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Code Issues Releases Activity
3,920 Commits 5 Branches 8 Tags 266 MiB
f86e53bf91
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260 Commits

Author SHA1 Message Date
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
86b652bbab Merge branch 'next' into camera_stabilization 2011-08-14 18:07:57 -05:00
James Cotton
a2b76adc33 Attitude: Do not start attitude estimation until accel data appears. This 
fixes the NaN when AttitudeSettings not available.
 2011-08-13 18:53:42 -05:00
James Cotton
ec4e23aff9 Camera Stabilization: Bound outputs to [-1,1] although this should be redundant 
with checks in actuator.
 2011-08-11 14:34:38 -05:00
James Cotton
bbe3c1533a Merge branch 'next' into camera_stabilization 2011-08-10 21:57:45 -05:00
James Cotton
ab288e95ab Stabilization: Small patch so that by default the integral is zeroed while 
throttle is low (good for quads) but can be disabled (good for planes and also
testing helis).
 2011-08-10 03:51:46 -05:00
James Cotton
f23eaa8273 Make the Actuator pull from the CameraDesired fields 2011-08-09 21:47:42 -05:00
James Cotton
f11aa80444 CameraStabilization: Make the CameraStabilization module put the desired 
position into another object (will help with configuration).
 2011-08-09 20:45:38 -05:00
James Cotton
c4e272b9ad Merge branch 'next' into camera_stabilization 2011-08-09 20:16:45 -05:00
James Cotton
ec2121bca8 Attitude: Keep first element of quaternion positive 2011-08-08 21:16:04 -05:00
James Cotton
fd86c25b49 Make sure OP compiles with new object init structure. 2011-08-04 15:01:54 -05:00
James Cotton
a592e7d398 ManualControlSettings must be also initialized in pios_board.c 2011-08-04 07:47:50 -05:00
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