priority preempts) and adjusting the priorities around to be more sensible.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2355 ebee16cc-31ac-478f-84a7-5cbb03baadba
but not having telemetry causes a reset. If the buffer got full enough it
would never start to transmit again.
Note: also making Telemetry non-blocking
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2346 ebee16cc-31ac-478f-84a7-5cbb03baadba
(which is good) but that stops the comms polling. This makes it happen
ocassionally but not too much.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2335 ebee16cc-31ac-478f-84a7-5cbb03baadba
range of NaN. This would reflect a race condition probably from the SPI
interaction.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2334 ebee16cc-31ac-478f-84a7-5cbb03baadba
to only transmitting one object per transmission too to keep size down.
Also move to using the driver structure so the paramter is in a clear place.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2333 ebee16cc-31ac-478f-84a7-5cbb03baadba
Battery module for Power Sensor version 2
This is the first checkin of code for the new sensor board.
This has been tested for Voltage calibration bit not Current yet.
This will set and clear system alarms appropriately.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2323 ebee16cc-31ac-478f-84a7-5cbb03baadba
As this changes UAVObjects both flight and GCS software will need to be recompiled to stay in sync.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2303 ebee16cc-31ac-478f-84a7-5cbb03baadba
As this changes UAVObjects both flight and GCS software will need to be recompiled to stay in sync.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2302 ebee16cc-31ac-478f-84a7-5cbb03baadba
This allows the UAVObjectGenerator generated code to set the default values.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2301 ebee16cc-31ac-478f-84a7-5cbb03baadba
Error when GPS disconnected
OK when >=7 satellites and PDOP <3.5
Warning when only 3Dfix
Critical otherwise
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2297 ebee16cc-31ac-478f-84a7-5cbb03baadba
This means that any defined alarms that don't have their flight module compiled in will show uninitialised rather than OK
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2295 ebee16cc-31ac-478f-84a7-5cbb03baadba
Added:
Battery
Flight Time
I2C
GPS
Also added new alarm state of "Uninitialised"
no code to set these alarms yet.
As this changes UAVObjects both flight and GCS software will need to be recompiled to stay in sync.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2294 ebee16cc-31ac-478f-84a7-5cbb03baadba
error message for embedded stuff.
Note: this was only tested on PC although I'm fairly confident about it.
Please let me know about any errors.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2285 ebee16cc-31ac-478f-84a7-5cbb03baadba
will run slower but greatly reduce the memory footprint (360 floats less).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2284 ebee16cc-31ac-478f-84a7-5cbb03baadba
settings but only be used when home location is valid. Also discard any mag
data that is all zeros although we shouldn't see this.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2283 ebee16cc-31ac-478f-84a7-5cbb03baadba
little aggressive. Also increased the drift rate of the gyro bias per Sambas'
testing (thanks) although not to the levels required for flying through 40 deg
C transitions.
Made the dump_ekf function handle both numbers of states
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2282 ebee16cc-31ac-478f-84a7-5cbb03baadba
before because if transmission got NAK then sending would stop. Now the next
time data is added to the buffer a new send will be attempted.
fifoBuf: in clearData just set the read pointer to the write pointer. This is
safer for multiple people accessing it assuming the reader will be clearing it.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2279 ebee16cc-31ac-478f-84a7-5cbb03baadba
what they would be on a real board. Also fixed a typo in stabilization.c which made me lose time when trying to understand the code...
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2260 ebee16cc-31ac-478f-84a7-5cbb03baadba
FirmwareIAP to get me back for breaking Sys_Reset. You got me! :)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2246 ebee16cc-31ac-478f-84a7-5cbb03baadba
required for longer sequences, Need to deal with when it happens
inappropriately better.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2245 ebee16cc-31ac-478f-84a7-5cbb03baadba
sometimes thrown, and made errors not lock it up by default. It works for me,
but since this has historically been associated with lots of lock ups please
check your systems carefully.
PiOS/I2C: Make the bus by default try to recover from errors instead of locking
up
PiOS/I2C: After a bus error and clocking all previous data create a STOP
condition to make sure bus is released (note, this also requires creating a
START condition first)
PiOS/I2C: If the same event hits the I2C bus twice in a row then disregard
second one, there is no situation where we should get the same event multiple
times that matters and this gets us out really quickly to catch the real
events. I was seeing this with repeated 0x70084 which means byte transmitted.
This is related to STM32 bugs in the IRQ timings I believe.
PiOS/I2C: 1) Mask out some bits we don't care about in the event flags
2) Don't lock up if the give semaphore fails, although why it does is strange
3) Recover from bus failure through the "auto" state path instead of just
coding state
PiOS/I2C: Change the reset bus code to follow
http://www.analog.com/static/imported-files/application_notes/54305147357414AN686_0.pdf
(thanks for the reference Neontangerine). Although this may actually NOT clear
the bus the first time through, subsequent bus errors should eventually clock
it out. The up side is it is less likely to clock a bunch of 1s into an ESC
and make it run up.
PiOS/I2C: Some cleaned up code for getting a snippet of the history when
something strange happens
PiOS/I2C: Export logging information from I2C through a UAV object
PiOS/I2C: Improve the diagnostic information
PiOS/I2C: Need to handle the event 0x30084. This seems to happen between a
byte transmitted and new byte started
PiOS/I2C: Handle the NACK condition by simply going to the stopping state.
PiOS/I2C: Add a new NACK state to handle sending the STOP signal after a NACK
following the STM documentation. Other error conditions still are not dealt
with.
PiOS/I2C: Should handle the NACK condition from all the write cases. Need to
think about read cases
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2239 ebee16cc-31ac-478f-84a7-5cbb03baadba
and starting transmission again. This should address the bootloader locking up
on verify.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2235 ebee16cc-31ac-478f-84a7-5cbb03baadba
BEWARE: I have not flown my quad with this code, so please be careful, test, and report!
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2234 ebee16cc-31ac-478f-84a7-5cbb03baadba
bias as gravity vector facing down (bad for planes) which is diabled by
default.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2232 ebee16cc-31ac-478f-84a7-5cbb03baadba
configuration structures are const which keeps them in flash instead of ram.
However the library needs to declare them const for the compiler to work.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2231 ebee16cc-31ac-478f-84a7-5cbb03baadba
Implements RS232(Telemetry) uploads using Kokomo's protocol.
This is a test version, the code will never timeout and jump to user space code.
If USB is connected on Power Up it will be used, if not RS232 will be used instead.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2211 ebee16cc-31ac-478f-84a7-5cbb03baadba
than the ekf runs and also be more tolerant of timing jitter
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2191 ebee16cc-31ac-478f-84a7-5cbb03baadba
from the AHRS code (which will facilitate code integration with new INS) and
also will help set up a fifo queue for the downsampled data to allow gyro data
output from AHRS faster than EKF output. Also decreased ADC interrupt priority
so the SPI comms don't drop out.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2190 ebee16cc-31ac-478f-84a7-5cbb03baadba
bias correction. This is useful for stabilization to get rid of the gyro bias.
Making it an option is important for calibration.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2189 ebee16cc-31ac-478f-84a7-5cbb03baadba
bounded. Velocity variance still comes from AHRSCalibration.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2186 ebee16cc-31ac-478f-84a7-5cbb03baadba
ManualControlSettings so that planes can disable the timeout
feature for gliding (holding roll on a plane not so good).
Note: This will require you to reconfigure your ManualControlSettings
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2185 ebee16cc-31ac-478f-84a7-5cbb03baadba
Three files added to AHRS which add accelerometer biases (16 states) to the INS/GPS. Added for evaluation (give it a try James).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2182 ebee16cc-31ac-478f-84a7-5cbb03baadba
will automatically disarm after 30 seconds without motor. This behavior will
need to be parameterized for planes which might idle for a while.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2181 ebee16cc-31ac-478f-84a7-5cbb03baadba
velocity to help stabilize attitude. In principle the mag should be fine but
in practice I need this.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2160 ebee16cc-31ac-478f-84a7-5cbb03baadba
indoor from the name since it's used for both indoor and outdoor mode now.
Increased default value to 0.4 to better reflect the GPS accuracy.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2156 ebee16cc-31ac-478f-84a7-5cbb03baadba
how various sensors are used in the INS update. Also added slow filter to
track offset between GPS and baro in outdoor mode.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2154 ebee16cc-31ac-478f-84a7-5cbb03baadba
Changes in ahrs.c for new initialization and to fix issues with outdoor algorithm. The changes in ahrs.c are pretty messy, but committed mostly to get the code to Peabody for more extensive restructuring of ahrs.c.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2150 ebee16cc-31ac-478f-84a7-5cbb03baadba
only one receive task. This is less generally safe but decreases the
frequency of resets in our current configuration
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2144 ebee16cc-31ac-478f-84a7-5cbb03baadba
before cleared at the end of each loop - including one after an alarm
Flight/Actuator: Similar change to make sure not having updates from
stabilization (i.e. no AHRS) doesn't trigger a watchdog reset
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2140 ebee16cc-31ac-478f-84a7-5cbb03baadba
lost. Warning though: it takes ~5-10 seconds for the flight telemetry status
to go from connected so this solution still isn't great.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2070 ebee16cc-31ac-478f-84a7-5cbb03baadba
end characters occur while sentence coming in instead of reprocessing whole
sentence for each character
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2041 ebee16cc-31ac-478f-84a7-5cbb03baadba
similar driver format to the PIOS_USART system. (p.s. are you happy now, PT?)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2029 ebee16cc-31ac-478f-84a7-5cbb03baadba
by PipX modems. This is a change to UAVTalk so GCS and the hardware must all
be updated.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2016 ebee16cc-31ac-478f-84a7-5cbb03baadba
parallel for this update. Also removed comment for rawhid
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2012 ebee16cc-31ac-478f-84a7-5cbb03baadba
causes it to trigger most of the time every 1 ms which is consuming tons of
CPU. Also lower the failsafe timeout since its likely due to overloading the
event system and we don't want to delay 100 ms.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2005 ebee16cc-31ac-478f-84a7-5cbb03baadba
running and block the interrupts while modifying the buffers
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2003 ebee16cc-31ac-478f-84a7-5cbb03baadba
IRC, but suggestions are welcome. In the long run we probably need a sensible
way of embedding some information in the LED but it's not obvious to me. Also
could have done with callback - sue me. ;)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1997 ebee16cc-31ac-478f-84a7-5cbb03baadba
simple - outdated - won't compile
Experimental - outdated - won't compile
les - development version - not stable
les+corvus - development version - not stable
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1993 ebee16cc-31ac-478f-84a7-5cbb03baadba
1) Moved the criteria for using GPS to defines in anticipation of moving into
AHRSSettings
2) Only use the mags for updates if the vector length is within 20% of nominal
to avoid updating when it's nonsense
3) Reinitialize position when swapping between indoor and outdoor
4) Dont use mags for first 5 seconds after initialization, sometimes seems to
cause issues
5) Dont use mags until magnetic field at your location is set and a magnetic
field is loaded
6) Dont use GPS if home location hasnt been set
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1959 ebee16cc-31ac-478f-84a7-5cbb03baadba
moved around where the axis are swapped and made the negative sign come from
calibration.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1931 ebee16cc-31ac-478f-84a7-5cbb03baadba
uavobjectgenerator to support multiple fields (thanks Les!). Also
changed default scale on mag to +/-6g
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1899 ebee16cc-31ac-478f-84a7-5cbb03baadba
Before, moving your throttle trim slightly could cause ManualControl to think the receiver was not connected
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1885 ebee16cc-31ac-478f-84a7-5cbb03baadba
so it can also change parameters of Stabilization. Please check your aircraft
behavior with this patch, but default behavior should be unchanged.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1878 ebee16cc-31ac-478f-84a7-5cbb03baadba
exceed CPU requirements of PID. Also add add lesstabilization UAVObject to Makefile
to fix compile errors.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1870 ebee16cc-31ac-478f-84a7-5cbb03baadba
home location. If you use INSGPS_INDOORS make sure your HomeLocation.Be fields
are correct for your GPS coordinates
http://maps.alfiordalis.com/declination.html
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1862 ebee16cc-31ac-478f-84a7-5cbb03baadba
fly (EKF rate up to a limit). Also, now the algorithm selects if you are
indoor or outdoor as well as if you use a mag indoor (if you do set the z
variance higher than it calibrates to).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1841 ebee16cc-31ac-478f-84a7-5cbb03baadba
yaw angle crosses the zero-360 mark, beware.
You can disable yaw stabilization by setting all PID gains to zero for yaw.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1828 ebee16cc-31ac-478f-84a7-5cbb03baadba
and removed the unused field from actuator settings (old setting time and all
the aircraft specific stuff).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1820 ebee16cc-31ac-478f-84a7-5cbb03baadba
update since now drive by events. This means StabilizationSettings object
changing so write down your settings.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1819 ebee16cc-31ac-478f-84a7-5cbb03baadba
approach again because ran out of numerical precision for single pass. Also
made ground force the gyro signs to be correct.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1806 ebee16cc-31ac-478f-84a7-5cbb03baadba
THIS MEANS YOU MUST RETUNE YOUR PID LOOP IF YOU'RE FLYING WITH IT
Alternatively divide Kd by 1000 and multiply Ki by 1000
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1782 ebee16cc-31ac-478f-84a7-5cbb03baadba
Flight: Create PositionDesired (the active waypoint) UAVObject and make the FlightSituationActual no update since it not used.
Flight: New velocity desired object that passes information between the look computing the desired velocity and the PID loop to get it (updated at different rates)
UAVObjects/PositionActual: Remove unused GPS fields
UAVObjects/PositionActual VelocityActual: Split the velocity into a separate object. ALso make sure all the information telemetered around is in cm to avoid using floats.
UAVObject/GuidanceSettings: New guidance settings object for the guidance module
Flight/Posix: Add the new objects to the Posix sim
Flight/Guidance: Computes a desired velocity based on position error than runs a PID loop to control roll and pitch to achieve that velocity. All distances are in cm, and updated the PositionActual fields to reflect this and use int32.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1760 ebee16cc-31ac-478f-84a7-5cbb03baadba
determine retransmitting calibration, home location and such.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1755 ebee16cc-31ac-478f-84a7-5cbb03baadba
Calibration should take less time now too (using second moments to estimate
variance in one pass). Now need to change to multiple messages to get the
calibration in to keep the request message size minimal. Also currently
running sensor calibrate doesn't store the gyro bias so if you want to use this
you'll have to tweak it manually. I'll fix that step tomorrow.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1741 ebee16cc-31ac-478f-84a7-5cbb03baadba
The system settings UAVObject is updated, you will have to recompile your firmware. If you want to take a look and let me know, please do!
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1737 ebee16cc-31ac-478f-84a7-5cbb03baadba
Removing some Experimental and Incomplete Modules and their UAVObjects not suited for 1.0
- they will be moved into an experimental branch:
Navigation : experimental code only
FlightSituation: experimental code only
Guidance : preliminary draft - possibly to be replaced by peabody124 position hold code if finished in time.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1729 ebee16cc-31ac-478f-84a7-5cbb03baadba
Creating GuidanceModule together with PositionDesired UAVObject (as discussed),
so dschin and me can work on it :-)
Will compile and (on sim_posix) execute, but PID logic is yet untested and preliminary.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1722 ebee16cc-31ac-478f-84a7-5cbb03baadba
This is functionally the same as having a heading hold gyro in hardware.
Code is copied from the simple stabilisation routine and is a bit rough at the minute, but initial testing looks good.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1670 ebee16cc-31ac-478f-84a7-5cbb03baadba
Leaving debug on allows the -g option to be enabled
so that we can have symbols in gdb even though we're
forcing the optimization flags to -Os.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1631 ebee16cc-31ac-478f-84a7-5cbb03baadba
The AHRS mainloop was reading the mag data on every
loop regardless of whether new data was actually
available. Now that the MAG_DRDY signal is monitored,
we can read only at the rate (10Hz) new data is actually
produced by the sensor.
This also enables future improvements that will remove the
filtering work that is still being done on the mag data on
every iteration.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1630 ebee16cc-31ac-478f-84a7-5cbb03baadba
Way too much was being exposed in the API for the
HMC5843. This commit properly hides internal
details of the driver.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1629 ebee16cc-31ac-478f-84a7-5cbb03baadba
The DRDY signal from the magnetometer is connected to PB8
on the STM32. This pin is now configured as an external
interrupt and is now used to signal when new data is
available from the magnetometer.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1628 ebee16cc-31ac-478f-84a7-5cbb03baadba
The EOC EXTI interrupt configuration was incorrectly
pointing at GPIOG pin 8 rather than GPIOC pin 15.
This was preventing the EOC interrupt from working
properly.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1626 ebee16cc-31ac-478f-84a7-5cbb03baadba
I2C bus errors are now recoverable. The bus is properly reset
and an error indication is now provided to the caller whenever
a bus error occurs during processing of the transaction list.
For now, the users of the I2C layer just retry infinitely on
failure. The BMP085 and HMC5843 code should be changed to
report errors to its callers to allow a more sensible retry
strategy.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1625 ebee16cc-31ac-478f-84a7-5cbb03baadba
AUTO transitions in the FSM are now handled immediately
after processing each newly injected event rather than only
at the end of the EV ISR.
This consolidation allows the upcoming addition of event
injection from both the EV and ER ISR contexts.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1624 ebee16cc-31ac-478f-84a7-5cbb03baadba
Occasionally, the I2C driver races with the STM32 I2C peripheral
at the end of a bus cycle. This leaves the bus in an errored
state and the stop condition is not properly asserted on the bus.
The polling for the stopped condition was previously implemented
in ISR context since it was expected to be nearly instananeous.
In the error condition, however, the stop condition will never
happen. The polling for this case is now done by the initiating
task (or mainloop on the AHRS) to prevent the timeout condition
from triggering the watchdog.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1623 ebee16cc-31ac-478f-84a7-5cbb03baadba
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
