1135 Commits

Author	SHA1	Message	Date
Corvus Corax	5159d2029b	new airspeed module - still needs matching PIOS driver from stac	2012-04-17 15:54:05 +02:00
James Cotton	ad074aee4b	Fix nasty bug in guidance where I missed some breaks	2012-04-16 08:59:25 -05:00
James Cotton	a7ba6d96c1	Allow guidance to run purely off raw GPS data	2012-04-15 16:23:34 -05:00
James Cotton	050c756d54	Merge branch 'revolution_path' into testing	2012-04-15 12:34:31 -05:00
James Cotton	4928cbba44	Merge branch 'sim' into testing	2012-04-15 12:34:27 -05:00
James Cotton	59da9deffb	Merge remote-tracking branch 'revo/D-Lite/ubx-parser' into sim	2012-04-15 12:33:54 -05:00
James Cotton	6a094ac326	Increase stack for the path planner	2012-04-15 12:31:50 -05:00
Corvus Corax	88f7567247	change to GPS: do not update UAVObject more than 1ce per cycle	2012-04-15 19:17:03 +02:00
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
Corvus Corax	84c3705390	use gyro scale and bias in sensor module	2012-04-14 14:01:28 +02:00
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
Brian Webb	4936cd8fd2	Added PipXStatus and PipXSettings UAVObjects and added support the sending/receiving UAVTalk objects on the PipX.	2012-04-10 20:22:53 -07:00
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
Brian Webb	7b49a6b820	Added watchdog to radio com bridge in PipXtreme.	2012-04-07 19:12:49 -07:00
Brian Webb	f4d886de75	Added support for determining when the radio->com link is between UAVTalk packets. This is required to inject UAVTalk messages into the message stream.	2012-04-07 18:17:57 -07:00
Brian Webb	0f9f897870	Added PPM packet to packet handler, created replacement system module for PipXtreme (PipXtreme module), removed all UAVObjects from PipXtreme, and added parsing of incoming (over USB/COM) UAVTalk stream.	2012-04-07 18:17:32 -07:00
Sambas	d399469b88	Last push before summit	2012-04-07 14:30:04 +03:00
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
Brian Webb	56a2006fd8	Reconfigured to run on the real PipX board.	2012-04-06 18:44:31 -07:00
Brian Webb	bc1adb2519	Some cleanup of rfm22 driver.	2012-04-06 17:36:35 -07:00
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
Brian Webb	fff93910e2	RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.	2012-04-05 20:24:50 -07:00
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
Sambas	93ad5d2660	stuff	2012-03-26 19:23:16 +03:00
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
Sambas	4c6ee740e2	Merge remote-tracking branch 'remotes/origin/james/revolution' into osd_test_v1	2012-03-25 14:28:25 +03:00
Brian Webb	1669f00456	Merge remote-tracking branch 'origin/next' into Brian-PipXtreme-V2	2012-03-24 15:21:16 -07:00
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	823b111d60	Added Reed-Solomon error correction to PipXtreme. The code is a slight modification of rsscode (http://rscode.sourceforge.net). Packet acking has also been turned on as the default, so each packet is error corrected, and if errors remain, the packet is NACKed, otherwise it is ACKed. Also temporarily turned off UAVTalk parsing. This was causing the CC to be identified as a PipX due to the PipX sending UAVObjects (I believe) from the system module. The system module is going to have to be modified/replaced for the PipX.	2012-03-18 17:43:29 -07:00
Brian Webb	aba3789d87	Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into Brian-Metadata-Mods	2012-03-18 13:28:11 -07:00
Sambas	13094abc1c	new splash screens and better handler for them	2012-03-16 18:00:16 +02:00
Brian Webb	b34b849453	Added start at a modified PipX packet handler.	2012-03-15 19:29:54 -07:00
Sambas	ef7758505a	Mapping correct ports	2012-03-13 20:42:37 +02:00
James Cotton	0d42303d37	Fix some compilation errors/warnings in attitude.c	2012-03-11 16:30:18 -05:00
Sambas	addda5f29d	USB and bootloader stuff, WORKS!!	2012-03-11 11:31:02 +02:00
Sambas	742f3ff24d	Merge remote-tracking branch 'remotes/origin/james/revolution' into osd_test ... Conflicts: ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp	2012-03-11 09:39:51 +02:00
Sambas	ccf5c310c9	Updates	2012-03-11 09:27:38 +02:00
James Cotton	820ca6a970	Initialize loop variable OUTSIDE loop so that baro is used still for altitude ... hold.	2012-03-10 11:28:51 -06:00
James Cotton	f4705551b6	Update task info to cover the AltitudeHold module	2012-03-10 11:14:30 -06:00
Dmitry Zaitsev	d45e88515b	firmware: disable Attitude module in simulation ... this part should be rewritten to completely disable the polling of sensors. i just do not know how to do it correctly.	2012-03-10 06:02:23 +04:00
Brian Webb	d73895de7d	Working PipX com relay.	2012-03-07 18:05:42 -07:00
Brian Webb	444150269a	Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into PipXtreme	2012-03-05 18:22:08 -07:00
Sambas	91a9e45888	Updates, first UAVtalk client test	2012-03-05 19:53:52 +02:00
James Cotton	61d59828dc	Disable the new features if not revolution and set an error flag. Fixes ... compilation errors.	2012-03-05 00:24:11 -06:00
James Cotton	7961aba83c	Clean up a few more compiler warnings ... Conflicts: flight/PiOS/Common/pios_ms5611.c	2012-03-03 13:32:56 -06:00
James Cotton	91a226fc12	Sometimes the mag stops updating so kickstart it	2012-03-03 13:31:46 -06:00
James Cotton	bc8b72623e	Get rid of some unused variables	2012-03-03 11:54:09 -06:00
James Cotton	e3df261213	Merge branch 'stac/revo-usb' into revolution ... Conflicts: flight/Revolution/System/pios_board.c	2012-03-02 13:00:13 -06:00
Brian Webb	e2cb750dc6	First cut on RadioComBridge module, which is intended to pass data from either a USART or a USB port to the PipX radio link.	2012-02-25 07:37:05 -07:00
Oleg Semyonov	2271b95816	Merge remote branch 'origin/next' into os/features/stick-deadband-next ... Conflicts: ground/openpilotgcs/src/plugins/config/configinputwidget.cpp ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp ground/openpilotgcs/src/plugins/config/configtaskwidget.h	2012-02-23 08:32:27 +02:00
Oleg Semyonov	e62cc8914c	Merge remote branch 'origin/next' into os/features/pid-tuning-from-transmitter-next ... Conflicts: flight/CopterControl/Makefile ground/openpilotgcs/src/plugins/config/config.pro ground/openpilotgcs/src/plugins/config/configtaskwidget.cpp ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro shared/uavobjectdefinition/hwsettings.xml	2012-02-22 23:03:17 +02:00
Oleg Semyonov	403e9cd220	TxPID module: add ILimit values to the list of settings	2012-02-21 19:57:10 +02:00
James Cotton	7b548eaa54	Fix bug in the integral for altitude hold where it was accumulating wrong variable.	2012-02-21 00:40:55 -06:00
Brian Webb	43f6458f86	Reduced the sizeof the UAVObject metadata by: ... 1) Combining all binary or mode values into a single byte 2) Adding accessor functions to read/write the flag bits 3) Reduced the size of the time values from 32 bits to 16 bits	2012-02-20 18:45:18 -07:00
James Cotton	900780e10c	Add bias estimation to the altitude fusion algorithm. Necessary to increase ... the gains on acceleration and velocity feedback terms (they are a problem when biased).	2012-02-19 11:38:09 -06:00
James Cotton	47fac7e31c	Move the throttle setting code for alt hold into the fast accel loop.	2012-02-18 18:16:15 -06:00
Sambas	4dd91d08c2	Settings, home arrow tests & other updates	2012-02-18 12:38:50 +02:00
Oleg Semyonov	c721d001c0	Subtract deadband offset from then input to still have fine control	2012-02-18 10:21:51 +02:00
James Cotton	7d4582e5f0	Update the altitude KF to use the updated measurements appropriately and check ... in the relevant matlab code to check it and genererate it. Produces quite smooth traces.	2012-02-16 05:33:47 -06:00
Sambas	8f45114b1f	Fixes & cleanup	2012-02-15 21:14:02 +02:00
Sambas	0bc08a48d8	cleanup 'n' updates	2012-02-14 21:42:09 +02:00
James Cotton	c957172f8f	In the case of swapping in userspace due to the buffer being blocked during ... ISR, make sure the latency is less than 50 us to avoid framesync errors. Still seeing a few nonsense packets on Overo side but fairly few. Probably need to add CRC to whole packet now and call it done.	2012-02-14 11:06:16 -06:00
James Cotton	1930d092eb	In the case where the overo scheduler cannot swap buffers (userspace loading ... it) then set a flag so as soon as the buffer is loaded then we schedule it.	2012-02-14 11:00:29 -06:00
James Cotton	f04c58b0f4	Make the overo transaction occur based on the rising edge of the NSS line. ... This fixes most of the frame sync problems. However, it's a bit hacky as there is currently hardware information inside a module.	2012-02-14 10:37:30 -06:00
James Cotton	d018d93e88	Clean up previous commit a bit and make the sampling rate a variable (and adapt ... the sampling time accordingly).	2012-02-13 01:49:54 -06:00
James Cotton	3acbfbe96c	Convert the pressure sensor code to most of the calculations as int64 to retain ... precision.	2012-02-13 01:22:48 -06:00
Sambas	8cc876d02a	OSD branch	2012-02-12 22:29:42 +02:00
James Cotton	f23f53dc4e	Add settings for the altitude kalman filter settings and init the state when ... first measurement arrives	2012-02-12 09:07:27 -06:00
James Cotton	34ca5777dd	Kalman filter for altitude	2012-02-11 21:08:19 -06:00
James Cotton	d8f0494e57	Merge branch 'revolution' into revolution_overo	2012-02-11 20:02:20 -06:00
James Cotton	3026527801	Now the desired altitude is relative to when the switch was flipped so that the ... baro altitude module can use a smoothed altitude estimate for the starting point.	2012-02-08 23:02:29 -06:00
James Cotton	80d602ef7b	Switch order of some commands to make sure it loads the correct hover throttle	2012-02-08 20:47:10 -06:00
James Cotton	ab41bae071	Separately smooth the error estimate from the derivative	2012-02-08 11:15:33 -06:00
James Cotton	60c951843d	Use backtracking to limit integral in altitude hold and smooth the velocity ... error. Initialize the throttle integral better.	2012-02-08 10:39:31 -06:00
James Cotton	c6b1d6b8df	Rework the altitude hold code a bit	2012-02-08 09:42:10 -06:00
James Cotton	49a03a868b	Merge branch 'altitudehold' into revolution_overo ... Conflicts: flight/OpenPilot/UAVObjects.inc flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj flight/Revolution/Makefile flight/Revolution/ins.c	2012-02-07 23:00:29 -06:00
James Cotton	6ec0f06c80	Back to 1024 byte packets	2012-02-07 13:02:11 -06:00
James Cotton	2c60447200	Switch back to 512 byte packets and fix bug when writing the header size that ... was smashing the crc	2012-02-07 11:32:04 -06:00
James Cotton	221a0c5e53	Add the number of dropped updates to the overosync stats	2012-02-07 09:13:26 -06:00
James Cotton	a89d425b23	Reset the received rate for overo sync object	2012-02-07 09:01:58 -06:00
James Cotton	02bec750bd	In the attitude loop need to check all the queues even if unused or the event ... system will have warnings	2012-02-07 08:46:34 -06:00
Stacey Sheldon	e2939dae2a	revo usb: Add support for USB to Revo	2012-02-07 02:25:31 -05:00
James Cotton	ae01936808	Add the portTickTime into the OveroSync stream	2012-02-06 10:00:02 -06:00
James Cotton	dbcb499d7f	Add object to monitor the overo link status. Current just records the bytes/s ... being sent and the connected status (based on sending more than 500 bytes per second)	2012-02-06 09:37:31 -06:00
James Cotton	5b2376dbee	Remove the semaphore for buffer swapping and make this occur during the receive ... ISR. This leads to a possible condition where a copy is taking place in userspace and then a buffer swap interrupts it. However, the copy should always finish before the SPI DMA slave catches up to that place in memory at 10 MHz. This fixes a common condition where the userspace task (low priority) was not swapping buffers in time from user space and logs were corrupted.	2012-02-06 08:21:24 -06:00
James Cotton	179e66b754	Refactor how new packets are scheduled to avoid trying to start a transaction ... from an ISR. This was causing lock ups. It's a bit higher latency probably (trivially slow) but if we aren't keeping up with the Overo transactions then using a proper DMA double buffer will be required.	2012-02-04 20:11:31 -06:00
James Cotton	665801662d	In cc3d update sensors add accelbias before scaling to allow more precision in ... levelinIn cc3d update sensors add accelbias before scaling to allow more precision in levelingg	2012-02-04 12:12:41 -06:00
James Cotton	4e190f99e2	Improved the revo overosync code to put multiple uavobjects into a packet	2012-02-04 12:06:03 -06:00
James Cotton	c26154f303	Switch back to 256 byte packets and 0xFF pad the end	2012-02-02 11:40:49 -06:00
James Cotton	8b1137c6a0	Align the tx and rx SPI buffers from Overosync	2012-02-02 11:23:40 -06:00
James Cotton	0a71a48c57	Sending all FF finally again	2012-02-02 10:36:09 -06:00
James Cotton	95abb56d5e	Added module to send updates out the SPI port	2012-02-02 09:19:25 -06:00
James Cotton	a778c45d6f	For L3GD20 sensor task run at the sensor speed	2012-01-28 10:11:30 -06:00
James Cotton	13447ac907	Fix the MPU6000 implementation	2012-01-28 00:21:58 -06:00
James Cotton	b4435d0b35	For L3GD20 sensor task on revo update gyro once per physical sample	2012-01-26 23:29:12 -06:00
James Cotton	84dd1dbc40	A bit more lenient settings for CC sensor timings	2012-01-26 13:00:06 -06:00
James Cotton	727f0befc5	Make the gyro go a bit more regularly to stabilization but needs updating ... regular CC	2012-01-25 22:50:19 -06:00
James Cotton	e4df3202e0	L3GD20: Update sensor task for revo to use the new queue	2012-01-25 22:50:19 -06:00
James Cotton	205aabe895	L3GD20: Make this sensor push data onto a FreeRTOS queue so that the sensor ... reading task can block according. Also now the gyro data is sent to stabilization multiple times per update of the attitude loop.	2012-01-25 01:20:07 -06:00
James Cotton	1971ba30dc	No longer hardcode baudrate	2012-01-24 23:42:43 -06:00
James Cotton	104c091590	Correct the range constants for the L3GD20 driver	2012-01-24 19:48:14 -06:00
James Cotton	a25d52785b	Change the bus speed for the L3GD20 to 10MHz and some small cleanups	2012-01-24 19:17:49 -06:00
James Cotton	b6c056fef2	Use the updated L3GD20 format and make attitude.c use the gyro data from the ... fifo	2012-01-24 15:52:17 -06:00
James Cotton	5efbfb02fa	Make the BMA180 sensor system acquire from the queue. Correct the orientation ... and speed it up to 10 MHz communications.	2012-01-24 15:09:20 -06:00
James Cotton	8c208412c9	Give the BMA180 a dynamically allocated device structure and also make it ... properly bind to a SPI and slave number. Temporarily reducing spi bus to slowest possible speed.	2012-01-24 14:38:00 -06:00
James Cotton	8e79bc2ee2	Temporarily refactor attitude to directly read the sensors instead of pull from ... their queues until the interrupts are working properly	2012-01-24 11:54:23 -06:00
James Cotton	e9552065a9	Reenable the CC3D sensors	2012-01-24 11:03:33 -06:00
James Cotton	c242ab8b86	Merge branch 'next' into revolution3 ... Conflicts: flight/AHRS/ahrs.c flight/AHRS/pios_board.c flight/Bootloaders/Revolution/Makefile flight/CopterControl/System/pios_board.c flight/INS/pios_board.c flight/OpenPilot/Makefile flight/OpenPilot/System/openpilot.c flight/OpenPilot/System/pios_board.c flight/PiOS/Boards/STM32103CB_CC_Rev1.h flight/PiOS/Boards/STM32F4xx_Revolution.h flight/Revolution/Makefile flight/Revolution/System/inc/pios_config.h flight/Revolution/test.c	2012-01-24 10:46:35 -06:00
James Cotton	486cdb5dbb	Got CC running again although with altitude and bmp085 disabled as well as the ... CC3D drivers.	2012-01-24 10:32:42 -06:00
James Cotton	4d3af7afbf	Add ID test to ADXL345	2012-01-24 09:23:12 -06:00
James Cotton	728c05f973	Crude implementation of sensor reading for CC3D	2012-01-24 09:23:12 -06:00
James Cotton	11471ff68b	Update drivers for CC to the new EXTI system and SPI calls	2012-01-24 09:23:12 -06:00
James Cotton	a20d654744	Update the attitude algorithm for CC to use the Gyros and Accels UAVObjects ... instead of AttitudeRaw	2012-01-24 09:23:12 -06:00
James Cotton	d864b481a1	Fix a few more merge conflicts	2012-01-23 04:47:35 -06:00
Stacey Sheldon	6bb4f0c61d	leds: use boot-time config for PiOS LED layer ... LEDs are now configured based on a board-specific initialization in PIOS_BOARD_Init(). LEDs are now named: PIOS_LED_HEARTBEAT PIOS_LED_ALARM	2012-01-22 18:22:59 -05:00
James Cotton	bb0bfe0ae4	Merge branch 'next' into revolution3 ... Conflicts: flight/Bootloaders/CopterControl/Makefile flight/Bootloaders/PipXtreme/Makefile flight/Bootloaders/Revolution/inc/pios_config.h flight/CopterControl/Makefile flight/INS/inc/pios_config.h flight/Libraries/taskmonitor.c flight/Modules/Altitude/altitude.c flight/Modules/Attitude/attitude.c flight/OpenPilot/Makefile flight/OpenPilot/Makefile.posix flight/OpenPilot/System/inc/pios_usb_board_data.h flight/OpenPilot/System/inc/taskmonitor.h flight/OpenPilot/System/pios_board.c flight/OpenPilot/System/taskmonitor.c flight/PiOS/Boards/STM32F4xx_Revolution.h flight/PiOS/STM32F4xx/pios_bmp085.c flight/PiOS/STM32F4xx/pios_iap.c flight/PiOS/pios.h flight/Revolution/System/inc/pios_config.h flight/Revolution/System/inc/taskmonitor.h flight/Revolution/System/taskmonitor.c ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp shared/uavobjectdefinition/systemalarms.xml shared/uavobjectdefinition/taskinfo.xml	2012-01-21 11:27:03 -06:00
James Cotton	f8e59443b8	If the BMA180 isn't read when an IRQ fires (because the flash chip has claimed ... the bus) then it won't fire another interrupt until read. For now this is dealt with in the sensor loop by forcing a read when the fifo is empty.	2012-01-21 10:13:46 -06:00
James Cotton	6d72678086	Add timeout in the sensor task for reading sensors to stop the watchdog firing. ... All sensors should later be converted to use FreeRTOS queues.	2012-01-21 08:32:41 -06:00
Stacey Sheldon	64202ce092	Merge remote-tracking branch 'origin/stac/i2c_decoupling' into next	2012-01-17 22:35:36 -05:00
Stacey Sheldon	ad141c908a	Merge remote-tracking branch 'origin/stac/usb-composite-device-v2' into next	2012-01-17 22:26:38 -05:00
James Cotton	ce2d0fcbb1	L3GD20 data now running through IRQ -> FIFO	2012-01-17 19:36:32 -06:00
James Cotton	35025303cd	Getting data from gyro.	2012-01-17 19:29:38 -06:00
Stacey Sheldon	b05697c2cf	taskinfo: ensure usage of TaskInfo uavo is covered by DIAG_TASKS ... OpenPilot platform (and thus sim too) was missed when the DIAG_TASKS macro was broken out from the DIAGNOSTICS macro. This allowed accesses to the TaskInfo UAVO even though it hadn't been initialized.	2012-01-15 18:16:50 -05:00
Stacey Sheldon	0575b45378	usb: make USB usage depend on PiOS config ... USB is not supported on sim platforms. Let PiOS config determine when we use it.	2012-01-15 18:16:49 -05:00
Stacey Sheldon	c97b108a1f	bootfault: make IAP usage depend on PiOS config ... The sim platforms don't support an IAP mechanism. Let PiOS config control when we try to use it.	2012-01-15 18:16:49 -05:00
Oleg Semyonov	912bea559f	Add stick deadband option for Roll/Pitch/Yaw inputs to firmware	2012-01-15 21:13:22 +02:00
Stacey Sheldon	27ceb7ea92	modules: Allow optional modules to be used as built-in ... Some modules are written such that they can be included or excluded at runtime. These are added to the OPTMODULES list in the makefile for a given board. This change provides a mechanism to allow a build to force a given module to be built-in (ie. always initialized) regardless of the configuration in hwsettings. The main use case for this is to handle a module being optional on one platform but essential on another. All modules added to the MODULES list in the Makefile will automatically result in a matching #define in the form MODULE_TheModuleName_BUILTIN being defined in the CFLAGS for all compiled source. Note that the capitalization of TheModuleName must match exactly the capitalization used in the MODULES list.	2012-01-14 16:55:55 -05:00
Stacey Sheldon	53e9ef06b4	altitude: add optional altitude module	2012-01-14 15:38:56 -05:00
Stacey Sheldon	717c1311e6	altitude: allow altitude to be an optional module	2012-01-14 15:38:56 -05:00
Stacey Sheldon	4cb0c41338	bmp085: only use eoc and drdy gpios when available ... When the bmp085 chip is on an external board, we don't have access to the eoc and drdy gpio lines. Only use them when available.	2012-01-14 15:38:56 -05:00
James Cotton	cc47520baa	Checking ID on ST gyro works	2012-01-04 23:23:42 -06:00
James Cotton	0fbcf7723d	Code to disable all gyros. All modules now running.	2012-01-04 22:37:15 -06:00
James Cotton	5ee9c8008e	Temporarily swap serial ports while debugging	2012-01-04 22:19:13 -06:00
James Cotton	0cc18e7dcf	Add files for new L3DG20 sensor	2012-01-04 20:33:54 -06:00
James Cotton	d2ce7761c5	Add derivative term	2012-01-03 12:37:18 -06:00
Stacey Sheldon	025ed0f43c	Merge remote-tracking branch 'origin/stac/usb-composite-device-v2' into next ... Conflicts: HISTORY.txt	2012-01-03 00:02:45 -05:00
Stacey Sheldon	8d8715c8c1	copyright: add/correct GPL + copyright boilerplate ... I missed some of the boilerplate text on some of the new files I've added recently. Fixed.	2012-01-02 23:28:53 -05:00
Stacey Sheldon	b94f4b49a4	usb: major refactoring of USB descriptors, CDC and HID ... Summary of changes: * USB CDC and HID drivers are completely split apart. * This will allow different max buffer sizes for HID and CDC. * USB descriptors have been overhauled: * Proper structs/macros/enums declared for USB (see pios_usb_defs.h) * Two common descriptor definitions. One for HID+CDC another for HID only. See pios_usb_desc_{hid_cdc,hid_only}.c for details. * Long standing bugs in OP USB descriptors became much more obvious with the new struct definitions. * Board specific USB initialization is now in pios_usb_board_data.h in each build target. * Definition of USB descriptors is now entirely indpendent of STM32 libs. Glue into STM32 libs is provided by pios_usbhook.c. * Removed a lot of stale/irrelevant USB #defines throughout the tree. * Improved naming consistency throughout USB code: * PIOS_USB_HID_* now refers to the HID endpoint code. * PIOS_USB_CDC_* now refers to the CDC endpoint code. * PIOS_USB_* now refers to the low-level USB code. * PIOS_USB_BOARD_* now refers to board-specific USB data * PIOS_USBHOOK_* is glue between PIOS and STM32 USB libs. * struct usb_* and enum usb_* and USB_* and HID_* are all types from the USB spec. * Shrunk the buffer size on the CDC call mgmt endpoint to save some RAM. * Made a few more USB related variables static to save some RAM.	2012-01-02 14:27:06 -05:00
Oleg Semyonov	77a459af5c	Merge remote branch 'origin/next' into os/TxPID-module	2012-01-02 14:49:54 +02:00
Oleg Semyonov	b01e332e03	CameraStab: rename UAVO field	2012-01-02 14:27:05 +02:00
Oleg Semyonov	65abb8f819	CameraStab: small optimization, freed 8 more heap bytes	2012-01-02 14:27:00 +02:00
Oleg Semyonov	406cff296d	CameraStab: bypass LPF calculation if ResponseTime is zero	2012-01-02 14:26:58 +02:00
Oleg Semyonov	e11904c42f	CameraStab: change ResponseTime type from float to int16	2012-01-02 14:26:56 +02:00
Oleg Semyonov	2eb5130a7c	CameraStab: new camera stabilization mode and low-pass stick input filtering ... This patch is based on work of Crubier (LPF) and Cossacs (AxisLock mode). I've just reworked it a bit by adding a dynamic memory allocation for static module data.	2012-01-02 14:26:54 +02:00
James Cotton	ef05cafaca	Merge branch 'revolution' into altitudehold ... Conflicts: flight/Libraries/insgps13state.c flight/OpenPilot/Makefile ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro	2012-01-01 10:50:35 -06:00
Stacey Sheldon	5c0921e92c	fault: add optional fault insertion module ... This module and its associated settings uavo can be used to test various fault conditions during initialization. To enable the module, add the TEST_FAULTS=YES to your make command line: make fw_coptercontrol TEST_FAULTS=YES Once this module is part of your firmware load, you can enable it in the hwsettings uavo and then select the type of fault to insert by editing the faultsettings uavo. On the next reset, the configured fault will be inserted into the init sequence to allow you to test the boot fault recovery code. With a fault inserted, you should see 3 failed boot attempts followed by a successful (recovery) boot. You will see the BootFault alarm set to Critical, and the RAM version of your hwsettings will be reset to defaults. Since the defaults have all optional modules disabled, the fault module will be out of the way during the recovery boot. You can then "Load" the flash version of the hwsettings uavo in the object browser, disable the Fault module and then "Save" the hwsettings module back to the board. The next reset will boot normally without the fault inserted.	2011-12-30 23:05:39 -05:00
Stacey Sheldon	f886af186d	bootfault: add support for recovery from init failures ... After 3 failed warm start attempts, the init sequence will force the RAM version of the HWSettings object to its defaults. This should allow a user to regain connectivity to a board that is continually faulting during init. This is accomplished by: - Incrementing a boot counter that is stored in the STM32 BKP registers. These registers survive a warm start but are cleared on a cold start (ie. powerup). - On multiple failures, force hwsettings to defaults and raise the (new) BootFault alarm to prevent arming. - Resetting the boot counter whenever the system manages to successfully run the System Module task. NOTE: This does not actually change the hwsettings object in flash. That's up to the user. This is intended to catch ONLY faults during early initialization. It should not be used to recover from faults after the application is up and running.	2011-12-30 23:05:38 -05:00
Stacey Sheldon	1543a6dbd3	hwsettings: allow disabling of USB telemetry entirely ... The GCS hwsettings config widget now disallows any configuration that disables both HID and VCP telemetry over the USB port. The firmware will allow it if the UAVObj is set manually. This allows a mechanism to reduce RAM usage by another 500 more bytes if USB telemetry can be sacrificed in certain configurations.	2011-12-30 23:05:38 -05:00
Stacey Sheldon	7c03875013	diag-tasks: make taskinfo diagnostics a separate enable ... This allows task stack analysis without turning on all of the other diagnostics.	2011-12-30 23:05:37 -05:00
Stacey Sheldon	ab135aa00b	com-bridge: Make com-bridge an optional (and configurable) module	2011-12-30 23:05:36 -05:00
Stacey Sheldon	785a7ccd88	uavtalk: convert tx to use blocking send routines ... The uavtalk layer was previously implementing a poor version of packet fragmentation based on a hard-coded max packet size. Since this was hard-coded, there was no guarantee that it would match the underlying devices. Now that the COM layer sending routines support fragmentation, remove fragmentation and use the COM layer directly. This will support future buffer size reductions in the COM layer.	2011-12-30 23:05:36 -05:00
Stacey Sheldon	a68f5a4fc9	com-bridge: detect lost characters on transmit	2011-12-30 23:05:36 -05:00
Stacey Sheldon	64f498e48a	com-bridge: add usart to usb vcp bridge	2011-12-30 23:05:34 -05:00
Stacey Sheldon	eebdda6276	usb cdc: make HID/CDC configurable in hwsettings	2011-12-30 23:05:34 -05:00
Stacey Sheldon	617a30c07c	usb cdc: attach telemetry to CDC rather than HID	2011-12-30 23:05:34 -05:00
Stacey Sheldon	c0259dc616	usb cdc: USB composite device with HID + VCP	2011-12-30 23:05:33 -05:00
James Cotton	25dfb5463e	Add option to switch to using the MPU6000 accel instead of BMA180. Disabled by ... default.	2011-12-29 02:08:13 -06:00
James Cotton	bf98630851	Add streaming the sensor data out of the serial port	2011-12-26 17:52:45 -06:00
James Cotton	9bf06bbd3e	Force the loading of the sensor gains and biases at the beginning	2011-12-24 16:14:28 -06:00
James Cotton	1092ac3184	Use the scale and bias terms for hte mag and accel	2011-12-24 15:58:12 -06:00
James Cotton	5d4da2213f	Accidentally used floating point when parsing NEMA. Lost resolution on ... position.	2011-12-24 10:37:30 -06:00
Oleg Semyonov	7fbbb0e6af	Merge remote branch 'origin/next' into os/TxPID-module	2011-12-24 15:44:16 +02:00
Oleg Semyonov	495a8f2836	TxPID: initialize the AccessoryDesired object before use its handle ... Also save few bytes of static RAM and add PIOS_Assert(0) for unhandled cases.	2011-12-24 15:37:14 +02:00
James Cotton	0b00e748a9	OP-565: Added the ability to do a trim flight to compute the accels for level flight	2011-12-21 15:25:00 -06:00
James Cotton	dd89d232ba	Add a magnetometer bias term although currently hardcoded to my board	2011-12-15 00:57:19 -06:00
James Cotton	0432dd450e	Enable the mag to be used in the complimentary filter to stabilize the yaw ... direction	2011-12-15 00:56:50 -06:00
James Cotton	2240ad924a	Fix the orientation of the magnetometer	2011-12-15 00:46:43 -06:00
James Cotton	43ed6cd89c	Need to initialize the HomeLocation object	2011-12-14 14:08:03 -06:00
James Cotton	9148bb2c65	Make sure the sensors module grabs the sesor biases initially.	2011-12-14 10:38:43 -06:00
James Cotton	09864a8cf6	Get outdoor EKF running although need to add in the ability to swap modes ... (probably).	2011-12-14 02:07:33 -06:00
James Cotton	fd8899018f	Get EKF running	2011-12-14 01:54:06 -06:00
James Cotton	ed7cbd5a6c	Have to initialize the BaroAltitude object ini the init section for it to show ... up on telemetry	2011-12-13 23:27:26 -06:00
James Cotton	a37a17a4fb	Created a separate Sensor module and Attitude module for revolution	2011-12-12 21:40:39 -06:00
James Cotton	53cb5b67d1	Make the revo attitude now use the separate gyro object. CopterControl ... attitude still needs an update.	2011-12-12 13:28:35 -06:00
James Cotton	d22e0e66dd	Create separate UAVOs for the sensors.	2011-12-12 13:05:40 -06:00
James Cotton	7273f87f9b	Fix NMEA parsing for M4 FPU	2011-12-12 09:47:11 -06:00
James Cotton	a9c61845af	Create a separate task for sensors and attitude on revo.	2011-12-12 00:47:16 -06:00
James Cotton	33a12d829e	Merge branch 'next' into revolution ... Conflicts: flight/PiOS/Common/pios_flashfs_objlist.c	2011-12-11 22:55:54 -06:00
Corvus Corax	a0cd71abe6	UAVObjects ; Modules/ManualControl: Fixed metadata interface and segfault when retrieving it	2011-11-30 09:20:46 +01:00
James Cotton	44ca9736df	Fix floating point calculation in NMEA parser and delete duplicate of NMEA ... functions	2011-11-28 09:36:31 -06:00
James Cotton	43fa9e702e	Move DSM to Flexiport and enable GPS on GPS port. Currently GPS module locks ... up though.	2011-11-28 09:11:13 -06:00
James Cotton	c33816dd79	Force mode switch to be floating point so F4 works	2011-11-28 09:10:26 -06:00
James Cotton	57e7126979	Increase stack size for manualcontrol. This might need to be applied to main ... code.	2011-11-27 01:51:23 -06:00
James Cotton	f7d13ebd57	Hack to tweak the gyro gain for now although its too far out at the moment so ... something isn't configured properly. Possibly it is staying in 250 deg/s mode. Also make sure if the MPU6000 fifo backs up to pull extra data.	2011-11-27 01:22:37 -06:00
James Cotton	8bbc767a4e	Get the pressure sensor working and reading into Revolution	2011-11-27 00:52:09 -06:00
James Cotton	cd65df013e	Merge branch 'next' into revolution ... Conflicts: flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj	2011-11-26 22:52:32 -06:00
James Cotton	b11a4f7405	Clean up the actuator module for floating point usage. Also there was a bug I ... don't understand where the channels should be scaled AFTER all of them are computed. It feels like a memory overwriting bug and needs followup.	2011-11-26 16:12:32 -06:00
James Cotton	07e3ad10af	Force some floating point units to be safe	2011-11-26 15:52:25 -06:00
James Cotton	8c0db424fa	Fix long subtle bug where failsafe didn't show the output values it was using	2011-11-26 15:51:24 -06:00
James Cotton	c70a9a5381	Sanitize the floating point math in systemmod.c to be consistently floating and ... not double	2011-11-26 15:16:16 -06:00
James Cotton	8b7aca0dcd	Include the accel bias into revolution attitude function and also make sure ... downsampling is correct.	2011-11-26 14:40:32 -06:00
James Cotton	7637e9f669	Get flash chip working and saving to memory. Also get the I2C working with ... BMA180 driver.	2011-11-19 00:13:02 -06:00
James Cotton	a7ef5601e0	Update the MPU6000 FIFO code and also fix the temperature code	2011-11-18 00:24:55 -06:00
James Cotton	6d74e96c31	Got attitude working again. MPU6000 FIFO reading needs a bit of work.	2011-11-18 00:00:55 -06:00
James Cotton	0efffef1fa	Work on bringing the Revolution board up	2011-11-17 10:13:34 -06:00
James Cotton	1deb799b6f	Get simple attitude estimation working on F4 INS. Also make MPU6050 return ... scaling that casts to degrees.	2011-11-16 11:36:04 -06:00
James Cotton	aeb42332d6	Get the MPU6050 fifo running and read by the attitude module	2011-11-14 11:23:14 -06:00
James Cotton	59507249e1	Hack in attitude to read directly from gyros instead of fifo. All sensors ... reading now.	2011-11-14 11:12:10 -06:00
James Cotton	2cc2e55248	Add attitude solution for revo	2011-11-14 10:49:37 -06:00
James Cotton	684715930a	Merge branch 'next' into revolution ... Conflicts: flight/OpenPilot/Makefile flight/Revolution/System/inc/openpilot.h	2011-11-14 10:11:53 -06:00
Oleg Semyonov	4a99ec3298	code style: move variable into function and free 1 byte of RAM :-) ... component free heap used ---------------------------- Nothing 2560 - PWM 2432 128 PPM 2408 152 DSM 2464 96 S.Bus 2448 112 GPS (port only) 2368 192 GPS (port+module) 1312 1248 CameraStab 2096 464 Telemetry 1928 632	2011-11-13 18:27:52 +02:00
Oleg Semyonov	de6e450b5f	Merge branch 'next' into os/TxPID-module ... Conflicts: flight/CopterControl/Makefile flight/CopterControl/System/coptercontrol.c ground/uavobjgenerator/generators/generator_common.h shared/uavobjectdefinition/hwsettings.xml component free heap used ---------------------------- Nothing 2544 - PWM 2416 128 PPM 2392 152 DSM 2448 96 S.Bus 2432 112 GPS (port only) 2352 192 GPS (port+module) 1296 1248 CameraStab 2080 464 Telemetry 1912 632 TxPID 2272 272	2011-11-13 16:25:58 +02:00
James Cotton	b110e9c549	Style suggestions to cleanup GPS from Stac	2011-11-12 21:31:01 -06:00
Corvus Corax	aa69027cb2	Merge branch 'next' into CC_GPS	2011-11-11 11:44:11 +01:00
Corvus Corax	61ecc0d310	make optional modules check themselves if they should start or not	2011-11-11 11:39:57 +01:00
Corvus Corax	e03e3c2ed8	removed "special code" to start optional modules	2011-11-11 11:22:54 +01:00
Corvus Corax	9679638244	Revert "Modules/GPS: removed comment line" ... This reverts commit 109a58ef30.	2011-11-11 11:07:02 +01:00
Oleg Semyonov	8f77d07119	System Module: fix stupid out of memory detection bug	2011-11-07 19:14:55 +02:00
Oleg Semyonov	a8b36ddd28	HwSettings: disable GPS and telemetry port speed updates at run-time ... This is to be consistent across the HwSettings object fields which are read on boot only by convention.	2011-10-31 23:04:17 +02:00
Oleg Semyonov	0116e6a007	spektrum: rework DSM2/DSMJ/DSMX driver for explicit DSMX resolution support ... - both CC serial ports are now disabled by default (no telemetry); - serial ports now have DSM2, DSMX (10bit) and DSMX (11bit) options; - ReceiverGroups now have DSM (MainPort) and DSM (FlexiPort) options. For DSM2 protocol there is an explicit resolution bit in the stream, so the DSM2 should be selected. For DSMX there is no such bit, and user should choose the resolution from the list configuring the spektrum port. ReceiverGroups have single DSM option which is handled by the same driver. Downside: this implementation saves received frame first, unrolls by the end of frame. This should be ok, but may be improved by unrolling channels on the fly in the rx callback. Another minor difference is that a ChannelGroup is now bound to port: DSM (MainPort) or DSM (FlexiPort). This was considered as acceptable solution in order to not have 6 DSM options for each ChannelGroup and even more in case of new DSM protocol variations. Known problem: it is not possible to choose same protocols like DSM2/DSM2 for two ports. It can be enabled by adding an exception to common rule, though. The DSMX throttle channel misbehavior (zero value) is not treated specially yet. It should trigger the failsafe being out of bounds. More info and data dumps are required to handle this properly.	2011-10-30 19:29:03 +02:00
James Cotton	0f8ae1e076	Merge branch 'next' into ins ... Conflicts: flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj	2011-10-26 13:18:44 -05:00
Oleg Semyonov	6a9208e8c3	Merge branch 'next' into os/TxPID-module	2011-10-22 23:34:58 +03:00
Oleg Semyonov	f71361ca83	Merge branch 'next' into os/GPS-on-CopterControl_next_v2 ... Conflicts: flight/Modules/System/systemmod.c	2011-10-22 23:00:47 +03:00
Corvus Corax	cb8d9c791c	PiOS.posix: fixed missing defines in pios_config. removed platform specific inclde from Systemmod (pios_config.h gets included from pios.h)	2011-10-19 22:28:39 +02:00
Corvus Corax	b00751af91	Systemmod bugfix: UAVObject used without Initialization	2011-10-19 22:28:08 +02:00
Corvus Corax	425bc5abbe	PiOS.posix: PIOS_RCVR : fix posix port of pios_rcvr to allow compilation on 64bit systems	2011-10-11 18:07:04 +02:00
Oleg Semyonov	7800fbe6de	gps: initialize GPS UAVO and start GPS module only if port is configured	2011-09-29 00:41:51 +03:00
Oleg Semyonov	a38c569cd0	HwSettings: move Telemetry and add GPS port speed to the HwSettings object ... TelemetrySettings object removed (saved 200+ bytes of RAM). Telemetry port speed moved to the HwSettings object. Added GPS port speed setting. GCS code updated to reflect changes and support both fields.	2011-09-28 22:11:42 +03:00
Oleg Semyonov	53c098dd08	Merge branch 'next' into os/GPS-on-CopterControl_next_v2 ... Conflicts: flight/OpenPilot/System/pios_board.c flight/OpenPilot/UAVObjects.inc shared/uavobjectdefinition/hwsettings.xml	2011-09-28 22:02:02 +03:00
Oleg Semyonov	a9137e9db1	TxPID: add update mode option as a workaround for GCS interaction	2011-09-19 16:16:28 +03:00
Oleg Semyonov	aad263bdd8	TxPID: enable ramp-shaped throttle-dependent PIDs ... Besides of knob PID tuning it is now possible to use throttle channel to ramp-shape PID coefficients. This can be used to lower some PIDs on VTOL while sinking to prevent wobble. To use the feature select throttle as control input, choose throttle range max and min values, assign the instance to particular PID coefficient and define a range for it. When throttle is lower than defined throttle range min value (or higher than max), then min and max PID values will be used accordingly. Changing throttle from throttle min to max will linearly scale PID value. Note that it is possible to set MinPID > MaxPID. In that case increasing control input value will decrease the PID coefficient. Up to 3 independent instances can be configured. The number can be increased changing the UAVO definition, but at the cost of extra RAM.	2011-09-18 14:38:50 +03:00
Oleg Semyonov	d923117c25	TxPID: optional module to tune PID settings using R/C transmitter ... This module will periodically update values of stabilization PID settings depending on configured input control channels. New values of stabilization settings are not saved to flash, but updated in RAM. It is expected that the module will be enabled only for tuning. When desired values are found, they can be read via GCS and saved permanently. Then this module should be disabled again.	2011-09-17 22:49:51 +03:00
James Cotton	06190d1d95	Fix altitude hold dead band range	2011-09-13 10:34:56 -05:00
James Cotton	1783817b96	INS: First pass at altitude hold code	2011-09-13 01:44:53 -05:00
James Cotton	400ba3bd47	Merge branch 'next' into ins	2011-09-12 18:57:11 -05:00
James Cotton	c36297227d	Stabilization fix typo	2011-09-12 11:56:01 -05:00
James Cotton	63bb80649b	Merge branch 'max_rate_for_attitude' into next	2011-09-12 11:51:03 -05:00
James Cotton	5b836db54c	INS/Guidance: Convert distance to using m instead of cm. This is mainly to be ... able to use NAN to indicate when values aren't valid from INS.	2011-09-11 23:02:05 -05:00
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	b8bb2dd2ca	Merge branch 'next' into ins	2011-09-10 17:02:15 -05:00
James Cotton	f725fbe128	CopterControl: Fix build due to changing the AttitudeRaw structure.	2011-09-10 13:56:00 -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	3239fdf21b	Merge branch 'next' into ins ... Conflicts: flight/CopterControl/Makefile flight/OpenPilot/System/pios_board.c flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj	2011-09-09 08:33:34 -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	627c931c79	PiOS I2C: Swap the convention of returned values for I2C	2011-09-06 03:27:20 -05:00
James Cotton	7ff5cd7655	INS: Try and get load down on event system.	2011-09-04 16:21:04 -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
James Cotton	3b20df22d1	Updates to config gadget for new INS objects ... Make scope gadget check if object exists before using it. Avoids segfaults when scoped objects disappear.	2011-09-01 12:21:37 -05:00
James Cotton	612d3336b4	This patch breaks backward compatibility with AHRS solidly. ... Move the configuration files for INS from AHRS* to INS*. Strip out unused fields in settings and merge calibration and settings since settings has basically no information.	2011-09-01 12:21:33 -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	b1c522def3	Merge remote-tracking branch 'origin/next' into ins	2011-08-21 01:34:40 -05:00
James Cotton	e1afc9a19a	Merge branch 'next' into ins ... Conflicts: flight/Libraries/inc/fifo_buffer.h flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj	2011-08-21 00:47:43 -05:00
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	784c7b2646	Merge branch 'next' into ins	2011-08-11 21:52:10 -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	0bba13a0e9	Merge branch 'next' into ins ... Conflicts: flight/INS/Makefile flight/INS/pios_board.c flight/Modules/Altitude/altitude.c flight/PiOS/Boards/STM3210E_INS.h flight/PiOS/STM32F10x/link_STM3210E_INS_BL_sections.ld flight/PiOS/STM32F10x/link_STM3210E_INS_HD_BL.ld flight/PiOS/STM32F10x/link_STM3210E_INS_HD_NB.ld flight/PiOS/STM32F10x/link_STM3210E_INS_memory.ld flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj	2011-08-06 17:25:56 -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
James Cotton	5044ea36de	Start initializing objects in the modules that consume them. Shouldn't affect ... OP yet but not tested.	2011-06-18 14:20:51 -05:00
Mathieu Rondonneau	b67a38661e	OP-423: merge master into that branch, resolve conflicts and test with CC and bl_CC ... heap reamining is low (about 500) but stacks can be ajusted (specially the 200 bytes from system) to give the level close to 1Ko if needed. Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint Conflicts: flight/CopterControl/System/inc/FreeRTOSConfig.h flight/CopterControl/System/inc/pios_config.h	2011-06-17 19:04:09 -07:00
James Cotton	9720a8444f	Make a few things optional if they are mostly for diagnostics to keep memory ... down	2011-06-17 21:00:21 -05:00
Mathieu Rondonneau	65cf467ca4	OP-423: move the module initialize funtion into a specific section for OP and CC. ... - create linker section for those <module>Initialize() - later this list will incorporate parameters as well. (this probably will be more a OP feature to swap/remove/delete module on the fly. - this is not done at compile time anymore by Makefile. - this will allow us to have control on the module start at run-time (not implemented but build the ground for it). - this simplify the startup (Part of code re-org). - this change does not affect sim_posix and win32 (since they don't need that) - ensure it's compiling for PiOS.posix - port to PiOS.win32 but not tested (not compiled) - tested on CC - compile on OP. - this free ~200 bytes. - current avalable bytes (is we keep the same remaining bytes on the stack than before) is easily passed the 1.2Ko mark on CC with new gcc (4.5.2) - this does not include init-reorg for each module (I still think more can be freed)	2011-06-16 22:13:19 -07:00
Corvus Corax	926246b402	UAVTalk: Make UAVTalk object oriented, allowing multiple UAVTalk instances	2011-06-16 16:35:37 +02:00
Oleg Semyonov	d8201ec45b	sbus: provide a stub based on Spektrum driver (for CC only)	2011-06-15 22:35:21 +03:00
James Cotton	7d7d03cfd0	OP-193 OP-511: Basic code for camera stabilization. Currently tune range with ... the servo endpoints and neutral.	2011-06-15 11:18:29 -05:00
Mathieu Rondonneau	7598e898fa	OP-423 Step-1: split system stack and implement water mark for IRQstack: ... - use IRQStack for ISRs (at begening of SRAM) (let's call it the irq stack) - use end of heap for stack needed during initialization (let's call it the init stack). - the systemStats in GCS indicate the remaining bytes in the IRQ stack (this is realy usefull to monitor our (nested) IRQs. This is the base ground to provide as much memory as possible available at task creation time. Next step is to re-organize the initialization in order to move all the init out of the thread's stacks onto the init stack. This will provide as much memory as possible available at task creation time. Basically the stack during initialization will be destroyed once the scheduler starts and dynamic alloc are made (since the init stack is at the end of the heap). We will need to make sure we don't clobber the heap during initialization otherwise this will lead to stack corruption.	2011-06-12 20:23:00 -07:00
James Cotton	bdc9094975	OP-493 OP-505 OP-511: Make up to 6 accessory channels so some can go from ... ManualCommand to a camera module and some could go from that camera module to output (i.e. mixing of inputs to pan tilt with stabilization)	2011-06-06 10:56:31 -05:00
James Cotton	1ecd244aff	OP-493 OP-505 OP-511: Fixed bug with the direct mapping where it looked at throttle curve ... source instead of directly bypassing	2011-06-06 10:53:55 -05:00
James Cotton	6c6906d61e	OP-493: Switch to using Accessory0:2 to match the InstId	2011-06-05 15:38:58 -05:00
James Cotton	99b3a629a8	OP-493: Force three AccessoryDesired objects to always exist. Routing to ... Mixing channel now works. However Accessory desired instances do not show up in GCS.	2011-06-05 15:38:58 -05:00
James Cotton	a1336e4d03	OP-493: Make sure accessory desired is not a single instance object	2011-06-05 15:38:57 -05:00
James Cotton	8ebd6a83d6	OP-493: Add support to bypass the mixer and route accessory data straight to ... outputs. Warning: This has no failsafes like arming. We should discuss if this is appropriate. In addition accessory objects can be routed throught the mixer for collective or flaperon.	2011-06-05 15:38:57 -05:00
James Cotton	a1d60cb77d	OP-493: Use multiple instances when using multiple accessory channels	2011-06-05 15:38:57 -05:00
James Cotton	1365542103	OP-493: Populate the Accessory Desired from TX	2011-06-05 15:38:57 -05:00
James Cotton	624baeda5c	Merge branch 'OP-423_Mathieu_GetSet_Uavobjects' into bugfix-flight	2011-06-05 09:48:22 -05:00
Mathieu Rondonneau	7b8d09371b	fixing minor compiler error/warnings when compiling OP with DEBUG=NO	2011-06-03 21:47:43 -07:00
Mathieu Rondonneau	31a06a5ae7	OP-423 add set/get uavobjects functions to access objects fields separately.	2011-06-02 21:18:34 -07:00
Stacey Sheldon	ac0eb3a5c7	Merge remote branch 'origin/stac_build-opf-image'	2011-05-26 21:29:53 -04:00
James Cotton	66b85acebd	Merge branch 'bugfix-flight'	2011-05-26 20:07:58 -05:00
James Cotton	d4a0f55cb7	Altitude.c: Indentation	2011-05-26 14:06:47 -05:00
James Cotton	6e186bab35	Merge branch 'bugfix-flight' into OP-378_James_INS	2011-05-26 12:19:35 -05:00
Oleg Semyonov	36d2a467e0	manualcontrol: fix copy/paste error	2011-05-26 00:16:36 +03:00
Stacey Sheldon	96827eecff	build: Make all flight sw use pios_board_info_blob ... Now that every bootloader build has a board info blob, make all fw and bl images use it. The following MACROS are removed: BOARD_TYPE, BOARD_REVISION, BOOTLOADER_VERSION, START_OF_USER_CODE, HW_TYPE These values are now ONLY available from the bootloader flash via the pios_board_info_blob symbol. These values must not be #defined or otherwise hard-coded into the firmware in any way. The bootloader flash is the only valid source for this information. NOTE: To ensure that we have an upgrade path from an old bootloader (without board_info_blob) to a new bootloader (with board_info_blob), it is essential that the bu_* targets do not depend on (or validate) the board_info_blob being present in the bootloader flash.	2011-05-24 00:58:10 -04:00
dankers	5f32803763	Changed accelKp = 1; in 3C filter when calibrating bias when arming. Increase default yaw by 0.005	2011-05-17 04:15:28 +10:00
dankers	71d582495e	On arm bias calibration terms now matches boot calibration terms	2011-05-16 00:16:19 +10:00
James Cotton	b01e897e36	Merge branch 'OP-488_NeverHaltWhileArmed_James'	2011-05-14 17:21:05 -05:00
dankers	84e09031a7	Faster attitude calc, be much more aggressive with working out bias. ... Change AccelkP to 0.05 to give accels more influence, just balacing out the 3C filter. Change stab setting to be a better default fopr most Quads.	2011-05-15 05:58:58 +10:00
James Cotton	dbf8a77a94	Now there are other attitude settings (like rotation angle) make sure these are ... loaded right away at power up	2011-05-13 07:24:44 -05:00
James Cotton	3d5244c4b8	Fix small typo THRSHOLD to THRESHOLD in gps.c	2011-05-12 18:57:16 -05:00
Corvus Corax	bce51d4258	OP-435 Optionally allow building of GPS without support for GPSSatellites and GPSTime UAVObjects to save memory	2011-05-12 21:00:59 +02:00
James Cotton	338d363289	When a channel is disabled in the mixer force the channel to have a 0 us pulse ... duration. The default before was neutral in failsafe.	2011-05-11 20:09:28 -05:00
James Cotton	5d28276c49	Reshuffle memory allocation on CC after FlightStatus object introduced	2011-05-11 17:35:52 -05:00
James Cotton	fdd591b700	OP-488: If the FirmwareIAP receives a halt signal but system is not disarmed ... abort the halt.	2011-05-10 14:40:21 -05:00
James Cotton	163d41fb60	OP-466: Make the test output panel work when there is not a valid mixer ... configured. However unlike previous patch keeps alarms showing so you will be unable to arm normally.	2011-05-10 02:43:55 -05:00
James Cotton	808e3c8ea2	Fix bug I made where guidance didn't look at new flight status object	2011-05-09 11:37:06 -05:00
James Cotton	4ec0263dfc	OP-476: If AttitudeSettings.ZeroDuringArming is true, then while arming (1 ... second) it will speed up the estimate of gyro bias.	2011-05-07 15:29:21 -05:00
James Cotton	8e06eb3162	Get the "IDLE_NO_LOAD" level closer for CC with optimizations on, but it would ... be great if someone actually calibrated this for me!	2011-05-07 15:07:14 -05:00
James Cotton	10e55c25bc	OP-475: More changes to get the FlightStatus object to work for Armed and ... FlightMode	2011-05-07 15:06:04 -05:00
James Cotton	80c839d5bb	OP-475: Starting to use the new FlightStatus object	2011-05-07 13:17:21 -05:00
James Cotton	e2819c6815	Restructure the ManualControlCommand code to be much more readable. Also ... facilitates the new FlightMode object.	2011-05-07 12:43:27 -05:00
James Cotton	d1fb254a41	Merge branch 'master' into bugfix-flight	2011-05-07 06:56:54 -05:00
James Cotton	fef1e2dc2e	Merge remote-tracking branch 'origin/OP-174_Sambas_BaroAlt_to_ETOSD'	2011-05-07 04:41:13 -05:00
Corvus Corax	5f749dda7e	Modules/ManualControl: bugfix GCS Control was broken due to connection state and arming being checked outside of the "object_writable()? {}" if clause	2011-05-06 01:26:34 +02:00
James Cotton	7e418866be	Update the AttitudeSetting object to make the board rotation more human ... readable and update the GCS fields appropriately.	2011-05-05 13:04:56 -05:00
James Cotton	dd36192e37	Merge branch 'bugfix-flight'	2011-05-05 00:36:55 -05:00
James Cotton	93d8449814	OP-474: When throttle < 0 and "spin while armed" mode enabled don't take into ... account stabilization or stick - stay at neutral	2011-05-05 00:32:15 -05:00
James Cotton	05684e966b	OP-470: Make arm/disarm threshold 50% instead of 90%	2011-05-04 22:53:00 -05:00
James Cotton	401a989c63	OP-474: Add option to ActuatorSettings to allow people to request their propellers always spin an neutral when armed (I don't recommend this).	2011-05-03 00:08:39 -05:00
James Cotton	9daca1ac41	OP-469: Wasn't paying attention and missed a line	2011-05-02 22:22:57 -05:00
Corvus Corax	8d8144f233	OP-441 Prevent double alarm set ( setFailsafe() already sets alarm to CRITICAL )	2011-05-02 18:00:12 +02:00
James Cotton	9afedc0139	OP-469: Fix a bug I wrote where MaximumRate instead of ManualRate was used to ... scale sticks in rate mode.	2011-05-02 04:33:32 -05:00
James Cotton	d9221fac06	Merge remote-tracking branch 'origin/OP-452_InputConfiguration'	2011-05-02 03:40:59 -05:00
David Carlson	341dbd7ad9	Change blink rate to Hz rather than 1/2 Hz. As per comments in review OPReview-18.	2011-05-02 00:50:42 -07:00
David Buzz Carlson	edd5ad8a78	Update Stat LED blink rate when armed to 5 Hz from its current 1 Hz. This allows a more drastic change in LED behavior to highlight that the aircraft WILL NOW CUT YOUR FINGER OFF IF YOU DON'T RESPECT IT!!	2011-05-02 00:50:42 -07:00
James Cotton	62e3d35a97	OP-452 Read the channel times even if a bad mixer is configured	2011-04-29 17:57:04 -05:00
Sambas	2413fd451f	OP-174 ET OSD: barometric altitude works now, units must be set metric with E-Logger	2011-04-29 19:08:28 +03:00
Corvus Corax	8c7f3e2720	OP-435 #ifdef covered one command too many - bugfix	2011-04-25 18:37:28 +02:00
Corvus Corax	eb9ccc2f9b	OP-383 Review 11 : Removed commented out unused variables as directed by review	2011-04-25 16:36:23 +02:00
Corvus Corax	cdb6b65e64	Merge branch 'master' into OP-383_Edouard_CPUSerial_in_FirmwareIAP	2011-04-25 02:36:44 +02:00
Corvus Corax	5d952f81e3	PIOS: BL_HELPER: refactored function names	2011-04-23 21:11:17 +02:00
Corvus Corax	150464344d	BL_HELPER: call CRC_Ini() from within CRC check function	2011-04-23 20:55:21 +02:00
Corvus Corax	357bc369db	PIOS: Bootloader Helper functions should sit in HAL, not duplicated in every single architecture.	2011-04-23 19:40:41 +02:00
Corvus Corax	192e31986d	PIOS, Modules/FirmwareIAP: Use correct HAL for CPU serial	2011-04-23 18:30:32 +02:00
Corvus Corax	2bf7ea2271	Modules/GPS: Make code to deal with home location optional to allow a sleeker GPS module for RAM challenged systems	2011-04-23 16:49:07 +02:00
elafargue	e4112e210f	Reduce size of FirmwareIAPObj to 40 bytes: only takes the 40 first bytes of the firmware description, ignores the rest. Makes the FWIAP UAVObject more decent size-wise, and does not break USB TX anymore.	2011-04-19 20:45:49 +02:00
elafargue	45e92d654e	Implemented support for the Unique STM32 CPU serial number in the firmwareIAP object.	2011-04-19 00:31:20 +02:00
peabody124	3afdc7e41c	CC-24: Rotate the CC board at any angle relative to "flat and level" with GCS ... config plugin updates. Has not been tested in flight yet although seems sensible so please be careful when using this code. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3166 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-04-15 06:37:16 +00:00
pip	33d9d31082	Modified manual control input value checking to determine RC connection state - was previously checking only the throttle channel for semi-valid input range, it now checks the Throttle, Roll, Yaw and Pitch channels for full-valid values (manual value is within min and max values). ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3146 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-04-10 14:00:46 +00:00
corvus	da76192e47	Modules/Guidance: Bugfix in Position-Hold code ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3112 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-31 20:08:14 +00:00
peabody124	a57c289b3a	CC-24: Support mounting CC at any angle by applying a rotation. Now need to ... rotate sensors to make sure stabilization behaves well so don't use till then. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3100 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-29 02:15:57 +00:00
peabody124	48c20d37a9	OP-349 CC-32: Added a Completed operation that is returned after successful ... save or load git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3093 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-28 19:16:50 +00:00
peabody124	bd5925d526	CC-35: Separate term for CC yaw bias rate and others ... Note: AttitudeSettings changed so you'll need to re-zero it git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3090 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-28 18:42:48 +00:00
peabody124	4120937391	OP-364 OP-191: Convert the OPMap setting of HomeLocation to mGau to match the ... changes in flight code git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3083 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-28 10:40:26 +00:00
peabody124	3fc88f69e2	Covering a case that should not occur ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3081 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-26 21:02:43 +00:00
edouard	bce3d21a0f	Fix FirmwareIAP module, as it failed to reset the board if the object was queried before for other purposes. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3080 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-26 12:00:08 +00:00
peabody124	e262e3c220	Convert outer position controller to PI ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3077 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-26 11:40:33 +00:00
fredericg	662a3e5cc8	OP-361 Also parse ZDA message in order to get GPS time info with new GTOP FW ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3074 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-26 11:13:11 +00:00
peabody124	eafcf35fa6	Reenable position hold ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3072 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-25 20:17:31 +00:00
edouard	f19b0efc6f	CC-40 Implemented support for FirmwareIAP on Coptercontrol: you can now use the "Halt" command on the uploader gadget. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3070 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-25 13:50:13 +00:00
chebuzz	2e5863281c	CC/Stabilization - Fix attitude bias not being applied over all sampled quantities ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3065 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-24 17:12:04 +00:00
fredericg	b37dd770d2	Use attitudeActualData.Yaw for course ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3064 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-24 10:56:20 +00:00
jonathan	160695e546	OP-191: Merge from full-calibration branch. Add the local gravitational field strength to the home location. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3055 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-21 00:48:32 +00:00
fredericg	d270f7e987	Changes to FlightBatterySettings as discussed in forums ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3047 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-19 18:45:40 +00:00
FredericG	ea512a3da7	OP-322 Implement Audible alarm via PWM - Different tune for GPS and Battery Alarm ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3035 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-13 17:02:19 +00:00
peabody124	b76a235940	OP-317: Fixed the FirmwareIAP resetting the AHRS board. Sorry this took me so ... long to do. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3029 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-12 09:08:12 +00:00
FredericG	c3732bad93	OP-322 Implement Audible alarm via PWM - handle new "PWM Alarm Buzzer" channel type ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3028 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-12 09:02:02 +00:00
FredericG	5bdf836027	OP-324 No code change; commented debug-code ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3026 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-12 08:55:45 +00:00
FredericG	baf0850690	OP-336 CPU usage calculation incorrect when armed - no measure the time between calculations ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2987 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-06 11:50:54 +00:00
FredericG	5554973cea	OP-174 ET OSD support - fix for writing configurations - temp workaround for what seems to be an issue with I2C driver OP-305 ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2986 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-06 11:19:29 +00:00
osnwt	8d085552fb	CC: Modules/Attitude/attitude.c: unused headers removed (do we have another?) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2967 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-04 21:12:37 +00:00
osnwt	e9d507dd3e	CC: Fixed compilation error after uavobject rename ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2966 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-04 20:56:58 +00:00
FredericG	32c7596636	OP-324 Make NMEA parser more resilient to corrupted messages - For the new GTOP GPS FW, parsing of the VTG message is needed to get Heading and GroundSpeed ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2960 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-04 07:57:18 +00:00
FredericG	c890f596e4	NMEA: minor change to debug-messages ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2953 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-03 19:53:10 +00:00
scott	f1ee47dcff	Added #include "pios_config.h" to make sim_posix build again. Some alarm constants were missing. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2945 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-03 05:09:11 +00:00
vassilis	b084ea7ea1	FlightPlan/Python: Updated object generator to create a Python file for each UAVObject. It is now possible to access all UAVObjects from the FlightPlan Python scripts. ... Warning: The memory utilization when importing objects is unacceptably high making it unusable in the flight code at this point. It can be however used with the SITL simulator. Some more investigation is needed to understand why several kb of memory are used each time a module is imported (even before any functions are called or objects from the module are created). git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2938 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-03 02:22:50 +00:00
peabody124	3b13ad6859	OP-329: Enumerate more possible flight modes now like multiple stabilization ... modes so that the FlightMode field is complete in terms of being informative enough git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2935 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-02 01:25:44 +00:00
peabody124	915ae1ae3c	OP-313 Account for which axis are in rate and none to get the desired ... quaternion git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2933 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-02 01:25:38 +00:00
peabody124	8930ec01de	OP-313 Quaternion based stabilization, gets rid of lots of checking angle ... signs, should be stable for all orientations git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2932 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-02 01:25:34 +00:00
peabody124	3488d28a5b	Whitespace fixes ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2931 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-02 01:25:30 +00:00
peabody124	3e17c2ff55	OP-312: Create a StabilizationDesired object that is the generic input to ... Stabilization, carries the desired rate or attitude as well as a flag on how to intepret it. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2930 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-02 01:25:27 +00:00
peabody124	672b9ce961	Convert failure to mount SD card to an error so you can't arm with an ... unconfigured quad git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2929 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-02 01:25:23 +00:00
pip	beedb7fdad	Added center stick deadband code - currently deadband is set to '0' so not used) ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2927 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-03-01 21:43:20 +00:00
FredericG	7d679e01f0	ET-174 Adapted ET OSD Drv to current GPS coordinate format ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2910 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-02-27 19:58:34 +00:00
FredericG	0124c42b8c	OP-324 Make NMEA parser more resilient to corrupted messages - WANRING: NMEA parser refactored - VTG and ZDA messages no longer interpreted ... Sometimes corrupted NMEA messages can get passed the NMEA "CRC" check and this caused the NEMA parser to crash because it assumed that the correct amount of parameters are present. Now the NMEA message is split into its different parameters before it is passed to the message-specific parser. Hence the function-signature of the parser functions has changed and the implementations of these functions has changed. I also decided to no longer interpret the VTG and ZDA because they do not contain more data than the other messages that are being parsed. Not tested in flight, and could not test the TOP message. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2904 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-02-27 13:45:19 +00:00
peabody124	ea390d0b90	CC-26: Add accel bias term. Note it's units are LSB, not m/s^s ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2895 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-02-26 22:21:44 +00:00
osnwt	899c1fe0bf	Moved CPU and heap alarm thresholds into pios_config.h. ... Fixed heap thresholds for the CC (prevented arming). git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2886 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-02-26 11:46:39 +00:00
pip	4b4d9043fb	Set PDOP and VDOP to 99.99 in binary mode (theose values are not available in binary mode). A couple of cleanups too. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2874 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-02-24 10:55:45 +00:00
andrew	84c26f8905	OP-84 ... Battery module for Power Sensor version 2 made a few variable declarations static so things work again after changes to make this module not run in it's own thread. Fixed the energy consumed calcs to scale correctly. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2870 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-02-24 05:05:17 +00:00
pip	bee704176b	Fixed a bug when scanning for start of packet. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2861 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-02-23 10:11:26 +00:00
pip	e9d7ab09be	Improved efficiency (a lot) when scanning for and locking onto the start of a GPS binary packet. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2858 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-02-23 09:24:17 +00:00
pip	e7850ab25e	Corrected scale for lat/lon - was out by a factor of 10 ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2846 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-02-22 14:16:16 +00:00
pip	f6370a035d	'Slightly' more efficient binary packet handling. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2845 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-02-22 12:45:51 +00:00
pip	9da0fb47e2	Reduced GPS command resend to 2 second time-out, a few more white space corrections. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2844 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-02-22 12:32:08 +00:00
pip	3881c652c1	Simplified the binary code a little, added a 300ms delay after sending a FULL COLD RESTART to the GPS (IF we do that is), fixed some spelling mistakes. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2843 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-02-22 12:15:25 +00:00
pip	9d14723dcc	Commenting tidy upping ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2842 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-02-22 11:32:24 +00:00
pip	d1d165adff	More white space/tab corrections. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2841 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-02-22 11:19:12 +00:00
pip	0fd6170979	added another "#ifdef ENABLE_GPS_NMEA" ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2840 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-02-22 11:02:17 +00:00
pip	a2259201e5	removed tabs after spaces. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2839 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-02-22 10:55:01 +00:00
pip	414836a4c9	Added another parsing_errors++ line. ... git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2838 ebee16cc-31ac-478f-84a7-5cbb03baadba	2011-02-22 10:36:27 +00:00