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96 Commits

Author SHA1 Message Date
Lorenz Meier
ebc12eebd0 Merged 2013-06-07 13:04:49 +02:00
Lorenz Meier
6c7c130de7 Hotfix: Make IOs mixer loading pedantic to make sure the full mixer loads 2013-06-07 10:34:55 +02:00
Lorenz Meier
b52aeea746 Merge branch 'master' of github.com:PX4/Firmware 2013-06-06 22:14:19 +02:00
Lorenz Meier
b3c5bd5d3a Saved a few string bytes, cleaned up task names and output 2013-06-06 22:14:11 +02:00
Lorenz Meier
fc471c731a Tracked task_spawn API changes for sdlog2 and att_estm_so3_comp 2013-06-06 17:38:31 +02:00
Lorenz Meier
6015809d89 Merged 2013-06-06 17:37:41 +02:00
Lorenz Meier
106f4910be Merge pull request #284 from limhyon/master 
Nonlinear complementary SO(3) filter has been implemented.
 2013-06-06 04:39:39 -07:00
Hyon Lim (Retina)
6537759dfc Add detailed documentation for SO3 gains tuning. 
USB nsh has been removed.
 2013-06-06 21:28:40 +10:00
Lorenz Meier
39d6dd3dc6 Merge pull request #287 from DrTon/sdlog2 
sdlog2 - new APM compatible logger
 2013-06-06 03:46:19 -07:00
Lorenz Meier
8ad3aa315f Merged master 2013-06-06 07:57:31 +02:00
Lorenz Meier
68931f38d5 HOTFIX: Added start / stop syntax to GPIO led command 2013-06-05 15:04:49 +02:00
Anton Babushkin
aedacc7bc8 Merge branch 'master' into sdlog2 2013-06-04 16:51:12 +04:00
Anton Babushkin
7ae2cf9d2d Minor sdlog2/logbuffer cleanup 2013-06-04 16:48:55 +04:00
Lorenz Meier
de8186e050 Merge branch 'master' of github.com:PX4/Firmware into failsafe_io 2013-06-04 13:25:42 +02:00
Lorenz Meier
e3ee6689fe Merge pull request #294 from sjwilks/hott_v2 
Add GPS Support to the HoTT Telemetry driver
 2013-06-04 03:15:40 -07:00
Simon Wilks
82c7e58122 Removed some debugging code 2013-06-04 01:03:16 +02:00
Simon Wilks
f435025d26 Completed main implementation and debugging 2013-06-04 00:10:58 +02:00
px4dev
23a6234235 Rename our 'task_spawn' to 'task_spawn_cmd' since NuttX now has its own version of task_spawn that's different. 2013-06-01 23:31:53 +02:00
Anton Babushkin
606f68c890 sdlog2 GPS message changes 2013-06-01 20:40:56 +04:00
Anton Babushkin
9f895d87cd sdlog2 mavlink msg fix 2013-06-01 17:16:12 +04:00
Anton Babushkin
34d4d62acc sdlog2 messages cleanup, fixes 2013-06-01 15:59:42 +04:00
Lorenz Meier
63d460160c Adjusted to renaming of TCB in NuttX 2013-06-01 12:00:33 +02:00
Anton Babushkin
b344f23daf Merge branch 'master' into sdlog2 2013-06-01 13:34:49 +04:00
Anton Babushkin
1bf8f7b47e sdlog2 performance increased, fixes and cleanup 2013-06-01 13:18:03 +04:00
Lorenz Meier
4db739b5e1 Integration WIP with current NuttX version 2013-06-01 01:48:42 +02:00
Anton Babushkin
b614d2f1eb adlog2: added options cleanup, updates rate limit added 2013-05-30 23:41:06 +04:00
Anton Babushkin
9952fef645 sdlog2 messages packing fixed, sdlog2_dump.py now produces much more compressed output. 2013-05-30 21:27:55 +04:00
Anton Babushkin
d6ae0461ab sdlog2: GPS message added 2013-05-30 12:28:05 +04:00
Lorenz Meier
abb024c724 More safety added by disabling pulses 2013-05-29 18:32:23 +02:00
Lorenz Meier
f6570172da Set default failsafe value to 0 of mixer 2013-05-29 17:07:26 +02:00
Lorenz Meier
2876bc72f9 Slightly reworked IO internal failsafe, added command to activate it (px4io failsafe), does not parse commandline arguments yet 2013-05-28 17:46:24 +02:00
Anton Babushkin
7e95edbbe8 New messages added to sdlog2 2013-05-28 19:02:16 +04:00
Hyon Lim (Retina)
90fdf35ae5 GPL Licensed code has been removed 2013-05-29 00:59:20 +10:00
Hyon Lim (Retina)
7a2adb22eb Visualization code has been added. 2013-05-29 00:45:02 +10:00
Hyon Lim (Retina)
cc6c590af0 I finished to implement nonlinear complementary filter on the SO(3). 
The previous problem was roll,pitch and yaw angle from quaternion.
Now it is fixed. 1-2-3 Euler representation is used.
Also accelerometer sign change has been applied.
 2013-05-29 00:34:21 +10:00
Hyon Lim (Retina)
13faf0d555 Merge remote-tracking branch 'upstream/master' 
- Mikrokopter BLCTRL seems to be updated
 - HMC5883L calibration problem has been corrected.
    (This is because of RAM mis allocation?)
    See https://groups.google.com/forum/?fromgroups#!topic/px4users/yTYJiDBBKfo
 - Fixed wing control updated
    https://groups.google.com/forum/?fromgroups#!topic/px4users/s7owpvZN8UI
 - GPIO module has been removed.
 - STM32 DRV updated
 2013-05-28 11:09:58 +10:00
Lorenz Meier
fba92f357c Merge pull request #267 from DrTon/gpio_led 
gpio_led app added: drive LEDs by GPIO_EXT1 pin of PX4FMU
 2013-05-26 09:00:41 -07:00
Anton Babushkin
691dc8eefd sdlog2 strick packing fixed, length bug fixed, "sdlog2_dump.py" debug tool added 2013-05-26 00:14:10 +04:00
Anton Babushkin
e211352604 sdlog2 logger app added. New flexible log format, compatible with APM. 2013-05-25 22:16:43 +04:00
Hyon Lim (Retina)
4bf0505421 Test flight has been performed with nonlinear SO(3) attitude estimator. 
Here are few observations:
 - When the system initialized, roll angle is initially reversed.
   As filter converged, it becomes normal.
 - I put a negative sign on roll, yaw. It should naturally has right
   sign, but I do not know why for now. Let me investigate again.
 - Gain : I do not know what gain is good for quadrotor flight.
   Let me take a look Ardupilot gain in the later.

Anyway, you can fly with this attitude estimator.
 2013-05-23 16:20:38 +10:00
Hyon Lim (Retina)
364d1a06e3 To use freeIMU processing visualization tool, I have implemented float number transmission over uart (default /dev/ttyS2, 115200) 
But this not tested yet. I should.
 2013-05-23 16:20:38 +10:00
Hyon Lim (Retina)
f547044203 Roll pitch yaw should be verified again 2013-05-23 16:20:38 +10:00
Hyon Lim (Retina)
32bace0824 I do not know why roll angle is not correct. But system looks okay 2013-05-23 16:20:38 +10:00
Hyon Lim (Retina)
0c3412223b Fixed few minor bug 2013-05-23 16:20:38 +10:00
Hyon Lim (Retina)
1caddb7bbb Initial work of so3 nonlinear complementary filter 2013-05-23 16:20:38 +10:00
Lorenz Meier
327d8751d2 Hotfix: Removing GPS debug output 2013-05-22 17:53:17 +02:00
Anton Babushkin
6e8621269b Code style fixed 2013-05-22 13:59:51 +04:00
Anton Babushkin
09ce3e2d0a Added GPIO_EXT1/GPIO_EXT2 selection. 2013-05-22 11:30:50 +04:00
Lorenz Meier
5d9512eb79 Removed unnecessary cplusplus check 2013-05-21 10:17:37 +02:00
Lorenz Meier
e655c0fc57 Fixed missing count 2013-05-21 10:14:16 +02:00