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913 Commits

Author SHA1 Message Date
cwabbott
dff66607c7 More UAVObject fixes, stuff to get PiOS.win32 compiling again. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1962 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-16 12:15:47 +00:00
peabody124
300195ff18 AHRS: A few small changes 
1) Moved the criteria for using GPS to defines in anticipation of moving into
AHRSSettings
2) Only use the mags for updates if the vector length is within 20% of nominal
to avoid updating when it's nonsense
3) Reinitialize position when swapping between indoor and outdoor
4) Dont use mags for first 5 seconds after initialization, sometimes seems to
cause issues
5) Dont use mags until magnetic field at your location is set and a magnetic
field is loaded
6) Dont use GPS if home location hasnt been set

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1959 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-14 01:36:30 +00:00
peabody124
016bcad24a AHRS: Detect when more than 2 seconds since last GPS update and in that case 
reinit INSGPS to new location

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1958 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-14 01:36:28 +00:00
pip
bd8ad90301 Added PipXtreme jtag cfg files. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1956 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-13 08:14:39 +00:00
pip
acadc4bc28 Added some files to the PipXtreme folder. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1955 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-13 07:49:05 +00:00
pip
a3ac3feae9 Added PipXtreme folder. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1954 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-13 07:43:32 +00:00
pip
0f7e0cf4db Removed PipBee folder 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1953 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-13 07:40:36 +00:00
les
6d6ec37474 Manual control: Changed 'Position' stabilization mode to 'Attitude' 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1944 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-11 17:58:11 +00:00
peabody124
dc10998152 Flight/Stabilization: Make any throttle < 0 reset the pid integral windup 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1933 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-10 00:46:06 +00:00
peabody124
5f601bf5ab Flight/Guidance: Enable for any type of quad airframe 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1932 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-10 00:46:04 +00:00
peabody124
e72b6051b5 AHRS: Make mag variance account for the vector length of magnetic field. Also 
moved around where the axis are swapped and made the negative sign come from
calibration.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1931 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-10 00:46:01 +00:00
peabody124
ea85e98d7a Flight/Stabilization: Move update time storage to before the set to make sure 
it goes

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1922 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-08 15:38:28 +00:00
peabody124
8308e4a4fe Whitespace change: get rid of CR 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1921 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-08 15:38:26 +00:00
peabody124
4e6f100ae5 Flight: Swap to Les' code for main line 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1920 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-08 15:38:23 +00:00
peabody124
0a9ab6ca5f AHRS: Send PositionActual and VelocityActual out 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1919 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-08 15:38:19 +00:00
edouard
85aeffed9a Removed example settings from OpenPilot flight SW makefile too.. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1914 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-07 17:42:59 +00:00
peabody124
c4cb494a22 UAVOBjects: Just ran object genearator to get things compiling again 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1913 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-07 13:09:35 +00:00
kokomojoe
a0b3b47c48 OP-21 Flight/Bootloader - experimental modules implementing a simple serial packet (SSP) protocol. ssp_test is a test framework. ssp is the module, main_ssp.c prototype module on how this could be used in the bootloader, it is not fully functional, additional logic required for start-up detection to decide if serial initialization is required. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1909 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-07 04:59:18 +00:00
darkz
6b8aba07b1 Updated Makefile.posix to reflect the removal of example code 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1907 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-07 02:50:12 +00:00
edouard
5c48c29612 Remove example objects from the flight code, not needed anymore 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1905 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-06 21:50:57 +00:00
sambas
e32ddd5230 Flight/AHRS: gyrotemp raw actually shows now raw temp 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1903 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-06 18:14:12 +00:00
peabody124
dea5c91646 AHRSCalibration: Make default values correct now Les extended 
uavobjectgenerator to support multiple fields (thanks Les!).  Also
changed default scale on mag to +/-6g

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1899 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-06 14:26:42 +00:00
peabody124
66bf9d53d4 AHRS: Paramaterize the variance used for the indoor algorithm. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1898 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-06 14:26:40 +00:00
kokomojoe
946283d67e OP-185 Flight - Added FirmwareIAP to the module load list in makefile, added uavobjectsinit.c with firmware IAP init calls 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1896 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-06 05:30:48 +00:00
kokomojoe
7cf0e9ba31 OP-185 Flight support for firmware IAP object. added the pios_iap.c and firmwareiapobj.c 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1895 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-06 02:58:07 +00:00
kokomojoe
6499da40e3 OP-185 Flight Added init function for PIOS_IAP helper functions. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1892 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-06 02:07:11 +00:00
kokomojoe
2fe266650f OP-185 Flight - support files for Firmware IAP object 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1891 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-06 02:06:13 +00:00
kokomojoe
20c6e2292a OP-185 Flight helper functions for the firmware IAP object. Allows setting/clearing of back-up registers 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1890 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-06 02:02:37 +00:00
les
7ddb0f6f80 Stabilization: Changed to new switch format. Both position and rate modes work. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1886 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-05 14:51:33 +00:00
les
1e26ca11ee Manual control: Added some extra room at throttle zero when detecting a faulty signal 
Before, moving your throttle trim slightly could cause ManualControl to think the receiver was not connected

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1885 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-05 14:50:03 +00:00
les
b2c81aceee Actuator: Fixed motors not going to min throttle in failsafe. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1884 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-05 14:47:48 +00:00
peabody124
ba3ecada1d Flight/ManualControl: Implemented settings to change what the Mode switch does 
so it can also change parameters of Stabilization.  Please check your aircraft
behavior with this patch, but default behavior should be unchanged.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1878 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-04 19:48:09 +00:00
les
3aa72835d6 AHRS comms: Added GPL text 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1876 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-04 15:29:41 +00:00
peabody124
f03669733b Flight/Guidance: Merge back into one task because memory requirements of a task 
exceed CPU requirements of PID.  Also add add lesstabilization UAVObject to Makefile
to fix compile errors.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1870 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-04 02:01:34 +00:00
peabody124
d71e9df8c5 Flight/UAVObjects: Add a few files that were missed earlier, and get posix 
worlking again

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1869 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-04 02:01:31 +00:00
les
05a85c8c95 New stabilization module based on PI-P algorithm used in FlightOS 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1864 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 20:39:23 +00:00
les
dcef777ab0 AHRS SPI comms: Retries were not being tracked correctly 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1863 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 20:36:20 +00:00
peabody124
e743678d89 AHRS: This fixes the mags, I forgot to normalize the magnetic flux at your 
home location.  If you use INSGPS_INDOORS make sure your HomeLocation.Be fields
are correct for your GPS coordinates
http://maps.alfiordalis.com/declination.html

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1862 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 20:35:22 +00:00
cwabbott
8d1a99ae15 PiOS.win32: Updated PiOS.win32 makefile for recent UAVObject changes, and also updated the experimental stabilization code to comply with recent changes to the simple code. Nobody uses SiTL anymore :( . 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1858 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 18:59:58 +00:00
les
11cf24a312 Actuator: Fixed uninitialised variables 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1857 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 18:37:07 +00:00
peabody124
1931c75a4c AHRS: Deal better with DMA errors 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1856 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 18:14:36 +00:00
peabody124
a9495e2cbb UAVObjects/AttitudeSettings: Remove unused object, moving data to AHRSettings. 
Added attitude bias to AHRSSettings.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1855 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 18:14:34 +00:00
peabody124
754200f9cf UAVObjects/Delete old VTOLSettings object 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1854 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 18:14:27 +00:00
edouard
eeb5eab177 Flight/Stabilization: fix for -180/+180 yaw transition which caused glitches in the stab module. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1853 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 16:43:10 +00:00
peabody124
840df39b78 AHRS: Export gyro data as deg/s instead of rad/s to match the object label 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1851 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 15:22:09 +00:00
peabody124
9165fb87b2 AHRS: Calibration values were sent but not locked into EKF 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1847 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 04:34:07 +00:00
peabody124
87a822e3f9 AHRS: Add back home location setting north axis 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1846 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-03 04:34:05 +00:00
peabody124
5c9b5f4a99 AHRS: Get calibration working again 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1842 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 03:10:04 +00:00
peabody124
0c30101f54 AHRS: Made an object setting to allow the downsampling rate to be changed on the 
fly (EKF rate up to a limit).  Also, now the algorithm selects if you are
indoor or outdoor as well as if you use a mag indoor (if you do set the z
variance higher than it calibrates to).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1841 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 03:10:01 +00:00
peabody124
104dc165a9 AHRS: Max downsample that doesn't cause huge amounts of drops right now is 20 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1840 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 02:17:34 +00:00
peabody124
29b087703b Flight/AHRSComms: Decrease stack size, not needed to be that big. Also made 
ActuatorDesired dT in ms like the uavobject indicates

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1839 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 02:17:32 +00:00
peabody124
6d39d85b8f UAVObjects/AHRSStatus: Remove unused fields 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1838 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 02:17:29 +00:00
peabody124
2050864e59 UAVObjects/VTOLStatus: Remove unused object. Also added update time to 
indicate stabilization loop time.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1837 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 02:17:26 +00:00
peabody124
0fd9fda7a6 Flight/AHRS Comms: Whitespace fixes 
gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1836 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 02:17:22 +00:00
peabody124
ea3fb03c7f Flight/AHRS Communications: Switch to Les' very nice UAVObject communication 
scheme

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1835 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-02 02:17:18 +00:00
corvus
62300c9682 flight/Libraries/CoordinateConversion: ECEF2LLA() - Speed up the calculation with a primer coordinate. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1834 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 20:30:34 +00:00
peabody124
2a93f35807 UAVObjects/MixerSettings: Have values as int8, don't need float resolution 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1832 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 20:28:14 +00:00
les
683aa2b480 AHRS: Tidied up calibration sequence 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1831 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 19:41:00 +00:00
les
b2d56ca34c AHRS: Added UAVObject based SPI communication between AHRS and OP. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1830 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 17:31:13 +00:00
les
498f3d0fa6 PIOS SPI: Added a function to detect if the channel is busy 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1829 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 16:52:20 +00:00
edouard
d2c1014e29 Re-enabled yaw stabilization after SystemSettings changed. There might be a lingering issue when the 
yaw angle crosses the zero-360 mark, beware.
You can disable yaw stabilization by setting all PID gains to zero for yaw.



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1828 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 16:26:43 +00:00
peabody124
d54c6bf0f8 Flight/Actuator: Use dT in seconds. Forgot to change MaxAccel. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1825 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 14:37:03 +00:00
peabody124
0dfdad4fc4 Flight/Actuator: Reset critical alarm 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1824 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 14:09:14 +00:00
peabody124
c076a695ce UAVObjects/ActuatorSettings: Default values are all 1000 now so that an 
unconfigured motor can't turn on.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1823 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 13:45:26 +00:00
peabody124
9f4e3906e3 Flight/Actuator: Made it use the detected dT for the feedforward computation 
and removed the unused field from actuator settings (old setting time and all
the aircraft specific stuff).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1820 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 12:33:33 +00:00
peabody124
2dc40d11a1 Flight/Stabilization: Use the system clock to determine time from previous 
update since now drive by events.  This means StabilizationSettings object
changing so write down your settings.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1819 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 12:33:29 +00:00
peabody124
4461aba6d6 Flight/Stabilization: Move to object event system. Latency from ahrs_comm 
update to actuator update now ~0.7 ms.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1818 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 12:33:26 +00:00
peabody124
b9943645e0 Flight/Actuator: Run actuator from queue again, latency well behaved. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1817 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-10-01 12:33:20 +00:00
peabody124
e2d63cbf19 Flight & Ground/AHRS Calibration: Made variance estimation into a two pass 
approach again because ran out of numerical precision for single pass.  Also
made ground force the gyro signs to be correct.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1806 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-30 04:30:29 +00:00
sambas
ee4ca7b93a OP-177 Flight: All alarms fixed, AHRSComms stack size made critical stack alarm, event warning caused by queue that is not used at the moment. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1801 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-29 19:06:35 +00:00
peabody124
a4e0ee5fdf Flight/Actuator: Move Les' actuator to the active one 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1800 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-29 18:51:36 +00:00
peabody124
2f6f76d578 Flight/Actuator: Remove old mixer code 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1799 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-29 18:51:34 +00:00
sambas
2d90a80e22 Flight/PiOS: this patch makes dosfs work with both MBR and VBR formats. Backup your SD files in case this messes something!! Testing needed. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1798 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-29 16:29:38 +00:00
peabody124
c95b1e6117 Ground/UAVControl: Working joystick support although currently not configurable 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1794 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-29 03:59:03 +00:00
kokomojoe
6f1f990d85 OP-21 AHRS/Bootloader - Moved start of user code to 0x08002000. Must be used with latest AHRS Bootloader compiled with DEBUG=OFF. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1788 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-28 02:21:48 +00:00
fredericg
f090b4bcf8 OP-174 ET OSD: Fixed build errors due to UABObject changes 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1786 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-27 19:56:25 +00:00
peabody124
9b1d258a94 Flight/Les/Actuator: Space->Tab, somehow slipped passed previous patch 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1784 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-27 17:30:42 +00:00
peabody124
aa42256ad1 Flight/Stabilization: Convert all PID loops to units of seconds instead of ms. 
THIS MEANS YOU MUST RETUNE YOUR PID LOOP IF YOU'RE FLYING WITH IT

Alternatively divide Kd by 1000 and multiply Ki by 1000

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1782 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-27 09:04:43 +00:00
peabody124
fef8cca5b6 Flight/Posix: Get compiling again (sorry Corvus, I think I messed up your 
change earlier)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1778 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-27 07:28:48 +00:00
peabody124
3c021c09d9 Flight/PiOS: Whitespace changes 
find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f    | xargs -I{}
bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1
-il0 -hnl -l150 {};'

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-27 07:28:45 +00:00
peabody124
6d0df704a7 Flight/Modules: Corrected code to use tabs 
find ./flight/OpenPilot/Modules/ \! \( -name '*~' -a -prune \) -type f    |
xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss
-ncs -cp1 -il0 -hnl -l150 {};'

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1776 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-27 07:28:34 +00:00
peabody124
b85e322206 Flight/FlightSituation: Remove unused module 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1774 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-27 07:28:21 +00:00
peabody124
da583e0914 Flight/Guidance: Disable by default 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1768 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-26 03:07:40 +00:00
peabody124
6d811cc4db OP-140 AHRS: Don't run INSGPS until OP says board is initialized. This will 
also block heart beat.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1767 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-26 03:06:57 +00:00
peabody124
8475a68958 Flight/Stabilization: Keep command and error in deg/s for rate stabilization 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1766 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-26 03:06:54 +00:00
peabody124
a3ea9a5461 AHRS: Add a weak mag correction in indoor mode to remove gyro bias and try and 
get a reliable heading

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1765 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-26 03:06:51 +00:00
peabody124
77b68e5169 Flight/Guidance: Initial template for guidance module 
Flight: Create PositionDesired (the active waypoint) UAVObject and make the FlightSituationActual no update since it not used.
Flight: New velocity desired object that passes information between the look computing the desired velocity and the PID loop to get it (updated at different rates)
UAVObjects/PositionActual: Remove unused GPS fields
UAVObjects/PositionActual VelocityActual: Split the velocity into a separate object.  ALso make sure all the information telemetered around is in cm to avoid using floats.
UAVObject/GuidanceSettings: New guidance settings object for the guidance module
Flight/Posix: Add the new objects to the Posix sim
Flight/Guidance: Computes a desired velocity based on position error than runs a PID loop to control roll and pitch to achieve that velocity.  All distances are in cm, and updated the PositionActual fields to reflect this and use int32.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1760 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-26 03:06:27 +00:00
kokomojoe
ca4f3b53fa OP-21/Flight Bootloader - added compiler and linker options to remove unused functions. Code is now smaller. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1759 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-26 02:34:04 +00:00
zedamota
9b05282be5 OP-21/Flight Bootloader - should make things cross platform. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1758 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-26 00:39:01 +00:00
zedamota
0371808099 OP-21/Flight Bootloader - should make things cross platform. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1757 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-26 00:36:42 +00:00
peabody124
a01783b2a8 OP-140 AHRS: Explicilty deal with if it is initialized or not, use that to 
determine retransmitting calibration, home location and such.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1755 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-25 21:05:38 +00:00
peabody124
9b28f2d72c OP-167 OP-157 AHRS/Calibration: Added mag scale and really cleaned up calibration. 
Calibration should take less time now too (using second moments to estimate
variance in one pass).  Now need to change to multiple messages to get the
calibration in to keep the request message size minimal.  Also currently
running sensor calibrate doesn't store the gyro bias so if you want to use this
you'll have to tweak it manually.  I'll fix that step tomorrow.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1741 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-25 09:20:38 +00:00
edouard
eedf85a5ac OP-138 Start of the new Mixer configuration interface, for fixed wing only. This does not work yet, takes a long time to fully implement. 
The system settings UAVObject is updated, you will have to recompile your firmware. If you want to take a look and let me know, please do!



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1737 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-24 20:39:37 +00:00
zedamota
095cbb4dd5 OP-21/Flight Bootloader - Now pulls SS pin low again if no AHRS is found. 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1733 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-24 15:46:59 +00:00
corvus
1472b342c1 1.0 Featur Freeze - 
Removing some Experimental and Incomplete Modules and their UAVObjects not suited for 1.0
- they will be moved into an experimental branch:

Navigation     : experimental code only
FlightSituation: experimental code only 
Guidance       : preliminary draft - possibly to be replaced by peabody124 position hold code if finished in time.



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1729 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-23 22:05:03 +00:00
corvus
e44045f422 OP-165 : Guidance Module 
Creating GuidanceModule together with PositionDesired UAVObject (as discussed),
so dschin and me can work on it :-)
Will compile and (on sim_posix) execute, but PID logic is yet untested and preliminary.



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1722 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-22 22:16:48 +00:00
les
ef7ee86d45 Mixer: zero throttle shuts off motors and changed MixernMatrix to MixernVector 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1710 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-21 19:31:17 +00:00
peabody124
a1a3b0774f Flight/AHRS: Update code to coding conventions. 
find ./flight/AHRS/ \! \( -name '*~' -a -prune \) -type f    | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 {};'

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1707 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-21 19:29:39 +00:00
peabody124
833e8428d2 Flight/Libraries: Updated to coding conventions 
find ./flight/Libraries/ \! \( -name '*~' -a -prune \) -type f    | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 {};'

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1706 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-21 19:29:35 +00:00
chebuzz
862e35def1 OP/PiOS.posix - Somebody added UAVObjects but did not add them to the posix sim 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1702 ebee16cc-31ac-478f-84a7-5cbb03baadba
 2010-09-21 14:16:14 +00:00