ec3e173
Some code cleanup to get rid of some warning messages
2012-04-03 03:42:29 -05:00
James Cotton
23625904c5
Remove the now unused ECEF and Rne fields from HomeLocation. Also reenable
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calculation of the WMM and HomeLocation from the GPS code for revolution.
2012-04-03 03:42:28 -05:00
James Cotton
71d0180d45
Use the sensor variances from object
2012-04-03 03:42:28 -05:00
James Cotton
ce2d1f94f6
Better hardcoded constants for INS variances
2012-04-03 03:42:27 -05:00
James Cotton
de7fc81795
Fixes to the GPS LLA to NED translation
2012-04-03 03:42:27 -05:00
James Cotton
e32ab9342c
Shuffle some stack sizes around
2012-04-03 03:42:26 -05:00
James Cotton
4cadb7ec0e
Forgot to initialize revo settings object
2012-04-03 03:42:26 -05:00
James Cotton
337d5b7079
Enable guidance in revo. Update manual control to set the position desired
...
when the switch is flipped.
2012-04-03 03:42:25 -05:00
James Cotton
0eedaa1250
Change how we convert LLA to NED. Now it is done with a taylor expansion
...
around the home LLA coordinate to avoid the conversion into ECEF coordinates.
This has the benefit of not requiring double precision math and uses less
operations.
Now we should remove the Rne and ECEF fields from HomeLocation as they are
unused
2012-04-03 03:42:25 -05:00
James Cotton
e8cc7748af
Clean up some unused variables in attitude code
2012-04-03 03:42:24 -05:00
James Cotton
a9aa6b696b
Add object for setting the fusion algorithm
2012-04-03 03:42:24 -05:00
James Cotton
1911c7360d
New NEDPosition object which is the transformed GPS location
2012-04-03 03:42:24 -05:00
James Cotton
e3c36ac99a
Change requires for GSP updated to be set to true (wrong sign on PDOP check)
2012-04-03 03:42:23 -05:00
James Cotton
9e4651ab80
INS working on Revo
2012-04-03 03:42:22 -05:00
James Cotton
96edea9d4b
Some fixes to GPS parsing
2012-04-03 03:42:21 -05:00
James Cotton
55ee568fe2
Work on the INS algorithm
2012-04-03 03:42:21 -05:00
James Cotton
8c8224c122
Use a bigger event queue for overo logging to avoid event system warnings, and
...
add code to shortcircuit formatting a packet if it will not fit.
2012-04-03 03:42:19 -05:00
James Cotton
e82323af32
Make revolution work with the FreeRTOS queue based MPU6000 driver
2012-04-03 03:41:52 -05:00
James Cotton
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
James Cotton
a0b7453580
Make the firmwareIAP variable not a global
2012-04-03 02:07:03 -05:00
Brian Webb
df0a1c2ac1
Upgraded Brian-Metadata-Mods to current next.
2012-04-01 12:25:13 -07:00
Corvus Corax
0742c88a98
enabled optional rtation of Revolution board
2012-03-26 05:25:52 +02:00
Corvus Corax
d32dd0ccd4
Fixed fmod() versus fmodf() usage in flight/...
2012-03-26 04:16:54 +02:00
Brian Webb
1669f00456
Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2
2012-03-24 15:21:16 -07:00
James Cotton
c7ff2a46c7
Merge remote-tracking branch 'origin/laurent/modelview' into revolution
...
Conflicts:
flight/CopterControl/Makefile
ground/openpilotgcs/src/plugins/config/config.pro
ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
2012-03-22 02:58:24 -05:00
James Cotton
2f8049e20a
Update the bootloader hw version for the mpu6000 board and make the sensor code
...
and initialization respond appropriately. Enable hte L3GD20 and BMA180.
Let the board type determine which is used.
2012-03-22 00:41:37 -05:00
James Cotton
6350ec575e
Merge remote-tracking branch 'origin/os/features/stick-deadband-next' into next
...
Conflicts:
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
2012-03-21 16:03:40 -05:00
James Cotton
a77a859e5c
Using some config switches to get this board up and running
2012-03-21 00:48:31 -05:00
James Cotton
6b88a278b3
Disable overosync by default. It was triggering event system warnings due to
...
the extra updates from altholdsmoothed. Increase queue size when reenabled.
Also AltHold is is trigger warnings because other tasks starve it during
startup.
2012-03-21 00:29:09 -05:00
James Cotton
f4663b98e4
When the event system or object manager has an error store the object ID in the
...
SystemStats.
2012-03-20 23:18:07 -05:00
Brian Webb
823b111d60
Added Reed-Solomon error correction to PipXtreme. The code is a slight modification of rsscode ( http://rscode.sourceforge.net ). Packet acking has also been turned on as the default, so each packet is error corrected, and if errors remain, the packet is NACKed, otherwise it is ACKed. Also temporarily turned off UAVTalk parsing. This was causing the CC to be identified as a PipX due to the PipX sending UAVObjects (I believe) from the system module. The system module is going to have to be modified/replaced for the PipX.
2012-03-18 17:43:29 -07:00
Brian Webb
aba3789d87
Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into Brian-Metadata-Mods
2012-03-18 13:28:11 -07:00
Brian Webb
b34b849453
Added start at a modified PipX packet handler.
2012-03-15 19:29:54 -07:00
James Cotton
0d42303d37
Fix some compilation errors/warnings in attitude.c
2012-03-11 16:30:18 -05:00
James Cotton
820ca6a970
Initialize loop variable OUTSIDE loop so that baro is used still for altitude
...
hold.
2012-03-10 11:28:51 -06:00
James Cotton
f4705551b6
Update task info to cover the AltitudeHold module
2012-03-10 11:14:30 -06:00
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
Brian Webb
d73895de7d
Working PipX com relay.
2012-03-07 18:05:42 -07:00
Brian Webb
444150269a
Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into PipXtreme
2012-03-05 18:22:08 -07:00
James Cotton
61d59828dc
Disable the new features if not revolution and set an error flag. Fixes
...
compilation errors.
2012-03-05 00:24:11 -06:00
James Cotton
7961aba83c
Clean up a few more compiler warnings
...
Conflicts:
flight/PiOS/Common/pios_ms5611.c
2012-03-03 13:32:56 -06:00
James Cotton
91a226fc12
Sometimes the mag stops updating so kickstart it
2012-03-03 13:31:46 -06:00
James Cotton
bc8b72623e
Get rid of some unused variables
2012-03-03 11:54:09 -06:00
James Cotton
e3df261213
Merge branch 'stac/revo-usb' into revolution
...
Conflicts:
flight/Revolution/System/pios_board.c
2012-03-02 13:00:13 -06:00
Brian Webb
e2cb750dc6
First cut on RadioComBridge module, which is intended to pass data from either a USART or a USB port to the PipX radio link.
2012-02-25 07:37:05 -07:00
Oleg Semyonov
2271b95816
Merge remote branch 'origin/next' into os/features/stick-deadband-next
...
Conflicts:
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
ground/openpilotgcs/src/plugins/config/configtaskwidget.h
2012-02-23 08:32:27 +02:00
Oleg Semyonov
e62cc8914c
Merge remote branch 'origin/next' into os/features/pid-tuning-from-transmitter-next
...
Conflicts:
flight/CopterControl/Makefile
ground/openpilotgcs/src/plugins/config/config.pro
ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
shared/uavobjectdefinition/hwsettings.xml
2012-02-22 23:03:17 +02:00
Oleg Semyonov
403e9cd220
TxPID module: add ILimit values to the list of settings
2012-02-21 19:57:10 +02:00
James Cotton
7b548eaa54
Fix bug in the integral for altitude hold where it was accumulating wrong variable.
2012-02-21 00:40:55 -06:00
Brian Webb
43f6458f86
Reduced the sizeof the UAVObject metadata by:
...
1) Combining all binary or mode values into a single byte
2) Adding accessor functions to read/write the flag bits
3) Reduced the size of the time values from 32 bits to 16 bits
2012-02-20 18:45:18 -07:00
James Cotton
900780e10c
Add bias estimation to the altitude fusion algorithm. Necessary to increase
...
the gains on acceleration and velocity feedback terms (they are a problem when
biased).
2012-02-19 11:38:09 -06:00
James Cotton
47fac7e31c
Move the throttle setting code for alt hold into the fast accel loop.
2012-02-18 18:16:15 -06:00
Oleg Semyonov
c721d001c0
Subtract deadband offset from then input to still have fine control
2012-02-18 10:21:51 +02:00
James Cotton
7d4582e5f0
Update the altitude KF to use the updated measurements appropriately and check
...
in the relevant matlab code to check it and genererate it. Produces quite
smooth traces.
2012-02-16 05:33:47 -06:00
James Cotton
c957172f8f
In the case of swapping in userspace due to the buffer being blocked during
...
ISR, make sure the latency is less than 50 us to avoid framesync errors. Still
seeing a few nonsense packets on Overo side but fairly few. Probably need to
add CRC to whole packet now and call it done.
2012-02-14 11:06:16 -06:00
James Cotton
1930d092eb
In the case where the overo scheduler cannot swap buffers (userspace loading
...
it) then set a flag so as soon as the buffer is loaded then we schedule it.
2012-02-14 11:00:29 -06:00
James Cotton
f04c58b0f4
Make the overo transaction occur based on the rising edge of the NSS line.
...
This fixes most of the frame sync problems. However, it's a bit hacky as
there is currently hardware information inside a module.
2012-02-14 10:37:30 -06:00
