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Commit Graph

764 Commits

Author SHA1 Message Date
stac
65ad2caf8a i2c: Make transaction initiator available in txn list
The info field in the pios_i2c_txn list can now be used
to provide a const string which describes the context
for this transaction.

This is very helpful when diagnosing an error that occurs
somewhere in the middle of the I2C FSM since the FSM runs
primarily in the ISR where the original context for the
transactions is no longer available in the traceback.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1622 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:53 +00:00
stac
85c60479c1 i2c: rename FSM faulted state
Differentiate the _FSM_ faulted from the (soon to
exist _BUS_ faulted state.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1621 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:52 +00:00
stac
139da048f6 ahrs: remove unused debug code
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1620 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:51 +00:00
pip
cc3860daaf Added 'uint32_t PIOS_SYS_getCPUFlashSize(void)' into pios_sys.c/h files.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1616 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-14 09:18:55 +00:00
peabody124
c5fe985a45 AHRS: Gets timing working correctly to compute the EKF rate and idle time in real values
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1615 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-14 07:03:36 +00:00
peabody124
0875dc8442 AHRS: First pass refactoring the ADC code into another function. Still want to clean up a few constants make the downsampling go into a smaller circularbuffer nicely.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1614 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-14 07:03:34 +00:00
peabody124
1051d894b9 AHRS: Merged in some new code from Dschin that expliclity writes the prediction terms in the covariance matrix. Also made changes to compile with -Os. Now runs around 125 - 150 Hz depending on corrections used (this will become adjustable from GCS shortly).
Squashed commit of the following:

commit 897e3365ab6c762584c34238efd12dc144e72af0
Author: James Cotton <peabody124@gmail.com>
Date:   Mon Sep 13 22:15:21 2010 -0500

    AHRS: Getting it running nice and quickly.

commit 53d72fb849164730c89873cab81c9e09be0b112b
Author: James Cotton <peabody124@gmail.com>
Date:   Mon Sep 13 15:57:46 2010 -0500

    AHRS: Make more variables volatile for -Os.

commit 4fa90821b5d3d8c2ea5e67756313a8a63c0eeb8c
Author: James Cotton <peabody124@gmail.com>
Date:   Mon Sep 13 15:11:31 2010 -0500

    AHRS/Makefile: -O0 not added to allow me to try various space flags that don't break code.

commit 5bd17a304dc28dc271c2f3e8c6cb8ad4a830404f
Author: James Cotton <peabody124@gmail.com>
Date:   Mon Sep 13 14:44:05 2010 -0500

    AHRS: Make debuggign USART easy to disable

commit 5453f2a7939492769fe9e9cc822e69c107320670
Author: James Cotton <peabody124@gmail.com>
Date:   Mon Sep 13 14:38:37 2010 -0500

    AHRS: Explicitly expand covariance prediction.  Brings computations from 160 to 90.  Makes it not fit in AHRS though.

commit b6712da7eece2a464a2073d24b77be22bfa47094
Author: James Cotton <peabody124@gmail.com>
Date:   Sun Sep 12 22:59:42 2010 -0500

    AHRS: Make it easy to comment out the I2C/Magnetometers.

commit 8c84d0091f3d6f6bedc7a0224a4ed9cb099b022b
Author: James Cotton <peabody124@gmail.com>
Date:   Thu Sep 9 00:49:50 2010 -0500

    AHRS: Small change to INSGPS analysis tools

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1613 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-14 06:42:56 +00:00
pip
7da2fc2ba7 made ahrs_state 'volatile' in ahrs.c to prevent compiler optimization lockup
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1612 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 20:56:58 +00:00
pip
8bfaa997d3 made curr_state 'volatile' in pios_i2c_priv.h to prevernt compiler optimization lockup.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1611 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 20:52:56 +00:00
peabody124
4a4932e5ff AHRS/FSM: Small initialization detail to make compile with -Os
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1610 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 19:04:37 +00:00
zedamota
66560786f4 Flight - #ifdefs to make it work with both normal and bootloader packet formats.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1609 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 17:08:52 +00:00
chebuzz
3b5b129445 Fix POSIX simulator to work with new VTOL UAVObjects
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1607 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-13 14:00:53 +00:00
peabody124
47a7b8548b Flight: Safety feature for VTOL. Don't enable motor until throttle brought above .5 then below or to zero.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1604 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 22:18:21 +00:00
peabody124
76971a807c AHRS: Some more tweaking of the timings.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1603 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 22:18:18 +00:00
zedamota
257b4d2c95 flight - BL AHRS Comms - fixes to make it compile, not tested yet.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1601 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 21:08:43 +00:00
peabody124
ba34bb8c24 AHRS: Oops, didn't notice the message processing was removed from end of loop. Adding back.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1597 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 12:44:57 +00:00
pip
d0b8a9755d Added USB_LED_ON/USB_LED_OFF and checks to see if they are defined to the PIOS_USB_HID_ChangeConnectionState function ..
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1596 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 10:47:20 +00:00
pip
9fca16db41 Added an RTOS detection is 2 places because I'm using this file on the modem (without an RTOS). #if defined(PIOS_INCLUDE_FREERTOS) ...
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1595 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 10:33:45 +00:00
peabody124
59758122e1 AHRS: Cannot process messages while idling as this makes the main loop execution time non-deterministic based on OP (i.e. could get three messages and push the time up). It would be a nice featuer since you can get a raw and EKF update in the same step, but if the AHRS_Comm loop is fast (which is should be to keep update latency low) then this will hammer the AHRS with redunant requests.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1594 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:51 +00:00
peabody124
e90e714c2b Flight: Tweaked the throttle handling and VTOL use of it to make sure engines can be shut off easily in stabilization mode.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1593 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:49 +00:00
peabody124
56131476ef AHRS: Switch to sampling at 2khz, plenty of CPU usage. However need to make EKF rate different for outdoor mode with this patch because otherwise will drop samples :-(
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1592 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:47 +00:00
peabody124
5d1ebf76ea Flight/VTOLmixer: Fix bug in mixer that messed up roll mixing. Also changed minimum to -1 so that neutral can be position motors come on and -1 the off position. Also made failsafe throttle value -1 to be consistent.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1591 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:44 +00:00
peabody124
c376711405 Flight/Stabilization: Make the derivative account for the sampling time (dAngle/dt) for the PID loop since integral does and also make the integral bounds uavobject settings. It was originally bounded by constant/Ki but I'm not sure why as you change the gain of the error integral you also want to decrease the maximum error it can cause.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1590 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:41 +00:00
peabody124
8999355327 Flight: Made actuator a periodic task. I don't think the queue is low enough latency - should figure out how to make this happen as callback is the right way to go.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1589 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:38 +00:00
peabody124
dceb20b16d Flight: VTOLStatus object that returns the thrusts on all the engines
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1588 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:34 +00:00
peabody124
bba3b0c64a Flight: VTOLSetings object to contain the mixer settings for VTOL crafts
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1587 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 02:54:30 +00:00
stac
d18e0c3ef8 ahrscomms: Add low-level message code for bootloader msgs
Implement low-level utility functions for sending/receiving
the opahrs proto v0 (bootloader) messages.  These are used
by the OP firmware loader and the AHRS bootloader.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1586 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:31 +00:00
stac
c3c8a30bfc ahrscomms: fix return values on error
Some functions were returning -1 instead of one of the
valud enum values.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1585 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:29 +00:00
stac
6bf3038f3f ahrscomms: provide helper function for simple requests
This cleans up some of the boiler plate code that is
repeasted for simple (empty) requests that expect a
response.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1584 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:28 +00:00
stac
7ecbb5f5b8 opahrs_proto: Add new boot and versions messages
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1583 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:26 +00:00
stac
d1dc300081 ahrscomms: remove unused sync and switch_proto messages
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1582 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:25 +00:00
stac
80c92ba54b ahrs: process SPI messages while idle
This makes the AHRS continually process SPI messages
while waiting for new samples to be ready.  This has
the side effect of making the CPU utilization on the
AHRS pin at 99-100% (ie. we make use of all of our
otherwise idle time).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1581 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:23 +00:00
stac
93ef510946 ahrscomms: use relative delays to avoid slipping
Change from using vTaskDelay to using vTaskDelayUntil to
ensure that we're trying to stay periodic rather than
just waiting a fixed amount of time after each loop of
processing.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1580 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-11 23:06:22 +00:00
dschin
e6fea9bb76 Changed the feedback gain matrix K to a global variable in insgps so that it may be inspected.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1577 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-10 20:46:46 +00:00
zedamota
aa1af2b9f3 OP-21/Flight Bootloader - Changes to make it independent of RTOS
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1570 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-09 18:44:55 +00:00
peabody124
6cdb9b0b48 AHRS: Added Matlab code to analyze the INSGPS friendly data dump format and plot the important variables. This requires "DUMP_FRIENDLY" be enabled in the file.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1560 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-08 06:15:21 +00:00
peabody124
e499f33fd5 AHRS: Improved code to stream raw data from AHRS and added a matlab function to acquire and analyze the data. The QT program to analyze it should work but QextSerial seems to have a bug and drops or inserts data
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1559 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-08 06:15:18 +00:00
peabody124
9895b403c7 Ground/SerialLogging: Improved the serial dump from AHRS to have a big random frame header and to detect it on the logging program.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1556 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-07 16:33:10 +00:00
cwabbott
c2e93aa810 PiOS/win32: Made the process priority "high priority" for OpenPilot.exe to help with accurate timing. Also removed some unneeded debugging code from tasks.c.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1553 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-06 21:23:02 +00:00
peabody124
e06162fa3a Flight/AHRS: Reorganized the code a little to make sure indoor used by default unless GPS updates come
in.  Also change the velocity variance in indoor mode to lower to make it get a better attitude estimate (primarily faster convergence - probably will tweak this in the future dynamically).  Finally decreased barometer variance - in scope it's actually quite reasonable, normally within +/- .5 m.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1546 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-06 07:54:19 +00:00
peabody124
e260077247 Flight/ManualControl: Making failsafe test (which must explicitly look at receiver inputs instead of throttle values in case of reversal) also consider readonly flag to detect GCS control.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1545 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-06 02:58:41 +00:00
peabody124
61854ac6ab Flight: Support for quadcoptors. The format of this control will change to support octo's and more flexible tuning.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1544 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-06 02:58:39 +00:00
stac
95595664c3 telemetry: fix comments around #ifdef
No functional changes.

The closing comment on some of the USB_HID related
ifdefs was outdated.  Fixed.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1541 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-05 23:10:34 +00:00
zedamota
492227c916 OP-21/Flight Bootloader - Donwload function is now interrupt driven. Had to increase IN polling interval due to some problems.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1530 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-05 00:17:20 +00:00
peabody124
f9a0b799a2 Foolishly forgot object like I always do
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1529 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 22:01:11 +00:00
peabody124
d3b677298c Flight/ManualControl: Added a hysteresis loop to the manual control connection/disconnection status. I seem to get glitching without it - probably because of the receiver catching noise. It still occasionally glitches but I don't want to make it longer. Probably should be an adjustable setting.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1527 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 17:08:04 +00:00
peabody124
c21d058110 Flight: Added ability to use a third accessory input. Currently using that to select tuning roll/pitch bias and PID tuning. I also _STRONGLY_ recommend if you enable these accessory channels (and thus these features) you make the saved meta data for the StabilizationSettings and AttitudeSettings read-only, so only on flights where you mean to can you change these settings. I'm also not convinced about the interface - it seems like flicking TX switches to get into adjustments is a recipe for disaster. Probably need to just control through GCS.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1526 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 17:08:02 +00:00
peabody124
45e8131a30 Flight: Added ability to use additional TX inputs to tune attitude bias. Note this form of the calibration is temporary and will likely be replaced by a rotation matrix to deal with more general rotations.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1525 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 17:07:59 +00:00
peabody124
8dbc382e5b Ground/CoordinateConversions: Shows correct location now. I just typed in a 3.14 constants and forgot to change to M_PI.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1520 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 05:58:43 +00:00
peabody124
b4ff14b725 Ground/GCSControl: Swapped sign conventions of sticks to match the sign convention of roll/pitch/yaw. I.e. now right on the roll causes a + roll, pulling down on the pitch causes + pitch.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1518 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 02:19:06 +00:00
peabody124
404e0c2f44 OP-132 AHRS: Changes to the Indoor flight handling to only use the barometer indoors and update with a zero for velocity and high variance.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1517 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 02:19:04 +00:00
peabody124
a406034ed9 OP-132 Flight/AHRS: Changed the heuristics regarding GPS quality and INSGPS updates. Now if satellites < 7 or PDOP > 3.5 it does not perform GPS updates. Professor is working on some code to fix parts of the covariance matrix. If indoor updates high a 0 position and velocity and high variance.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1515 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 02:19:00 +00:00
zedamota
8233f87b0a OP-21/Flight Bootloader - Download function fixed.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1513 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-04 01:06:40 +00:00
dschin
84d054c4ed gdb command file to enable debugging with interrupts in Eclipse
See http://forums.openpilot.org/topic/1671-debugging-with-interrupts-in-eclipse/
for details.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1511 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-03 13:10:04 +00:00
cwabbott
d7a3ffb464 flight/PiOS.win32: update Makefile.win32 with new UAVObjects, also change UAVObject headers to have a newline at the end.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1510 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-02 23:55:24 +00:00
zedamota
749267aee5 OP-21/Flight Bootloader - Minor bug fix.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1508 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-02 22:43:32 +00:00
zedamota
7a66232be0 OP-21/Flight Bootloader - Complete recoding. WARNING- As with all flash memories, the one in your OP HW as limited write cycles. Errors in this bootloader may damage your HW if it falls under a write or erase dead loop. This is still under development, for devs only.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1507 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-02 20:13:41 +00:00
peabody124
d3bb821e82 Flight/ManualControl: Change to ManualControl module to make warning only kick in if input is less than the max and min for throttle. Disable going to (unimplemented) auto mode. Commiting based on one yay and no nay.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1505 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-02 16:33:02 +00:00
peabody124
a377bea862 Ground/CoordinateConversions: Found out from Dschin that rotation matrix inverse is rotation matrix transpose. Now should convert correctly from NED to ECEF. I will check tomorrow by frolicking around with a plane.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1494 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-01 03:12:06 +00:00
peabody124
ec7d059de8 Posix: Corrected makefile after UAVObjects mashup
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1489 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-31 17:21:44 +00:00
peabody124
b853c392f3 Flight: Was only returning half of the serial number (thanks for catching that Pip)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1476 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-31 02:33:47 +00:00
peabody124
12657440c3 OP-132 AHRS: Added an indoor flight mode and also add an ad-hoc quality heuristic to the GPS signal to increase the measurement variance from GPS when fix quality is poor or when in indoor flight mode. In addition corrected the indentation to conform to the tab/space convention forum discussion.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1474 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-31 02:11:09 +00:00
pip
7813414f29 added casting to prevent int overflows when calculating the watchdog delay
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1467 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-30 16:48:33 +00:00
pip
ba5f1b37ee changed pios watchdog from 8-bit to 16-bit ms capability, plus moved the .h file from the .c folder into the inc folder
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1466 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-30 16:29:36 +00:00
andrew
65dc5e9b04 Yaw stabilisation for the simple algorithm was calculating the error and not taking into account that 350º error is the same as -10º error.
The resultant error could range from -360º -> +360º
Since this is only used for Helicopters / multi rotors, and the aircraft can rotate in any direction, I added the modulo logic so that it is now from -180º -> +180º this should now take quickest path to correct the error.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1464 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-30 01:20:43 +00:00
andrew
3c6d9d6976 manual control was mapping tx input as -180º -> 180º for AttitudeDesired.Yaw.
The Wiki (http://wiki.openpilot.org/Unit_Standards) states this should be 0 - 360º
Made the code match the wiki.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1463 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-30 01:16:00 +00:00
cwabbott
f55e9cf819 Fixed a slight problem with the .metadata folder, the flight project wasn't pointing to the correct folder again.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1462 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-29 23:16:19 +00:00
dankers
7a1353506e Just added my plugins dir to what was already there, no guarantees to fix things!
Might just make them worse!


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1460 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-29 22:15:38 +00:00
stac
78befcba73 conversions: fix return code for ECEF2LLA
As pointed out by osnwt in the forum, the
criteria for success of this function was
wrong.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1456 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-29 14:51:07 +00:00
peabody124
f202884ce8 AHRS: Numerous changes. Added CPU load monitoring for AHRS as well as some friendly debugging output options. Also added a new CalibrationMode setting to AHRS (Echo) to speed up sensor calibration. Cleaned up the 6 point calibration interface to make it more friendly, but I think Edouard will clobber it with something nice and sexy :).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1455 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-29 06:38:30 +00:00
stac
ecac1fb79d nmea: parse GSV sentences and populate GPSSatellites object
This creates a new UAVObject called GPSSatellites to hold
information about which satellites the GPS receiver can see
and the quality of their signals.

NMEA GSV sentences are now parsed.  The full set of GSV data
may be split across multiple GSV sentences, each containing
info for at most 4 satellites.  Once an entire set of GSV
records has been collected, the GPSSatellites UAVObject is
updated.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1453 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-29 01:46:14 +00:00
stac
2ead641136 nmea: minor bug fixes and robustness improvements
Remove asserts on bad data, only assert on coding errors.
Remove unnecessary inline qualifier to reduce code size.
Handle more lat/lon precisions in conversion to fixed-point.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1452 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-29 01:46:11 +00:00
stac
679f59f19d uavobjectparser: fix alignment of field init in generated code
Change from spaces to <TAB> to match the formatting in
the template.  No functional changes, just whitespace.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1451 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-29 01:46:09 +00:00
peabody124
8128c3bbfa OP-118 AHRS: Added 6 point calibration routine to AHRS config widget. To use it, click "Cal Mode", then place the AHRS on each of 6 sides of a cube then click save position. Finally click compute to push the updated scale abd bias terms to the AHRS. Also fixed a bug in UAVObjectField that would not allow you to setDouble for extra fields.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1449 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-28 18:48:51 +00:00
andrew
3530428982 Fixed the bounding of servo outputs for the case when max < min
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1444 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-28 05:11:19 +00:00
peabody124
00cad250ea Adding gpstime.h for flight.
Seriously - I'm sorry I missed all these files.  I suck.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1443 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-28 00:58:04 +00:00
peabody124
ced0a4b952 AHRS: Fixed silly bug that made the default mag variance be zero - explains "hopping around" default behavior. Still should run calibration though.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1439 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 21:05:41 +00:00
peabody124
5f9289f0c0 Flight: Keep getting WMM memory usage down
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1438 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 21:05:38 +00:00
zedamota
2142467751 OP-21/Flight Bootloader - Added more Led status modes. Fixed downloading for bigger packet format.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1436 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 20:03:51 +00:00
peabody124
16361dea12 AHRS: Making AHRS populate the NED/Vel fields of PositionActual. May rename object to PositionVelocityActual. Also created a GPSTime object which is populated from the GPRMC command. Also added a GPZDA parsing command, but by default OP GPS doesn't send this command. Made the computation of the world magnetic model use the current time to set the magnetic vector. Note: currently if you set your home location and save it to SD, this will not recompute the vector over time. I'm not sure how sensitive this is.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1435 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 19:59:25 +00:00
stac
a19c225697 ahrscomms: reduce retries and retry delay
The number of retries and delay between retries was
increased in a previous commit.  This doesn't appear
to be necessary so I'm reverting the increases.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1432 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 02:15:02 +00:00
stac
24a4c6b791 gps: Update GPSPosition instead of PositionActual
GPS module now updates GPSPosition UAVObject
rather than the PositionActual object.  The
GPSPosition object is intended to be consumed
only by the AHRS.  The AHRS will use this (and
other inputs) to compute a filtered version of
the position in the PositionActual object.

This commit will cause temporary breakage of the
GPS functionality in the GCS until the PositionActual
object is properly updated by the AHRS.  Most of the
GCS should continue to use PositionActual.  The only
exception to this might be any tool for specifically
visualizing the raw GPS state.

GPS.c is now only responsible for receiving a
complete NMEA sentence from the COM interface.

NMEA parsing is now factored out into NMEA.[ch]
which is where GPSPosition is now updated based
on the complete NMEA sentences obtained from the
GPS.

Latitude and Longitude are now encoded in a
fixed-point notation in units of degrees x 10^-7
to prevent truncation of precision due to encoding
into a float.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1431 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 02:15:00 +00:00
stac
47df1faa8d ahrs: whitespace adjustments
No functional changes.  Whitespace/tab fixups only.
Use TRUE/FALSE instead of 1/0.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1430 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 02:14:58 +00:00
stac
670452307d ahrs: remove unnecessary memset() of rx message buffer
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1429 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 02:14:56 +00:00
stac
0a7088c24a ahrs: fix type on flags, remove redundant code
No need to have boolean flags being floats.
Some of the attitude message was being populated twice.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1428 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 02:14:54 +00:00
peabody124
a0b21bef45 Flight: Got read only check working for UAVObjects and modified the ManualControl Module to use it. Edouard - please check over this.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1427 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 00:15:48 +00:00
peabody124
a8df6e2c4d OP-128 Flight Documentation: Added description to all the UAVObject (now mandatory) and changed the parser to populate this information into the autogenerated files. Also added a function to test if an object is read only for flight.
Since there are a lot of autogenerated changes the important ones are:

  flight/OpenPilot/UAVObjects/inc/uavobjecttemplate.h - added description and define to make the ObjectReadOnly query
  flight/OpenPilot/UAVObjects/uavobjecttemplate.c

  flight/OpenPilot/UAVObjects/uavobjectmanager.c - added the UAVObjReadOnly query

  ground/src/libs/uavobjgenerator/uavobjectparser.cpp - added parsing of description field

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1425 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-27 00:15:42 +00:00
zedamota
7f76b7f5a0 OP-21/Flight Bootloader - Fixed an error introduced on last rev.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1417 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-26 16:26:51 +00:00
peabody124
c07e1416b7 AHRS: Serial output option for AHRS and corresponding serial logger.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1414 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-26 06:25:11 +00:00
andrew
2361af19fb First attempt at ccpm mixing for single rotor helicopter.
This has throttle and pitch curves implemented and can be configured for many swashplate configurations.

This has flown a 450 clone (with training wheels) and the ccpm worked well.

Still need to neaten up some stuff and work out how to implement yaw stabilisation in manual mode.


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1412 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-26 06:00:57 +00:00
zedamota
d71ade8227 OP-21/Flight Bootloader - Now if USB not connected it jumps directly to FW. If connected it will wait 5 seconds for command, then jumps. Also changed led flashing to PWM and created a timer for the delays.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1409 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-25 22:31:14 +00:00
peabody124
8dd81443be OP-122 Flight: Same changes regarding 62 byte limit applied to the receiving code on the device.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1405 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-25 05:32:56 +00:00
peabody124
dd491160c5 OP-121 OP-122 Flight: Improved the Blocking/Nonblocking behavior for USB to be correct. I'd like a mutex still around the transmission buffer but don't want to slow down the interrupt.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1404 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-25 05:32:54 +00:00
peabody124
4ca10e92c7 OP-121 OP-122 Flight: Improved USB HID communication.
1. Added reenumeration function and call it on USB init (device will appear after reprogramming now)
  2. Moved buffer.c to general flight/Libraries location
  3. Removed the 62 byte transmission limitation by adding a transmission buffer
  4. Sped up USB communication by increasing endpoint polling frequency

Note, that the nonblocking and blocking USB send functions are not blocking entirely correcting.  The blocking calls the nonblocking, and the nonblocking blocks until the last chunk has started tranmission if it's a big transmission.  The buffering I added would generalize to non-blocking nicely, but would require using the EP1(IN) callback to handle most of the tranmission.  This creates a lot of issues if one function is pushing data onto the buffer and the interrupt is sending.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1403 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-25 05:32:52 +00:00
andrew
b467b419e6 OP-103, UAVObject update.
Adding settings for configuring CCPM mixing for Helicopters to ActuatorSettings and SystemSettings UAVObjects.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1402 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-25 00:55:15 +00:00
zedamota
6da48dcc1a OP-21/Flight Bootloader Changed packet size to 64byte
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1398 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-24 18:26:44 +00:00
zedamota
f91ae974a7 OP-21/Bootloader Small change. Now turns off interrupts before jumping to code.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1393 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 21:30:09 +00:00
peabody124
2db294caf7 OP-125 Flight: Changed GPS stack size to a bit closer to what the internal model needs to get rid of out of memory warning, but it could still use 1k less if it pulled all the constants from flash when needed and computed the time difference when called. Also changed ManualControl so it checks the active control values to determine the warning, so if GCS is controlling the warning light goes out.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1387 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 06:03:19 +00:00
peabody124
beac0c0ea9 AHRS: Get the signs for the simple algorithm correct
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1385 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 04:12:14 +00:00
peabody124
e94d3d3846 AHRS/Flight: Allow selecting simple algorithm as well as INSGPS
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1384 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 03:51:08 +00:00