rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-30 08:24:11 +01:00
Code Issues Releases Activity
4,479 Commits 5 Branches 8 Tags 266 MiB
e2cb750dc6
Commit Graph

354 Commits

Author SHA1 Message Date
James Cotton
8f2fad6918 Fix for merging with the collective channel with the swashplate fix. 2011-09-11 18:53:10 -05:00
James Cotton
6457276438 Merge branch 'input_configuration' into next 2011-09-11 18:52:35 -05:00
James Cotton
b38081bb1b Stabilization: When in none mode zero the integral accumulators for rate and 
attitude loops.  When not using outer loop zero that accumulator.
 2011-09-11 16:33:38 -05:00
James Cotton
6945f17eba Make the StabilizationSettings.MaxRate field only apply to the stabilized 
modes.  That way ManualRate can exceed MaxRate.
 2011-09-11 12:27:17 -05:00
James Cotton
199db1362d Actuator: Found a bug in actuator that affects how throttle and pitch curves 
were used.  Basically 80% was always 100%.  This should make hovering better
and fix heli swash pitch.
 2011-09-09 19:40:58 -05:00
James Cotton
dfe91af686 UAVObjects: Space allocated in manualcontrolcommand did not match the number of 
channels in settings.  Fixed this and added assertion to catch in future.
 2011-09-09 01:17:13 -05:00
James Cotton
1a5fd9f30e Heli: Added an explicit collective channel. Also make the default channel 
number 0 since that is not invalid.
 2011-09-07 01:48:39 -05:00
James Cotton
72625d9971 PiOS RCVR: Make the public API use a 1 based indexing for channel numbers. 
This may or may not get into next, but if so anyone following it MUST
reconfigure their inputs.
 2011-09-06 16:39:08 -05:00
James Cotton
8f7712435f Merge branch 'safer_failsafe' into next 2011-09-06 16:23:11 -05:00
James Cotton
b1e0366525 Merge remote-tracking branch 'origin/CorvusCorax_unidirectional-GPS-com' into next 
Conflicts:
	flight/OpenPilot/System/pios_board.c
 2011-09-04 13:33:52 -05:00
James Cotton
510a1760ca When disconnected set any accessory channels to neutral. Otherwise the 
actuator module could keep the pitch at high.  However the "right" thing to do
seems very specific.  For example negative pitch is probably preferable.
 2011-09-04 03:45:36 -05:00
James Cotton
89e640ae7f Make sure all receiver drivers return correct constants for invalid channels. 2011-09-04 01:24:16 -05:00
James Cotton
20de046292 Force system to be disarmed when a bad configuration is present 2011-09-04 00:43:33 -05:00
James Cotton
d3de8ff0ef OP-559: Process the arm status when disconnect and allow it to timeout and 
disarm
 2011-09-03 23:57:51 -05:00
James Cotton
697dbf4f5f OP-568 PIOS_RCVR: Standardize the values that are returned from the PIOS_RCVR and make 
them symbolic constants.
- A timeout is 0
- A missing driver is 65534
- An invalid channel is 65535

ManualControl: Make it deal with the values explicitly.  A timed out value
should not be treated like a minimum duration signal.  Instead it does not
updated the scaled value but marks the data window as invalid to trigger the
failsafe.
 2011-09-03 23:50:56 -05:00
Stacey Sheldon
a72c657e21 rcvr activity: Speed up activity acquisition 
Activity detection logic can now move through
the active receivers more quickly.
 2011-08-27 20:17:56 -04:00
James Cotton
6514fd95c7 Also initialize the ReceiverActivity object in manual control 2011-08-27 16:08:57 -05:00
James Cotton
dc340596f5 Merge branch 'next' into GCS_ChangesToUI-RuntimeCFG 
Conflicts:
	flight/CopterControl/Makefile
	flight/OpenPilot/System/pios_board.c
	flight/OpenPilot/UAVObjects.inc
	flight/PiOS/STM32F10x/pios_spektrum.c
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configgadget.qrc
	ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
	shared/uavobjectdefinition/hwsettings.xml
 2011-08-27 15:26:05 -05:00
James Cotton
1d77d77832 Merge branch 'stac/use-malloc-failed-hook' into next 2011-08-27 00:24:13 -05:00
Corvus Corax
658ae3f809 Modules/System: removed comment line 2011-08-25 16:26:46 +02:00
Corvus Corax
109a58ef30 Modules/GPS: removed comment line 2011-08-25 16:25:19 +02:00
Corvus Corax
8173c7b7c6 Refactor GPS_PURISTIC into GPS_MINIMAL 2011-08-25 15:44:49 +02:00
Corvus Corax
1d797bf004 Fixed error introduced by merge 2011-08-25 15:40:45 +02:00
Corvus Corax
4bd72923e5 Merge branch 'CorvusCorax_unidirectional-GPS-com' into CC_GPS 
Conflicts:
	flight/Modules/GPS/GPS.c
	flight/Modules/GPS/GTOP_BIN.c
	flight/Modules/GPS/NMEA.c
	shared/uavobjectdefinition/hwsettings.xml
 2011-08-25 15:33:23 +02:00
Corvus Corax
54ecf233f3 Modules/PS: typo fix 2011-08-25 15:13:50 +02:00
Corvus Corax
7e396efbbf Modules/GPS: Assert buffer creation 2011-08-25 15:11:29 +02:00
Corvus Corax
dfdea16065 Modules/GPS: Make GPS COM unidirectional (rx only) and use smaller, runtime allocated heap buffers 2011-08-25 14:46:30 +02:00
Corvus Corax
697ac6067e OP-567 Modules/GPS: Block in PIOS_COM, not in TaskDelay - or we will miss updates! 2011-08-25 13:33:41 +02:00
Stacey Sheldon
edc0caf521 heap: set memory critical alarm on malloc failures 
Activate the FreeRTOS malloc failed hook and use it
to set the memory critical alarm.
 2011-08-21 23:14:32 -04:00
Corvus Corax
838149b53f GPS: homelocation init is optional, satellites must be initialized 2011-08-21 18:20:33 +02:00
James Cotton
368323fd59 Merge remote-tracking branch 'origin/james/erase_settings' into next 2011-08-20 13:07:01 -05:00
Corvus Corax
1ad65e0718 Fixed include in sysstemmod. pios_config.h should not be included explicitly. 2011-08-20 15:04:00 +02:00
Corvus Corax
53d0732fc6 Enable GPS module as "optional module" in CooterControl 2011-08-20 01:25:49 +02:00
Corvus Corax
dfd301571a HWSettings: Allow late Initialization and Start of Modules as defined in Makefile(available modules) and UAVObject(actually started modules) 2011-08-20 01:24:06 +02:00
Corvus Corax
b75890fcd4 Merge branch 'next' into CC_GPS 2011-08-19 21:34:38 +02:00
Corvus Corax
9bba1f7ae9 Posix: fix object initialization where necessary 2011-08-19 18:36:30 +02:00
James Cotton
ab7e57ad2b Initialize objects for guidance in the correct place. Init some objects in 
pios_board_posix since AHRSComms not around.
 2011-08-19 09:52:05 -05:00
James Cotton
482bec497b Revert "Fixed modules that didn't initialize used UAVObjects correctly" 
Modules should initialize their settings and the objects they source.  Not just
everything.

This reverts commit 9ad85e9b7b.
 2011-08-19 09:44:38 -05:00
Corvus Corax
9ad85e9b7b Fixed modules that didn't initialize used UAVObjects correctly 2011-08-19 13:20:15 +02:00
Corvus Corax
f86e53bf91 Merge branch 'OP-536_CorvusCorax_ObjectOrientedFirmwareUAVTalk' into next 
Conflicts:
	flight/Modules/Telemetry/telemetry.c
 2011-08-19 12:10:40 +02:00
Corvus Corax
6fe495c088 Merge remote branch 'origin/next' into OP-536_CorvusCorax_ObjectOrientedFirmwareUAVTalk 
Conflicts:
	flight/Modules/Telemetry/telemetry.c
 2011-08-17 08:30:32 +02:00
James Cotton
35eef66bfe OP-557: Add a UAVO access method to erase the entire flash chip. Normally not 
needed by users because if too much changes I change the FS magic and trigger a
wipe.

Possibly the erase should require a particular "magic" object id value to
execute?  This would make it harder to do manually through UAVOs though.
 2011-08-15 10:33:27 -05:00
James Cotton
86b652bbab Merge branch 'next' into camera_stabilization 2011-08-14 18:07:57 -05:00
zedamota
e736b17cc4 Merge remote-tracking branch 'remotes/origin/next' into GCS_ChangesToUI-RuntimeCFG 
Conflicts:
	ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
	ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
	ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
 2011-08-14 15:48:16 +01:00
James Cotton
a2b76adc33 Attitude: Do not start attitude estimation until accel data appears. This 
fixes the NaN when AttitudeSettings not available.
 2011-08-13 18:53:42 -05:00
James Cotton
ec4e23aff9 Camera Stabilization: Bound outputs to [-1,1] although this should be redundant 
with checks in actuator.
 2011-08-11 14:34:38 -05:00
James Cotton
bbe3c1533a Merge branch 'next' into camera_stabilization 2011-08-10 21:57:45 -05:00
James Cotton
ab288e95ab Stabilization: Small patch so that by default the integral is zeroed while 
throttle is low (good for quads) but can be disabled (good for planes and also
testing helis).
 2011-08-10 03:51:46 -05:00
James Cotton
f23eaa8273 Make the Actuator pull from the CameraDesired fields 2011-08-09 21:47:42 -05:00
James Cotton
f11aa80444 CameraStabilization: Make the CameraStabilization module put the desired 
position into another object (will help with configuration).
 2011-08-09 20:45:38 -05:00
James Cotton
c4e272b9ad Merge branch 'next' into camera_stabilization 2011-08-09 20:16:45 -05:00
James Cotton
ec2121bca8 Attitude: Keep first element of quaternion positive 2011-08-08 21:16:04 -05:00
James Cotton
fd86c25b49 Make sure OP compiles with new object init structure. 2011-08-04 15:01:54 -05:00
James Cotton
a592e7d398 ManualControlSettings must be also initialized in pios_board.c 2011-08-04 07:47:50 -05:00
Stacey Sheldon
90b2625deb rcvractivity: Add tracking of Rx channel activity 2011-08-02 01:27:37 -04:00
Stacey Sheldon
06cdeb7b61 rcvr: support multiple simultaneous receivers 
Now also supports multiple instances of the Spektrum driver.
These are configured as Spektrum1 and Spektrum2.
 2011-08-02 01:22:04 -04:00
James Cotton
cb9c6dfb5e Change the sequencing of telemetry starting to make sure all the objects that 
were registered in an initialize and then enumerated by telemetry
 2011-07-30 11:31:45 +09:00
James Cotton
ae67c51632 Register some missing objects with their modules 2011-07-30 11:28:21 +09:00
James Cotton
2e5a36a4db Merge branch 'stac/refactor-usart-com' into camera_stabilization 2011-07-30 10:55:16 +09:00
James Cotton
96c2d24253 Merge branch 'next' into camera_stabilization 
Conflicts:
	flight/CopterControl/Makefile
	flight/CopterControl/System/coptercontrol.c
	flight/Modules/Actuator/actuator.c
	flight/Modules/GPS/GPS.c
	flight/Modules/ManualControl/manualcontrol.c
	flight/Modules/Stabilization/stabilization.c
	flight/Modules/System/systemmod.c
	shared/uavobjectdefinition/manualcontrolsettings.xml
	shared/uavobjectdefinition/stabilizationdesired.xml
 2011-07-30 10:06:10 +09:00
James Cotton
333ab645ec Dos2unix manualcontrol.c to facilitate merging 2011-07-30 09:55:02 +09:00
Stacey Sheldon
c2fb0d8b43 com: allow run-time allocation of buffers 2011-07-29 15:33:14 -04:00
Stacey Sheldon
5f8760a55c com: Move buffering out of USART/HID layer and into COM layer 
This allows the spektrum and sbus receiver drivers to bind
directly to the usart layer using a properly exported API
rather than overriding the interrupt handler.

Bytes are now pushed directly from the usart layer into the
com layer without any buffering.  The com layer performs all
of the buffering.

A further benefit from this approach is that we can put all
blocking/non-blocking behaviour into the COM layer and not
in the underlying drivers.

Misc related changes:
 - Remove obsolete .handler field from irq configs
 - Adapt all users of PIOS_COM_* functions to new API
 - Fixup callers of PIOS_USB_HID_Init()
 2011-07-27 19:45:38 -04:00
Stacey Sheldon
6580462916 rcvr: specify drivers for groups of channels 
Each channel was previously tracking a separate driver.
Now, channels are grouped within a channel group to save
RAM used for tracking and to better reflect how channels
are actually mapped.
 2011-07-14 23:22:42 -04:00
Mathieu Rondonneau
612a439199 OP-423: simplify the MODULE_INITCALL macro and remove the ordering loops 2011-07-12 20:44:32 -07:00
James Cotton
0aec3b592c Changing stabilization so that the PIDs are zeroed when not armed, but NOT when 
the throttle is < 0.  This will make things like axis-lock work while armed
without throttle.  HOWEVER don't hold your stick in the arming position for a
long time or you can wind up the integrals now.
 2011-07-12 14:35:32 -05:00
James Cotton
2c7cfe435f Somehow this task runs quite a few times at the beginning so dT was going to 
zero and making the attitude get NaN.  Wrote recovery code for that condition
(should never occur) and also force minimum dT to 1 ms (also shouldn't occur)
 2011-07-12 14:18:19 -05:00
James Cotton
53ca934b2b Merge branch 'heli_stabilization' 
Conflicts:
	flight/CopterControl/System/inc/pios_config.h
	flight/Modules/Attitude/attitude.c
	flight/Modules/ManualControl/manualcontrol.c
	flight/Modules/Stabilization/stabilization.c
 2011-07-12 13:28:20 -05:00
Mathieu Rondonneau
d38f6167e3 OP-423: 
Also reduce heap has it does not fit in SRAM anymore (not with current compiler).
(that's ok since if there is more space available, it will be reclaimed).

Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint

Conflicts:
	flight/CopterControl/System/inc/pios_config.h
	flight/Modules/ManualControl/manualcontrol.c
 2011-07-08 06:29:34 -07:00
James Cotton
2d995dc2f7 OP-539: Don't call the gyro setting callback during init because it clears the 
gyro bias estimation.
 2011-07-05 22:27:03 -05:00
Mathieu Rondonneau
9b9b5a1367 OP-423: remove ';' at the end of macro 2011-07-05 19:44:54 -07:00
Stacey Sheldon
740b5f1584 rcvr: convert PWM, PPM, SBUS and Spektrum to use PIOS_RCVR 
All receivers now fall under the same driver API provided
by pios_rcvr.c.

This is part of a larger sequence of commits that will
switch the receiver selection over to boot time dynamic
configuration via UAVObjects.
 2011-07-05 22:03:25 -04:00
James Cotton
ad8876c62a OP-193: Weak leveling variant on rate mode. Slowly will return to level. 2011-07-04 20:44:55 -05:00
James Cotton
46ae7eb17b Merge remote-tracking branch 'origin/bugfix-ground' into heli_stabilization 2011-06-30 19:40:22 -05:00
James Cotton
39e646ae1d Make the rates all work properly in axis lock 2011-06-30 19:38:52 -05:00
zedamota
567e3ffcad OP-542 Board resets with new Uploader 
IAP module now checks magic value
 2011-06-30 12:17:27 +01:00
James Cotton
a7206361d2 Slightly different way to respond to sticks in axis lock that is much more 
responsive and avoids overshoot.
 2011-06-26 21:59:54 -05:00
Mathieu Rondonneau
6683ce8570 OP-423: Make it more obvious that MODULE_TASKCREATE_ALL and MODULE_INITIALIZE_ALL are macro (for now): 
- remove the ;
  - also encapsulate the macro by {} in his own scope.
 2011-06-25 11:40:01 -07:00
James Cotton
4c0245281d Now we store the gyro bias avoid quashing the initialization correction. 2011-06-25 12:32:06 -05:00
Mathieu Rondonneau
de55c56427 OP-423: Change capital on macro to be uppercase for consistency. 2011-06-24 22:03:03 -07:00
James Cotton
dedbcbfceb Correct nasty bug on range checking for max rate and use the axis lock rate 
desired when in that mode.
 2011-06-24 11:30:28 -05:00
James Cotton
e6ad21d881 Make gyro bias in deg/s * 100 to calibrate more precisely. 2011-06-24 10:51:07 -05:00
James Cotton
038f955cb1 OP-410 OP-333: Axis lock (heading hold) implemented 2011-06-24 10:38:26 -05:00
James Cotton
ab7ff56d96 Compute initial gyro bias while calibrating to speed up convergence 2011-06-24 10:38:26 -05:00
James Cotton
c0eff41dc6 OP-410 OP-333: Created an Axis-lock setting for stabilization 2011-06-24 10:38:26 -05:00
James Cotton
0a4bbcc12e Added a field for initial gyro bias to speed up initialization. 2011-06-24 10:38:26 -05:00
James Cotton
28501842c3 Expose the rate D term which in simulations seems to help damp oscillations for 
high RateKp terms.  However it might be sensitive to gyro noise (vibrations).
In addition it is mathematically similar to lead shapign so probably only use
one or the other.
 2011-06-24 10:38:25 -05:00
James Cotton
a09642675c Tweak the integral calculation so it is scaled in ms internally. This avoids a 
loss of precision on the accumulation.
 2011-06-24 10:38:25 -05:00
James Cotton
373689207a Add a 1-tap IIR filter into the gyros in the feedback path. This will make the 
stabilization output a bit more resilient to the high frequency noise from
gyros.  However this value shouldn't be too high as it will increase the phase
delay of the feedback loop and decrease stability.  Default is 5 ms.

Note: this resests the stabilizationsettings object.  Sorry guys.
 2011-06-24 10:38:25 -05:00
Mathieu Rondonneau
dcd2774103 OP-423 Fix some comment from code review: 
- update example module
- use module init macro for POSIX and WIN to make code cleaner.
 2011-06-24 06:59:51 -07:00
Corvus Corax
f52f6d30c6 VTalk (flight): Buffers allocated dynamically with size calculated by UAVObjGenerator. Support for tx packet sizes < object size.i 2011-06-24 02:08:20 +02:00
James Cotton
f6312c7798 OP-410 OP-333: Created an Axis-lock setting for stabilization 2011-06-23 14:51:18 -05:00
James Cotton
9aba787b02 OP-193: Check for instance read success was backwards 2011-06-23 03:01:37 -05:00
James Cotton
368d5b649a OP-193: Output mixer should read from up to 6 accessory channels (may add more 
in future).
 2011-06-23 01:47:55 -05:00
James Cotton
493fcaef2a OP-193 OP-511: Add settings to scale the camera input output range 2011-06-23 00:47:27 -05:00
Mathieu Rondonneau
0ff5e9a46f Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint 2011-06-21 22:02:13 -07:00
James Cotton
8976d22fad Merge remote-tracking branch 'origin/OP-159_os_sbus' 2011-06-21 17:51:22 -05:00
Mathieu Rondonneau
fc1e3f574c OP-423: Split task create and module init in order to postpone task creation once the full heap is available. 
Also implement some ordering (quite ugly still) in the module init and task creation order so we can decide which module to start/init first
and which module to start/init last.
This will be replaced/adapter with the uavobject list later (once it's implemented).
reserving some space for module init and task create parameters to customize module/task creation (this will be usefull once we get the list and customization from customer).

Changes have been made for OP and CC. Tested comped with CC,OP, sim_posix.
Only ran on bench with CC for couple of minutes (code increase expected but no dropping of stack which is good).

This gives task creation at the time wherethe all heap is available.
 2011-06-19 22:35:40 -07:00
James Cotton
17fa227d1f Fixed typo, thanks Os 2011-06-19 16:51:54 -05:00
Mathieu Rondonneau
5e3e7cc4e3 OP-423 Fix issue with init not properly started in the right order endup up object thinking other where not init. 2011-06-18 17:28:37 -07:00