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Author SHA1 Message Date
James Cotton
ccbbda1b51 Make default tuning mode Attitude to make it easier on people like me :) 2012-08-03 12:41:00 -05:00
James Cotton
f3dc2dc2ad Store 180 deg in flash now and even make the flash and ram version share a 
lookup method.  Still don't get the same results.
 2012-08-03 12:31:15 -05:00
PT_Dreamer
d043d53a3d Merge branch 'pt/boardbased_ui_limits' of ssh://git.openpilot.org/OpenPilot into pt/boardbased_ui_limits 2012-08-03 18:16:50 +01:00
James Cotton
9f3c8dddd3 Add a version of the sin lookup table that is in ram instead of flash 2012-08-03 12:15:57 -05:00
PT_Dreamer
4d19062059 Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into pt/boardbased_ui_limits 2012-08-03 18:14:51 +01:00
James Cotton
490955dbea Use cos_lookup instead of sin_looup(x+90) 2012-08-03 11:34:05 -05:00
James Cotton
3982ad0046 Enable AUTOTUNE by default for CC 2012-08-03 09:37:47 -05:00
James Cotton
fc2f8376bc Prevent an alarm from ManualControlCommand when using autotuning mode. 2012-08-03 09:37:47 -05:00
James Cotton
50c7641162 Move the PID methods into a standalone library 2012-08-03 09:37:46 -05:00
James Cotton
2723ff4be3 Factor the virtual flybar code out of the stabilization module 2012-08-03 09:37:46 -05:00
James Cotton
aae0e562c6 Create a sine lookup table that is cached in flash and make relay tuning start 
ot use this.
 2012-08-03 09:37:46 -05:00
James Cotton
924c91ce1e Fix mistake from previous merge with duplicate the STABILIZATIONOMDE_ATTITUDE 
case
 2012-08-03 09:37:46 -05:00
James Cotton
8565dfbcc3 Factor the relay tuning out of the main stabilization.c file into it's own 
tool.
 2012-08-03 09:37:46 -05:00
James Cotton
ee4bb84e36 Fix: Increase teh memory for autotune back to 1024 which leaves 100 free. 2012-08-03 09:37:46 -05:00
James Cotton
561cf994b0 Reduce the memory footprint of the sin lookup table by using sin(x+pi) = 
-sin(x).  Still just needs to move into flash and have some options about
precision when in its own library function.
 2012-08-03 09:37:46 -05:00
James Cotton
652647fc87 Make autotuning module optional 2012-08-03 09:37:46 -05:00
James Cotton
d0ef95ff9a Fix idiotic bug in the stab_refactor 2012-08-03 09:37:46 -05:00
James Cotton
c3df203d7c Make the autotune UI allow recomputing the values based on the measured system 
properties.
 2012-08-03 09:37:45 -05:00
James Cotton
2ccd6605a4 Now the stabilization refactor is in we can make swapping between tuning the 
system in rate or attitude mode software configurable.
 2012-08-03 09:37:45 -05:00
James Cotton
24d9e50c08 Based on the selected behavior either apply or save the stabilization settings 2012-08-03 09:37:45 -05:00
James Cotton
28539a80d1 Change default tuning settings 2012-08-03 09:37:45 -05:00
James Cotton
7ea14ecc22 Track the output gain instead of amplitude so the measured values are 
consistent if the settings are changed afterwards.
 2012-08-03 09:37:45 -05:00
James Cotton
5c00451c9e Remove unused value field from the relaytuning object 2012-08-03 09:37:45 -05:00
James Cotton
52ffec0be4 Increase the initial tuning amplitude to 0.15 2012-08-03 09:37:45 -05:00
James Cotton
dfd1aceb06 More work on autotune from GCS 2012-08-03 09:37:45 -05:00
James Cotton
c365a9c7ff Add stub for the autotune configuration widget 2012-08-03 09:37:45 -05:00
James Cotton
17878b32f3 Make autotune run within an attitude loop instead of direct rate mode. Easier 
for beginners.
 2012-08-03 09:37:44 -05:00
James Cotton
48362f56f6 Enable autotune as an optional CC module 2012-08-03 09:37:44 -05:00
James Cotton
a9af53b4f3 Create new autotuning module which rotates through the axes for autotuning and 
then computes new stabilization settings.
 2012-08-03 09:37:44 -05:00
James Cotton
44e72d0a70 A big refactoring of stabilization.c to get rid of the two separate loops and 
move them into one big structure.  This makes it easier to implement other
modes.
 2012-08-03 09:37:44 -05:00
James Cotton
e01c5d5f87 Get online estimation of period and amplitude working 2012-08-03 09:37:44 -05:00
James Cotton
4ac8df6aa8 Make the system perform an online estimate of the period and amplitude of the 
oscillation during relay tuning
 2012-08-03 09:37:44 -05:00
James Cotton
17a0d3ebb4 Add a relay stabilization mode 2012-08-03 09:37:44 -05:00
James Cotton
9ce7d9b4ac Add UAVOs for relay tuning 2012-08-03 09:37:44 -05:00
James Cotton
c1a0f176eb Merge branch 'master' into next 2012-08-03 09:37:22 -05:00
James Cotton
dafc455bfa Increase the manualcontrol stack size based on Stac's comments 2012-08-03 09:36:59 -05:00
James Cotton
6948f1dc41 Merge remote-tracking branch 'origin/master' into next 
Conflicts:
	package/winx86/translations/strings_de.nsh
 2012-08-03 09:35:18 -05:00
PT_Dreamer
352f18bec0 GCS-Allow for more than 1 limit per index 2012-08-02 23:56:02 +01:00
Laura Sebesta
3e23163dde Improved static and update behavior. 2012-08-02 20:21:29 +02:00
James Cotton
4233c7da0d Forgot to initialize the fields for metadata 2012-08-02 13:08:47 -05:00
James Cotton
62bb4601c5 Finish porting the meta data changes from GCS and update all the UAVOs 2012-08-02 12:49:34 -05:00
Kenz Dale
3e4f2e21ce Added context menu for switching UAV text output off. 2012-08-02 19:13:54 +02:00
James Cotton
1a63c21be9 First step to fixing metat data representation for android 2012-08-02 11:04:35 -05:00
PT_Dreamer
cb26100d65 GCS - Dummy commit to see if crucible notices this branch 2012-08-02 16:48:37 +01:00
James Cotton
574c2000b6 Lower all the debugging levels again 2012-08-02 10:40:41 -05:00
James Cotton
02f9452193 Update fake telemetry object 2012-08-02 10:40:41 -05:00
James Cotton
e9964668be Update objects and delete old UAVObjects 2012-08-02 10:40:40 -05:00
James Cotton
aa99433310 Fix an insidious bug in the Android UAVObjectField unpack method for enums that 
was exposed by shuffling field orders.  There goes 5 hours, FML.
 2012-08-02 10:40:40 -05:00
James Cotton
beb75f22cf Remove the TCHAIN_PREFIX flag from the OSX Makefile. No clue how that got 
merged in.
 2012-08-02 10:40:40 -05:00
James Cotton
3bcfeca77c Enable some debugging statements 2012-08-02 10:40:40 -05:00