Stacey Sheldon
59cb489e01
usb: clean up pios hooks into stm32 usb_core
...
Reduced scope of many variables since they were being
exposed unnecessarily.
Renamed pios_usb_hid_prop code to pios_usbhook to reflect
the fact that it implements all of the callout functions
that are hooked into the stm32 usb library.
2011-12-30 23:05:33 -05:00
Stacey Sheldon
c0259dc616
usb cdc: USB composite device with HID + VCP
2011-12-30 23:05:33 -05:00
James Cotton
25dfb5463e
Add option to switch to using the MPU6000 accel instead of BMA180. Disabled by
...
default.
2011-12-29 02:08:13 -06:00
James Cotton
c080080810
Add ability to change the SPI bus runs at
2011-12-29 00:09:53 -06:00
James Cotton
bf98630851
Add streaming the sensor data out of the serial port
2011-12-26 17:52:45 -06:00
James Cotton
9bf06bbd3e
Force the loading of the sensor gains and biases at the beginning
2011-12-24 16:14:28 -06:00
James Cotton
1092ac3184
Use the scale and bias terms for hte mag and accel
2011-12-24 15:58:12 -06:00
James Cotton
05da41a79b
Get FirmwareIAP object working on revo
2011-12-24 13:15:56 -06:00
James Cotton
569b201b58
Move the bl_helper out of the common directory as it isn't
2011-12-24 13:10:23 -06:00
James Cotton
5d4da2213f
Accidentally used floating point when parsing NEMA. Lost resolution on
...
position.
2011-12-24 10:37:30 -06:00
Oleg Semyonov
7fbbb0e6af
Merge remote branch 'origin/next' into os/TxPID-module
2011-12-24 15:44:16 +02:00
Oleg Semyonov
495a8f2836
TxPID: initialize the AccessoryDesired object before use its handle
...
Also save few bytes of static RAM and add PIOS_Assert(0) for unhandled cases.
2011-12-24 15:37:14 +02:00
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
dd89d232ba
Add a magnetometer bias term although currently hardcoded to my board
2011-12-15 00:57:19 -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
2240ad924a
Fix the orientation of the magnetometer
2011-12-15 00:46:43 -06:00
James Cotton
43ed6cd89c
Need to initialize the HomeLocation object
2011-12-14 14:08:03 -06:00
James Cotton
9148bb2c65
Make sure the sensors module grabs the sesor biases initially.
2011-12-14 10:38:43 -06:00
James Cotton
6dbad243db
Convert the CoordinateConversion functions to all be float until I determine
...
how to use doubles safely on F4.
2011-12-14 02:08:14 -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
ed7cbd5a6c
Have to initialize the BaroAltitude object ini the init section for it to show
...
up on telemetry
2011-12-13 23:27:26 -06:00
James Cotton
9f50391fc5
Merge branch 'next' into revolution_sensors
...
Conflicts:
ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
2011-12-13 20:50:10 -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
7273f87f9b
Fix NMEA parsing for M4 FPU
2011-12-12 09:47:11 -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
33a12d829e
Merge branch 'next' into revolution
...
Conflicts:
flight/PiOS/Common/pios_flashfs_objlist.c
2011-12-11 22:55:54 -06:00
Oleg Semyonov
10287e3e29
CC: rename ReceiverPort PPM+Servo (Servo) options to PPM+Outputs (Outputs)
2011-12-11 22:52:51 +02:00
James Cotton
162b0d7f75
Because the UAVO field sorting required for revo changes all the object IDs,
...
trigger a flash wipe on all existing boards with this upgrade.
2011-12-10 14:13:28 -06:00
Corvus Corax
a0cd71abe6
UAVObjects ; Modules/ManualControl: Fixed metadata interface and segfault when retrieving it
2011-11-30 09:20:46 +01:00
James Cotton
44ca9736df
Fix floating point calculation in NMEA parser and delete duplicate of NMEA
...
functions
2011-11-28 09:36:31 -06:00
James Cotton
43fa9e702e
Move DSM to Flexiport and enable GPS on GPS port. Currently GPS module locks
...
up though.
2011-11-28 09:11:13 -06:00
James Cotton
c33816dd79
Force mode switch to be floating point so F4 works
2011-11-28 09:10:26 -06:00
James Cotton
671c7537a0
Reorganize the pios_config.c file for revolution
2011-11-28 08:29:14 -06:00
James Cotton
1af66fc3d2
Get rid of 500 ms delay in startup for the pios_sys so that servos start
...
properly but a delay is still needs to get MPU6000 up right. Fucking POS.
2011-11-27 18:05:20 -06:00
James Cotton
9357960268
Get rid of old bootloader code for revolution using the ahrs spi link
2011-11-27 18:04:31 -06:00
James Cotton
f7f94011ee
Damnit. For higher bus speeds MPU6000 chip must be initialized twice in a row.
...
WTF piece of shit.
2011-11-27 02:35:08 -06:00
James Cotton
deea7cde41
Speed up coms to MPU6000
2011-11-27 01:51:43 -06:00
James Cotton
57e7126979
Increase stack size for manualcontrol. This might need to be applied to main
...
code.
2011-11-27 01:51:23 -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
8bbc767a4e
Get the pressure sensor working and reading into Revolution
2011-11-27 00:52:09 -06:00
James Cotton
cd65df013e
Merge branch 'next' into revolution
...
Conflicts:
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-11-26 22:52:32 -06:00
James Cotton
13729f854e
PiOS F4: Fix PWM timer interrupts and enable PWM input
2011-11-26 22:41:41 -06:00
James Cotton
21367d3a22
Spektrum support for Revolution
2011-11-26 22:19:42 -06:00
James Cotton
e24c905ff7
F4 PiOS: Reimplement the RTC logic for F4
2011-11-26 22:13:57 -06:00
James Cotton
b11a4f7405
Clean up the actuator module for floating point usage. Also there was a bug I
...
don't understand where the channels should be scaled AFTER all of them are
computed. It feels like a memory overwriting bug and needs followup.
2011-11-26 16:12:32 -06:00
James Cotton
07e3ad10af
Force some floating point units to be safe
2011-11-26 15:52:25 -06:00
James Cotton
04f4afce46
Set idle load for revo
2011-11-26 15:52:04 -06:00
James Cotton
8c0db424fa
Fix long subtle bug where failsafe didn't show the output values it was using
2011-11-26 15:51:24 -06:00
James Cotton
c70a9a5381
Sanitize the floating point math in systemmod.c to be consistently floating and
...
not double
2011-11-26 15:16:16 -06:00
Oleg Semyonov
1f60f80053
Bring back the ERASE_FLASH option support for SettingsEraseFirmware
2011-11-26 22:57:33 +02:00
James Cotton
d3314f041a
MPU6000: Bring SPI down to 5 Mhz - much closer to spec
2011-11-26 14:56:28 -06:00
James Cotton
99123372d0
TO BE REVERTED: Temporary patch to make the w25x driver work with the revo m25p
...
chip. Need to abstract out the erase commands into a general pios_spi_flash
driver.
2011-11-26 14:55:16 -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
11ad135b27
Some changes to MPU6000 driver to make it start more reliably on fresh powerup
2011-11-26 14:12:12 -06:00
James Cotton
1574c96c3a
Add all the pin remappings and pin sources for F4 timers
2011-11-26 03:36:36 -06:00
James Cotton
c57acf6459
F4 PiOS: Must use a different remap command on F4 for timer module to command
...
pin. Include the remap source in the config structure now.
2011-11-26 03:35:26 -06:00
James Cotton
57b381235e
Init the timers and PWM in the board file
2011-11-26 02:19:56 -06:00
James Cotton
de9a8453ef
Configure the board to use PWM input and servo output
2011-11-26 02:19:56 -06:00
James Cotton
3e01c84a15
Add pin mappings for PWM and receiver port
2011-11-26 02:19:56 -06:00
James Cotton
e71030c6ce
Remove testing code for pressure sensor
2011-11-26 02:19:56 -06:00
James Cotton
c118159a6f
Remove refence to deleted object
2011-11-26 02:19:55 -06:00
James Cotton
fae611a01f
Fix bug where clicking back at last screen of input wizard would go back to
...
main screen and then in future buttons hung around for no reason
2011-11-25 11:30:12 -06:00
Oleg Semyonov
6d78b97d92
dsm: update DSM protocol binding details in the comments (no code change)
2011-11-19 17:33:04 +02:00
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
da75e9fdaf
PiOS: Make I2C return an error code for NACK
2011-11-19 00:11:16 -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
79730d5afa
Try and get the MPU6000 buffer to run down. Staying high for some reason.
2011-11-17 11:23:31 -06:00
James Cotton
0efffef1fa
Work on bringing the Revolution board up
2011-11-17 10:13:34 -06:00
James Cotton
d97e5dbc59
Add SPI MPU6000 driver. Unfortunate hack in HMC5883 EXTI handler to call
...
MPU6000. Need to generalize EXTI ASAP.
2011-11-17 10:12:10 -06:00
James Cotton
8477c2229b
Using real prototype board now. Move telemetry to GPS port for easy-ness right
...
now.
2011-11-17 01:58:51 -06:00
James Cotton
1c7c85635d
Typo with renamed PI
2011-11-16 19:48:13 -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
8e79f86716
Make the CoordinateConversions use a floating point PI
2011-11-16 11:35:52 -06:00
James Cotton
aa698f7b0a
Increase the CC IRQ stack to avoid some memory warnings
2011-11-16 09:20:30 -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
1086df5b21
Correctly configure MPU6050 interrupt. However currently not pushing data to
...
the buffer as that seems to fail.
2011-11-14 11:11:40 -06:00
James Cotton
2cc2e55248
Add attitude solution for revo
2011-11-14 10:49:37 -06:00
James Cotton
4c04d01be4
Dos2unix pios_config.h for revo
2011-11-14 10:25:57 -06:00
James Cotton
e32cc92002
For now act like revo is using init call system to fix compile errors.
2011-11-14 10:25:28 -06:00
James Cotton
da679441ec
Duplicate the spektrum (dsm) driver to F4 branch
2011-11-14 10:12:51 -06:00
James Cotton
684715930a
Merge branch 'next' into revolution
...
Conflicts:
flight/OpenPilot/Makefile
flight/Revolution/System/inc/openpilot.h
2011-11-14 10:11:53 -06:00
James Cotton
180d84e373
Update the MPU6050 code a bit more to use the right registers.
2011-11-14 10:09:49 -06:00
James Cotton
2eb89e9b81
No reason for the data read flag in pios_bmp085.c to be a semaphore
2011-11-14 10:07:19 -06:00
James Cotton
76a956416c
Switch revo over to MPU6050
2011-11-13 19:45:06 -06:00
James Cotton
96a098bf74
Add code for MPU6050 driver
2011-11-13 19:44:56 -06:00
James Cotton
1e2fe77e3f
Start migrating the attitude solution to FreeRTOS
2011-11-13 18:51:35 -06:00
James Cotton
0c103f7b2c
Delete F2 PiOS port since unused
2011-11-13 17:33:43 -06:00
James Cotton
fffb6449ac
Delete the old INS target
2011-11-13 17:31:34 -06:00
James Cotton
c44235494c
Update the Revolution board file a bit
2011-11-13 17:23:56 -06:00
James Cotton
938a577d11
Small change to pios_adc so it works when not enabled
2011-11-13 17:14:08 -06:00
James Cotton
ec84fc4058
Get the Revolution bootloader working
2011-11-13 17:13:42 -06:00
James Cotton
2b37d4bbb5
Enable telemetry on revo
2011-11-13 16:10:19 -06:00
Oleg Semyonov
4a99ec3298
code style: move variable into function and free 1 byte of RAM :-)
...
component free heap used
----------------------------
Nothing 2560 -
PWM 2432 128
PPM 2408 152
DSM 2464 96
S.Bus 2448 112
GPS (port only) 2368 192
GPS (port+module) 1312 1248
CameraStab 2096 464
Telemetry 1928 632
2011-11-13 18:27:52 +02:00
Oleg Semyonov
de6e450b5f
Merge branch 'next' into os/TxPID-module
...
Conflicts:
flight/CopterControl/Makefile
flight/CopterControl/System/coptercontrol.c
ground/uavobjgenerator/generators/generator_common.h
shared/uavobjectdefinition/hwsettings.xml
component free heap used
----------------------------
Nothing 2544 -
PWM 2416 128
PPM 2392 152
DSM 2448 96
S.Bus 2432 112
GPS (port only) 2352 192
GPS (port+module) 1296 1248
CameraStab 2080 464
Telemetry 1912 632
TxPID 2272 272
2011-11-13 16:25:58 +02:00
James Cotton
b110e9c549
Style suggestions to cleanup GPS from Stac
2011-11-12 21:31:01 -06:00
James Cotton
f0b22519be
Merge remote-tracking branch 'origin/corvuscorax/CC_GPS' into next
2011-11-12 21:30:53 -06:00
James Cotton
fdcc6c2d41
Fix a bug I made in programming the bootloaders via jtag
2011-11-12 21:29:46 -06:00
Corvus Corax
198c819943
some more makefile cleanup
2011-11-11 11:54:31 +01:00
Corvus Corax
cd473ed1fd
some makefile cleanup
2011-11-11 11:51:45 +01:00
Corvus Corax
aa69027cb2
Merge branch 'next' into CC_GPS
2011-11-11 11:44:11 +01:00
Corvus Corax
61ecc0d310
make optional modules check themselves if they should start or not
2011-11-11 11:39:57 +01:00
Corvus Corax
e03e3c2ed8
removed "special code" to start optional modules
2011-11-11 11:22:54 +01:00
Corvus Corax
5e14e69a08
Revert "OpenPilot: Initialize optional modules based on UAVObject"
...
This reverts commit 9f03ba178b
.
2011-11-11 11:08:49 +01:00
Corvus Corax
9679638244
Revert "Modules/GPS: removed comment line"
...
This reverts commit 109a58ef30
.
2011-11-11 11:07:02 +01:00
Corvus Corax
88f161dd42
Revert "Makefiles: fixed comment line"
...
This reverts commit 0065842de7
.
2011-11-11 11:06:32 +01:00
Oleg Semyonov
8f77d07119
System Module: fix stupid out of memory detection bug
2011-11-07 19:14:55 +02:00
Oleg Semyonov
f5e82b8242
spektrum: rename Spektrum to DSM (DSM2/DSMJ/DSMX used by Spektrum and JR radios)
...
No code changes, just file, variable and define names are changed.
First, it better describes the serial protocol used by DSMx satellite
receivers. Second, many people using Spektrum radio, assume Spektrum
protocol. This is the attempt to address those inaccuracies.
2011-11-04 21:40:34 +02:00
Oleg Semyonov
8ed23c76b7
spektrum: fix OpenPilot MB target (deprecated) after spektrum changes
2011-11-04 20:43:49 +02:00
James Cotton
c0f16d2f44
Revolution: Configure clocks correctly
2011-11-03 20:12:34 -05:00
James Cotton
a2015a4f8d
Compiled and flashing
2011-11-02 13:20:39 -05:00
James Cotton
0ce80e02f5
Compiles now
2011-11-02 02:51:20 -05:00
Oleg Semyonov
481bff2578
spektrum: code style fixes accoring to OPReview-122
2011-11-01 18:48:07 +02:00
James Cotton
0931a518d4
Bring F4 PiOS up to date with some of our timer conventions
2011-11-01 04:39:51 -05:00
James Cotton
48d2e038bb
More work to the revolution build
2011-11-01 04:39:20 -05:00
James Cotton
4d6f810984
Make ADC driver play properly when not included
2011-11-01 03:22:48 -05:00
James Cotton
7eee6bf85b
Create revolution board file
2011-11-01 03:22:19 -05:00
James Cotton
7ee4a0412c
Work on the build process and include FreeRTOS
2011-11-01 03:20:25 -05:00
James Cotton
9607da9c62
Add some drivers to the device specific library for now until the exti problems
...
are fixed
2011-11-01 03:19:58 -05:00
James Cotton
2cc0b301ce
Make some of the StdPeriph function calls const where appropriate
2011-11-01 03:18:59 -05:00
James Cotton
cdb6059752
Coyp over some of how the PH build system works
2011-11-01 01:36:52 -05:00
James Cotton
9bdd021b2e
Make new Revolution target
2011-11-01 01:17:59 -05:00
James Cotton
3388843fb5
Merge in PixHawk F4 work
2011-11-01 01:09:55 -05:00
Oleg Semyonov
a8b36ddd28
HwSettings: disable GPS and telemetry port speed updates at run-time
...
This is to be consistent across the HwSettings object fields which are
read on boot only by convention.
2011-10-31 23:04:17 +02:00
Oleg Semyonov
0116e6a007
spektrum: rework DSM2/DSMJ/DSMX driver for explicit DSMX resolution support
...
- both CC serial ports are now disabled by default (no telemetry);
- serial ports now have DSM2, DSMX (10bit) and DSMX (11bit) options;
- ReceiverGroups now have DSM (MainPort) and DSM (FlexiPort) options.
For DSM2 protocol there is an explicit resolution bit in the stream, so
the DSM2 should be selected. For DSMX there is no such bit, and user
should choose the resolution from the list configuring the spektrum port.
ReceiverGroups have single DSM option which is handled by the same driver.
Downside: this implementation saves received frame first, unrolls by the
end of frame. This should be ok, but may be improved by unrolling channels
on the fly in the rx callback.
Another minor difference is that a ChannelGroup is now bound to port:
DSM (MainPort) or DSM (FlexiPort). This was considered as acceptable
solution in order to not have 6 DSM options for each ChannelGroup and
even more in case of new DSM protocol variations.
Known problem: it is not possible to choose same protocols like
DSM2/DSM2 for two ports. It can be enabled by adding an exception to
common rule, though.
The DSMX throttle channel misbehavior (zero value) is not treated
specially yet. It should trigger the failsafe being out of bounds.
More info and data dumps are required to handle this properly.
2011-10-30 19:29:03 +02:00
James Cotton
f019412209
Various tweaks to get the F4 working
2011-10-26 21:56:00 -05:00
James Cotton
d786c152e3
Merge F4 files from PixHawk branch
2011-10-26 18:23:35 -05:00
James Cotton
0f8ae1e076
Merge branch 'next' into ins
...
Conflicts:
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-10-26 13:18:44 -05:00
Oleg Semyonov
a19bbba858
Merge branch 'next' into os/alternative_spektrum_driver
2011-10-25 11:55:05 +03:00
James Cotton
27bf2b383e
Merge remote-tracking branch 'origin/james/remap_outputs' into next
2011-10-23 18:35:25 -05:00
Oleg Semyonov
4ed23dd891
Output Remapping: renamed PPM_SERVO option to PPM+Servo
2011-10-24 00:34:01 +03:00
James Cotton
23150a48fe
Merge remote-tracking branch 'origin/os/sbus_dynamic_malloc' into next
2011-10-23 15:26:26 -05:00
James Cotton
24d6ae731b
Output Remapping: Added option to just use servo outputs on input lines but not
...
PPM. This saves resources. Good suggestion Os. In this configuration we
could allow 12 channels of output but for now I'll leave it capped at 10 to
lessen resources on the mixer table.
With spektrum and camera stab enabled there was
1632 bytes heap remaining
180 bytes irq stack remaining
2011-10-23 15:21:40 -05:00
Oleg Semyonov
2a98a52f4c
gps: include optional GPS module by default
2011-10-23 00:41:18 +03:00
Oleg Semyonov
6a9208e8c3
Merge branch 'next' into os/TxPID-module
2011-10-22 23:34:58 +03:00
Oleg Semyonov
f71361ca83
Merge branch 'next' into os/GPS-on-CopterControl_next_v2
...
Conflicts:
flight/Modules/System/systemmod.c
2011-10-22 23:00:47 +03:00
Oleg Semyonov
58d0812309
sbus: better frame syncronization, some cosmetic changes
...
In the previous version the decoder could in rare cases get synced from
the middle of data stream in case of data byte equal to the S.Bus start
of frame (SOF) byte (wrong data will be rejected but it was not perfect).
Now it waits for the real start of frame and then checks the SOF byte.
2011-10-22 00:44:09 +03:00
Oleg Semyonov
62bca651d5
spektrum: alternative DSMx (DSM2/DSMJ/DSMX) driver
...
- does not glitch when used in 2-frame mode (DM9, 9503, etc)
- does NOT provides yet DSMX stream decoding - do NOT merge
- uses a bit more time in the interrupt, but frees 16 bytes of RAM.
This is done to help decoding the weird DSMX stream which does not
contain explicit resolution/frame/lost frames info and needs special
processing (to be done yet).
2011-10-21 23:35:17 +03:00
Corvus Corax
167010e8a0
UAVTalk: Fixed bug in parser failing to handle length of multi-instanceobjects
...
UAVTalk (on GCS): Fixed a null pointer dereference when receiving in a NACK
2011-10-21 02:04:29 +02:00
Oleg Semyonov
92b81e3f88
sbus: refactor the code using unified PIOS RCVR driver structure
...
- allow more than one S.Bus receiver (needs hardware support)
- use dynamic memory allocation (frees around 72 bytes of RAM when unused)
2011-10-20 18:23:23 +03:00
James Cotton
e0cc289de0
Remapping inputs to outputs: Drop S2 so there are ten outputs
...
Output 7 = S3 input
Output 8 = S4 input
Output 9 = S5 input
Output 10 = S6 input
Also fix bug that prevented them outputting signal
2011-10-20 06:28:07 -05:00
Corvus Corax
cb8d9c791c
PiOS.posix: fixed missing defines in pios_config. removed platform specific inclde from Systemmod (pios_config.h gets included from pios.h)
2011-10-19 22:28:39 +02:00
Corvus Corax
b00751af91
Systemmod bugfix: UAVObject used without Initialization
2011-10-19 22:28:08 +02:00
Corvus Corax
e244581b18
PiOS.posix: bugfix in pios_udp com driver - data send loop
2011-10-19 13:37:35 +02:00
James Cotton
9312610f3b
Output: Enable two more channels to support octo + camera
2011-10-15 16:59:42 -05:00
James Cotton
ce7f424131
CC: When receiver port is set to PPM_SERVO use the spare pins as outputs
2011-10-15 16:59:42 -05:00
James Cotton
19c9528d80
CopterControl: Create structures to supply more output channels
2011-10-15 16:59:42 -05:00
Corvus Corax
425bc5abbe
PiOS.posix: PIOS_RCVR : fix posix port of pios_rcvr to allow compilation on 64bit systems
2011-10-11 18:07:04 +02:00
James Cotton
9cbb48417a
Merge branch 'long_erase_settings' into next
2011-10-08 14:18:56 -05:00
James Cotton
0f1a6264de
Fix jtag programming of bootloader
2011-10-08 14:14:11 -05:00
James Cotton
5dc0f397a6
OP-499 Erase settings bug: Make hte flash chip read a wrong value for 1 second
...
before wiping settings.
2011-10-07 14:08:56 -05:00
Oleg Semyonov
7800fbe6de
gps: initialize GPS UAVO and start GPS module only if port is configured
2011-09-29 00:41:51 +03:00
Oleg Semyonov
469feecb13
pios: remove some unused #defines
2011-09-28 23:40:12 +03:00
Oleg Semyonov
ed8cf89888
Initcall: fix compilation errors for firmware which does not use Initcalls
2011-09-28 22:57:18 +03:00
Oleg Semyonov
a38c569cd0
HwSettings: move Telemetry and add GPS port speed to the HwSettings object
...
TelemetrySettings object removed (saved 200+ bytes of RAM). Telemetry
port speed moved to the HwSettings object. Added GPS port speed setting.
GCS code updated to reflect changes and support both fields.
2011-09-28 22:11:42 +03:00
Oleg Semyonov
53c098dd08
Merge branch 'next' into os/GPS-on-CopterControl_next_v2
...
Conflicts:
flight/OpenPilot/System/pios_board.c
flight/OpenPilot/UAVObjects.inc
shared/uavobjectdefinition/hwsettings.xml
2011-09-28 22:02:02 +03:00
James Cotton
fef9570e4d
INS: Get bootloader working again
2011-09-27 01:17:14 -05:00
James Cotton
cf6a59468f
Merge branch 'next' into ins
...
Conflicts:
flight/INS/Makefile
flight/Project/OpenOCD/stm32f1x.cfg
flight/Project/OpenOCD/stm32f2x.cfg
make/firmware-defs.mk
2011-09-27 01:02:06 -05:00
James Cotton
f1e70d2ff5
Merge remote-tracking branch 'origin/msmith/OP-578' into next
2011-09-23 16:43:00 -05:00
Oleg Semyonov
a9137e9db1
TxPID: add update mode option as a workaround for GCS interaction
2011-09-19 16:16:28 +03:00
Oleg Semyonov
aad263bdd8
TxPID: enable ramp-shaped throttle-dependent PIDs
...
Besides of knob PID tuning it is now possible to use throttle channel
to ramp-shape PID coefficients. This can be used to lower some PIDs on
VTOL while sinking to prevent wobble.
To use the feature select throttle as control input, choose throttle
range max and min values, assign the instance to particular PID
coefficient and define a range for it. When throttle is lower than
defined throttle range min value (or higher than max), then min and max
PID values will be used accordingly. Changing throttle from throttle
min to max will linearly scale PID value.
Note that it is possible to set MinPID > MaxPID. In that case increasing
control input value will decrease the PID coefficient.
Up to 3 independent instances can be configured. The number can be
increased changing the UAVO definition, but at the cost of extra RAM.
2011-09-18 14:38:50 +03:00
Oleg Semyonov
d923117c25
TxPID: optional module to tune PID settings using R/C transmitter
...
This module will periodically update values of stabilization PID settings
depending on configured input control channels. New values of stabilization
settings are not saved to flash, but updated in RAM. It is expected that the
module will be enabled only for tuning. When desired values are found, they
can be read via GCS and saved permanently. Then this module should be
disabled again.
2011-09-17 22:49:51 +03:00
James Cotton
a1aeab9393
Increase size of framing signal for logging
2011-09-15 10:19:59 -05:00
James Cotton
0d3d5ad094
INS: Get rid of old code that tried to detect when indoor mode wasn't called
...
for a while
2011-09-14 17:30:02 -05:00
James Cotton
acf2aa218b
Merge remote-tracking branch 'origin/stac/upgrade-to-openocd-0.5.0' into next
2011-09-14 11:49:01 -05:00
James Cotton
06190d1d95
Fix altitude hold dead band range
2011-09-13 10:34:56 -05:00
James Cotton
3b399ad44c
Increase gyro bias rate again
2011-09-13 08:30:50 -05:00
Oleg Semyonov
c92870d29e
Remove unused file (versionblob.py)
2011-09-13 16:10:10 +03:00
James Cotton
1783817b96
INS: First pass at altitude hold code
2011-09-13 01:44:53 -05:00
James Cotton
400ba3bd47
Merge branch 'next' into ins
2011-09-12 18:57:11 -05:00
James Cotton
c36297227d
Stabilization fix typo
2011-09-12 11:56:01 -05:00
James Cotton
63bb80649b
Merge branch 'max_rate_for_attitude' into next
2011-09-12 11:51:03 -05:00
James Cotton
00c9d62f6a
INS: Miscellaneous changes for debugging handling and also some stuff for GPS
...
signal loss.
2011-09-12 11:17:17 -05:00
James Cotton
5b836db54c
INS/Guidance: Convert distance to using m instead of cm. This is mainly to be
...
able to use NAN to indicate when values aren't valid from INS.
2011-09-11 23:02:05 -05:00
James Cotton
a682d5deb6
INS: In indoor mode if GPS is found use that to populate PositionActual
2011-09-11 22:53:07 -05:00
James Cotton
8f2fad6918
Fix for merging with the collective channel with the swashplate fix.
2011-09-11 18:53:10 -05:00
James Cotton
6457276438
Merge branch 'input_configuration' into next
2011-09-11 18:52:35 -05:00
Oleg Semyonov
f5369f9338
Input Configuration: support all 18 S.Bus input channels
2011-09-12 02:06:50 +03:00
Oleg Semyonov
7b3056d10f
Input Configuration: fix S.Bus receiver in multi-receiver code
2011-09-12 02:06:48 +03:00
James Cotton
b38081bb1b
Stabilization: When in none
mode zero the integral accumulators for rate and
...
attitude loops. When not using outer loop zero that accumulator.
2011-09-11 16:33:38 -05:00
Mike Smith
deade53c5d
OP-578 - check for CODE_SOURCERY before setting -fpromote-loop-indices
2011-09-11 10:49:09 -07:00
James Cotton
6945f17eba
Make the StabilizationSettings.MaxRate field only apply to the stabilized
...
modes. That way ManualRate can exceed MaxRate.
2011-09-11 12:27:17 -05:00
James Cotton
b8bb2dd2ca
Merge branch 'next' into ins
2011-09-10 17:02:15 -05:00
James Cotton
aad41ebb4f
Merge branch 'mainboard_receiver_fix' into next
2011-09-10 16:01:22 -05:00
James Cotton
01cd2ded57
Mainboard config: The rcvr port is used for PPM/PWM/Spektrum so make these one
...
setting that is mutually exclusive.
2011-09-10 14:20:51 -05:00
James Cotton
4847a04db8
Mainboard: Get PWM working again. Had to add extra timer IRQ handlers for
...
TIM5-8. Also TIM1 was not handled probably (for CC either) as the name of the
IRQ is TIM1_CC and TIM1_UP for the capture compare versus update. I haven't
checked the downstream code that the registers it uses to map from a context to
event is invariant under timer channel.
2011-09-10 14:20:40 -05:00
James Cotton
eb191d869a
Mainboard: Get spektrum working again.
2011-09-10 14:19:54 -05:00
James Cotton
c2a8cc3faa
Mainboard config: The rcvr port is used for PPM/PWM/Spektrum so make these one
...
setting that is mutually exclusive.
2011-09-10 14:19:12 -05:00
James Cotton
f725fbe128
CopterControl: Fix build due to changing the AttitudeRaw structure.
2011-09-10 13:56:00 -05:00
James Cotton
2871c75a79
Mainboard: Get PWM working again. Had to add extra timer IRQ handlers for
...
TIM5-8. Also TIM1 was not handled probably (for CC either) as the name of the
IRQ is TIM1_CC and TIM1_UP for the capture compare versus update. I haven't
checked the downstream code that the registers it uses to map from a context to
event is invariant under timer channel.
2011-09-10 13:53:38 -05:00
James Cotton
199db1362d
Actuator: Found a bug in actuator that affects how throttle and pitch curves
...
were used. Basically 80% was always 100%. This should make hovering better
and fix heli swash pitch.
2011-09-09 19:40:58 -05:00
James Cotton
1d2a424296
Mainboard: Get spektrum working again.
2011-09-09 09:42:13 -05:00
James Cotton
3239fdf21b
Merge branch 'next' into ins
...
Conflicts:
flight/CopterControl/Makefile
flight/OpenPilot/System/pios_board.c
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-09-09 08:33:34 -05:00
James Cotton
dfe91af686
UAVObjects: Space allocated in manualcontrolcommand did not match the number of
...
channels in settings. Fixed this and added assertion to catch in future.
2011-09-09 01:17:13 -05:00
James Cotton
22821e3c93
HMC5883: Missed a channel for HMC5883
2011-09-08 22:25:35 -05:00
James Cotton
552022250b
INS: Disable power up checks until these are made more reliable and remove some
...
debugging outputs.
2011-09-08 21:44:27 -05:00
James Cotton
e79e8cdbde
INS data output: Add the latency the logged messages
2011-09-08 03:39:39 -05:00
James Cotton
c87a042195
IMU3000: For now sample at 1k which allows us to bring down the I2C clock rate
...
to 400k
2011-09-08 03:37:51 -05:00
James Cotton
0eb4fd113b
PiOS BMA180: Increase the comms speed for BMA180 and perfom SPI without
...
callback. This takes less time.
2011-09-08 03:28:32 -05:00
James Cotton
d7ea1fc306
PiOS I2C: Swap the expected return value of the F2 pios i2c calls
2011-09-08 01:32:27 -05:00
James Cotton
1a5fd9f30e
Heli: Added an explicit collective channel. Also make the default channel
...
number 0 since that is not invalid.
2011-09-07 01:48:39 -05:00
James Cotton
72625d9971
PiOS RCVR: Make the public API use a 1 based indexing for channel numbers.
...
This may or may not get into next, but if so anyone following it MUST
reconfigure their inputs.
2011-09-06 16:39:08 -05:00
James Cotton
8f7712435f
Merge branch 'safer_failsafe' into next
2011-09-06 16:23:11 -05:00
James Cotton
627c931c79
PiOS I2C: Swap the convention of returned values for I2C
2011-09-06 03:27:20 -05:00
Sambas
a8ef57c6d6
Redo DX8 changes
2011-09-06 08:40:10 +03:00
Stacey Sheldon
1e9bcf8426
openpilot: fix merge of unidirectional gps feature branch
2011-09-04 23:22:29 -04:00
James Cotton
465527a980
INS: Enable GPS parsing. GPS data is processed on INS now. HomeLocation and
...
WMM are not currenly implemented.
2011-09-04 20:03:04 -05:00
James Cotton
7ff5cd7655
INS: Try and get load down on event system.
2011-09-04 16:21:04 -05:00
James Cotton
cd8ebdf427
INS: Store the gyro bias in the settings so it doesn't get overwritten
2011-09-04 15:21:53 -05:00
James Cotton
b1e0366525
Merge remote-tracking branch 'origin/CorvusCorax_unidirectional-GPS-com' into next
...
Conflicts:
flight/OpenPilot/System/pios_board.c
2011-09-04 13:33:52 -05:00
James Cotton
82c5f9f0f4
PIOS_RCVR: Document return values better and use enum for them
2011-09-04 12:37:39 -05:00
James Cotton
533ae9bb41
SBUS: Missed handling the S.Bus failsafe. Now returns PIOS_RVCR_TIMEOUT for
...
either SBus failsafe mode or when no data for 100 ms.
2011-09-04 12:15:34 -05:00
James Cotton
5e2a36aa03
Merge branch 'stac/allocate-device-instances-from-heap' into next
2011-09-04 12:03:42 -05:00
James Cotton
c326c0941d
INS: Work on initialization. Improve the zeroing of the gyros at powerup.
2011-09-04 11:49:15 -05:00
James Cotton
510a1760ca
When disconnected set any accessory channels to neutral. Otherwise the
...
actuator module could keep the pitch at high. However the "right" thing to do
seems very specific. For example negative pitch is probably preferable.
2011-09-04 03:45:36 -05:00
James Cotton
89e640ae7f
Make sure all receiver drivers return correct constants for invalid channels.
2011-09-04 01:24:16 -05:00
James Cotton
51967ae63f
OP-571 PIOS_PWM: Add back the PWM supervisor
2011-09-04 01:17:40 -05:00
James Cotton
20de046292
Force system to be disarmed when a bad configuration is present
2011-09-04 00:43:33 -05:00
James Cotton
d3de8ff0ef
OP-559: Process the arm status when disconnect and allow it to timeout and
...
disarm
2011-09-03 23:57:51 -05:00
James Cotton
697dbf4f5f
OP-568 PIOS_RCVR: Standardize the values that are returned from the PIOS_RCVR and make
...
them symbolic constants.
- A timeout is 0
- A missing driver is 65534
- An invalid channel is 65535
ManualControl: Make it deal with the values explicitly. A timed out value
should not be treated like a minimum duration signal. Instead it does not
updated the scaled value but marks the data window as invalid to trigger the
failsafe.
2011-09-03 23:50:56 -05:00
James Cotton
dae11cf877
INS Logging: Enable temperature reading from gyro and accel (may be removed in
...
future), push it into UAVO and introduced a logging mode for INS that outputs
all sensor data from aux port.
2011-09-03 15:10:47 -05:00
James Cotton
5eaebac8d8
INS: Get the aux uart working. All F2 GPIO pins need to be remapped to work. Good thing to remember.
2011-09-02 17:04:39 -05:00
James Cotton
63f64003e5
INS: Change how the initialization of algorithms is handled to ensure sensor
...
dat always good
2011-09-02 13:50:36 -05:00
James Cotton
c40e5800ab
BMA180: Enable the EEPROM writing on startup so settings take the first time.
2011-09-02 13:28:36 -05:00
James Cotton
e0ed82eef0
INS Settings: Use the calibration data on the sensors
2011-09-02 13:28:01 -05:00
James Cotton
1d04715476
INS: Rework how the sensor calibration behaves and clean up the interface a
...
bit.
2011-09-02 13:24:35 -05:00
Mathieu Rondonneau
ae1dd945b1
Fix win32 sim macro problem
...
This is to get the macro in pios.win32 in sync with sim posix and
real flight.
2011-09-01 21:50:13 -04:00
James Cotton
3b20df22d1
Updates to config gadget for new INS objects
...
Make scope gadget check if object exists before using it. Avoids segfaults
when scoped objects disappear.
2011-09-01 12:21:37 -05:00
James Cotton
612d3336b4
This patch breaks backward compatibility with AHRS solidly.
...
Move the configuration files for INS from AHRS* to INS*. Strip out unused
fields in settings and merge calibration and settings since settings has
basically no information.
2011-09-01 12:21:33 -05:00
James Cotton
37878ed4e8
Get the OpenPilot compiling again using a previvous pios_board until doing a
...
proper merge with next
2011-09-01 03:31:23 -05:00
Stacey Sheldon
eea011c53b
openpilot: fix compile error on OP
2011-09-01 03:31:23 -05:00
Stacey Sheldon
43b31efb76
pios: allocate driver instance data from heap
...
Allocate per-instance data for drivers from the heap
rather than as static variables from the .data segment.
This converts > 800 bytes of RAM from being always consumed
as static data into being allocated from the heap only when
a particular feature is enabled in the hwsettings object.
A minimal config (no receivers, flexi port disabled, main port
disabled) leaves 2448 bytes of free heap. That's our new baseline.
Approximate RAM (heap) costs of enabling various features:
+ 632 Serial Telemetry (includes 400 bytes of Rx/Tx buffers)
+ 108 PWM Rcvr
+ 152 PPM Rcvr
+ 112 Spektrum Rcvr
+ 24 S.Bus (Should be closer to 68 since driver is still using
static memory)
There are still some drivers that pre-allocate all of their memory
as static data. It'll take some work to convert those over to
dynamically allocating their instance data.
2011-08-31 22:35:03 -04:00
Stacey Sheldon
86ce79af1d
openpilot: fix compile error on OP
2011-08-31 21:43:57 -04:00
Stacey Sheldon
2f86e4dd4f
Make PWM/PPM and Servo drivers play nicely together
...
PWM and PPM can now coexist in the same load and be
selected at boot time via the hwsettings UAVObject.
This is basically a complete restructuring of the
way the drivers interact with the TIM peripheral in
the STM32.
As a side effect, the PWM and PPM drivers are now
ready to support multiple instances of each.
This also provides the first step toward being able
to reassign some of the PWM input pins to be servo
output pins. Still more work required, but this is
a good start.
2011-08-27 21:39:56 -04:00
Stacey Sheldon
b3c43da90a
stdperiph: Make TIM related APIs use const pointers
...
This allows the configuration parameters to be stored in
flash instead of copied to RAM.
2011-08-27 21:39:17 -04:00
Stacey Sheldon
a72c657e21
rcvr activity: Speed up activity acquisition
...
Activity detection logic can now move through
the active receivers more quickly.
2011-08-27 20:17:56 -04:00
James Cotton
6514fd95c7
Also initialize the ReceiverActivity object in manual control
2011-08-27 16:08:57 -05:00
James Cotton
c5746335c6
Initialize GCSReceiver object if it is being used
2011-08-27 15:57:09 -05:00
James Cotton
dc340596f5
Merge branch 'next' into GCS_ChangesToUI-RuntimeCFG
...
Conflicts:
flight/CopterControl/Makefile
flight/OpenPilot/System/pios_board.c
flight/OpenPilot/UAVObjects.inc
flight/PiOS/STM32F10x/pios_spektrum.c
ground/openpilotgcs/src/plugins/config/config.pro
ground/openpilotgcs/src/plugins/config/configgadget.qrc
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
shared/uavobjectdefinition/hwsettings.xml
2011-08-27 15:26:05 -05:00
Stacey Sheldon
f29b99521e
openocd: collapse JTAG rules for STM32F1 and STM32F2
2011-08-27 10:43:02 -04:00
Stacey Sheldon
5a51077493
openocd: add support for RTOS autodetection
...
This allows things like 'info threads' to work in gdb when
combined with openocd 0.5.0+.
2011-08-27 10:38:50 -04:00
Stacey Sheldon
89d23df8cd
openocd: Add default config for stm32f2x
...
Pulled from origin/james/ins.
2011-08-27 10:37:20 -04:00
Stacey Sheldon
3d22258843
Merge remote branch 'origin/james/openocd' into upgrade-to-openocd-0.5.0
2011-08-27 09:19:46 -04:00
James Cotton
1d77d77832
Merge branch 'stac/use-malloc-failed-hook' into next
2011-08-27 00:24:13 -05:00
James Cotton
274333a9bf
Merge branch 'next' into stac/use-malloc-failed-hook
2011-08-27 00:12:45 -05:00
James Cotton
55f64802d1
Also enable malloc error catching on OpenPilot
2011-08-27 00:12:16 -05:00
Corvus Corax
0065842de7
Makefiles: fixed comment line
2011-08-25 16:28:34 +02:00
Corvus Corax
658ae3f809
Modules/System: removed comment line
2011-08-25 16:26:46 +02:00
Corvus Corax
109a58ef30
Modules/GPS: removed comment line
2011-08-25 16:25:19 +02:00
Corvus Corax
8173c7b7c6
Refactor GPS_PURISTIC into GPS_MINIMAL
2011-08-25 15:44:49 +02:00
Corvus Corax
3690586f3a
Optional Modules: Forced re-generation of mod init.h when makefile has changed
2011-08-25 15:42:11 +02:00
Corvus Corax
1d797bf004
Fixed error introduced by merge
2011-08-25 15:40:45 +02:00
Corvus Corax
c63a10d05e
CopterControl: Fix GPS buffer sizes
2011-08-25 15:37:38 +02:00
Corvus Corax
4bd72923e5
Merge branch 'CorvusCorax_unidirectional-GPS-com' into CC_GPS
...
Conflicts:
flight/Modules/GPS/GPS.c
flight/Modules/GPS/GTOP_BIN.c
flight/Modules/GPS/NMEA.c
shared/uavobjectdefinition/hwsettings.xml
2011-08-25 15:33:23 +02:00
Corvus Corax
54ecf233f3
Modules/PS: typo fix
2011-08-25 15:13:50 +02:00
Corvus Corax
7e396efbbf
Modules/GPS: Assert buffer creation
2011-08-25 15:11:29 +02:00
Corvus Corax
dfdea16065
Modules/GPS: Make GPS COM unidirectional (rx only) and use smaller, runtime allocated heap buffers
2011-08-25 14:46:30 +02:00
Corvus Corax
8b7fea0d19
Merge branch 'OP-567 GPS com layer fix' into next
2011-08-25 13:35:49 +02:00
Corvus Corax
697ac6067e
OP-567 Modules/GPS: Block in PIOS_COM, not in TaskDelay - or we will miss updates!
2011-08-25 13:33:41 +02:00
James Cotton
5f7a9b513a
Merge branch 'sambas/dsmx_stuff' of ssh://git.openpilot.org/OpenPilot into next
...
Conflicts:
shared/uavobjectdefinition/hwsettings.xml
2011-08-24 11:37:30 -05:00
James Cotton
1477ea6e94
Make mag updated flag always true when it's updated. Responsibility of INS
...
algorithm whether to use data.
2011-08-22 03:05:02 -05:00
James Cotton
4e59e697af
IMU3000: Sometimes the irq is called before previous I2C transaction. This
...
isn't good but for now just deal with it. Need DMA I2C driver.
2011-08-22 02:34:40 -05:00
James Cotton
8c16f614f2
INS: Use the data from the BMP085 and feed into EKF
2011-08-22 02:32:40 -05:00
Stacey Sheldon
edc0caf521
heap: set memory critical alarm on malloc failures
...
Activate the FreeRTOS malloc failed hook and use it
to set the memory critical alarm.
2011-08-21 23:14:32 -04:00
Corvus Corax
838149b53f
GPS: homelocation init is optional, satellites must be initialized
2011-08-21 18:20:33 +02:00
Corvus Corax
0ce337b42d
UAVTalk: fix off by one error preventing the largest UAvObject (gpssatellites) from being sent.
2011-08-21 18:15:10 +02:00
James Cotton
e4e952f270
Manual control settings needs to be initialized in OpenPilot board file for
...
spektrum to work
2011-08-21 02:21:09 -05:00
James Cotton
04072accd4
Manual control settings needs to be initialized in OpenPilot board file for
...
spektrum to work
2011-08-21 02:20:10 -05:00
James Cotton
b1c522def3
Merge remote-tracking branch 'origin/next' into ins
2011-08-21 01:34:40 -05:00
James Cotton
38d9df8fcb
HMC5883: Clean up the mag driver
2011-08-21 01:29:55 -05:00
James Cotton
f756e9cbc8
INS: Swap the mag axis
2011-08-21 01:29:24 -05:00
James Cotton
a642f3672c
Report running time per loop in us
2011-08-21 00:54:31 -05:00
James Cotton
e1afc9a19a
Merge branch 'next' into ins
...
Conflicts:
flight/Libraries/inc/fifo_buffer.h
flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-08-21 00:47:43 -05:00
James Cotton
c82aa64c53
INS: General clean up to deal with new driver formats. Also automatically
...
monitors the EKF rate.
2011-08-21 00:42:06 -05:00
James Cotton
af69e0a1a8
BMA180 driver; Don't externalize the fifo buffer but handle it in the driver
...
layer. General driver cleanup.
2011-08-21 00:40:10 -05:00
James Cotton
8ae53a4f97
PiOS: Cleanup IMU3000 driver a fair bit.
2011-08-21 00:39:20 -05:00
James Cotton
368323fd59
Merge remote-tracking branch 'origin/james/erase_settings' into next
2011-08-20 13:07:01 -05:00
Corvus Corax
1ad65e0718
Fixed include in sysstemmod. pios_config.h should not be included explicitly.
2011-08-20 15:04:00 +02:00
Corvus Corax
9f03ba178b
OpenPilot: Initialize optional modules based on UAVObject
2011-08-20 15:03:31 +02:00
Corvus Corax
4f1f20e801
OpenPilot: Bugfix: For some reason Debugging information didn't work. Symbols are created now
2011-08-20 14:37:53 +02:00
Corvus Corax
d21f6705aa
Disabled double definition of pmlib compilation in openPilot/Makefile - target gencode
2011-08-20 13:11:15 +02:00
Corvus Corax
5ea35bb28c
Make Diagnostic UAVObjects optional in OP and Sim_Posix (but enabled by default)
2011-08-20 13:06:58 +02:00
Corvus Corax
7395a369a9
Optional Modules: Ported optional module concept to OpenPilot and Sim_Posix
2011-08-20 13:02:44 +02:00
Corvus Corax
53d0732fc6
Enable GPS module as "optional module" in CooterControl
2011-08-20 01:25:49 +02:00
Corvus Corax
dfd301571a
HWSettings: Allow late Initialization and Start of Modules as defined in Makefile(available modules) and UAVObject(actually started modules)
2011-08-20 01:24:06 +02:00
James Cotton
952b4e1809
Have to speed up the comms rate for gyro to handle the oversampling we are
...
using.
2011-08-19 14:35:13 -05:00
James Cotton
cefc2b8c2e
Clean up main INS function a bit.
2011-08-19 14:34:56 -05:00
Corvus Corax
b75890fcd4
Merge branch 'next' into CC_GPS
2011-08-19 21:34:38 +02:00
James Cotton
d103541970
IMU3000: Make the IRQ trigger the callback based I2C read. Drop the
...
temperatured data from the FIFO stream. Add some flags to stop the callbacks
trampling over the configuration.
2011-08-19 14:28:33 -05:00
James Cotton
3465eb2f30
PiOS F2 I2C: Add a callback based transfer. This needs merging into the main
...
transfer function like SPI but I will leave that for now to avoid creating a
lot of changes in the main code.
2011-08-19 13:38:11 -05:00
Corvus Corax
85aef9c7b4
OpenPilot: bugfix: Add GPS tx buffer by default (needed until GPS has been refactored to not send or only send when configured so)
2011-08-19 20:22:05 +02:00
Corvus Corax
2062ec0aeb
AHRS_COM: Initialize transpherred objects before using them
2011-08-19 19:52:27 +02:00
Corvus Corax
5e4941f7cb
PiOS.posix: make PiOS.posix bail in case of a Panic with an error message
2011-08-19 18:41:59 +02:00
James Cotton
7444337418
F2 PiOS I2C: Add a poor man semaphore here in case we start calling I2C
...
transfers from IRQ. Also catch the double 0x70084 event which was locking up
the FSM with -Os enabled. I did this in a cheating way (filtering the event
based on state) but it's the cleanest I can see. Hopefully a DMA version of
I2C will fix this.
2011-08-19 11:39:50 -05:00
Corvus Corax
9bba1f7ae9
Posix: fix object initialization where necessary
2011-08-19 18:36:30 +02:00
James Cotton
b0e04e5f79
PIOS SPI: Make sure the non-freertos busy flag inits to zero
2011-08-19 10:52:50 -05:00
James Cotton
03a8bd7674
Statically initialize object handles to null to make sure the uavobjectmanager
...
can catch it and return -1. Do NOT panic when they are null as this is
something that should be caugth at run time in some cases.
Ideally as a compromise in a task start it could have a set of
PIOS_Assert(ObjectNameHandle()) to make sure the minimal set of objects it
needs are there.
2011-08-19 10:12:39 -05:00
James Cotton
ab7e57ad2b
Initialize objects for guidance in the correct place. Init some objects in
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pios_board_posix since AHRSComms not around.
2011-08-19 09:52:05 -05:00
James Cotton
ced29e221e
Revert "Debugging: Add PIOS_DEBUG_Panic() call wen an UAVObject handle is requested but object is uninitialized, make PiOS.posix bail in case of a Panic with an error message"
...
We do not want to panic in this case as we want the ability to detect if
objects exist at run time
This reverts commit 78e42470d4
.
2011-08-19 09:45:10 -05:00
James Cotton
482bec497b
Revert "Fixed modules that didn't initialize used UAVObjects correctly"
...
Modules should initialize their settings and the objects they source. Not just
everything.
This reverts commit 9ad85e9b7b
.
2011-08-19 09:44:38 -05:00
Corvus Corax
69f10cd6d0
PiOS.posix: bugfix in COM_UDP
2011-08-19 13:54:16 +02:00
Corvus Corax
adfb6eccc2
fixed usage of GPS buffer in sim_posix
2011-08-19 13:20:40 +02:00
Corvus Corax
9ad85e9b7b
Fixed modules that didn't initialize used UAVObjects correctly
2011-08-19 13:20:15 +02:00
Corvus Corax
78e42470d4
Debugging: Add PIOS_DEBUG_Panic() call wen an UAVObject handle is requested but object is uninitialized, make PiOS.posix bail in case of a Panic with an error message
2011-08-19 12:56:26 +02:00
Corvus Corax
01a844e0da
Fixed redefinition of configCHECK_FOR_STACK_OVERFLOW in OpenPilot/System/inc/FreeRTOSConfig.h
2011-08-19 12:11:05 +02:00
Corvus Corax
f86e53bf91
Merge branch 'OP-536_CorvusCorax_ObjectOrientedFirmwareUAVTalk' into next
...
Conflicts:
flight/Modules/Telemetry/telemetry.c
2011-08-19 12:10:40 +02:00
James Cotton
f85ae84ec3
Merge branch 'camera_stabilization' into next
...
Conflicts:
flight/OpenPilot/System/pios_board_posix.c
2011-08-19 01:48:24 -05:00
James Cotton
c7034ef8a6
IMU3000: Fix a constant that made the sampling rate 1kh instead of 8 internaly.
...
No downsample that (in IMU3000) by 8 to get gyros at 1khz. Well about 256 Hz
nyquist and shouldn't cause substantial issues for EKF.
2011-08-18 13:01:51 -05:00
James Cotton
bdb9dc0a54
BMA180: Use DMA for getting the accels and use callback to push it onto the
...
stack.
2011-08-18 12:51:22 -05:00
James Cotton
3b6ffc8afa
PiSO SPI: Implement a poor mans semaphore for non-freertos systems.
2011-08-18 12:51:00 -05:00
James Cotton
294e0cbdff
IMU3000: Change IMU3000 api right now so it only reads one element from the
...
fifo but swaps the endian appropriately.
2011-08-18 11:03:56 -05:00
James Cotton
11ac0707da
BMA180: Reset BMA180 chip at reconfiguration.
2011-08-17 06:49:56 -05:00
James Cotton
29026db5d5
Refactor the INS code out a bit but still a mess.
2011-08-17 06:15:14 -05:00
Corvus Corax
6fe495c088
Merge remote branch 'origin/next' into OP-536_CorvusCorax_ObjectOrientedFirmwareUAVTalk
...
Conflicts:
flight/Modules/Telemetry/telemetry.c
2011-08-17 08:30:32 +02:00
James Cotton
c0ead372e1
INS: Change LED flashing to indicate connected.
2011-08-16 11:30:38 -05:00
James Cotton
71a1cdff62
PiOS SPI: For F2 need to have the same receive and transmit length when using
...
CRC. This wasn't the case on F1. With CRC the last byte of the buffer passed
to PIOS_SPI_TransferBlock is NOT USED. This is the case on both F1 and F2.
Also need to DeInit DMA before enabling or it doesn't enable successfully.
Finally added a timeout which sets a fail on the pios spi transfer in the case
that either of the dma channels fails to enable.
2011-08-16 11:29:15 -05:00
James Cotton
bcca705750
Disable beta hardware bmp085 driver until it's updated. Not necessary anyway
...
since on the INS.
2011-08-16 08:55:02 -05:00
James Cotton
35eef66bfe
OP-557: Add a UAVO access method to erase the entire flash chip. Normally not
...
needed by users because if too much changes I change the FS magic and trigger a
wipe.
Possibly the erase should require a particular "magic" object id value to
execute? This would make it harder to do manually through UAVOs though.
2011-08-15 10:33:27 -05:00
James Cotton
db9c73db45
Get SPI closer to working. The flags in the pios_config should match the
...
stream number, not channel number. Also DeInit DMA section in the init process
which makes debugging and init behavior more reliable.
2011-08-15 04:47:53 -05:00
James Cotton
86b652bbab
Merge branch 'next' into camera_stabilization
2011-08-14 18:07:57 -05:00
zedamota
e736b17cc4
Merge remote-tracking branch 'remotes/origin/next' into GCS_ChangesToUI-RuntimeCFG
...
Conflicts:
ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
2011-08-14 15:48:16 +01:00
Corvus Corax
b75653a226
PiOS.posix: small corrections and bugfixes to make pios_com_udp work correctly. Telemetry works now.
2011-08-14 14:21:54 +02:00
Corvus Corax
5b240a2675
PiOS.posix: port pios_udp and pios_com to "next"
2011-08-14 14:21:54 +02:00
Corvus Corax
8a47ade16b
flight/Libraries/fifo_buffer: Use platform independent <stdint.h> instead of "stm32xxx.h" to get definition of intX_t types
2011-08-14 14:21:54 +02:00
James Cotton
c5ed82086d
Configure the interrupt information before enabling. Still looping in IRQ so
...
configuration needs work.
2011-08-14 02:00:52 -05:00
James Cotton
02d5e27e93
Got SPI IRQ from mainboard firing
2011-08-14 01:44:44 -05:00
James Cotton
80c2d45d93
Fix the BMP085 interrupt handler and get it producing data. Driver needs some
...
work to abstract away the actual calculation of altitude from pressure and
temperature.
2011-08-13 20:49:07 -05:00
James Cotton
f766ba47aa
Increase the size of the eventdispatcher task and lower the maximum queue size.
2011-08-13 19:21:58 -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
ca413415a0
Code to make openocd 0.5.0 work. I'll keep this branch rebased on next.
2011-08-13 18:03:49 -05:00
James Cotton
62f51fc92d
Some improvements to the HMC5883 driver. Still getting funny values but I
...
suspect the chip at this point.
2011-08-13 11:20:32 -05:00
James Cotton
13e5f4123a
Reading gyro registers directly working.
2011-08-13 08:33:46 -05:00
James Cotton
e7990f5d43
Got a hint of some data with this code :)
2011-08-13 07:13:43 -05:00
James Cotton
f82e5dde33
Fix the EXTI IRQ handlers
2011-08-13 07:13:21 -05:00
James Cotton
e1f7a5003d
Fix up SPI DMA streams
2011-08-13 04:54:19 -05:00
James Cotton
8929e2f359
Update some of the DMA settings
2011-08-13 02:46:13 -05:00
James Cotton
77cca9ba30
Move EXTI handlers into other drivers
2011-08-13 01:29:17 -05:00
James Cotton
6d018c046e
Get BMA180 working. Need to move exti stuff into it until pios_exti
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implemented properly
2011-08-13 01:10:33 -05:00
James Cotton
5619e33292
Bootloader now jumps to functioning code for INS. Consistent with AHRS code.
2011-08-12 22:52:47 -05:00
James Cotton
6529b8360f
Trying to get linker system working for INS
2011-08-12 21:28:02 -05:00
James Cotton
e993fae463
Fix bootloader
2011-08-12 04:32:02 -05:00
James Cotton
e57f774bb8
F2 INS compiles now
2011-08-12 04:30:14 -05:00
James Cotton
1d1f351233
Pios Delay: Add function for measuring time difference between two cycle counts
2011-08-12 04:29:53 -05:00
James Cotton
b3b4fcd007
Fix linker script and get rid of dead code
2011-08-12 03:44:55 -05:00
James Cotton
f247112090
PiOS F2: Move IMU3000 to device dependent :(. Now they all are. Need to
...
abstract as much as possible out since init is almost identicalc and protocol
COULD be device independent.
2011-08-12 03:38:45 -05:00
James Cotton
8c1dd7b929
Make BMP085 driver device dependent and update to new driver style.
2011-08-12 03:38:45 -05:00
James Cotton
9d76efa2aa
Move BMA180 driver to common architecture style.
2011-08-12 03:38:45 -05:00
James Cotton
1dc08e5cf7
F2 PiOS: Small fix to hmc5883 driver
2011-08-12 03:38:44 -05:00
James Cotton
ba413d5dad
F2 StdPeriph: Make the StdPeriph take in config parameters as const.
...
Unfortunately they don't do this upstream :(
2011-08-12 03:38:40 -05:00
James Cotton
ef0cdae622
PiOS F2: Remove clock initialization from usart since it is in pios_sys.c
2011-08-12 02:28:02 -05:00
James Cotton
6310f46705
HMC5883: Update driver for F2. Move to STM32F2xx directory since it is device
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dependent. Abstract configuration out of board.h file into a standard board.c
structure.
2011-08-12 02:26:51 -05:00
James Cotton
784c7b2646
Merge branch 'next' into ins
2011-08-11 21:52:10 -05:00
James Cotton
ec4e23aff9
Camera Stabilization: Bound outputs to [-1,1] although this should be redundant
...
with checks in actuator.
2011-08-11 14:34:38 -05:00
James Cotton
9c7799dfe6
UAVObject Init: Get rid of deprecated linker init code
2011-08-10 22:48:42 -05:00
James Cotton
c8313d7b3e
Add the camera stabilization files to the Pro build. Not functional though.
2011-08-10 22:31:38 -05:00
James Cotton
bbe3c1533a
Merge branch 'next' into camera_stabilization
2011-08-10 21:57:45 -05:00
James Cotton
ab288e95ab
Stabilization: Small patch so that by default the integral is zeroed while
...
throttle is low (good for quads) but can be disabled (good for planes and also
testing helis).
2011-08-10 03:51:46 -05:00
James Cotton
f23eaa8273
Make the Actuator pull from the CameraDesired fields
2011-08-09 21:47:42 -05:00
James Cotton
f11aa80444
CameraStabilization: Make the CameraStabilization module put the desired
...
position into another object (will help with configuration).
2011-08-09 20:45:38 -05:00
James Cotton
c4e272b9ad
Merge branch 'next' into camera_stabilization
2011-08-09 20:16:45 -05:00
James Cotton
0c2c48bee6
F2 PiOS: More changes for spi to work (not completed)
2011-08-09 12:59:10 -05:00
James Cotton
a097ff784b
F2 PiOS: Getting the I2C driver working again (copying changes from Zippe,
...
thanks again man!)
2011-08-09 12:58:46 -05:00
James Cotton
8be9ac9cc9
PiOS: Move driver out of common directory since it makes calls to configure the
...
EXTI system.
2011-08-09 12:51:26 -05:00
James Cotton
d78450eae8
Move some of the F2 defines into the makefile to make them global. Fixes some
...
issues with grabbing the wrong stm32 configuration file.
2011-08-09 01:19:05 -05:00
James Cotton
27213c7fd9
F2 PiOS USART: Update to the new driver format for coms
2011-08-09 01:18:25 -05:00
James Cotton
ec2121bca8
Attitude: Keep first element of quaternion positive
2011-08-08 21:16:04 -05:00
James Cotton
d23e13716b
dos2unix: fifo_buffer
2011-08-08 08:37:14 -05:00
James Cotton
479ba7c21f
OP-378 INS: Continue getting F2 INS to compile
2011-08-08 08:36:40 -05:00
sambas
9f35b6939c
Bind IO fix
2011-08-07 10:10:52 +03:00
James Cotton
558bdddeaf
INS: Almost got Bootloader compiling *sigh*
2011-08-06 21:27:29 -05:00
James Cotton
a0d77faf4b
PiOS: Move pios_iap out of common. It is STM32F1x specific. Created an
...
STM32F2xx stub version. This needs cleaning up - there is some common code,
most of which can probably move to the bl_helper function.
2011-08-06 20:24:07 -05:00
James Cotton
f23ec059fe
dos2unix
2011-08-06 19:53:46 -05:00
James Cotton
1ccb9a1947
Some changes to BL to get running on F2. Also disables it for now (flash
...
interface is different).
2011-08-06 19:46:41 -05:00
James Cotton
d1c9ac0705
PiOS F2: Commit the F2 port of PiOS from Zippe. Thanks for doing all the hard
...
work man :-D
2011-08-06 19:36:56 -05:00
James Cotton
7720f9ff09
Add F2 support for the new OpenOCD for newer targets. Requires compiling
...
OpenOCD from repo.
2011-08-06 18:21:21 -05:00
James Cotton
0bba13a0e9
Merge branch 'next' into ins
...
Conflicts:
flight/INS/Makefile
flight/INS/pios_board.c
flight/Modules/Altitude/altitude.c
flight/PiOS/Boards/STM3210E_INS.h
flight/PiOS/STM32F10x/link_STM3210E_INS_BL_sections.ld
flight/PiOS/STM32F10x/link_STM3210E_INS_HD_BL.ld
flight/PiOS/STM32F10x/link_STM3210E_INS_HD_NB.ld
flight/PiOS/STM32F10x/link_STM3210E_INS_memory.ld
flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2011-08-06 17:25:56 -05:00
sambas
1e67b5e3b5
DSMx_binder, hw setting 0 disabled, 1-10 bind pulses. Manual disable after successful bind. Only for flexiport.
2011-08-06 22:16:47 +03:00
James Cotton
fd86c25b49
Make sure OP compiles with new object init structure.
2011-08-04 15:01:54 -05:00
sambas
a454cf844b
DX8 support, BIND3 only
2011-08-04 19:20:05 +03:00
James Cotton
a592e7d398
ManualControlSettings must be also initialized in pios_board.c
2011-08-04 07:47:50 -05:00
James Cotton
bac7836318
Revert "uavobj: shrink metadata struct to save RAM". I was premature merging
...
this to next as it changes the on-the-wire representation and thus doesn't
allow GCS to set the metadata.
This reverts commit a641cd7956
.
2011-08-04 07:17:36 -05:00
Stacey Sheldon
a641cd7956
uavobj: shrink metadata struct to save RAM
...
This update saves 448 bytes of RAM with the current
crop of UAVObjects. It reduces a 19 byte struct to
8 bytes.
Note: This also introduces a limit of 65.534s for the
update periods.
2011-08-03 00:00:50 -04:00
Stacey Sheldon
90b2625deb
rcvractivity: Add tracking of Rx channel activity
2011-08-02 01:27:37 -04:00
Stacey Sheldon
06cdeb7b61
rcvr: support multiple simultaneous receivers
...
Now also supports multiple instances of the Spektrum driver.
These are configured as Spektrum1 and Spektrum2.
2011-08-02 01:22:04 -04:00
Stacey Sheldon
829b8b83f6
rcvr: Add GCS receiver driver for rcvr via telemetry
...
This allows the GCS to emulate a receiver device via the
telemetry link.
Select "GCS" as your input type in the manualcontrol config
screen and calibrate it as normal.
Note: The expected values for the channels are in microseconds
just like a PWM or PPM input device. The channel values
are validated against minimum/maximum pulse lengths just
like normal receivers.
2011-08-02 01:22:04 -04:00
Stacey Sheldon
2f79e4fa76
Merge remote branch 'origin/stac/refactor-usart-com' into next
2011-07-31 09:41:06 -04:00
James Cotton
035b4103c4
Need to initialize the HwSettings before using them.
2011-07-31 09:42:15 +09:00
James Cotton
c5bf0ac657
Merge branch 'stac/refactor-usart-com' into camera_stabilization
2011-07-31 09:13:37 +09:00
James Cotton
568ea13471
Merge branch 'next' into stac/refactor-usart-com
2011-07-31 09:13:27 +09:00
Stacey Sheldon
6b1ec9a54e
bl: fix LED pwm computation with new stopwatch
2011-07-30 16:59:57 -04:00
James Cotton
3df730c64f
Merge branch 'stac/refactor-usart-com' into camera_stabilization
2011-07-30 13:38:43 +09:00
James Cotton
387a22398e
Make it possible to optionally enable the CameraStab module
2011-07-30 12:08:47 +09:00
Stacey Sheldon
8c0b60099f
rcvr: don't init spektrum and sbus rcvrs twice
2011-07-29 22:59:50 -04:00
James Cotton
cb9c6dfb5e
Change the sequencing of telemetry starting to make sure all the objects that
...
were registered in an initialize and then enumerated by telemetry
2011-07-30 11:31:45 +09:00
James Cotton
132e19d613
Change the makefiles - always compile the optional objects but the flag
...
indicates whether they are registered
2011-07-30 11:29:29 +09:00
James Cotton
ae67c51632
Register some missing objects with their modules
2011-07-30 11:28:21 +09:00
James Cotton
2e5a36a4db
Merge branch 'stac/refactor-usart-com' into camera_stabilization
2011-07-30 10:55:16 +09:00
James Cotton
b2d2114ede
Disable auto registration of all objects. Later the uavobj_init linker scripts
...
should be deleted to not carry around old code.
2011-07-30 10:24:46 +09:00
James Cotton
23e9b56839
Dos2unix flight/CopterControl/System/coptercontrol.c
2011-07-30 10:06:35 +09:00
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
James Cotton
333ab645ec
Dos2unix manualcontrol.c to facilitate merging
2011-07-30 09:55:02 +09:00
Stacey Sheldon
c2fb0d8b43
com: allow run-time allocation of buffers
2011-07-29 15:33:14 -04:00
Stacey Sheldon
8b0415d905
bl: alternate stopwatch for small bootloaders
...
The small bootloaders (CC and PipX) are out of flash space
so their stopwatch implementation has been swapped out for
one based on the DELAY clock that takes about 500 bytes less
of code space.
Identical functionality is preserved.
2011-07-29 15:33:01 -04:00
Stacey Sheldon
13f9b0e09d
Merge remote branch 'origin/OP-498_jwhitlock_add-ppm-to-cc' into next
2011-07-28 22:15:01 -04:00
Stacey Sheldon
a3888ecd48
usart: ensure callbacks are bound in the correct order
2011-07-27 23:21:39 -04:00
Stacey Sheldon
5f8760a55c
com: Move buffering out of USART/HID layer and into COM layer
...
This allows the spektrum and sbus receiver drivers to bind
directly to the usart layer using a properly exported API
rather than overriding the interrupt handler.
Bytes are now pushed directly from the usart layer into the
com layer without any buffering. The com layer performs all
of the buffering.
A further benefit from this approach is that we can put all
blocking/non-blocking behaviour into the COM layer and not
in the underlying drivers.
Misc related changes:
- Remove obsolete .handler field from irq configs
- Adapt all users of PIOS_COM_* functions to new API
- Fixup callers of PIOS_USB_HID_Init()
2011-07-27 19:45:38 -04:00
James
60136f0464
Add support for PPM transmitters up to 12 channels. Small array indexing issue in PIOS_PPM_Get.
2011-07-27 00:33:32 +01:00
Stacey Sheldon
b70d5ae148
Merge remote branch 'origin/msmith-delay-timer' into next
2011-07-26 09:04:06 -04:00
Mike Smith
df5569c758
Fix a stupid off-by-one that prevented this code from working.
...
Update to use 32-bit microsecond values.
Remove PIOS_DELAY_DiffuS per consensus (caller can do it easily themselves).
Update the core delay logic per Stac's suggestion to a version that is
resistant to various overflows.
2011-07-25 20:55:48 -07:00
James Cotton
056db1cdda
Merge branch 'bugfix-flight' into next
2011-07-24 07:09:42 +09:00
James Whitlock
6a6ec41809
Build fixes
2011-07-23 22:10:17 +01:00
Mike Smith
480f07a264
Typo fix.
2011-07-23 13:58:56 -07:00
Mike Smith
a89092e275
Update to use the delay API to get entropy rather than reading the timer directly.
2011-07-23 13:53:42 -07:00
Mike Smith
0df3bb2c37
Restore functions lost due to inept merging, and refactor to take advantage of them.
...
Address the following review feedback items:
- use stdint types
- avoid the use of magic numbers (define CYCCNTENA)
- remove expository comment about sneakiness and corresponding code, replace with something simpler based on the API
- remove commented/#if 0 code
2011-07-23 13:53:16 -07:00
Mike Smith
dae4b44100
Remove commented code that refers to the now-obsolete PIOS_DELAY_TIMER
2011-07-23 13:49:36 -07:00
Mike Smith
c3267a3b53
Remove PIOS_DELAY_TIMER definitions from configuration files, as there is no longer a delay timer to configure.
2011-07-23 13:48:40 -07:00
James Whitlock
11c568ec50
Add in a PPM input frame size tracker.
...
Move update of capture values to start of new frame.
Fix an issue with setting channels to invalid.
2011-07-23 01:38:51 +01:00
James Whitlock
7a58b4cceb
A quick clean of ppm code to remove white space and duplicated comments
2011-07-23 01:32:57 +01:00
James Cotton
abee34e551
Getting posix simulation compatible with init and receiver changes
2011-07-22 07:50:06 -05:00
Mike Smith
6bc5339015
Change the pios_delay implementation to use the CPU cycle counter rather than burning a timer.
2011-07-21 23:21:26 -07:00
Stacey Sheldon
a7cce25252
usart: fix lower usarts clobbering higher ones
...
The break statements are clearly missing from this
switch statement.
This would lead to problems when using more than one
USART on CC.
2011-07-22 00:30:49 -04:00
James Whitlock
7ce5daef8f
Clean up of PPM code in master.
2011-07-19 20:46:24 -04:00
Stacey Sheldon
8dbace5ee2
Merge branch 'rcvr_mem_reduction'
...
Conflicts:
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
2011-07-17 17:14:40 -04:00
James Cotton
2da65014c7
Fix typo in servo doxygen header
2011-07-16 03:25:33 -05:00
James Cotton
14370b5ac4
Reenable serial telemetry on OP main board
2011-07-15 19:10:00 -05:00
James Cotton
b83f731c03
Remove all references to vTaskDelay in the flash code as it can run before the
...
FreeRTOS scheduler
Also increaes init stack size from 0x80 to 0x100
2011-07-15 18:16:16 -05:00
James Cotton
01b62cf98f
Fix a typo
2011-07-15 15:30:10 -05:00
James Cotton
72e80d407c
Change the magic value in the object file table. Forces all objects to be
...
erased since all ids are changing - this frees up memory.
2011-07-15 11:11:29 -05:00
James Cotton
d41260d54c
Make the stabilization settings query correctly now by increasing the TX buffer
...
on the CC side to 256 bytes instead of 128 to support large objects (max object
size is 256 bytes)
2011-07-15 10:40:21 -05:00
James Cotton
3d35e249c8
Merge branch 'master' into bugfix-flight
2011-07-15 10:33:54 -05:00
Stacey Sheldon
6580462916
rcvr: specify drivers for groups of channels
...
Each channel was previously tracking a separate driver.
Now, channels are grouped within a channel group to save
RAM used for tracking and to better reflect how channels
are actually mapped.
2011-07-14 23:22:42 -04:00
Stacey Sheldon
442d56c1c5
linker: Add section to record unused RAM
...
Note that this section will be absorbed by the heap at runtime.
2011-07-14 23:22:42 -04:00
zedamota
b005346fab
Windows eclipse workspace. Sorry for the mess, all is good know...I think
2011-07-14 18:16:38 +01:00
zedamota
e559582bb8
Eclipse workspace update
2011-07-14 17:09:58 +01:00
zedamota
c22bc2a675
Merge branch 'bugfix-flight' of ssh://git.openpilot.org/OpenPilot into bugfix-flight
2011-07-14 14:07:28 +01:00
zedamota
16e28900d0
Created new eclipse workspace for windows
2011-07-14 13:34:34 +01:00
sambas
18a5465246
Bugfix: CC flexiport spektrum config
...
Working spektrum bind routine, depending your TX try BIND_PULSES 3,5,7,9 (5 works with DX7)
Boot process takes too long on MB so bind command misses the window (20-140ms).
2011-07-14 14:43:26 +03:00
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
0aec3b592c
Changing stabilization so that the PIDs are zeroed when not armed, but NOT when
...
the throttle is < 0. This will make things like axis-lock work while armed
without throttle. HOWEVER don't hold your stick in the arming position for a
long time or you can wind up the integrals now.
2011-07-12 14:35:32 -05:00
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
9e94f9fee9
Fix typo from SISE to SIZE
2011-07-12 12:48:06 -05:00
James Cotton
2fe7ee40b1
Merge branch 'OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint'
2011-07-12 12:44:59 -05:00
James Cotton
c33d3057cc
Dos2unix evendispatcher file
2011-07-12 12:36:20 -05:00
James Cotton
15a2b85729
For OpenPilot use the minimal stack size (512 words) for eventdispatcher as
...
this is necessary for object saving. Creating a new define to override this
for CopterControl down to 96.
2011-07-12 12:34:40 -05:00
James Cotton
557771d3ef
Change to OP MB code to make it work with input changes. Previously tried to
...
register every possible input channel. Slipped through review because
"obviously correct" change fixed previous bug masking this. Woohoo testing :)
2011-07-12 11:41:21 -05:00
James Cotton
59798701a2
Merge branch 'master' into bugfix-flight
...
Conflicts:
flight/CopterControl/System/inc/pios_config.h
2011-07-12 11:40:47 -05:00
James Cotton
3b3b76aa46
Revert "Drop 8 bytes per PID of unecessary information. Also trying to compute"
...
This reverts commit 9c1e523260
.
2011-07-12 11:37:36 -05:00
Mathieu Rondonneau
d38f6167e3
OP-423:
...
Also reduce heap has it does not fit in SRAM anymore (not with current compiler).
(that's ok since if there is more space available, it will be reclaimed).
Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint
Conflicts:
flight/CopterControl/System/inc/pios_config.h
flight/Modules/ManualControl/manualcontrol.c
2011-07-08 06:29:34 -07:00
Stacey Sheldon
b86ef4de82
bootcfg: fix incorrect bounds checking on rcvr registration
...
This was preventing any receivers from registering their
channels.
2011-07-07 23:59:12 -04:00
Stacey Sheldon
2e8d3a9be3
clean up cut/paste cruft
2011-07-07 23:02:09 -04:00
Stacey Sheldon
1f004ee896
ppm: port PPM driver onto new CC driver layers
...
This is a port of a work-in-progress by Sambas onto
the new driver infrastructure needed for boot-time
configuration.
PPM and PWM still don't coexist in a build but this
is closer.
2011-07-07 22:27:57 -04:00
Stacey Sheldon
226f095a2e
bootcfg: remove baudrate #defines for USARTs
...
The initial baud rates of each interface are now forced in the
board init code.
Any modules using USARTs should have fields added to
their settings object to allow the user to change the
baud rate from the default by using the COM layer APIs.
Developers requiring custom baud rates before the settings
objects are in place should locally edit the cfg structs
to specify the desired baud rates.
2011-07-06 23:03:54 -04:00
Stacey Sheldon
a8787ee015
bootcfg: Add support for selecting S.Bus receivers in inputtype
2011-07-06 22:38:23 -04:00
Stacey Sheldon
bf39ab7a22
remove left-over comment about compile time configs
...
No functional changes.
2011-07-06 22:36:15 -04:00
Stacey Sheldon
e82539c654
bootcfg: additional validation during board init
2011-07-06 22:34:59 -04:00
Mathieu Rondonneau
36f28f8037
OP-423: Fixing heap2 (puting back bytes from the post heap stack (used during init) back into the free list).
...
Tested this heap2 at runtime with CC and new compiler since old one (current) triggers strict alliasing error.
That's ok since strict aliasing is disabled on OP, and CC only use heap1.
2011-07-05 21:45:39 -07:00
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
Stacey Sheldon
dbf7574946
bootcfg: use UAVobj to control boot-time HW config
...
This should mark an end to the compile-time selection of HW
configurations.
Minor changes in board initialization for all platforms:
- Most config structs are marked static to prevent badly written
drivers from directly referring to config data.
- Adapt to changes in .irq fields in config data.
- Adapt to changes in USART IRQ handling.
Major changes in board initialization for CC:
- Use HwSettings UAVObj to decide which drivers to attach to
the "main" port and the flexi port, and select the appropriate
device configuration data.
- HwSettings allows choosing between Disabled, Telemetry, SBUS,
Spektrum,GPS, and I2C for each of the two ports.
- Use ManualControlSettings.InputMode to init/configure the
appropriate receiver module, and register its available rx channels
with the PIOS_RCVR layer. Can choose between PWM, Spektrum and PPM
at board init time. PPM driver is broken, and SBUS will work once
it is added to this UAVObj as an option.
- CC build now includes code for SBUS, Spektrum and PWM receivers in
every firmware image.
PIOS_USART driver:
- Now handles its own low-level IRQs internally
- If NULL upper-level IRQ handler is bound in at board init time
then rx/tx is satisfied by internal PIOS_USART buffered IO routines
which are (typically) attached to the COM layer.
- If an alternate upper-level IRQ handler is bound in at board init
then that handler is called and expected to clear down the USART
IRQ sources. This is used by Spektrum and SBUS drivers.
PIOS_SBUS and PIOS_SPEKTRUM drivers:
- Improved data/API hiding
- No longer assume they know where their config data is stored which
allows for boot-time alternate configurations for the driver.
- Now registers an upper-level IRQ handlerwith the USART layer to
decouple the driver from which USART it is actually attached to.
2011-07-05 22:03:25 -04:00
Stacey Sheldon
6415fc84a5
rtc: allow registration of callbacks on RTC tick
...
This separates the RTC device and interrupt handling
from the devices that rely on the tick notifications.
Drivers can now register tick notification functions
that will be called on each RTC tick event.
2011-07-05 22:03:25 -04:00
Stacey Sheldon
740b5f1584
rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR
...
All receivers now fall under the same driver API provided
by pios_rcvr.c.
This is part of a larger sequence of commits that will
switch the receiver selection over to boot time dynamic
configuration via UAVObjects.
2011-07-05 22:03:25 -04:00
Stacey Sheldon
e77795dc28
rcvr: add generic driver API for receivers
...
Will be used to collapse PWM, PPM, Spektrum and SBUS so we
can choose between them at boot time instead of at compile time.
2011-07-05 22:02:47 -04:00
Stacey Sheldon
0c4facac46
heap: reduce stack size on IDLE and Event tasks
...
The FreeRTOS IDLE task was using 512 bytes of stack.
The UAVObject Event task was also using 512 bytes of stack.
Both have been reduced, recovering 400+ bytes of heap.
2011-07-05 20:13:00 -04:00
James Cotton
010f0255a4
OP-543: When the magic header on file system is bad at init, read multiple
...
times. It's not written as cleanly as I'd like but works for wiping when magic
value changes. Testing will reveal if this stops the lost settings.
2011-07-04 21:44:41 -05:00
James Cotton
ad8876c62a
OP-193: Weak leveling variant on rate mode. Slowly will return to level.
2011-07-04 20:44:55 -05:00
Mathieu Rondonneau
f864d723dd
OP-423: Cleanup and remove recently added *_BL.S startup file.
2011-07-03 18:45:02 -07:00
Mathieu Rondonneau
2daa36aad9
OP-423: Remove *_BL.S
2011-07-03 13:14:42 -07:00
Mathieu Rondonneau
b3740ec025
OP-423: Clean startup and add weak function call for stack swap.
2011-07-03 12:43:38 -07:00
James Cotton
46ae7eb17b
Merge remote-tracking branch 'origin/bugfix-ground' into heli_stabilization
2011-06-30 19:40:22 -05:00
James Cotton
39e646ae1d
Make the rates all work properly in axis lock
2011-06-30 19:38:52 -05:00
zedamota
567e3ffcad
OP-542 Board resets with new Uploader
...
IAP module now checks magic value
2011-06-30 12:17:27 +01:00
James Cotton
a7206361d2
Slightly different way to respond to sticks in axis lock that is much more
...
responsive and avoids overshoot.
2011-06-26 21:59:54 -05:00
Mathieu Rondonneau
fbf0b021c7
OP-423: Replace hardcoded value and get value from memory section (change from code review)
2011-06-25 20:06:33 -07:00
Corvus Corax
fc62f6e522
Module initialisation rework ported to PiOS.posix
2011-06-26 00:25:06 +02:00
Mathieu Rondonneau
6683ce8570
OP-423: Make it more obvious that MODULE_TASKCREATE_ALL and MODULE_INITIALIZE_ALL are macro (for now):
...
- remove the ;
- also encapsulate the macro by {} in his own scope.
2011-06-25 11:40:01 -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
dedbcbfceb
Correct nasty bug on range checking for max rate and use the axis lock rate
...
desired when in that mode.
2011-06-24 11:30:28 -05:00
James Cotton
e6ad21d881
Make gyro bias in deg/s * 100 to calibrate more precisely.
2011-06-24 10:51:07 -05:00
James Cotton
5127d1e7ba
Change actuator memory to 900 bytes since it uses less now.
2011-06-24 10:49:36 -05:00
James Cotton
038f955cb1
OP-410 OP-333: Axis lock (heading hold) implemented
2011-06-24 10:38:26 -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
c0eff41dc6
OP-410 OP-333: Created an Axis-lock setting for stabilization
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
James Cotton
28501842c3
Expose the rate D term which in simulations seems to help damp oscillations for
...
high RateKp terms. However it might be sensitive to gyro noise (vibrations).
In addition it is mathematically similar to lead shapign so probably only use
one or the other.
2011-06-24 10:38:25 -05:00
James Cotton
a09642675c
Tweak the integral calculation so it is scaled in ms internally. This avoids a
...
loss of precision on the accumulation.
2011-06-24 10:38:25 -05:00
James Cotton
373689207a
Add a 1-tap IIR filter into the gyros in the feedback path. This will make the
...
stabilization output a bit more resilient to the high frequency noise from
gyros. However this value shouldn't be too high as it will increase the phase
delay of the feedback loop and decrease stability. Default is 5 ms.
Note: this resests the stabilizationsettings object. Sorry guys.
2011-06-24 10:38:25 -05:00
Stacey Sheldon
d1104d3fdc
alarms: lower heap warning and critical thresholds for CC
...
Free heap on CC is currently 160 bytes so the current thresholds
were causing a continual alarm condition, thus preventing arming.
2011-06-24 10:38:25 -05:00
Mathieu Rondonneau
dcd2774103
OP-423 Fix some comment from code review:
...
- update example module
- use module init macro for POSIX and WIN to make code cleaner.
2011-06-24 06:59:51 -07:00
Corvus Corax
f52f6d30c6
VTalk (flight): Buffers allocated dynamically with size calculated by UAVObjGenerator. Support for tx packet sizes < object size.i
2011-06-24 02:08:20 +02:00
James Cotton
f6312c7798
OP-410 OP-333: Created an Axis-lock setting for stabilization
2011-06-23 14:51:18 -05:00
James Cotton
9aba787b02
OP-193: Check for instance read success was backwards
2011-06-23 03:01:37 -05:00
James Cotton
368d5b649a
OP-193: Output mixer should read from up to 6 accessory channels (may add more
...
in future).
2011-06-23 01:47:55 -05:00
James Cotton
493fcaef2a
OP-193 OP-511: Add settings to scale the camera input output range
2011-06-23 00:47:27 -05:00
Mathieu Rondonneau
703919daf4
OP-423 Reduce IRQ stack limits (CC onlyt)
2011-06-22 06:32:27 -07:00
Mathieu Rondonneau
0ff5e9a46f
Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint
2011-06-21 22:02:13 -07:00
James Cotton
9c1e523260
Drop 8 bytes per PID of unecessary information. Also trying to compute
...
integral in ms instead of seconds to avoid rounding errors.
2011-06-21 17:54:03 -05:00
James Cotton
8976d22fad
Merge remote-tracking branch 'origin/OP-159_os_sbus'
2011-06-21 17:51:22 -05:00
Oleg Semyonov
fba201c8b3
usart: move default port numbers from pios_config.h to pios_board.c
2011-06-22 01:32:18 +03:00
Mathieu Rondonneau
74e5e2015e
Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint
2011-06-20 20:28:12 -07:00
Stacey Sheldon
80709f356f
alarms: lower heap warning and critical thresholds for CC
...
Free heap on CC is currently 160 bytes so the current thresholds
were causing a continual alarm condition, thus preventing arming.
2011-06-20 22:31:05 -04:00
unknown
9e632b532e
Fix win32 SiTL by adding PiOS CRC and another missing function.
2011-06-20 15:48:05 -04:00
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
17fa227d1f
Fixed typo, thanks Os
2011-06-19 16:51:54 -05:00
Oleg Semyonov
6272210df7
sbus: some code cleanup (no functional changes)
2011-06-19 14:30:13 +03:00
Mathieu Rondonneau
2b11395a67
OP-423 just move stack from systemmod back to heap (200 bytes) that are not needed anymore.
2011-06-18 17:31:29 -07:00
Mathieu Rondonneau
5e3e7cc4e3
OP-423 Fix issue with init not properly started in the right order endup up object thinking other where not init.
2011-06-18 17:28:37 -07:00
Oleg Semyonov
59da5055cd
usart: make USART ports configurable from make command line
...
For CopterControl the following make options are available:
USE_TELEMETRY=[YES|NO|1|3] (default is YES, USART1)
USE_GPS=[YES|NO|1|3] (default is NO, USART3)
USE_SPEKTRUM=[YES|NO|1|3] (default is NO, USART3)
USE_SBUS=[YES|NO|1] (default is NO, USART1 only)
2011-06-18 23:54:32 +03:00
Oleg Semyonov
311902f1f2
sbus: implemented S.Bus stream decoding
2011-06-18 23:19:57 +03:00
James Cotton
724016ffb0
When erasing flash at the end start flashing LED to indicate it is done
2011-06-18 14:32:09 -05:00
James Cotton
2218ff6fe9
Change to object template so when they are already registered it doesn't
...
initialize them a second time (which causes the handle to get lost)
2011-06-18 14:21:14 -05:00
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
b67a38661e
OP-423: merge master into that branch, resolve conflicts and test with CC and bl_CC
...
heap reamining is low (about 500) but stacks can be ajusted (specially the 200 bytes from system) to give the level close to 1Ko if needed.
Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint
Conflicts:
flight/CopterControl/System/inc/FreeRTOSConfig.h
flight/CopterControl/System/inc/pios_config.h
2011-06-17 19:04:09 -07:00
James Cotton
9720a8444f
Make a few things optional if they are mostly for diagnostics to keep memory
...
down
2011-06-17 21:00:21 -05:00
Mathieu Rondonneau
693c6bc5b0
OP-423: fix bl and bu, also fix compiler problems encountered with make all
2011-06-17 18:54:25 -07:00
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
Corvus Corax
926246b402
UAVTalk: Make UAVTalk object oriented, allowing multiple UAVTalk instances
2011-06-16 16:35:37 +02:00
Oleg Semyonov
aeda61d252
usart: serial telemetry can be disabled to free USART
...
It was tested being merged with OP-472_CorvusCorax_CopterControl-Guidance_v3
branch, Spektrum on USART3 and GPS on USART1 and seems to work.
Currently defaults mimic original behavior, that is, if USE_SPEKTRUM
is not defined - define USE_PWM and USE_GPS. Thsi should be refactored
later to make it configurable from the Makefile.
Also it was not ported to the OP MB: it currently does not support the
S.Bus hardware and still has original behavior with the patch. But this
is one more step to dynamic configuration of ports.
2011-06-16 15:06:01 +03:00
Mathieu Rondonneau
e8cdf22427
OP-423 Port to OP: Claim (at run-time) the remaining un-used bytes (between heap and end of RAM) that are for data growth (needed at compile time).
...
CAREFULL: the heap section need to be the last section in RAM to avoid overwritting data...
also move address into linker (CC and OP)
2011-06-15 18:54:35 -07:00
Oleg Semyonov
50e819192b
usart: make CC USART ports compile-time configurable
...
TODO: This should be dynamic in the future.
But for now define any compatile combination of:
USE_I2C (shared with USART3)
USE_TELEMETRY
USE_GPS
USE_SPEKTRUM
USE_SBUS (USART1 only, it needs an invertor)
and optionally define PIOS_PORT_* to USART port numbers
Defaults are:
#define PIOS_PORT_TELEMETRY 1
#define PIOS_PORT_GPS 3
#define PIOS_PORT_SPEKTRUM 3
#define PIOS_PORT_SBUS 1
#define USE_TELEMETRY
#define USE_GPS
Telemetry, GPS and PWM input are enabled by default.
2011-06-15 22:37:44 +03:00
Oleg Semyonov
d8201ec45b
sbus: provide a stub based on Spektrum driver (for CC only)
2011-06-15 22:35:21 +03:00
James Cotton
7d7d03cfd0
OP-193 OP-511: Basic code for camera stabilization. Currently tune range with
...
the servo endpoints and neutral.
2011-06-15 11:18:29 -05:00
Mathieu Rondonneau
ab4e15e9aa
OP-423 also claim (at run-time) the remaining un-used bytes (between heap and end of RAM) that are for data growth (needed at compile time).
...
CAREFULL: the heap section need to be the last section in RAM to avoid overwritting data...
Tested with GCC 4.5.2 this gives 1K of free bytes usable in heap right away (including the 200 bytes saved just by using the new gcc).
This does not include any code re-org yet!
2011-06-14 22:13:30 -07:00
Mathieu Rondonneau
3780de8d3e
OP-423 port to OP (heap2) the previous changes done in CC (heap1) (see c95b199166
)
...
I managed to test CC with heap2 changes and the init stack claimed back to heap once scheduler starts.
the changes of this commit are OP related (just cleanup on CC side):
Arch specific stuff (in reset vector) to hide this from portable code:
- switch back to MSP stack before starting the scheduler so that the sheduler can use the IRQ stack (when/if needed).
- call the C portable function in heap2 to claim some stack back (the number to claim is taken from linker file).
- start the scheduler from reset vector (I move this here from main because it make sense to not go back to C (so that I don't need to copy the rolled stack in case the sheduler returns). This make it more clean.
- Also I have added the call to the mem manager if sheduler return. that way, we don't reset indefinitely if memory runs out. We will go to this handler and figure things out (right now, it's just looping but at least not rebooting. Probably trap NMI would be better (later improvement).
2011-06-14 20:10:53 -07:00
James Cotton
144f36dfb7
Merge branch 'bugfix-flight'
2011-06-14 10:02:55 -05:00
Mathieu Rondonneau
c95b199166
OP-423 do the arch specific stuff (in reset vector) to hide this from portable code:
...
- switch back to MSP stack before starting the scheduler so that the sheduler can use the IRQ stack (when/if needed).
- call the C portable function in heap1 to claim some stack back (the number to claim is taken from linker file).
- start the scheduler from reset vector (I move this here from main because it make sense to not go back to C (so that I don't need to copy the rolled stack in case the sheduler returns). This make it more clean.
- Also I have added the call to the mem manager if sheduler return. that way, we don't reset indefinitely if memory runs out. We will go to this handler and figure things out (right now, it's just looping but at least not rebooting. Probably trap NMI would be better (later improvement).
The part missing for this part is the weak attribute for the function in heap1.c so that we don't have to update everything with empty stub.
I think the weak atrribute for C function called in assembly is arch dependent so I am not sure if this is possible (will look into it, maybe somebody outthere nows).
Right now, it's heap1 dependent and won't work with heap2. I will clean that up the next couple of days.
I did some test and it looks good.
this is without init code re-organization so we don't free as much as we will be it's good starts.
This compile with sim_posix (since it does not affect portable code) so this is really clean.
I only tested this with CC. I will port it for OP when I will work on heap2.
2011-06-13 21:49:17 -07:00
Mathieu Rondonneau
1f54e32ea9
OP-423 also add changes to OP. (I can not test it because I don't have a board so only compile test)
2011-06-13 17:10:14 -07:00
James Cotton
404c026188
Patch from Zippe to use cycle timer for CPU monitoring.
2011-06-13 00:24:30 -05:00
Mathieu Rondonneau
7598e898fa
OP-423 Step-1: split system stack and implement water mark for IRQstack:
...
- use IRQStack for ISRs (at begening of SRAM) (let's call it the irq stack)
- use end of heap for stack needed during initialization (let's call it the init stack).
- the systemStats in GCS indicate the remaining bytes in the IRQ stack (this is realy usefull to monitor our (nested) IRQs.
This is the base ground to provide as much memory as possible available at task creation time.
Next step is to re-organize the initialization in order to move all the init out of the thread's stacks onto the init stack.
This will provide as much memory as possible available at task creation time.
Basically the stack during initialization will be destroyed once the scheduler starts and dynamic alloc are made (since the init stack is at the end of the heap). We will need to make sure we don't clobber the heap during initialization otherwise this will lead to stack corruption.
2011-06-12 20:23:00 -07:00
James Cotton
0f5fe54329
FlashFS: Should clear the 0 sector when wiping flash chip, not 10 bytes in.
2011-06-11 22:31:51 -05:00
Oleg Semyonov
5d0c7fe42e
Merge branch 'master' into heli_improvements
2011-06-11 12:19:07 +03:00
Corvus Corax
a7841a523a
bugfix: forgot to add header file (pios.posix)
2011-06-10 22:04:54 +02:00
Corvus Corax
47a6643318
PiOS.posix: ported PiOS_CRC to PiOS.posix to fix compilation error on OpenPilot introduced by new dependency
2011-06-10 17:16:15 +02:00
James Cotton
4a59c03b0e
OP-493: Unfortuantely have to change stack alarms for this to work :(
2011-06-07 10:31:40 -05:00
James Cotton
bdc9094975
OP-493 OP-505 OP-511: Make up to 6 accessory channels so some can go from
...
ManualCommand to a camera module and some could go from that camera module to
output (i.e. mixing of inputs to pan tilt with stabilization)
2011-06-06 10:56:31 -05:00
James Cotton
1ecd244aff
OP-493 OP-505 OP-511: Fixed bug with the direct mapping where it looked at throttle curve
...
source instead of directly bypassing
2011-06-06 10:53:55 -05:00
James Cotton
6c6906d61e
OP-493: Switch to using Accessory0:2 to match the InstId
2011-06-05 15:38:58 -05:00
James Cotton
99b3a629a8
OP-493: Force three AccessoryDesired objects to always exist. Routing to
...
Mixing channel now works. However Accessory desired instances do not show up
in GCS.
2011-06-05 15:38:58 -05:00
James Cotton
a1336e4d03
OP-493: Make sure accessory desired is not a single instance object
2011-06-05 15:38:57 -05:00
James Cotton
8ebd6a83d6
OP-493: Add support to bypass the mixer and route accessory data straight to
...
outputs. Warning: This has no failsafes like arming. We should discuss if
this is appropriate.
In addition accessory objects can be routed throught the mixer for collective
or flaperon.
2011-06-05 15:38:57 -05:00
James Cotton
a1d60cb77d
OP-493: Use multiple instances when using multiple accessory channels
2011-06-05 15:38:57 -05:00
James Cotton
1365542103
OP-493: Populate the Accessory Desired from TX
2011-06-05 15:38:57 -05:00
James Cotton
4f47c06547
Merge branch 'saving_crc' into bugfix-flight
2011-06-05 15:37:44 -05:00
James Cotton
624baeda5c
Merge branch 'OP-423_Mathieu_GetSet_Uavobjects' into bugfix-flight
2011-06-05 09:48:22 -05:00
James Cotton
0a56129b35
OP-452: Made the CRC calculation run in chunks to balance efficiency and ram
...
usage, because Stac caught me being lazy :)
2011-06-05 09:05:59 -05:00
James Cotton
56faad594e
OP-423: Make sure to unlock semaphore before returning from error condition
2011-06-05 08:41:21 -05:00
James Cotton
599483d5ac
OP-152: Save CRC for object and header into flash and only load object if CRC
...
matches. Read the flash first bytewise to compute CRC instead of buffering
which is more RAM efficient but very inefficient as it sets up many one byte
SPI transfers.
Also incremented the filesystem magic flag to trigger an automatic flash wipe
on this upgrade.
2011-06-04 18:36:38 -05:00
James Cotton
3e5d02cbaf
OP-152: Abstract the CRC code out of uavtalk to allow it to be reused (PT -
...
feel free to test moving this to the hardware CRC unit)
2011-06-04 18:36:26 -05:00
dankers
3013a092d9
Merge branch 'OP-519_Mathieu_Upgrade_FreeRTOS' into bugfix-flight
2011-06-04 16:42:15 +10:00
Mathieu Rondonneau
7b8d09371b
fixing minor compiler error/warnings when compiling OP with DEBUG=NO
2011-06-03 21:47:43 -07:00
Mathieu Rondonneau
31a06a5ae7
OP-423 add set/get uavobjects functions to access objects fields separately.
2011-06-02 21:18:34 -07:00
Mathieu Rondonneau
6e64a546df
Remove un-used code
2011-06-02 20:21:26 -07:00
Mathieu Rondonneau
071a684248
OP-519 upgrade to FreeRTOS-7.0.1
...
- only affect flight/PiOS (no change for posix and win32)
- tested on recent master (some runtime on CC with GCS)
- the new timer feature is not compiled-in since we don't use it yet.
- NO TEST FLIGHT
2011-06-01 21:46:28 -07:00
Oleg Semyonov
f770870af7
Merge branch 'bugfix-flight'
2011-06-01 14:53:31 +03:00
Oleg Semyonov
6e418735cf
OP-509: fix for ld symbol reference (also fixes build with 4.5.2 gcc)
2011-06-01 00:31:27 +03:00
James Cotton
524cdf7743
OP-378: Start of IMU3000 fifo reading code
2011-05-31 01:51:05 -05:00
James Cotton
b6a8293f69
OP-378: Get BMA180 interrupt working. Data gets pushed onto a fifo that is
...
pulled from in the INS code.
2011-05-30 03:40:51 -05:00
James Cotton
efe50012cb
Merge branch 'spektrum_rtc_supervisor'
2011-05-29 17:19:48 -05:00
sambas
17fb31a7fa
Spektrum rtc supervisor working, tested on CC and all outputs are activated. Needs review and testing before merge.
2011-05-29 14:52:22 +03:00
sambas
86d02e2d34
Merge branch 'master' of ssh://git.openpilot.org/OpenPilot into spektrum_rtc_supervisor
2011-05-29 10:40:17 +03:00
Stacey Sheldon
5be27fda83
coptercontrol: Increase stack size for system module
...
When running flight software from master (cf74908
), my
config was pushing the system module stack usage to within
16 bytes of its limit. This triggers a stack overflow
alarm which prevents the quad from arming/flying.
This change increases the available stack size such
that there are 72 bytes of stack free (a previously stated
safe margin) when my quad is sitting idle and unarmed on
the bench.
2011-05-29 00:12:26 -04:00
Stacey Sheldon
ac0eb3a5c7
Merge remote branch 'origin/stac_build-opf-image'
2011-05-26 21:29:53 -04:00
James Cotton
66b85acebd
Merge branch 'bugfix-flight'
2011-05-26 20:07:58 -05:00
James Cotton
ca2205d35f
OP-378: Tweak INS stack definition to avoid faults
2011-05-26 16:02:15 -05:00
James Cotton
52e72f20e2
OP-378: Map gyros to board orientation
2011-05-26 16:01:10 -05:00
James Cotton
4a9e7604a1
OP-378: Push the sensor data into the UAVObjects, also hardcoded scaling
...
(temporary). For some reason it segfaults when EKF enabled so use simple mode
for now.
2011-05-26 15:06:56 -05:00
James Cotton
d4a0f55cb7
Altitude.c: Indentation
2011-05-26 14:06:47 -05:00
James Cotton
eab8896f16
OP-378: INS code starts taking in sensors (timing not optimized at all yet)
2011-05-26 14:06:22 -05:00
James Cotton
9ede84680e
OP-378: Start working on IRQ driven BMA180 reading and also fixed the mag order
2011-05-26 13:57:41 -05:00
James Cotton
6e186bab35
Merge branch 'bugfix-flight' into OP-378_James_INS
2011-05-26 12:19:35 -05:00
James Cotton
0a60c5b57c
Merge branch 'master' into OP-378_James_INS
2011-05-26 12:19:30 -05:00
James Cotton
4bc763dafc
Extend PiOS DELAY to allow querying the time value in uS
2011-05-26 12:19:04 -05:00
James Cotton
74b9c58f39
Make sensors return data as int16 array instead of struct
2011-05-26 02:49:25 -05:00
James Cotton
20775e806c
Merge branch 'OP-378_James_INS' of ssh://git.openpilot.org/OpenPilot into OP-378_James_INS
2011-05-25 22:19:31 -05:00
Oleg Semyonov
36d2a467e0
manualcontrol: fix copy/paste error
2011-05-26 00:16:36 +03:00
Stacey Sheldon
4da671fc82
build: change firmware files from .opf to .opfw extensions
2011-05-25 00:20:02 -04:00
Oleg Semyonov
66804076b8
build: fix release/Makefile for *.opf files and changed targets
2011-05-24 23:49:51 -04:00
Stacey Sheldon
8bd08e381a
build: add support for EE bank on pipx boards
...
The pipxtreme boards use a sector of the on-board flash
for configuration storage. Adjust the memory maps to
reflect this.
The board_info_blob is also extended to include the EE
bank definitions. This should be used by the pipxtreme
firmware rather than determining it based on chip size.
2011-05-24 01:10:40 -04:00
Stacey Sheldon
91cb294730
build: remove redundant PHONY for size target
2011-05-24 01:10:40 -04:00
Stacey Sheldon
0eb92fad91
build: refactor jtag program and add jtag wipe target
...
Macros for JTAG program and wipe for each target are now
provided in firmware-defs.mk.
The _wipe target for each firmware and bootloader image will
erase either the bootloader (bl_*_wipe) or firmware (fw_*_wipe)
bank.
2011-05-24 01:10:31 -04:00
Stacey Sheldon
9973fda23b
build: define bootloader and firmware bank spans
...
The board-info.mk files now define the start and size
of the bootloader and the firmware banks.
2011-05-24 01:03:01 -04:00
Stacey Sheldon
504fe7a664
dfu: fix typo WRITABLA -> WRITABLE
2011-05-24 00:58:10 -04:00
Stacey Sheldon
96827eecff
build: Make all flight sw use pios_board_info_blob
...
Now that every bootloader build has a board info blob,
make all fw and bl images use it.
The following MACROS are removed:
BOARD_TYPE, BOARD_REVISION, BOOTLOADER_VERSION,
START_OF_USER_CODE, HW_TYPE
These values are now ONLY available from the bootloader
flash via the pios_board_info_blob symbol. These values
must not be #defined or otherwise hard-coded into the
firmware in any way. The bootloader flash is the only
valid source for this information.
NOTE: To ensure that we have an upgrade path from an
old bootloader (without board_info_blob) to a
new bootloader (with board_info_blob), it is
essential that the bu_* targets do not depend
on (or validate) the board_info_blob being present
in the bootloader flash.
2011-05-24 00:58:10 -04:00
David Carlson
38d416cf92
Fix Y/Z axis mixup in self-test procedure (currently not used)
2011-05-23 20:53:15 -07:00
Stacey Sheldon
2d47427b05
link: Use alternate declaration of pios_board_info_blob
...
Make use of a shorter notation to allow the linker to provide
the correct address for pios_board_info_blob.
2011-05-23 18:21:42 -04:00
Stacey Sheldon
6e406c0232
build: remove all remaining use of -DUSE_BOOTLOADER
...
The USE_BOOTLOADER compile flag was only being used
to determine where the ISR vector table was located.
Provide this explicitly from the linker since it knows
exactly where it is putting the ISR vector table.
2011-05-23 18:21:42 -04:00
Stacey Sheldon
0a67730d0f
build: refactor fw, bl and bu rules
...
- New macros for fw, bl and bu rules in top-level make
- Per-board info factored into make/board/*/board-info.mk
- Per-board info now shared btw. fw, bl and blupd for each board
- BOARD_TYPE, BOARD_REVISION, BOOTLOADER_VERSION, HW_TYPE
- MCU, CHIP, BOARD, MODEL, MODEL_SUFFIX
- START_OF_BL_CODE, START_OF_FW_CODE
- blupd_* goals renamed to bu_*
- all_blupd goal renamed to all_bu
- firmware goals renamed to fw_*, board name goals are preserved
- bu_*_program now writes updater to correct address for all boards
- BL updater firmware builds now produce .opf format including
version info blob.
- BL updater firmware name now includes board name.
- INS makefile brought up to date w.r.t. linker scripts
2011-05-23 18:21:42 -04:00
Stacey Sheldon
6ec6425f5e
build: build opf images including firmware + version blob
2011-05-22 10:55:13 -04:00
James Cotton
50161b4ad8
OP-378: Continue updating BMA180 sensor driver.
2011-05-20 16:38:53 -05:00
James Cotton
460cc1adc9
Merge remote-tracking branch 'origin/stac_add-bootloader-info-blob'
2011-05-19 16:08:58 -05:00
James Cotton
5d78a68bee
OP-378: Got BMA180 working.
2011-05-19 11:36:43 -05:00
James Cotton
3093d26cf4
OP-378: Update BMP085 driver for convention that 0 is success, < 0 is failure
2011-05-19 11:36:32 -05:00
James Cotton
750097ea73
OP-378: Small changes to get drivers working again. Fix I2C port for IMU3000
...
and change convention so that 0 is success, < 0 is error.
2011-05-18 23:35:45 -05:00
James Cotton
ab3127a0ea
OP-378 Update the INS Makefile for the new file formats
2011-05-18 14:39:38 -05:00
James Cotton
b7f25ea5d8
OP-378: Get startup script for HD parts working for INS
2011-05-18 13:41:31 -05:00
James Cotton
328b3b5fee
OP-378: Update INS bootloader to new format
2011-05-18 13:41:25 -05:00
James Cotton
81b7fb6185
Merge branch 'master' into OP-378_James_INS
2011-05-18 12:50:29 -05:00
James Cotton
dd1e10a15d
PiOS/Spektrum: Start swapping to using RTC and calls to PIOS_Spektrum_Get() to
...
monitor when call Spektrum watchdog
2011-05-18 01:46:00 -05:00
James Cotton
bdf862a712
PIOS/RTC: Add functions to get the rate. Also changed Start to Init to be more
...
consistent with pios.
2011-05-18 01:45:21 -05:00
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
Stacey Sheldon
2044d777e6
coptercontrol: always enable -g debug symbols
...
This does not affect the size of the image or the RAM
used by the firmware image. All debugging symbols are
stripped from the elf file during the conversion to a
.bin file.
2011-05-16 08:35:41 -04:00
Stacey Sheldon
575010169a
build: add pios_board_info_blob struct to bootloader flash image
...
The board info blob is stored in the last 128 bytes of the
bootloader's flash bank. You can access this data from the
application firmware like this:
#include <pios_board_info.h>
if (pios_board_info_blob.magic == PIOS_BOARD_INFO_BLOB_MAGIC) {
/* Check some other fields */
}
DO NOT link pios_board_info.c into your application firmware.
Only bootloaders should provide the content for the board info
structure. The application firmware is only a user of the data.
2011-05-16 08:30:30 -04:00
Oleg Semyonov
39d4f23b67
Merge branch 'master' into OP-483_os_release-packaging
2011-05-15 21:32:20 +03:00
James Cotton
ae2759a957
Merge branch 'bugfix-flight'
2011-05-15 12:50:45 -05:00
James Cotton
eb2d094a66
Merge branch 'OP-499_216_Saving'
2011-05-15 10:09:29 -05:00
dankers
71d582495e
On arm bias calibration terms now matches boot calibration terms
2011-05-16 00:16:19 +10:00
James Cotton
886f36dca1
Merge branch 'master' into OP-499_216_Saving
2011-05-15 03:58:30 -05:00
James Cotton
feb9c02780
OP-216: Small typo in flashfs code (thanks Zippe)
2011-05-15 00:18:15 -05:00
Oleg Semyonov
0005729056
OP-500: fix PyMite dependencies on autogenerated files
...
This is done by separating PyMite-dependent sources and making them
dependent on autogenerated python code. This was tested with make -j
on Windows and worked fine. It failed with errors otherwise:
In file included from ../Libraries/PyMite/vm/class.c:28:
../Libraries/PyMite/vm/pm.h:198: fatal error: pmfeatures.h: No such file or directory
2011-05-15 04:14:17 +03:00
James Cotton
b01e897e36
Merge branch 'OP-488_NeverHaltWhileArmed_James'
2011-05-14 17:21:05 -05:00
James Cotton
d312e876c4
OP-216: Some small bugs where things were stored
2011-05-14 16:11:30 -05:00
Oleg Semyonov
bac95dae11
OP-483: get rid of -D install switch (doesn't work on Mac) and use mkdir -p instead
2011-05-14 23:17:08 +03:00
James Cotton
d883c8af9f
Whitespace and line endings
2011-05-14 15:15:33 -05:00
James Cotton
934addfdcc
OP-216: Silly typo
2011-05-14 15:11:33 -05:00
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
c689d97961
OP-216: Improved error handling
2011-05-14 14:28:11 -05:00
James Cotton
0438f5cf66
OP-216: Check for existence of file table in flash and wipe sector and create
...
it if missing.
2011-05-14 14:23:23 -05:00
James Cotton
2087441006
OP-216: Make the object manager use new flash fs for objects
2011-05-14 14:23:02 -05:00
James Cotton
7e6e7bb391
OP-499 OP-216: Simple list of objects saved in flash to prevent objId
...
collision. Note, this will wipe ALL your settings.
2011-05-14 14:05:02 -05:00
zedamota
a38fbe6cea
Make CopterControl firmware non functional when using the ERASE_FLASH=YES compile flag
2011-05-14 19:03:31 +01:00
dankers
52fd23a3b9
Merge remote-tracking branch 'origin/bugfix-flight'
2011-05-14 00:28:42 +10:00
dankers
8e436eb2ac
Merge remote-tracking branch 'origin/bugfix-flight'
2011-05-14 00:28:19 +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
Oleg Semyonov
a7833e0120
OP-483: add install target for bootloader updater
2011-05-13 11:25:35 +03:00
Oleg Semyonov
45c609100a
OP-483: add install target for bootloaders
2011-05-13 11:25:33 +03:00
Oleg Semyonov
37868a4c10
OP-483: add install target for firmware
...
make INSTALL_DIR=dir INSTALL_PFX=pfx INSTALL_SFX=sfx install
installs binary file into specified install directory adding
optional prefix and/or suffix.
2011-05-13 11:25:32 +03:00
Oleg Semyonov
bf8939eb30
OP-483: cleanup: remove unneeded test.bin from BootloaderUpdater
2011-05-13 11:25:30 +03:00
James Cotton
3d5244c4b8
Fix small typo THRSHOLD to THRESHOLD in gps.c
2011-05-12 18:57:16 -05:00
Corvus Corax
bce51d4258
OP-435 Optionally allow building of GPS without support for GPSSatellites and GPSTime UAVObjects to save memory
2011-05-12 21:00:59 +02:00
James Cotton
612cd4ff55
Merge branch 'bugfix-flight'
2011-05-11 20:10:38 -05:00
James Cotton
338d363289
When a channel is disabled in the mixer force the channel to have a 0 us pulse
...
duration. The default before was neutral in failsafe.
2011-05-11 20:09:28 -05:00
James Cotton
5d28276c49
Reshuffle memory allocation on CC after FlightStatus object introduced
2011-05-11 17:35:52 -05:00
James Cotton
fdd591b700
OP-488: If the FirmwareIAP receives a halt signal but system is not disarmed
...
abort the halt.
2011-05-10 14:40:21 -05:00
James Cotton
163d41fb60
OP-466: Make the test output panel work when there is not a valid mixer
...
configured. However unlike previous patch keeps alarms showing so you will be
unable to arm normally.
2011-05-10 02:43:55 -05:00
James Cotton
d140d9c1fc
Fix from Ivan for BootloaderUpdater not building with 4.5.1
2011-05-10 02:11:34 -05:00
elafargue
f904e09353
Merge branch 'master' into OP-307_Firmware_Description_Packaging
2011-05-10 08:31:25 +02:00
James Cotton
808e3c8ea2
Fix bug I made where guidance didn't look at new flight status object
2011-05-09 11:37:06 -05:00
James Cotton
fb8417a0ff
Merge remote-tracking branch 'origin/op_475_476_calibrate_during_arming'
2011-05-09 09:23:16 -05:00
elafargue
c4c9be37c6
Fix typo
2011-05-09 15:30:02 +02:00
elafargue
437d33526a
Add command line arguments to versionblob.py so that it is easier to use.
2011-05-09 10:54:29 +02:00
elafargue
adb1e77869
Merge branch 'master' into OP-307_Firmware_Description_Packaging
2011-05-09 10:18:00 +02:00
Stacey Sheldon
b2b1c184de
stopwatch: Add support for timers 5-8
...
This fixes the OP bootloader getting stuck in the
bootloader forever when USB is plugged in.
This also fails hard on being passed an unsupported
timer value so that this can be caught more easily
in the future.
2011-05-08 12:41:02 -04:00
Stacey Sheldon
965867de7a
gdb: add config file for coptercontrol bootloader
2011-05-08 12:40:29 -04:00
Stacey Sheldon
29ec2f198b
build: convert all app loads to require bootloaders
...
This change is made up of a number of tightly coupled
changes:
- Deprecate the use of the USE_BOOTLOADER command-line
option. It is now hard-coded in each Makefile.
Overriding it on the command line is not allowed.
- Split apart the memory declaration and the section
declaration in all linker files (*_memory.ld and
*_sections.ld).
- Describe the split between bootloader and app sections
of flash in each board's _memory.ld file.
- Change program target to selectively erase flash so
that the installed bootloader is preserved across even
JTAG programming operations.
- All elf files are built with debug symbols and are not
stripped. This should help debugging with gdb. The
images programmed on the boards are all .bin files now
which do not include symbols.
2011-05-08 12:40:29 -04:00
Stacey Sheldon
465034cf94
bootloaders: always build with debug symbols enabled
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This makes it easier to use gdb to debug issues. This does
not change the -O flags, only makes -g always on and does
not strip the .elf files.
2011-05-08 12:40:28 -04:00
Stacey Sheldon
18ea93119f
build: Add support for BL_Updaters to top-level makefile
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New targets:
- make blupd_all_clean
- make blupd_all
- make blupd_openpilot
- make blupd_ahrs
- make blupd_coptercontrol
- make blupd_pipxtreme
These targets are also included in the 'all_flight' target.
2011-05-08 12:40:28 -04:00
sambas
a2c62d9a1b
Merge branch 'master' of ssh://git.openpilot.org/OpenPilot into OP-378_CheBuzz_INS
2011-05-08 08:44:13 +03:00
elafargue
a2656ed589
Merge branch 'master' into OP-307_Firmware_Description_Packaging
2011-05-08 00:08:09 +02:00
Stacey Sheldon
2301600f11
Make missing definitions for essential macros more obvious
2011-05-07 18:05:50 -04:00
Stacey Sheldon
7e99419c8a
build: Add support for %.bin.o generation
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The .bin.o rule places the contents of a raw .bin file
into an .o file wrapped within fixed symbols for start
and end. This can be used to embed a binary file inside
of an executable.
The symbols for the embedded binary blob are:
_binary_start
_binary_end
_binary_size
NOTE: The way the .bin.o rule is currently written, you
can only embed one binary blob in an executable since the
symbol names will collide if you add multiple blobs. This
limitation is easily removed later if necessary.
2011-05-07 18:05:50 -04:00
Stacey Sheldon
58a2c71532
line-end changes only
2011-05-07 18:05:50 -04:00
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
8e06eb3162
Get the "IDLE_NO_LOAD" level closer for CC with optimizations on, but it would
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be great if someone actually calibrated this for me!
2011-05-07 15:07:14 -05:00
James Cotton
10e55c25bc
OP-475: More changes to get the FlightStatus object to work for Armed and
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FlightMode
2011-05-07 15:06:04 -05:00
James Cotton
80c839d5bb
OP-475: Starting to use the new FlightStatus object
2011-05-07 13:17:21 -05:00
James Cotton
ae841d57cb
OP-475: New FlightStatus object. Removed from ManualControlCommand. Won't
...
build yet.
2011-05-07 12:45:35 -05:00
James Cotton
e2819c6815
Restructure the ManualControlCommand code to be much more readable. Also
...
facilitates the new FlightMode object.
2011-05-07 12:43:27 -05:00
sambas
454e8a1540
ins bootloader fixes
2011-05-07 18:36:21 +03:00
sambas
d61f3d4d94
Merge branch 'OP-378_CheBuzz_INS' of ssh://git.openpilot.org/OpenPilot into OP-378_CheBuzz_INS
2011-05-07 18:26:12 +03:00
James Cotton
d1fb254a41
Merge branch 'master' into bugfix-flight
2011-05-07 06:56:54 -05:00
James Cotton
d3247c9946
Remove unused code from coptercontrol.c
2011-05-07 06:56:20 -05:00
James Cotton
fef1e2dc2e
Merge remote-tracking branch 'origin/OP-174_Sambas_BaroAlt_to_ETOSD'
2011-05-07 04:41:13 -05:00
elafargue
98c38a4e5e
Bugfix
2011-05-07 09:25:27 +02:00
elafargue
a216d050ab
Prototype 'version blob' python script to generate a binary description file to append to end of firmware before uploading.
2011-05-06 21:46:36 +02:00
Corvus Corax
5f749dda7e
Modules/ManualControl: bugfix GCS Control was broken due to connection state and arming being checked outside of the "object_writable()? {}" if clause
2011-05-06 01:26:34 +02:00
Corvus Corax
39a9087c98
Merge branch 'master' into bugfix-flight
2011-05-06 00:29:31 +02:00
James Cotton
7e418866be
Update the AttitudeSetting object to make the board rotation more human
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readable and update the GCS fields appropriately.
2011-05-05 13:04:56 -05:00
Corvus Corax
59dd0637a3
PiOS_posix: Add support for pios_debug API, to allow building of GPS module in x86 environment
2011-05-05 14:57:30 +02:00
James Cotton
dd36192e37
Merge branch 'bugfix-flight'
2011-05-05 00:36:55 -05:00
James Cotton
93d8449814
OP-474: When throttle < 0 and "spin while armed" mode enabled don't take into
...
account stabilization or stick - stay at neutral
2011-05-05 00:32:15 -05:00
James Cotton
21a71e5294
Merge branch 'master' into spin_while_armed
...
Added back the "Spin arming" button to output panel and made it work
Conflicts:
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
ground/openpilotgcs/src/plugins/config/output.ui
2011-05-05 00:23:51 -05:00
James Cotton
05684e966b
OP-470: Make arm/disarm threshold 50% instead of 90%
2011-05-04 22:53:00 -05:00
James Cotton
7e98bb42c9
OP-462: Patch from OS to override the debug flag for bootloaders
2011-05-03 12:54:11 -05:00
James Cotton
401a989c63
OP-474: Add option to ActuatorSettings to allow people to request their propellers always spin an neutral when armed (I don't recommend this).
2011-05-03 00:08:39 -05:00
James Cotton
9daca1ac41
OP-469: Wasn't paying attention and missed a line
2011-05-02 22:22:57 -05:00
James Cotton
2e552f767e
OP-469: Wasn't paying attention and missed a line
2011-05-02 22:22:16 -05:00
Corvus Corax
8d8144f233
OP-441 Prevent double alarm set ( setFailsafe() already sets alarm to CRITICAL )
2011-05-02 18:00:12 +02:00
James Cotton
9afedc0139
OP-469: Fix a bug I wrote where MaximumRate instead of ManualRate was used to
...
scale sticks in rate mode.
2011-05-02 04:33:32 -05:00
James Cotton
d9221fac06
Merge remote-tracking branch 'origin/OP-452_InputConfiguration'
2011-05-02 03:40:59 -05:00
James Cotton
1f36e00287
Merge remote-tracking branch 'origin/OP_442_OP_437_PT_Dreamer'
2011-05-02 03:34:09 -05:00
David Carlson
341dbd7ad9
Change blink rate to Hz rather than 1/2 Hz. As per comments in review OPReview-18.
2011-05-02 00:50:42 -07:00
David Buzz Carlson
edd5ad8a78
Update Stat LED blink rate when armed to 5 Hz from its current 1 Hz. This allows a more drastic change in LED behavior to highlight that the aircraft WILL NOW CUT YOUR FINGER OFF IF YOU DON'T RESPECT IT!!
2011-05-02 00:50:42 -07:00
David Buzz Carlson
c93ab7e723
Change CC, OP MB, and AHRS to use bootloader by default.
...
Also change AttitudeActual to update at 10Hz rather than 2 Hz. The increased bandwidth is minimal and the resulting "polish" that it adds to the look-and-feel of the GCS is signifcant.
2011-05-02 00:50:42 -07:00
zedamota
5dd8a3eea2
Fix a silly mistake on the CC erase_flash compile flag.
2011-05-01 20:10:27 +01:00
elafargue
6b00ed3866
NACKs implemented on both ground and flight side, connect time goes under a few seconds now.
2011-04-30 19:32:42 +02:00
zedamota
3d209f2166
Fix to erase option. Erase must be performed after board initialization.
2011-04-30 14:17:44 +01:00
James Cotton
62e3d35a97
OP-452 Read the channel times even if a bad mixer is configured
2011-04-29 17:57:04 -05:00
zedamota
8dd46e1465
Should fix the CC showing as OP.
...
Added a compile flag to make a CC fw version that will erase flash.
Signed-off-by: zedamota <josembarros@hotmail.com>
2011-04-29 23:38:26 +01:00
zedamota
6172e45c0d
Should fix CopterControl showing as Openpilot on DropDown box.
2011-04-29 21:42:59 +01:00
zedamota
1cc152b4dd
More cleaning, moved stopwatch files to library folder, code formatting.
2011-04-29 20:48:13 +01:00
zedamota
3132de4e48
Fixes download being slow issue. Made some cleaning also
2011-04-29 19:22:21 +01:00
Sambas
2413fd451f
OP-174 ET OSD: barometric altitude works now, units must be set metric with E-Logger
2011-04-29 19:08:28 +03:00
James Cotton
5f776f0b58
Merge branch 'master' into OP-439_CorvusCorax_Bootloader-Makefile-and-OpenOCD-config-for-Linux
2011-04-27 23:41:35 -05:00
James Cotton
819bc9d441
Merge branch 'master' into OP-430_Ligi_UAVTalk-Code-Review
2011-04-26 12:49:32 -05:00
Corvus Corax
8c7f3e2720
OP-435 #ifdef covered one command too many - bugfix
2011-04-25 18:37:28 +02:00
Corvus Corax
eb9ccc2f9b
OP-383 Review 11 : Removed commented out unused variables as directed by review
2011-04-25 16:36:23 +02:00
Corvus Corax
cdb6b65e64
Merge branch 'master' into OP-383_Edouard_CPUSerial_in_FirmwareIAP
2011-04-25 02:36:44 +02:00
James Cotton
69d03ca101
OP-439: Simplify further. Abstract most of the OOCD flags into the common
...
firmware include and delete all the extra foss-jtag config files. There is now
a legacy file for the revA board a second for AHRS that changes the port
2011-04-24 10:19:00 -05:00
Corvus Corax
ee7179bd53
OP-439 unified OpenOCD config for mac os x and Linux, Makefiles adapted accordingly
2011-04-24 12:10:33 +02:00
marcus bueschleb
06ac71b784
do not force telemetry update when alarm is changed - this was bypassing the MetaData of the UAVObject and seem to be a relict from times where no metadata existed - now doing it the MetaData way with onchange as updatemode - see http://forums.openpilot.org/topic/4208-systemalarms-bypassing-updatemode-from-metadata/ and OP-431
2011-04-24 03:43:05 +02:00
Corvus Corax
5d952f81e3
PIOS: BL_HELPER: refactored function names
2011-04-23 21:11:17 +02:00
Corvus Corax
150464344d
BL_HELPER: call CRC_Ini() from within CRC check function
2011-04-23 20:55:21 +02:00
Corvus Corax
0a05896146
CopterControl: Added dependency: pios_bl_helper
2011-04-23 19:56:48 +02:00
Corvus Corax
357bc369db
PIOS: Bootloader Helper functions should sit in HAL, not duplicated in every single architecture.
2011-04-23 19:40:41 +02:00
Corvus Corax
192e31986d
PIOS, Modules/FirmwareIAP: Use correct HAL for CPU serial
2011-04-23 18:30:32 +02:00
Corvus Corax
2bf7ea2271
Modules/GPS: Make code to deal with home location optional to allow a sleeker GPS module for RAM challenged systems
2011-04-23 16:49:07 +02:00
David Buzz Carlson
876ca3044c
Added EKF code. Most of this was bulk copy and paste from the AHRS, so a lot of verification needs to take place. Grabbing sensor data remains untested.
2011-04-20 03:37:50 -07:00
marcus bueschleb
b7eba1f9b9
made all periods unsigned
2011-04-20 12:33:16 +02:00
elafargue
e4112e210f
Reduce size of FirmwareIAPObj to 40 bytes: only takes the 40 first bytes of the firmware description, ignores the rest. Makes the FWIAP UAVObject more decent size-wise, and does not break USB TX anymore.
2011-04-19 20:45:49 +02:00
elafargue
45e92d654e
Implemented support for the Unique STM32 CPU serial number in the firmwareIAP object.
2011-04-19 00:31:20 +02:00
corvus
08eabd21e4
Fixed files with mixed line endings
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3168 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-15 12:03:20 +00:00
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
edouard
08b154590d
Correct a typo in the CC bootloader USB descriptor define file (in the comments)
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3164 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-14 21:35:09 +00:00
edouard
1f88b7f5aa
Remove obsolete README files. Obsolete and actually misleading...
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3163 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-14 21:00:40 +00:00
chebuzz
06443b4281
OP-378 - OP/INS - Add initial support for INS. HMC5883, BMP085, BMA180, IMU300 all added. Throrough verification has not been done on any of them. main() simply calls self-test functions on all of the hardware.
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AHRS_comms still needs to be implemented. INS/GPS functionality still needs to be implemented. Double-check of the new drivers still needs to be done.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3162 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-14 12:46:39 +00:00
chebuzz
7fcde2f248
OP-377 PiOS/BMP085 Update BMP085 driver to be FreeRTOS agnostic
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3161 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-14 09:53:04 +00:00
chebuzz
195e93c0d6
OP-377 PiOS/BMP085 - Update BMP085 driver to be FreeRTOS agnostic. This is required since new INS does not run FreeRTOS.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3160 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-14 09:46:23 +00:00
zedamota
a893cd99da
flight - Linux Eclipse Workspace - cleaned the workspace.
...
This file is exactly the same used in the video published on the wiki
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3159 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-12 13:03:37 +00:00
peabody124
99c00fb9fe
Revert changes to AHRS Makefile. Need to keep DEBUG=NO.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3155 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-11 18:47:36 +00:00
sambas
3b9e762b69
OP-22 Flight/PiOS: Spektrum bugfix, for other than DX7
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3154 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-11 13:42:32 +00:00
jonathan
9f5c393672
OP-191: Add svn:eol-style property for native line endings on checkout;
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Add (temporarily disabled) hooks for the rotational misalignment between the accelerometer and magnetometer.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3151 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-10 18:37:32 +00:00
jonathan
c70e134cf8
Add helper function for converting an Euler rotation vector to a rotation matrix
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3150 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-10 18:33:30 +00:00
pip
33d9d31082
Modified manual control input value checking to determine RC connection state - was previously checking only the throttle channel for semi-valid input range, it now checks the Throttle, Roll, Yaw and Pitch channels for full-valid values (manual value is within min and max values).
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3146 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-10 14:00:46 +00:00
dankers
d285dc6a46
Remove my old Eclipse workspace, Jose is handling these from now on.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3138 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-10 00:17:16 +00:00
zedamota
1d4eb11c0e
flight - don't know why but after I commit this file under windows and try using it on Ubuntu it messes the workspace, this time I'll try to commit in nix
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3137 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-09 22:36:46 +00:00
zedamota
3f15b71755
flight - updated eclipse workspace files
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3136 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-09 18:27:19 +00:00
sambas
dabc33c71c
OP-22 Flight/PiOS: fix for 11ms framerate, Spektrum supervisor timer must have atleast one interrupt between frames
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3134 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-09 14:51:39 +00:00
sambas
cdfbf8614c
OP-22 Flight/PiOS: Spektrum parser handles all known TXs, or atleast should. Test it well before sending aircraft to the sky.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3133 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-09 14:17:23 +00:00
ligi
c9f9400d75
unify the style rxbytes are assembled & remove the need for a tmp-buffer
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3131 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-09 04:26:25 +00:00
zedamota
7b1d87475a
Flight - Commited Linux Eclipse working workspace. A usage "movie" will follow soon.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3126 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-07 13:54:45 +00:00
corvus
8a49dbb6ab
OpenPilot_posix: Added ENABLE_QUATERNION_STABILIZATION define
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3116 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-04-01 15:14:33 +00:00
corvus
da76192e47
Modules/Guidance: Bugfix in Position-Hold code
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3112 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-31 20:08:14 +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
48c20d37a9
OP-349 CC-32: Added a Completed operation that is returned after successful
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save or load
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3093 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-28 19:16:50 +00:00
peabody124
bd5925d526
CC-35: Separate term for CC yaw bias rate and others
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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
peabody124
4120937391
OP-364 OP-191: Convert the OPMap setting of HomeLocation to mGau to match the
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changes in flight code
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3083 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-28 10:40:26 +00:00
peabody124
3fc88f69e2
Covering a case that should not occur
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3081 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-26 21:02:43 +00:00
edouard
bce3d21a0f
Fix FirmwareIAP module, as it failed to reset the board if the object was queried before for other purposes.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3080 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-26 12:00:08 +00:00
peabody124
e262e3c220
Convert outer position controller to PI
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3077 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-26 11:40:33 +00:00
fredericg
662a3e5cc8
OP-361 Also parse ZDA message in order to get GPS time info with new GTOP FW
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3074 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-26 11:13:11 +00:00
peabody124
eafcf35fa6
Reenable position hold
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3072 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-25 20:17:31 +00:00
edouard
f19b0efc6f
CC-40 Implemented support for FirmwareIAP on Coptercontrol: you can now use the "Halt" command on the uploader gadget.
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3070 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-25 13:50:13 +00:00
chebuzz
2e5863281c
CC/Stabilization - Fix attitude bias not being applied over all sampled quantities
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3065 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-24 17:12:04 +00:00
fredericg
b37dd770d2
Use attitudeActualData.Yaw for course
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3064 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-24 10:56:20 +00:00
peabody124
487b039229
Earlier patch broke coding conventions for line endings
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3062 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-22 12:47:15 +00:00