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97 Commits

Author SHA1 Message Date
Lorenz Meier e503c15361 Checkpoint - this is worth an AR.Drone flight test. Fixed thrust scaling in sensors for manual input, kind of fixed AR.Drone motor interface, very reliable now 2012-09-04 21:16:39 +02:00
px4dev 5c692e2971 Initialise some extra fields, don't try closing an ORB advertisement. 2012-09-03 23:21:17 -07:00
px4dev f92139f53b Merge branch 'master' into ms5611_newmath 2012-09-03 12:35:36 -07:00
Lorenz Meier 8aa41f7d34 Add actuator controls output 2012-09-02 12:21:54 +02:00
px4dev eb8e3a2942 Reduce slightly the rate at which we can be spammed with arming-state change messages. 2012-09-02 02:16:44 -07:00
Lorenz Meier 7cd89520cc More black magic put into the attitude estimation - works nicely now 2012-08-29 15:53:11 +02:00
Lorenz Meier 97d9e67e67 Really ugly but safe hack to make 30 deg rotations work 2012-08-27 15:44:50 +02:00
Lorenz Meier 848c156140 Added negative float printing to test range 2012-08-26 14:51:52 +02:00
Lorenz Meier 62e07358b4 Ported almost everything to new param interface, ready for serious testing 2012-08-24 00:01:23 +02:00
Lorenz Meier 5f259e41d5 Sensor readout, testing and driver adjustments 2012-08-22 16:20:05 +02:00
Lorenz Meier fa9f145b08 Fixed a bunch of issues in the arming state machine for multirotors, arming / disarming works fine now. Porting of various processes needed 2012-08-22 14:35:22 +02:00
Lorenz Meier d2e757aa3c Merged parameter changes 2012-08-22 09:19:43 +02:00
Lorenz Meier 72979032e9 Merge branch 'master' into px4dev_new_param 2012-08-22 08:56:33 +02:00
px4dev 88f0080a0f Fix an architectural issue with the ORB that prevented publication from interrupt context. 
ORB topic advertisements are now global handles that can be used in any context.  It is still possible to open a topic node as a publisher, but it's not the default.  As a consequence, the type of the handle returned from orb_advertise has changed; all other API remains the same.
 2012-08-21 23:44:22 -07:00
px4dev a0ae2cb175 Add a set of ORB topics for advertising actuator outputs. 
This is part of \#7
 2012-08-21 20:14:43 -07:00
Lorenz Meier f3c1a7475d Improved tuning for current attitude estimation hack, needs to be removed ASAP 2012-08-21 17:42:24 +02:00
Lorenz Meier e3fffa23e0 Merge branch 'master' into px4dev_new_param 2012-08-20 13:16:09 +02:00
Lorenz Meier aaf2a23f18 Reduced optimistic send rates, better mag scaling 2012-08-20 12:38:45 +02:00
Lorenz Meier 0d28187960 Fixed attitude mag scaling 2012-08-20 11:36:44 +02:00
px4dev 532b61c5a2 Tweak the test to work with the changed parameter export path 2012-08-19 22:16:10 -07:00
Lorenz Meier d07a63c169 Fixed compile errors and warnings in param test 2012-08-19 19:33:01 +02:00
px4dev d903311dce Add support for setting and exporting parameters. 2012-08-19 01:31:27 -07:00
px4dev d91f5f3dd7 The beginnings of a new parameter system. 2012-08-19 01:31:26 -07:00
Lorenz Meier 2a5fcd9174 Fixed incorrect scaling of acceleration values 2012-08-19 09:35:58 +02:00
px4dev 8477754411 Share the PX4IO protocol header, such as it is, between the two apps. 
Stop using systemlib in the PX4IO firmware; it has expectations that can't reasonably be met.
 2012-08-18 22:56:04 -07:00
Lorenz Meier 7874bbd37f Updated tests suite properly to MPU-6000 driver, should pass now 2012-08-18 23:01:17 +02:00
Lorenz Meier d48f7ea9f2 Fixed sensors test 2012-08-18 22:39:57 +02:00
Lorenz Meier dc484c1d21 State machine cleanup, introduced variable rates for MAVLink depending on the baud rate 2012-08-18 16:48:43 +02:00
Lorenz Meier 5aa91b6f17 Updated MPU test to new driver model 2012-08-18 12:29:04 +02:00
Lorenz Meier c6eff9eb8b Removed outdated sensors bringup app 2012-08-18 09:34:49 +02:00
Lorenz Meier 8a8b6b7165 Fixed PI wrapping code, debugging more sensor code, possible misalignment of mag and acc frames in filter 2012-08-17 18:38:52 +02:00
Lorenz Meier 73286f3262 Minor tweaks and command parsing debugging 2012-08-16 20:57:38 +02:00
Lorenz Meier 18e71843be Increased attitude estimator bm stack 2012-08-16 16:57:44 +02:00
px4dev 34118c72ef mechanical style fixups 2012-08-14 08:47:04 -07:00
px4dev 35c4a21ca1 Simplify an error message to avoid a bad pointer deref. 2012-08-13 23:52:32 -07:00
Lorenz Meier 1d029b01fe First initial revision of ACC driver and gyro 2012-08-13 22:10:03 +02:00
Lorenz Meier d92cdc7cfa Improved float tests 2012-08-13 21:09:08 +02:00
px4dev 42ace38e31 Don't try to mix if we have no mixer installed. 2012-08-11 10:34:54 -07:00
px4dev 67e0f8b179 Rework the mixer architecture based on discussions about arbitrary geometry mixing and plugins. 
Now the mixer is a C++ library that can be fairly easily bolted into an output driver to provide mixing services.

Teach the FMU driver how to use it as an example.  More testing is still required.
 2012-08-10 00:30:40 -07:00
Ivan Ovinnikov 9536bfa3ca HIL fixed, fixedwing control fixes 2012-08-07 14:18:09 +02:00
px4dev 3860f72665 Sketchy diagnostic commands useful for testing. 2012-08-05 19:46:55 -07:00
px4dev 9804447a66 More work on the mixer architecture. 
Solve the multiple publishers issue with 'control groups', one group per controller.  Mixer inputs now specify both group and control offset within the group.

Avoid using %f when loading/saving mixers; use scaled integers instead.
 2012-08-05 14:13:34 -07:00
px4dev 9804776a0c Checkpoint: more work in progress on mixer load/save 2012-08-05 14:13:33 -07:00
px4dev 145a6c4c49 Work in progress; standard mixer API and utility 2012-08-05 14:13:33 -07:00
Lorenz Meier 139cd09176 Faster sensor bus resets on timeouts, massively reworked fixed wing app, tested 2012-08-05 15:56:24 +02:00
Lorenz Meier b5f7adfc10 Many Doxygen style fixes 2012-08-05 11:27:02 +02:00
px4dev 8a365179ea Fresh import of the PX4 firmware sources. 2012-08-04 15:12:36 -07:00