rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-03 11:24:10 +01:00
Code Issues Releases Activity
5,355 Commits 5 Branches 8 Tags 266 MiB
e5d5da973a
Commit Graph

649 Commits

Author SHA1 Message Date
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
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
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
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
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
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
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
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
aba3789d87 Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into Brian-Metadata-Mods 2012-03-18 13:28:11 -07:00
James Cotton
0d42303d37 Fix some compilation errors/warnings in attitude.c 2012-03-11 16:30:18 -05:00