James Cotton
53ca934b2b
Merge branch 'heli_stabilization'
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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
Mathieu Rondonneau
d38f6167e3
OP-423:
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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
a8787ee015
bootcfg: Add support for selecting S.Bus receivers in inputtype
2011-07-06 22:38:23 -04:00
Stacey Sheldon
d9aac892a9
hwsettings: Cosmetic change of SBUS to S.Bus in UAVObject
2011-07-06 22:37:17 -04:00
Stacey Sheldon
cba0985f26
hwsettings: UAVObject to select hardware runtime hw config
2011-07-05 22:02:37 -04:00
James Cotton
ad8876c62a
OP-193: Weak leveling variant on rate mode. Slowly will return to level.
2011-07-04 20:44:55 -05:00
James Cotton
a7206361d2
Slightly different way to respond to sticks in axis lock that is much more
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responsive and avoids overshoot.
2011-06-26 21:59:54 -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
eb3f3d790f
Zero during arming on by default since we're changing these objects
2011-06-24 10:38:26 -05:00
James Cotton
038f955cb1
OP-410 OP-333: Axis lock (heading hold) implemented
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
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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
373689207a
Add a 1-tap IIR filter into the gyros in the feedback path. This will make the
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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
Mathieu Rondonneau
3677521168
Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint
2011-06-24 06:48:10 -07:00
Oleg Semyonov
dc651b6604
Merge remote branch 'origin/OP-532_Heli_GUI_Improvements'
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WARNING: this will wipe out system settings. Don't forget to export
settings first with old GCS and import using new GCS after upgrade.
2011-06-24 10:05:54 +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
James Cotton
0f2e4730b4
Merge remote-tracking branch 'origin/OP-530-PT_Dreamer'
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Note this requires redoing the mixer settings!
Conflicts:
shared/uavobjectdefinition/mixersettings.xml
2011-06-20 14:08:08 -05:00
Mathieu Rondonneau
b67a38661e
OP-423: merge master into that branch, resolve conflicts and test with CC and bl_CC
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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
Andrew Thoms
5c5a07b101
OP-532 Updated GUI config data definition, UI, and implemented three
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sliders in mixer generation code
2011-06-16 00:09:27 -04:00
Andrew Thoms
31339e0414
OP-532 Modified system settings UAVObject to have GUI config data
2011-06-13 21:39:47 -04:00
Mathieu Rondonneau
7598e898fa
OP-423 Step-1: split system stack and implement water mark for IRQstack:
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- 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
Oleg Semyonov
f766642f0d
Merge branch 'master' into heli_improvements
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Conflicts:
shared/uavobjectdefinition/manualcontrolsettings.xml
2011-06-09 10:11:27 +03:00
zedamota
dcccae7270
Change throttle default max value to 0.95 on multis
2011-06-08 18:21:29 +01:00
James Cotton
5aa8224181
Merge branch 'bugfix-flight' of ssh://git.openpilot.org/OpenPilot into bugfix-ground
2011-06-08 12:02:52 -05:00
dankers
0b59c34afb
Change Accel kP default to 0.03
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Lots of testing with this but would like more thoughts as well.
2011-06-09 00:47:09 +10:00
James Cotton
bdc9094975
OP-493 OP-505 OP-511: Make up to 6 accessory channels so some can go from
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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
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
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Mixing channel now works. However Accessory desired instances do not show up
in GCS.
2011-06-05 15:38:58 -05:00
James Cotton
468b7b562d
OP-493: Small bug in default value for Curve2Source
2011-06-05 15:38:57 -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
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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
Corvus Corax
54d9977eb1
auxillaryControl
2011-06-05 15:38:30 -05:00
James Cotton
483deb2bfc
Changed the default values for manual control settings to none to avoid
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problems with channel mappings being different by brand.
You will need to recalibrate your transmitter.
2011-06-05 11:01:00 -05:00
James Cotton
1c621fa4d7
OP-508: Make rotation fields int16 instead of int8 to allow +/- 180
2011-05-28 20:33:42 -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
dankers
f967714ad1
reduce defaults based on feedback and testing
2011-05-15 23:49:08 +10:00
dankers
67f084a9e1
Amazing how badly it flies with just missing one full stop
2011-05-15 06:19:32 +10:00
dankers
84e09031a7
Faster attitude calc, be much more aggressive with working out bias.
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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
4ec0263dfc
OP-476: If AttitudeSettings.ZeroDuringArming is true, then while arming (1
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second) it will speed up the estimate of gyro bias.
2011-05-07 15:29:21 -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
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build yet.
2011-05-07 12:45:35 -05:00
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
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
David Buzz Carlson
c93ab7e723
Change CC, OP MB, and AHRS to use bootloader by default.
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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
James Cotton
819bc9d441
Merge branch 'master' into OP-430_Ligi_UAVTalk-Code-Review
2011-04-26 12:49:32 -05:00
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
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
