This is functionally the same as having a heading hold gyro in hardware.
Code is copied from the simple stabilisation routine and is a bit rough at the minute, but initial testing looks good.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1670 ebee16cc-31ac-478f-84a7-5cbb03baadba
I was getting some weird initial random values from the sim.
This fixes that.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1667 ebee16cc-31ac-478f-84a7-5cbb03baadba
Makes the ini file a bit more verbose, but debuggable/hackable :) (Not to mention more robust).
Again, I left in support for loading the binary version, so this shouldn't mess up people's configurations. Keep a backup handy anyways :)
In the future, that needs to be removed though.
Anyone with a 'old style' configuration may notice the binary versions are left in the ini file, I can't easily delete them without deleting the new groups also, but they won't cause any problems, and aren't read. Feel free to delete them for a clean ini file :)
I left in the 'DefaultSettings' stuff, but I think it can be removed too ( or whatever it was meant to support should be added :) ).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1664 ebee16cc-31ac-478f-84a7-5cbb03baadba
Leaving debug on allows the -g option to be enabled
so that we can have symbols in gdb even though we're
forcing the optimization flags to -Os.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1631 ebee16cc-31ac-478f-84a7-5cbb03baadba
The AHRS mainloop was reading the mag data on every
loop regardless of whether new data was actually
available. Now that the MAG_DRDY signal is monitored,
we can read only at the rate (10Hz) new data is actually
produced by the sensor.
This also enables future improvements that will remove the
filtering work that is still being done on the mag data on
every iteration.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1630 ebee16cc-31ac-478f-84a7-5cbb03baadba
Way too much was being exposed in the API for the
HMC5843. This commit properly hides internal
details of the driver.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1629 ebee16cc-31ac-478f-84a7-5cbb03baadba
The DRDY signal from the magnetometer is connected to PB8
on the STM32. This pin is now configured as an external
interrupt and is now used to signal when new data is
available from the magnetometer.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1628 ebee16cc-31ac-478f-84a7-5cbb03baadba
The EOC EXTI interrupt configuration was incorrectly
pointing at GPIOG pin 8 rather than GPIOC pin 15.
This was preventing the EOC interrupt from working
properly.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1626 ebee16cc-31ac-478f-84a7-5cbb03baadba
I2C bus errors are now recoverable. The bus is properly reset
and an error indication is now provided to the caller whenever
a bus error occurs during processing of the transaction list.
For now, the users of the I2C layer just retry infinitely on
failure. The BMP085 and HMC5843 code should be changed to
report errors to its callers to allow a more sensible retry
strategy.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1625 ebee16cc-31ac-478f-84a7-5cbb03baadba
AUTO transitions in the FSM are now handled immediately
after processing each newly injected event rather than only
at the end of the EV ISR.
This consolidation allows the upcoming addition of event
injection from both the EV and ER ISR contexts.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1624 ebee16cc-31ac-478f-84a7-5cbb03baadba
Occasionally, the I2C driver races with the STM32 I2C peripheral
at the end of a bus cycle. This leaves the bus in an errored
state and the stop condition is not properly asserted on the bus.
The polling for the stopped condition was previously implemented
in ISR context since it was expected to be nearly instananeous.
In the error condition, however, the stop condition will never
happen. The polling for this case is now done by the initiating
task (or mainloop on the AHRS) to prevent the timeout condition
from triggering the watchdog.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1623 ebee16cc-31ac-478f-84a7-5cbb03baadba
