James Cotton
574ab3fcaa
Make the VtolPathFollower an optional module
...
Note that RTH mode right now checks that throttle control is enabled, but this
should only occur if the system is a VTOL.
2012-06-08 10:46:38 -05:00
James Cotton
f5b2575c88
Merge branch 'next' into revo
...
Conflicts:
flight/PiOS/Boards/STM32F4xx_Revolution.h
flight/Revolution/System/inc/pios_config.h
package/Makefile
2012-06-07 12:45:06 -05:00
James Cotton
7b8110a457
Merge branch 'MikeL' into next
2012-06-07 11:31:41 -05:00
Corvus Corax
720ae43a5e
Modules/GPS: Fixed NMEA parser to still update GPSPosition in case of errors, but with error flagged.
2012-06-07 11:21:00 -05:00
James Cotton
1972470dcb
Manualcontrolcommand needs a bit more stack space now
2012-06-07 10:07:52 -05:00
James Cotton
c689bcfb80
Merge remote-tracking branch 'origin/Brian-PipXtreme-V2' into revo
2012-06-07 09:49:18 -05:00
Sambas
50ed363330
Axislock as default for VtolPathFollower
2012-06-07 17:42:51 +03:00
Brian Webb
861bcc46fe
Fixed RSSI reporting on PipX.
2012-06-06 21:14:31 -07:00
James Cotton
5e01617cbd
Merge branch 'next' into MikeL
...
Conflicts:
ground/openpilotgcs/src/plugins/config/airframe.ui
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
ground/openpilotgcs/src/plugins/config/configoutputwidget.h
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
2012-06-06 11:58:06 -05:00
Brian Webb
5876df250d
Improved lockups on dropped packets.
2012-06-05 21:10:32 -07:00
Brian Webb
0bc3c5061f
Fixed PipX connection status reporting.
2012-06-05 19:34:19 -07:00
Brian Webb
4e68f6543e
Added tracking of dropped packets to PipX and turned off visible text on signal strength meters.
2012-06-04 21:18:13 -07:00
Brian Webb
25fe50e9b1
Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2
2012-06-04 18:26:05 -07:00
Mike LaBranche
0ba8345c51
Merge branch 'next' into MikeL
...
Conflicts:
flight/Bootloaders/Revolution/inc/pios_config.h
flight/Modules/OveroSync/inc/overosync.h
flight/Modules/Sensors/inc/sensors.h
flight/PiOS/Boards/STM32F4xx_Revolution.h
flight/PiOS/STM32F4xx/pios_iap.c
flight/Revolution/System/inc/pios_config.h
ground/openpilotgcs/src/plugins/config/config.pro
ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
2012-06-04 16:59:31 -07:00
Mike LaBranche
bf591ebe45
Merge branch 'next' into MikeL
...
Conflicts:
flight/Bootloaders/Revolution/inc/pios_config.h
flight/Modules/OveroSync/inc/overosync.h
flight/Modules/Sensors/inc/sensors.h
flight/PiOS/Boards/STM32F4xx_Revolution.h
flight/PiOS/STM32F4xx/pios_iap.c
flight/Revolution/System/inc/pios_config.h
ground/openpilotgcs/src/plugins/config/config.pro
ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
2012-06-04 15:38:57 -07:00
James Cotton
0b828fbdd0
Merge branch 'next' into revo
...
Conflicts:
Makefile
2012-06-04 14:12:19 -05:00
James Cotton
ff0a3a156e
Merge remote-tracking branch 'origin/os/AeroSimRC' into next
2012-06-04 12:25:59 -05:00
James Cotton
ed2fb5cb09
Merge branch 'next' into revo
2012-06-04 12:23:58 -05:00
James Cotton
46a52fc5ce
Apply the virtual flybar stick scaling in stabilization.c because we need to
...
know the true stick position to dampen the gyros appropriately.
2012-06-04 12:22:39 -05:00
James Cotton
bda3f301cb
Rename VBar mode to VirtualBar
2012-06-04 12:22:39 -05:00
James Cotton
4c562b88d1
Make the amount to suppress the gyros adjustable instead of binary
2012-06-04 12:22:39 -05:00
James Cotton
59972d5570
Limit the number of degrees the vbar can deflect. This is good for fast flips
...
etc.
2012-06-04 12:22:39 -05:00
James Cotton
42ac4018b8
Woops. Fix really nasty bug in vbar mode I introduced. Also fix small bug in
...
scoping of gyro gain that made it not work.
2012-06-04 12:22:39 -05:00
James Cotton
6719ee8639
Add piro compensation option to the vbar mode
2012-06-04 12:22:39 -05:00
James Cotton
3283b99d4e
For hardcode flipping allow full stick to completely override the gyro
...
feedback.
2012-06-04 12:22:39 -05:00
James Cotton
fe978504bc
Add friendly settings for the vbar mode including the VbarTau which acts like
...
the time constant.
2012-06-04 12:22:39 -05:00
James Cotton
ff1b1a93cf
Implement a virtual flybar in a way inspired by behavior of Align 3G which
...
seems apply a leaky integrator to the swash angle. This is the similar to what
is done by Phubar (http://code.google.com/p/phubar/ ) as well although we refer
to the gyro term as the proportional and the flybar angle as the integral
2012-06-04 12:22:38 -05:00
James Cotton
1b55df733d
Create virtual flybar setting for stabilization modes
2012-06-04 12:22:38 -05:00
James Cotton
daaa661080
Turned "Battery" into an optional module. It otherwise prevents flying if no voltage sensor is installed.
...
Conflicts:
shared/uavobjectdefinition/hwsettings.xml
2012-06-04 10:50:45 -05:00
Corvus Corax
78857cefaa
Turned "Battery" into an optional module. It otherwise prevents flying if no voltage sensor is installed.
2012-06-04 17:31:45 +02:00
James Cotton
b11b606ddc
Fix RTH mode. Now works in simulation when GCSReceiver goes invalid.
...
There is a small issue that when it is in RTH failsafe mode and you regain
signal and your throttle is low you will disarm due to the timeout. That
means you'd suddenly get it back and plumet ouf of the sky. If you are
still holding throttle (which most people might do?) you will have control.
The timeout needs to probably start when you regain signal.
2012-06-04 10:25:43 -05:00
James Cotton
10aa31a57f
When ManualControlSettings.FailsafeBehavior is set to RTH and no valid input is
...
detected and the aircraft is armed enter RTH mode.
2012-06-04 09:48:05 -05:00
James Cotton
21eb48c58c
Add a RTH flight mode and remove it from the waypoint actions as that is
...
redundant with flying to (0,0,0)
2012-06-03 22:14:11 -05:00
James Cotton
9707c6152a
Merge remote-tracking branch 'origin/Brian-PipXtreme-V2' into revo
2012-06-03 19:13:01 -05:00
James Cotton
71e14a691e
Merge branch 'next' into revo
2012-06-03 19:00:51 -05:00
James Cotton
e341a37bd1
Need to add a small delay after save for the load to work correctly. Odd.
2012-06-03 17:26:10 -05:00
Brian Webb
36f62be3b9
Fixed packet error detection and improved RSSI reading.
2012-06-03 10:07:08 -07:00
Corvus Corax
be72d24c5f
Attitude: Fixed calculation for baro offset adjustment time
2012-06-03 09:52:24 -05:00
Corvus Corax
b06b51f1b2
Revolution/Attitude: Added offset calculation for barometric altitude
2012-06-03 09:52:14 -05:00
James Cotton
c892a28970
Fix firmware to work with new usage of the action waypoint field
2012-06-03 09:36:21 -05:00
Corvus Corax
f75134c6d5
Merge branch 'corvuscorax/fix-baroaltitude-offset' into revo-next
2012-06-03 12:31:30 +02:00
James Cotton
4ad23864c8
Treat the waypoint action as something to do once you hit that location. (e.g.
...
PathToNext) and add a Stop value to indicate not to advance to the next
waypoint. This is essentially a perament loiter to the pathfollower (I think)
but it's really just to have the ability to "delete" waypoints.
2012-06-02 18:40:53 -05:00
Corvus Corax
88f69daf64
Merge remote branch 'origin/corvuscorax/portugal_backports' into revo-next
2012-06-02 22:44:13 +02:00
Corvus Corax
ab28686976
Merge branch 'corvuscorax/new_navigation' into revo-next
2012-06-02 22:30:44 +02:00
Sambas
e7155e279f
bugfix
2012-06-02 21:19:55 +03:00
James Cotton
25f85ee4fe
Add an error flag to ObjectPersistence and when saving a setting make it verify
...
that the data reads successfully.
2012-06-02 10:23:27 -05:00
Sambas
06a814c8a9
Fixing most warnings from osd fw
2012-06-02 15:52:38 +03:00
Sambas
d6216cf02b
Graphic features and cleanup
...
osdinput module back to irq based usart
2012-06-02 12:46:09 +03:00
Corvus Corax
2d3645cb0a
ManualControl: Do not process input channels at all if theres invalid values to prevent flightmode changes due to glitch
2012-06-02 08:41:35 +02:00
Corvus Corax
fed9d98824
Merge commit '84c3705390a072d92bf69b58ae4d72a09989290e' into portugal_backports
2012-06-01 13:06:44 +02:00
Corvus Corax
c9d41e2a23
fixes to INS backported from portugal flight branch
2012-06-01 13:02:26 +02:00
Brian Webb
df8a5f8f27
Changed update period for PPM inputs on the PipX. Fixed LED code.
2012-05-31 18:56:07 -07:00
Corvus Corax
a786c6e6b9
Attitude: Fixed calculation for baro offset adjustment time
2012-05-31 18:21:20 +02:00
Corvus Corax
f7a2b95167
Revolution/Attitude: Added offset calculation for barometric altitude
2012-05-31 16:41:03 +02:00
Sambas
ed1a4dada6
Merge remote-tracking branch 'remotes/origin/sambas/osd_test_v1' into revo-next
...
Conflicts:
flight/PiOS/STM32F4xx/pios_adc.c
2012-05-30 16:30:09 +03:00
Corvus Corax
298b6233ed
Merge branch 'revo-next' into corvuscorax/new_navigation
...
Conflicts:
flight/Libraries/paths.c
flight/Modules/ManualControl/manualcontrol.c
flight/Revolution/Makefile
shared/uavobjectdefinition/taskinfo.xml
2012-05-30 00:51:52 +02:00
Sambas
7f1e392e83
some graphic fixes and ntsc defines
2012-05-29 17:55:30 +03:00
Brian Webb
9a6fb60dd6
Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2
2012-05-28 20:18:59 -07:00
James Cotton
a89b880609
Fix compilation error on CopterControl because it doesn't support some of the
...
path functionality. These configurations that could result in
updatePathDesired or altitudeHoldDesired being called should result in an error
on startup to block arming.
2012-05-28 20:33:49 -05:00
James Cotton
88cf100430
Merge remote-tracking branch 'revo/amorale/revo' into revo
2012-05-28 20:27:51 -05:00
a*morale
d071491265
removed include for positiondesired.h
2012-05-29 00:56:39 +02:00
a*morale
468e8732f5
Fix for FlightBattertData ConsumedEnergy calculation
2012-05-29 00:55:03 +02:00
James Cotton
1934752d50
Merge branch 'revo-next' into revo
2012-05-28 15:23:14 -05:00
Corvus Corax
1ad2b19d28
PathPlanner: fixed a few failsafes, changed waypointID to int16 - negative jump ids have special meaning
2012-05-28 20:50:09 +02:00
Oleg Semyonov
5739dfbfc8
Merge remote-tracking branch 'origin/next' into os/aerosimrc
...
Conflicts:
shared/uavobjectdefinition/gcsreceiver.xml
2012-05-28 21:46:43 +03:00
Oleg Semyonov
910b465ac6
AeroSimRC: do not update sensor and/or attitude data if read-only flag is set
2012-05-28 19:44:34 +03:00
James Cotton
4360d8adfd
Merge branch 'next' into revo-next
2012-05-28 11:25:40 -05:00
Sambas
147100bc2f
Merge remote-tracking branch 'remotes/origin/revo-next' into osd_test_v1
...
Conflicts:
Makefile
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
2012-05-28 19:06:25 +03:00
James Cotton
8a6073fbaf
Merge remote-tracking branch 'revo/revo-next' into testing
...
Conflicts:
Makefile
flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/task.c
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/port_posix.c
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/tasks.c
flight/Revolution/Makefile
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
shared/uavobjectdefinition/taskinfo.xml
2012-05-28 09:13:26 -05:00
Corvus Corax
089aa54a59
FixedWingpathFollower: Added debug output of error indicators
2012-05-28 14:46:03 +02:00
Corvus Corax
978ab5b96c
Merge remote branch 'origin/stac/etasv3' into revo-next
2012-05-28 12:56:27 +02:00
Oleg Semyonov
f95d29a3b8
TxPID: add GyroTau to the list of parameters (OP-637)
2012-05-28 12:48:55 +03:00
Corvus Corax
e6f4a40d3e
path library: updated API and usage from pathfollowers, added new conditions and additional user feedback in pathstatus
2012-05-28 01:51:17 +02:00
Corvus Corax
634a190d4f
FixedWingPathFollower: Redesigned and tested FixedWingpathFollower
2012-05-27 20:49:07 +02:00
Corvus Corax
ef8d7275a8
PathFollower and PathPlanner: fixes for fixed wing
2012-05-27 02:38:56 +02:00
Corvus Corax
922b3b7f1e
Merge branch 'basenext' into corvuscorax/new_navigation
...
Conflicts:
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
2012-05-27 01:41:51 +02:00
Sambas
599e1b633f
graphic bugfixes
2012-05-26 21:56:54 +03:00
Sambas
36ea394d84
More graphic fixes
...
setting to change screens
2012-05-26 18:39:42 +03:00
Sambas
dfcba097f2
Cleanup and graphical bugfixes
2012-05-26 18:00:36 +03:00
Corvus Corax
9dfd34dd19
PathPlanner: added functions to allow circular paths and implement that feature in FixedWingPathFollower
2012-05-26 15:55:52 +02:00
Sambas
bb40eca695
Big font fix
...
IRQs back to normal
2012-05-26 12:14:10 +03:00
James Cotton
5a6e02a688
Merge remote-tracking branch 'origin/Brian-PipXtreme-V2' into next
2012-05-25 20:37:23 -05:00
Sambas
a9cfc4a0af
*float sprintf
...
*h/v deadbands
2012-05-25 21:12:03 +03:00
Brian Webb
b824c87056
Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2
2012-05-25 06:26:29 -07:00
Brian Webb
701a480f01
Tuning configutation of PipX.
2012-05-24 18:08:29 -07:00
Corvus Corax
79b717b4f7
Fixes to PathFollowers
2012-05-24 23:28:13 +02:00
Sambas
a3b9451bcd
Merged some stuff to make original hardware work better
2012-05-24 20:14:15 +03:00
Corvus Corax
435b494b0c
Merge remote branch 'origin/stac/etasv3' into corvuscorax/new_navigation
...
Conflicts:
flight/Revolution/Makefile
shared/uavobjectdefinition/hwsettings.xml
shared/uavobjectdefinition/taskinfo.xml
2012-05-24 18:55:20 +02:00
Corvus Corax
1ecce5e23b
Merge branch 'basenext' into corvuscorax/new_navigation
...
Conflicts:
Makefile
flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
flight/PiOS.osx/osx/Libraries/FreeRTOS/Source/task.c
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/port_posix.c
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/tasks.c
2012-05-24 18:38:53 +02:00
Corvus Corax
9bdfe68bf5
PathFollower: refactoring (especially fixed wing)
2012-05-24 18:19:52 +02:00
James Cotton
faf3532ad3
Closer on the fonts. Looks great!
2012-05-24 18:25:51 +03:00
James Cotton
b3150500d5
Change the buffers to byte buffers and update most of the drawing code to use
...
it accordingly. Large fonts broken.
2012-05-24 18:25:09 +03:00
James Cotton
9d6dfee6cc
Use memset to clear screen.
2012-05-24 18:20:24 +03:00
Corvus Corax
3a2ae24284
Refactored Guidance to FixedWingPathFollower
2012-05-24 11:13:21 +02:00
Corvus Corax
63cd7b063f
Refactored Guidance to apropriate pathfollower in uavobjects
2012-05-24 11:09:53 +02:00
Corvus Corax
25e21fde73
Renamed Guidanceto FixedWingPathFollower
2012-05-24 10:56:41 +02:00
Corvus Corax
64c1ac3bd6
Stabilization: Bugfix: moved queue initialisation to TaskStart where it belongs
2012-05-22 22:19:31 +02:00
Corvus Corax
48fcf12ef9
ManualControl: fixed new PathPlanner interface to compile on CopterControl stub
2012-05-22 13:29:42 +02:00
Corvus Corax
68fe938016
Implemented new programmable PathPlanner
2012-05-21 21:42:28 +02:00
Corvus Corax
09f25ab11b
Refactorted VTOLPathFollower to fit into new scheme: optional module, reports status and knows advanced FlightModes
2012-05-21 12:10:01 +02:00
Corvus Corax
84a0fd731f
Added ReturnToBase flightmode and correct behaviour in ManualControl
2012-05-21 12:10:01 +02:00
Corvus Corax
6a6eace700
Added forced disarming via systemalarm
2012-05-21 12:10:01 +02:00
Brian Webb
2f1a9e3e7d
Added PPM input to the PipXtreme. Also added configurable GCSReceiver timeout.
2012-05-20 18:30:37 -07:00
Brian Webb
6a7179120d
Fixed setting of PipX description, and changed gcs receiver object to be update on change on flight side so that it works on the PipX.
2012-05-19 09:25:11 -07:00
Brian Webb
c25884bcaf
Cleanup on the PipX branch.
2012-05-18 17:42:25 -07:00
Brian Webb
68d66d4181
Fixed firmware description in PipX status.
2012-05-17 20:35:17 -07:00
Brian Webb
6fbc3339d5
Fixed processing of UAVTalk packets when in transparent com mode.
2012-05-17 18:37:45 -07:00
Brian Webb
44a1663eb9
Fixed transparent comm on PipX.
2012-05-16 19:02:53 -07:00
Brian Webb
7082eda175
Fixed returning status for currently paired modem.
2012-05-15 20:11:52 -07:00
Brian Webb
93ec7c11a6
Fixed race condition on getting packets.
2012-05-15 19:38:14 -07:00
James Cotton
af8d65616e
Comment out some unused variables in the PIOS_ADC structure for now since they
...
were consuming lots of memory. Probably should make a simple adc version that
just queries the line when needed since we are only using this data at 500 ms.
However, the accumulator scheme in place is quite good for averaging over time.
2012-05-15 03:48:32 -05:00
James Cotton
39ce3cea17
Clean up the battery module
2012-05-15 03:08:18 -05:00
James Cotton
0a7f5fd5d3
Enable battery code again
2012-05-15 00:38:11 -05:00
Brian Webb
a3269aaf2f
Reverted some file permission changes.
2012-05-13 14:24:57 -07:00
Brian Webb
68d12b1b2f
Fixed some bugs with setting PairIDs in GCS.
2012-05-13 14:24:00 -07:00
Brian Webb
dd03b0b159
Added reporting of stats from the remote modem.
2012-05-13 09:34:21 -07:00
Brian Webb
ec67742ff6
Added configuration of COM ports on PipX.
2012-05-12 13:16:36 -07:00
James Cotton
46fc5fa4fb
Create a PathPlannerSettings object and move the PathMode setting to there.
...
Also add a (temporary) field to allow storing some custom paths to select on
the fly. Later will be replaced with some code to fetch from the flash chip.
2012-05-12 13:12:57 -05:00
James Cotton
836e34a483
Change revo sensors to update at 500 Hz and make sure in all cases it waits for
...
the relevant queue to provide data. Also disable the quaternion stabilization
flag.
2012-05-12 13:12:56 -05:00
James Cotton
2ca3cde83f
Improve EKF initialization. For some reason we must read an extra mag sample
...
when power up value of attitude algorithm is EKF. I don't understand why the
first mag value is bad.
2012-05-12 13:00:51 -05:00
James Cotton
98655aacc8
Fix initialization of the complimentary filter where it didn't get the right
...
initial dT
2012-05-12 13:00:50 -05:00
Brian Webb
1f5dbcf57c
Mostly complete PipX configuration GUI.
2012-05-11 17:51:18 -07:00
James Cotton
4ec4edd15c
When enabling position hold altitude mode take the throttle from before as the
...
"hover" throttle
2012-05-08 03:12:14 -05:00
James Cotton
2857b58f8e
Migrate path planner from position desired to path desired
2012-05-08 03:04:44 -05:00
James Cotton
37bb2cfb77
Finish getting rid of PositionDesired in favor of PathDesired and add the
...
ability to move the magic waypoint with the transmitter
2012-05-08 02:42:58 -05:00
James Cotton
a8bdd4a44a
Coalescene PositionDesired and PathDesired into PathDesired and add a mode
...
field to indicate how it should be interpreted.
2012-05-08 02:29:58 -05:00
James Cotton
27d1c4be93
Extend list of airframe types for VTOL guidance
2012-05-08 02:29:58 -05:00
James Cotton
cbedb5b53b
Move Guidance to VtolPathFollower to make room for FWPathFollower
2012-05-08 02:29:50 -05:00
James Cotton
0f2c41ac5d
Merge branch 'revolution' into navigation
...
Conflicts:
flight/Modules/ManualControl/manualcontrol.c
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2012-05-07 21:53:10 -05:00
James Cotton
6aa7142f5e
When guidance finds an incorrect airframe, delay 100ms to avoid hammering the
...
alarms
2012-05-07 12:55:35 -05:00
Sambas
dedbbec8f0
Make guidance support my Y6, also caused telemetry/usb RXdatarate go thru the roof (Guidance Warning). Almost impossible to change dataframe type to supported one with clean board.
...
USB interrupt fix.
Heap warning critical sizes backwards.
2012-05-07 12:51:07 -05:00
Oleg Semyonov
a3906aa7ea
Merge remote-tracking branch 'origin/hhrhhr/AeroSimRC_plugin' into os/aerosimrc
2012-05-07 16:09:35 +03:00
James Cotton
a40a0b0e31
Small fix to be able to build CC for Revo branch and to include revo in
...
package.
2012-05-07 01:55:52 -05:00
Brian Webb
454144f46c
Pairing and saving settings working.
2012-05-06 20:47:21 -07:00
Brian Webb
352471857f
Reverted USB configuration and switched all non-blocking COM calls to blocking, which appears to help prevent lockups now that all sends are in a different thread.
2012-05-06 15:07:07 -07:00
Brian Webb
ef4828032b
Fixed failed merge with next.
2012-05-06 12:38:13 -07:00
Brian Webb
480371a43e
Resolving merge with origin/next
2012-05-05 09:53:54 -07:00
Brian Webb
e83fec0463
Merged latest origin/next.
2012-05-05 09:40:44 -07:00
James Cotton
6c0dc80978
Shuffle more stack sizes around
2012-05-05 11:33:47 -05:00
Werner Backes
22df8310c4
Fixed typo in comment
2012-05-05 11:10:53 -05:00
Werner Backes
f52f5b3d83
Don't process RMC sentences that are flaged as 'void'
2012-05-05 11:10:45 -05:00
Werner Backes
6b463e5c9e
Check GGA NMEA sentence for no/invalid fix flag
2012-05-05 11:10:38 -05:00
Werner Backes
217860c187
Check for empty fields during lat/lon conversion (invalid GPS fix)
2012-05-05 11:10:32 -05:00
Brian Webb
44d95003f3
Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2
2012-05-03 17:56:08 -07:00
James Cotton
3155324384
Merge branch 'next' into cc3d
...
Conflicts:
Makefile
ground/openpilotgcs/src/plugins/config/configahrswidget.cpp
shared/uavobjectdefinition/ahrscalibration.xml
shared/uavobjectdefinition/ahrssettings.xml
shared/uavobjectdefinition/attituderaw.xml
2012-05-03 16:31:49 -05:00
Brian Webb
249ededcfd
Added responding to OBJ_REQ and sending ACK/NACK on PipX.
2012-05-02 20:51:29 -07:00
Brian Webb
290acf0398
Fixed watchdog timeouts.
2012-05-01 20:48:35 -07:00
Brian Webb
217aad8c37
Now using read and write threads for both radio and com ports on PipX. Also cleaned up UAVTalk message handling.
2012-05-01 19:14:58 -07:00
Brian Webb
25ffb99cee
Added initialization of flash eeprom for saving settings to PipX.
2012-04-28 19:29:56 -07:00
James Cotton
fb53d5621a
Change the magKp term (hardcoded still) for revo complimentary filter so it
...
tracks magnetic north when homelocation is set.
2012-04-22 19:01:41 -05:00
James Cotton
2890fcdc9f
When in complimentary filter mode use GPSVelocity so event system doesn't have
...
warning.
2012-04-22 19:01:18 -05:00
Brian Webb
aab47d6ed4
Final updates to throttled mode and further memeory reduction in the object manager and event dispatcher to reflect smaller data sizes in metadata.
2012-04-22 14:56:26 -07:00
Brian Webb
ed1937958e
Changed PipX UAVTalkProcessInputStream calls to UAVTalkProcessInputStreamQuiet.
2012-04-22 08:45:01 -07:00
Brian Webb
f726cc6a9d
Added a RTC supervisor timer to RFM22B driver.
2012-04-21 18:31:49 -07:00
Brian Webb
eb6f175af4
Fixed metadata settings in object browswer, and removed update mode never from all uavobjects that used it (changed to manual).
2012-04-21 11:59:14 -07:00
Brian Webb
19166cc830
Added UPDATEMODE_THROTTLED to UAVObjects update modes.
2012-04-18 18:47:13 -07:00
Corvus Corax
1c3dc9c9e1
Airspeed: fixed calculation math - no more zero zone
2012-04-18 14:41:41 +02:00
Corvus Corax
d125abf335
Baro calibration
2012-04-18 10:48:31 +02:00
Brian Webb
62c5036220
Added PipXStatus and PipXSetting UAVobjects and some initial support for them.
2012-04-17 17:36:05 -07:00
Corvus Corax
3da88601a1
Airspeed module works, needs conversion
2012-04-17 20:32:56 +02:00
Corvus Corax
317cff10dd
debug code added - revert this when no longer needed
2012-04-17 18:59:46 +02:00
Corvus Corax
edf26d15e6
Airspeed: some more fixes
2012-04-17 16:38:53 +02:00
Corvus Corax
5159d2029b
new airspeed module - still needs matching PIOS driver from stac
2012-04-17 15:54:05 +02:00
James Cotton
ad074aee4b
Fix nasty bug in guidance where I missed some breaks
2012-04-16 08:59:25 -05:00
James Cotton
a7ba6d96c1
Allow guidance to run purely off raw GPS data
2012-04-15 16:23:34 -05:00
James Cotton
050c756d54
Merge branch 'revolution_path' into testing
2012-04-15 12:34:31 -05:00
James Cotton
4928cbba44
Merge branch 'sim' into testing
2012-04-15 12:34:27 -05:00
James Cotton
59da9deffb
Merge remote-tracking branch 'revo/D-Lite/ubx-parser' into sim
2012-04-15 12:33:54 -05:00
James Cotton
6a094ac326
Increase stack for the path planner
2012-04-15 12:31:50 -05:00
Corvus Corax
88f7567247
change to GPS: do not update UAVObject more than 1ce per cycle
2012-04-15 19:17:03 +02:00
James Cotton
85852df00b
Make simulation produce data asynchronously for testing and add random accel
...
bias
2012-04-15 11:51:42 -05:00
James Cotton
08fd08deb8
Fix some compiler warnings in guidance code
2012-04-15 11:51:26 -05:00
James Cotton
1559eeb2e1
Use GPSVelocity updates when they are available instead of timing based on
...
GPSPosition
2012-04-15 11:50:56 -05:00
James Cotton
b71e9fc9dc
Create simulated OveroSync module which simply drops updates to log file
2012-04-14 22:01:33 -05:00
unknown
0b7538c3fe
Constants changed to float for better portability.
2012-04-15 01:28:31 +02:00
James Cotton
9a2e0b071c
Revert "Allow simulated quadcopter to include GyroBias in the artificial sensor data."
...
This reverts commit 212a10bcd4
.
2012-04-14 17:20:01 -05:00
James Cotton
212a10bcd4
Allow simulated quadcopter to include GyroBias in the artificial sensor data.
2012-04-14 14:52:56 -05:00
James Cotton
af02eb6517
Merge branch 'sim' into testing
...
Conflicts:
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
2012-04-14 14:40:43 -05:00
James Cotton
267e9fa87c
Merge branch 'revolution' into testing
2012-04-14 14:40:11 -05:00
James Cotton
a86e75bc99
Merge branch 'revolution' into sim
2012-04-14 14:12:03 -05:00
James Cotton
deb3336729
Make sure for revolution all the GPS objects are always initialized even if
...
there is no GPS port. Otherwise connecting to relevant queues will fail.
2012-04-14 14:02:20 -05:00
James Cotton
b7c3b1fdd1
Make the simulation provide GPSVelocity object since this is critical for EKF
...
now
2012-04-14 14:01:42 -05:00
James Cotton
ce6def870b
Add feedforward component to guidance
2012-04-14 13:38:10 -05:00
James Cotton
be21ec441e
Add ability to run guidance based on raw GPS velocity instead
2012-04-14 13:34:30 -05:00
James Cotton
1a98a46606
Merge branch 'revolution_ubx' into sim
2012-04-14 12:10:23 -05:00
James Cotton
5d160860a3
Fix from Corvus for gyro bias from EKF
2012-04-14 12:09:12 -05:00
James Cotton
3e2feb64cf
Fix bug limiting maximum velocity desired
2012-04-14 10:49:54 -05:00
Corvus Corax
84c3705390
use gyro scale and bias in sensor module
2012-04-14 14:01:28 +02:00
James Cotton
b0ef456ccb
Kickstart MPU6000 if there is no data
2012-04-13 20:29:41 -05:00
James Cotton
a0d1b00ade
Cover an edge condition for the MPU6000 IRQ not firing
2012-04-13 19:37:30 -05:00
Brian Webb
4936cd8fd2
Added PipXStatus and PipXSettings UAVObjects and added support the sending/receiving UAVTalk objects on the PipX.
2012-04-10 20:22:53 -07:00
James Cotton
a1351fcdbe
Make the path velocity come from the waypoint.
2012-04-10 02:56:10 -05:00
James Cotton
a42d756b3e
Add path navigation mode to the path planner module. I don't like how this is
...
done because the mode is in the settings so can't be command from path planner.
I.e. it would be nice to be able to say do these paths then go to position hold
mode.
2012-04-10 02:51:50 -05:00
James Cotton
1aec5b8deb
Add altitude control to the path navigation
2012-04-10 01:59:26 -05:00
James Cotton
26b73e3c8b
Add path navigation mode to guidance. Works well in simulation.
2012-04-10 01:48:03 -05:00
James Cotton
136bbe3814
Update the EKF code to use the GPSVelocity
2012-04-09 19:03:21 -05:00
James Cotton
dbcb47e249
Merge branch 'D-Lite/ubx-parser' into revolution_ubx
2012-04-09 17:34:34 -05:00
Werner Backes
4ede7a8af6
Experimental u-blox binary data format parser. See "u-blox 6
...
Receiver Description" for reference. Currently supports NAV-VELNED
message only and populates it to the GPSVelocity UAVObject.
2012-04-09 23:14:34 +02:00
Werner Backes
422944ce29
Experimental extension to the GPS stream parser to extract u-blox
...
binary data format. See "u-blox 6 Receiver Description" for
reference. GPS data stream may carry mixed NMEA and UBX data.
2012-04-09 23:12:24 +02:00
Brian Webb
7b49a6b820
Added watchdog to radio com bridge in PipXtreme.
2012-04-07 19:12:49 -07:00
Brian Webb
f4d886de75
Added support for determining when the radio->com link is between UAVTalk packets. This is required to inject UAVTalk messages into the message stream.
2012-04-07 18:17:57 -07:00
Brian Webb
0f9f897870
Added PPM packet to packet handler, created replacement system module for PipXtreme (PipXtreme module), removed all UAVObjects from PipXtreme, and added parsing of incoming (over USB/COM) UAVTalk stream.
2012-04-07 18:17:32 -07:00
Sambas
d399469b88
Last push before summit
2012-04-07 14:30:04 +03:00
James Cotton
414e62f14e
Revert "Disable baro updates into INSGPS for now. Seems to cause issues."
...
This reverts commit 04591309770679e7b01c53a6cb54cac1c043f8b6.
2012-04-07 00:58:36 -05:00
James Cotton
fcb9193d25
Disable baro updates into INSGPS for now. Seems to cause issues.
2012-04-07 00:58:36 -05:00
James Cotton
aa6c8a451d
Shrink some stack sizes
2012-04-07 00:58:36 -05:00
James Cotton
81fcfd45c4
Some work on the code to initialize the INSGPS and allow setting the variance
...
of the baro
2012-04-07 00:37:42 -05:00
Brian Webb
56a2006fd8
Reconfigured to run on the real PipX board.
2012-04-06 18:44:31 -07:00
Brian Webb
bc1adb2519
Some cleanup of rfm22 driver.
2012-04-06 17:36:35 -07:00
James Cotton
345b6578b1
Fix a possible race condition for complimentary filter on L3GD20 attitude
...
estimation where the accel queue wouldn't immediately have data available.
Added 1 ms timeout on queue.
2012-04-06 13:59:12 -05:00
James Cotton
e60c70251f
Slow down update rate for the altitude hold smoothed EKF
2012-04-06 13:58:46 -05:00
James Cotton
ea13536da0
Take quidance settings from simulation and make the INSGPS pick up the GPS
...
noise from a setting.
2012-04-06 12:59:49 -05:00
Brian Webb
fff93910e2
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-05 20:24:50 -07:00
James Cotton
3071f77d59
Add Baro offset to the simulation
2012-04-03 10:58:48 -05:00
James Cotton
c988685293
Simulate GPS noise drift
2012-04-03 09:17:55 -05:00
James Cotton
5d0e513678
Fix small deg/rad issue in generating gps data
2012-04-03 09:17:55 -05:00
James Cotton
df6bc4deff
Enable guidance on simulation and add wind model
2012-04-03 09:16:31 -05:00
James Cotton
ca535c2632
Fix bugs in simulated sensor data. Now works well with INSGPS.
2012-04-03 09:16:31 -05:00
James Cotton
84040d25b4
Add attitudesimulated object to capture the simulated state
2012-04-03 09:16:30 -05:00
James Cotton
6df9691609
Bring back the original module files and remove comments from FreeRTOS
...
debugging
2012-04-03 09:16:30 -05:00
James Cotton
543500ed78
Improve the simulated sensors to produce (I think) consistent data now
2012-04-03 09:16:30 -05:00
James Cotton
fbd8695d7d
Check in WIP for osx simulation
2012-04-03 09:16:30 -05:00
James Cotton
28cab678ce
Simulate a more complete QC model.
2012-04-03 09:16:28 -05:00
James Cotton
f1aa3b658e
Add a new sensor simulation mode that essentially has a gyro rate that is rate
...
desired and the accel based on the current attitude.
2012-04-03 09:16:28 -05:00
James Cotton
6adc74f6f9
Check in the fake sensor data module
2012-04-03 09:16:27 -05:00
James Cotton
e97c1bc016
Include the module include file before any uavo ones
2012-04-03 09:16:27 -05:00
James Cotton
cfd92de87a
Add explicit casts in manualcontrol to avoid compiler warnings/errors
2012-04-03 09:16:24 -05:00
James Cotton
5827e3f565
Add box around logo path
2012-04-03 03:42:37 -05:00
James Cotton
bfb0c6935e
Make pathplanner use callbacks on the waypoints and their index to pick up
...
changes from the GCS while flying
2012-04-03 03:42:37 -05:00
James Cotton
c26cceb47b
If the waypoint index is changed then update teh position desired. This should
...
probably be done with change callbacks because currently changing the waypoints
themselves doesn't update position desired.
2012-04-03 03:42:36 -05:00
James Cotton
6d1c36680f
Scale the max velocity as a magnitude on teh vector instead of independently on
...
each direction
2012-04-03 03:42:36 -05:00
James Cotton
5b3cc4876e
In simulations a higher GPS noise is required for the INS
2012-04-03 03:42:35 -05:00
James Cotton
32f76db8ae
Only update position desired when you change waypoints active
2012-04-03 03:42:35 -05:00
James Cotton
ba1ade33cb
Get navigation working and program hardcoded flight path
2012-04-03 03:42:34 -05:00
James Cotton
62117430cf
Flip the sign of throttle in the guidance altitude control
2012-04-03 03:42:34 -05:00
James Cotton
7f226867c6
Some bug fixes for revo attitude estimation.
2012-04-03 03:42:33 -05:00
James Cotton
d4488512c0
Add RTH waypoint action
2012-04-03 03:42:33 -05:00
James Cotton
3eac69e953
Create stub for waypoint navigation
2012-04-03 03:42:32 -05:00
James Cotton
af9f36d7df
Improve the attitude initialization for all of the modes
2012-04-03 03:42:32 -05:00
James Cotton
3888d6ff69
Changed settings that makes updates smoother
2012-04-03 03:42:31 -05:00
James Cotton
319b53a342
Make sure full initialization routine for INSGPS occurs each time it is
...
restarted.
2012-04-03 03:42:31 -05:00
James Cotton
372f959c37
Refine some stack sizes
2012-04-03 03:42:30 -05:00
James Cotton
54880c83a0
Fix some task sizes and the memory limits
2012-04-03 03:42:30 -05:00
James Cotton
a83fb019f6
When in complimentary filter mode pass the GPS information straight
...
through to Position Actual
2012-04-03 03:42:29 -05:00
James Cotton
98b1a21921
Fixup: Shouldn't update gps until home location is set
2012-04-03 03:42:29 -05:00
James Cotton
7a3ec3e173
Some code cleanup to get rid of some warning messages
2012-04-03 03:42:29 -05:00
James Cotton
23625904c5
Remove the now unused ECEF and Rne fields from HomeLocation. Also reenable
...
calculation of the WMM and HomeLocation from the GPS code for revolution.
2012-04-03 03:42:28 -05:00
James Cotton
71d0180d45
Use the sensor variances from object
2012-04-03 03:42:28 -05:00
James Cotton
ce2d1f94f6
Better hardcoded constants for INS variances
2012-04-03 03:42:27 -05:00
James Cotton
de7fc81795
Fixes to the GPS LLA to NED translation
2012-04-03 03:42:27 -05:00
James Cotton
e32ab9342c
Shuffle some stack sizes around
2012-04-03 03:42:26 -05:00
James Cotton
4cadb7ec0e
Forgot to initialize revo settings object
2012-04-03 03:42:26 -05:00
James Cotton
337d5b7079
Enable guidance in revo. Update manual control to set the position desired
...
when the switch is flipped.
2012-04-03 03:42:25 -05:00
James Cotton
0eedaa1250
Change how we convert LLA to NED. Now it is done with a taylor expansion
...
around the home LLA coordinate to avoid the conversion into ECEF coordinates.
This has the benefit of not requiring double precision math and uses less
operations.
Now we should remove the Rne and ECEF fields from HomeLocation as they are
unused
2012-04-03 03:42:25 -05:00
James Cotton
e8cc7748af
Clean up some unused variables in attitude code
2012-04-03 03:42:24 -05:00
James Cotton
a9aa6b696b
Add object for setting the fusion algorithm
2012-04-03 03:42:24 -05:00
James Cotton
1911c7360d
New NEDPosition object which is the transformed GPS location
2012-04-03 03:42:24 -05:00
James Cotton
e3c36ac99a
Change requires for GSP updated to be set to true (wrong sign on PDOP check)
2012-04-03 03:42:23 -05:00
James Cotton
9e4651ab80
INS working on Revo
2012-04-03 03:42:22 -05:00
James Cotton
96edea9d4b
Some fixes to GPS parsing
2012-04-03 03:42:21 -05:00
James Cotton
55ee568fe2
Work on the INS algorithm
2012-04-03 03:42:21 -05:00
James Cotton
8c8224c122
Use a bigger event queue for overo logging to avoid event system warnings, and
...
add code to shortcircuit formatting a packet if it will not fit.
2012-04-03 03:42:19 -05:00
James Cotton
e82323af32
Make revolution work with the FreeRTOS queue based MPU6000 driver
2012-04-03 03:41:52 -05:00
James Cotton
3346e848e0
Attitude error timeout was 2 ms when sensors at 500 Hz. Caused lots of errors
...
and overwhelmed event system.
2012-04-03 02:07:04 -05:00
James Cotton
8032130769
Slow down gyro a bit on CC to give the CPU some breathing room. Might need to
...
come down more.
2012-04-03 02:07:03 -05:00
James Cotton
a960f3d07e
Switch the MPU6000 driver to using a FreeRTOS queue. Need to update Revo code
...
to take advantage of this.
2012-04-03 02:07:03 -05:00
James Cotton
1415728762
Get the MPU6000 CC3D working. Right now the ADC system is commented out, which
...
will break regular CC.
2012-04-03 02:07:03 -05:00
James Cotton
a0b7453580
Make the firmwareIAP variable not a global
2012-04-03 02:07:03 -05:00
Brian Webb
df0a1c2ac1
Upgraded Brian-Metadata-Mods to current next.
2012-04-01 12:25:13 -07:00
Sambas
93ad5d2660
stuff
2012-03-26 19:23:16 +03:00
Corvus Corax
0742c88a98
enabled optional rtation of Revolution board
2012-03-26 05:25:52 +02:00
Corvus Corax
d32dd0ccd4
Fixed fmod() versus fmodf() usage in flight/...
2012-03-26 04:16:54 +02:00
Sambas
4c6ee740e2
Merge remote-tracking branch 'remotes/origin/james/revolution' into osd_test_v1
2012-03-25 14:28:25 +03:00
Brian Webb
1669f00456
Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2
2012-03-24 15:21:16 -07:00
James Cotton
c7ff2a46c7
Merge remote-tracking branch 'origin/laurent/modelview' into revolution
...
Conflicts:
flight/CopterControl/Makefile
ground/openpilotgcs/src/plugins/config/config.pro
ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
2012-03-22 02:58:24 -05:00
James Cotton
2f8049e20a
Update the bootloader hw version for the mpu6000 board and make the sensor code
...
and initialization respond appropriately. Enable hte L3GD20 and BMA180.
Let the board type determine which is used.
2012-03-22 00:41:37 -05:00
James Cotton
6350ec575e
Merge remote-tracking branch 'origin/os/features/stick-deadband-next' into next
...
Conflicts:
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
2012-03-21 16:03:40 -05:00
James Cotton
a77a859e5c
Using some config switches to get this board up and running
2012-03-21 00:48:31 -05:00
James Cotton
6b88a278b3
Disable overosync by default. It was triggering event system warnings due to
...
the extra updates from altholdsmoothed. Increase queue size when reenabled.
Also AltHold is is trigger warnings because other tasks starve it during
startup.
2012-03-21 00:29:09 -05:00
James Cotton
f4663b98e4
When the event system or object manager has an error store the object ID in the
...
SystemStats.
2012-03-20 23:18:07 -05:00
Brian Webb
823b111d60
Added Reed-Solomon error correction to PipXtreme. The code is a slight modification of rsscode ( http://rscode.sourceforge.net ). Packet acking has also been turned on as the default, so each packet is error corrected, and if errors remain, the packet is NACKed, otherwise it is ACKed. Also temporarily turned off UAVTalk parsing. This was causing the CC to be identified as a PipX due to the PipX sending UAVObjects (I believe) from the system module. The system module is going to have to be modified/replaced for the PipX.
2012-03-18 17:43:29 -07:00
Brian Webb
aba3789d87
Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into Brian-Metadata-Mods
2012-03-18 13:28:11 -07:00
Sambas
13094abc1c
new splash screens and better handler for them
2012-03-16 18:00:16 +02:00
Brian Webb
b34b849453
Added start at a modified PipX packet handler.
2012-03-15 19:29:54 -07:00
Sambas
ef7758505a
Mapping correct ports
2012-03-13 20:42:37 +02:00
James Cotton
0d42303d37
Fix some compilation errors/warnings in attitude.c
2012-03-11 16:30:18 -05:00
Sambas
addda5f29d
USB and bootloader stuff, WORKS!!
2012-03-11 11:31:02 +02:00
Sambas
742f3ff24d
Merge remote-tracking branch 'remotes/origin/james/revolution' into osd_test
...
Conflicts:
ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp
2012-03-11 09:39:51 +02:00
Sambas
ccf5c310c9
Updates
2012-03-11 09:27:38 +02:00
James Cotton
820ca6a970
Initialize loop variable OUTSIDE loop so that baro is used still for altitude
...
hold.
2012-03-10 11:28:51 -06:00
James Cotton
f4705551b6
Update task info to cover the AltitudeHold module
2012-03-10 11:14:30 -06:00
Dmitry Zaitsev
d45e88515b
firmware: disable Attitude module in simulation
...
this part should be rewritten to completely disable the polling of sensors.
i just do not know how to do it correctly.
2012-03-10 06:02:23 +04:00
Brian Webb
d73895de7d
Working PipX com relay.
2012-03-07 18:05:42 -07:00
Brian Webb
444150269a
Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into PipXtreme
2012-03-05 18:22:08 -07:00
Sambas
91a9e45888
Updates, first UAVtalk client test
2012-03-05 19:53:52 +02:00
James Cotton
61d59828dc
Disable the new features if not revolution and set an error flag. Fixes
...
compilation errors.
2012-03-05 00:24:11 -06:00
James Cotton
7961aba83c
Clean up a few more compiler warnings
...
Conflicts:
flight/PiOS/Common/pios_ms5611.c
2012-03-03 13:32:56 -06:00
James Cotton
91a226fc12
Sometimes the mag stops updating so kickstart it
2012-03-03 13:31:46 -06:00
James Cotton
bc8b72623e
Get rid of some unused variables
2012-03-03 11:54:09 -06:00
James Cotton
e3df261213
Merge branch 'stac/revo-usb' into revolution
...
Conflicts:
flight/Revolution/System/pios_board.c
2012-03-02 13:00:13 -06:00