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1244 Commits

Author SHA1 Message Date
peabody124
9f71f4121c CC-18 Attitude: Change units to proper engineering ones. An accelKp=1 means 
that it will completely follow the accel attitude each cycle and is way too
high.  Ki=1 means the gyro bias wil be correct by accels each cycle (way too
high).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2755 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:35 +00:00
peabody124
cfe295377c CC-18: Normalize the gravity vector to unity gain 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2754 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:31 +00:00
peabody124
74cc7dbfc9 CC-20 Attitude: Jack up Kp and Ki values for first 5 seconds to force faster 
convergence of gyro bias, then the normal values can be lower.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2753 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:28 +00:00
peabody124
6ac2ddb0c1 CC: Make default build non-debug. This leaves a bit more RAM overhead. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2752 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:24 +00:00
peabody124
682b49df44 CC: Increase the SPI clock rate to minimize time spent in that routine 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2751 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:21 +00:00
peabody124
03fb82ad0a CC Attitude: Change when AttitudeRaw is set to end of attitude estimation, 
because this is what is determines when the Stabilization code executes.
Because we aren't oversampling gyros relative to the PID in CC we should set
the attitude first (computational time to do so is negligible).

Also change update rate to 500 Hz.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2750 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-08 16:34:18 +00:00
pip
d12868f1a3 A few more #define capitalizations. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2748 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-07 12:30:27 +00:00
pip
b2eb141c10 100mW appears to be working again. A few bug fixes. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2745 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-06 21:21:50 +00:00
FredericG
d7fc7646b0 OP-246 UAVOBJ CHANGE - Setting to disable arming/disarming 
options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2744 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-06 16:16:20 +00:00
pip
6559615ef8 Made quite a few constants/#defines capitals (previously lower case) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2743 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-06 10:55:08 +00:00
sambas
14641cd353 Fix, was outputting "\n" strings into InitMods.c which failed to build 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2742 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-06 07:21:45 +00:00
stac
4e6b539086 debugpins: Add definitions for debug pins 
Not yet used anywhere but will eventually allow
debug pins to be assigned during runtime init based
on configuration found in a new uavobject.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2741 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-06 01:03:06 +00:00
stac
9f595842dd modinit: put initcalls on separate lines 
This makes it easier to step through the module init
sequence in gdb.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2740 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-06 01:03:02 +00:00
corvus
afdaf88d4a UAVObjects: Allow Generation and Initialisation of individual UAVObjects 
per target as defined in Makefile (and/or Make include file) For
OpenPilot this is flight/OpenPilot/UAVObjects.inc For sim_posix and
sim_win32 needs rebuild of uavobjectgenerator and uavobjects!

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2736 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-05 22:17:40 +00:00
pip
9a5d099a79 Started to write the PPM, spectrum scanner and continuous packet stream modules. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2731 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-05 13:45:16 +00:00
peabody124
56d4d54a97 CC: Increase the memory for the modules after removing PriTxTask from CC and 
also increase the telem queue to decrease event errors (can be reverted later if
we need the memory back)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2730 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-05 10:52:59 +00:00
peabody124
f97d853c80 Make the PriTx queue optional which saves 700 bytes 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2729 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-05 10:52:52 +00:00
peabody124
efca295ea0 Modules/Guidance: Fix a bug Corvus caught 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2727 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-05 01:14:55 +00:00
pip
41768be215 Allows modem mode to be set - BUT NOT YET IMPLIMENTED, use NORMAL mode for now. 
Fixed bug in pipx plugin import function - wasn't restoring the AES key.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2726 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-04 23:00:48 +00:00
pip
b50965ba9f Fixed AFC reading 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2719 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-04 10:03:47 +00:00
peabody124
04f54928d6 Modules/Guidance: Fix a bug Dale caught about not grabbing settings and also 
correct a typo when NedAccel.Down wasn't used.  Finally increase stack size of
guidance task.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2718 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 20:00:00 +00:00
pip
3bad7982dd Fixed RSSI when no signal received. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2714 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 13:12:30 +00:00
pip
ac5155f3d9 Increased RF packet ping speed if the GCS is monitoring the RSSI. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2712 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 11:31:34 +00:00
pip
0e3ae58c96 New PipX config protocol packets. YOU NEED TO RECOMPILE THE GCS PLUGIN to use this. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2711 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 07:05:32 +00:00
peabody124
e5b26bc67d More memory tweaks to keep CC flowing 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2709 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 02:42:49 +00:00
peabody124
fedadb1275 CC-8: Move the queue registration into the ADC PIOS driver to allow other 
functions to use it easily

Conflicts:

	flight/Modules/Attitude/attitude.c

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2707 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 02:42:43 +00:00
peabody124
810fa70856 UAVObjects: Remove the raw versus filtered fields in the sensor data. Save 
some memory.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2706 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 02:42:39 +00:00
peabody124
c95a6447bf CC-8 Whenever the gyro data is updated the callback now pushes the data onto a 
queue, which update sensors waits for.  This confirms one update per gyro
update.  All available accel data will be pulled off each time.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2705 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 02:42:33 +00:00
vassilis
90fd4551b6 Flight/SITL: Enable debug of Python scripts 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2704 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-03 02:02:34 +00:00
corvus
f2ef99a2d9 SiTL_win32: Adapted for autogenerated UAVObject Makefile - needs testing 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2703 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 20:15:33 +00:00
corvus
16eef53f02 UAVObjectgenerator: Autogenerate Make include-file for flight UAVObjects to be used in firmware Makefiles. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2702 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 20:15:28 +00:00
corvus
8de340b5a8 UAVObjectgenerator: Autogenerate Make include-file for flight UAVObjects to be used in firmware Makefiles. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2701 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 20:15:16 +00:00
pip
7f8b0d5788 Fixed carrier frequency problems. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2700 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 17:53:46 +00:00
pip
40e9a592c8 PipX modem can now be configured from GCS in realtime. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2695 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 11:44:23 +00:00
peabody124
986e124202 CC-7 Reverse order of two lines so that yaw bias converges instead of diverges 
:-)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2693 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 09:16:28 +00:00
peabody124
265737427b CC-7: Make the gyro scale adjustable (for now at least, this was largely for 
debugging, let's compare values).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2692 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 08:57:42 +00:00
peabody124
1663a838ff CC-7 Full complimentary filter ala Mahoney paper using quaternion 
representation.  Also improved gyro bias initialization.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2691 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 08:57:38 +00:00
peabody124
cf2e9fb349 Memory: Also allow overriding Stabilization stack size 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2690 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-02 08:57:34 +00:00
pip
2c3e540637 Code added to allow GCS to configure modem. Not yet finished - modem needs rebooting after uploading new config - for the time being. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2687 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 23:40:40 +00:00
peabody124
77ce0d6391 Actuator: Fix bug I made a while ago that stops servos going negative values 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2677 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 21:05:00 +00:00
peabody124
877bcca880 Delete hardcoded min and max servo PWM times, they weren't used. Use the 
configuration settings.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2676 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 21:04:58 +00:00
cwabbott
23db2e9601 Fix UAVObject stuff for win32 sim, and fix pios_servo as well. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2675 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 19:11:24 +00:00
peabody124
c3aa5ed8f3 Posix: Add the constants for telemetry queue sizes and also make the actuator 
SetHz calls compatible with the PiOS API change

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2672 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 15:47:02 +00:00
peabody124
d33d044088 Revert "Revert "Fix to make stacs auto-loading of UAVObjects downwards compatible, since its not working on all architectures"" 
Putting Corvus patch back in.  Need to delete uavobjects-synthetics directory
for this to work.

This reverts commit 9cd98bec8fb5e0679c625eb256a94d161a8ce345.

Conflicts:

	flight/CopterControl/Makefile

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2671 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 15:46:59 +00:00
peabody124
f93ed5f01f CC Module memory: Make it clean for CC to override the stack sizes of modules 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2668 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:18:35 +00:00
peabody124
b1e4b65f3d CC-1 Bigger oversampling window for CC sensor data 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2667 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:18:31 +00:00
peabody124
1c6b51b704 UAVObjects/AttitudeSettinsg: Object for CC to tune the attitude estimation 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2666 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:18:26 +00:00
peabody124
15f3ada700 Get rid of ms * 10 units since the time resolution of FreeRTOS is in ms 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2665 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:18:22 +00:00
peabody124
3f088bed8d CC-9 1. Improve the timings of the attitude estimation 
2. Disable FirmareIAP module in CC (somehow causes lockups when also using vTaskDelayUntil in Attitude WTF)
3. Make the SPI bus run a little faster so we can handle the 3200 Hz from accel
while running the filter at 333 Hz

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2664 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:18:19 +00:00
peabody124
8b2034ea05 CC-15 Settings: Delete settings from flash chip (hacky sector based saving) 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2663 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2011-02-01 02:18:15 +00:00