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122 Commits

Author SHA1 Message Date
Lorenz Meier de530d6ba1 General robustness improvements in PID struct, numerically close to bullet-proof, error reporting needs improvements still. 2012-09-23 01:20:41 +02:00
Lorenz Meier 8b951ec417 WIP on HIL 2012-09-22 20:55:44 +02:00
Lorenz Meier 6c7e21bd1c Debugging output still enabled, fixed a number of additional issues 2012-09-21 19:14:50 +02:00
Lorenz Meier 8a11f76994 Updated C files for attitude estimator 2012-09-21 14:42:57 +02:00
Lorenz Meier 082074f991 Completely implemented offboard control 2012-09-21 12:55:41 +02:00
Lorenz Meier 291f4f3a33 Reworked control interface, needs testing / validation 2012-09-19 18:53:29 +02:00
Lorenz Meier b0b72b11eb Reworking control infrastructure for inner rate loop, preparing offboard interface 2012-09-18 18:28:49 +02:00
Lorenz Meier e5950ad498 Improved reporting / logging a lot, first usable version of SD card logger 2012-09-14 17:52:24 +02:00
Lorenz Meier a8fcd4a49c Merge branch 'master' of github.com:PX4/Firmware 2012-09-14 10:26:05 +02:00
Lorenz Meier 3a18a79bd5 Better log rate balancing 2012-09-14 10:25:59 +02:00
Lorenz Meier 5dd6cbcb13 Logging rate changes, 2012-09-14 10:24:49 +02:00
Lorenz Meier a294ee2b87 Fixed mavlink timestamps, fixed SD logger, ready for flight tests 2012-09-13 23:35:20 +02:00
Lorenz Meier e20c2541c6 Send back fake RC in HIL if getting joystick inputs 2012-09-13 00:24:00 +02:00
Lorenz Meier 47c96d3d12 Quite flyable state 2012-09-12 18:50:24 +02:00
Lorenz Meier c815aff842 Deamonized GPS app, fixed GPS issues, reworking RC input 2012-09-12 17:22:24 +02:00
Lorenz Meier cb57fdb28c Added ground estimator, fixed RC calibration 2012-09-12 10:34:49 +02:00
Lorenz Meier e440fc4027 Rewrote SD logging app, simpler, but effective. Pending testing 2012-09-10 23:04:31 +02:00
Lorenz Meier 3140ba658a Fixed HIL enabling, renamed failsafe to better term "lockdown", made sure HIL is actually locking down system. Pending implementation of lockdown in PWM outputs 2012-09-10 00:11:09 +02:00
Lorenz Meier c25cef299f Fixed to mag measurement and filter 2012-09-07 16:56:47 +02:00
Lorenz Meier 297990fe35 Fixed parameter-loading typo, fixed mavlink compile warnings 2012-09-07 15:28:02 +02:00
Lorenz Meier 2b9f3a4845 Made parameter error messages pickier 2012-09-07 14:50:28 +02:00
Lorenz Meier 1538247a72 Sensor sending rate fixes 2012-09-07 12:49:31 +02:00
Lorenz Meier e8307aba17 Added bitfield to encode updated dimensions 2012-09-06 20:47:22 +02:00
Lorenz Meier db6ec2d7d2 Various minor fixes and improvements across system 2012-09-05 18:05:11 +02:00
Lorenz Meier 84e11a0cac Fixed correct RC loss detection, AR.Drone is now shutting down motors after 1 s of RC loss. Added debug topic. 2012-09-05 11:37:17 +02:00
Lorenz Meier 79801b1578 Added high-res sensor message better suited for scientific applications 2012-09-03 15:16:42 +02:00
Lorenz Meier 60dabef756 Cleaned up HIL interface 2012-09-03 08:24:08 +02:00
Lorenz Meier 8aa41f7d34 Add actuator controls output 2012-09-02 12:21:54 +02:00
Lorenz Meier 436648fff0 Ported MAVLink app to actuator_armed topic 2012-09-02 11:45:22 +02:00
Lorenz Meier e9373752d1 Fixed arming state setting / publication 2012-09-02 11:20:36 +02:00
Lorenz Meier 676daf7c46 minor changes for default options, closing properly all subscriptions in multirotor att control now on exit 2012-08-29 22:33:06 +02:00
Lorenz Meier 7d87f2b06e Fixed calibration, added calibration for accel, working on further filter improvements 2012-08-29 14:20:55 +02:00
px4dev 6fd7e12e13 Sorry Tait, Bryan… your body is not welcome. 2012-08-29 00:08:02 -07:00
px4dev 268db3dd9b mavlink parameter load should discard all current parameters before loading from EEPROM 2012-08-28 22:55:56 -07:00
px4dev 168e32cd1b Try not to return an unconditional error from the parameter save path. 
Simplify the test for no parameter file on the parameter load path.
 2012-08-28 22:54:28 -07:00
Lorenz Meier a0925e4703 Ramped up MAVLink stack size as real use seems to need it 2012-08-28 08:50:47 +02:00
Lorenz Meier 8eeba595ee Improved param load / store text feedback, ported sensors app to new driver model, ready for merge and test 2012-08-25 19:16:12 +02:00
Lorenz Meier d12c09cc86 improvements / debugging on I2C drivers 2012-08-24 14:58:14 +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 b07de1379d moved commander to new param interface 2012-08-23 20:45:28 +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
Lorenz Meier 89f36087da Fixed and improved error messages for MAVLink param read / write 2012-08-21 08:33:35 +02:00
Lorenz Meier d1261e227c Porting to new param interface, updated mixers 2012-08-20 23:52:13 +02:00
px4dev 4ddf93bd06 Tweak the MAVlink parameter load/save path to deal with NXFFS. 2012-08-20 09:55:53 -07:00
Lorenz Meier d17bbc7a0b Minor fixes to EEPROM params 2012-08-20 17:26:59 +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 767f253976 Fixed attitude rate limiting 2012-08-20 11:15:44 +02:00
Lorenz Meier 41172f24d5 Moved parameter command handling to mavlink app 2012-08-20 09:32:42 +02:00
Lorenz Meier 2c8fafd12a Reworked MAVLink parameter interface to support new parameter storage, tested. 2012-08-20 09:07:33 +02:00
Lorenz Meier dae0b922f1 Added deamon example, reworked / merged multirotor attitude control. Ready for AR.Drone interface changes and integration tests 2012-08-19 15:52:59 +02:00
Lorenz Meier 2a5fcd9174 Fixed incorrect scaling of acceleration values 2012-08-19 09:35:58 +02:00
Lorenz Meier 9a56be6907 Changed mavlink and sensors apps to deamons, now started with mavlink start and sensors start. 2012-08-19 01:26:42 +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 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
Lorenz Meier 46c4b987cc Various fixes for params interface 2012-08-16 15:49:56 +02:00
Lorenz Meier b30e443f28 Updated start script, checking commander mishaps 2012-08-16 13:09:35 +02:00
Lorenz Meier 92a1fab0fd Integrated optical flow 2012-08-14 11:40:08 +02:00
Lorenz Meier 9014577aff Massive improvements in state machine, still tracing wrong throttle scaling in manual input path 2012-08-13 18:53:37 +02:00
Lorenz Meier 43019ba618 Further cleanups, added sanity check against system state machine 2012-08-12 01:44:21 +02:00
Lorenz Meier 5adb691f89 Streamlined ar drone interface, removed a lot of old cruft, preparing for generic multirotor control 2012-08-12 01:25:41 +02:00
Lorenz Meier c519f28b98 minor polishing 2012-08-07 17:31:41 +02:00
Lorenz Meier 962a3464a6 Minor cleanups in WP handling 2012-08-07 17:24:48 +02:00
Ivan Ovinnikov 9536bfa3ca HIL fixed, fixedwing control fixes 2012-08-07 14:18:09 +02:00
Lorenz Meier 2b09a7914f Sending back current position setpoints (global and local) 2012-08-07 08:36:20 +02:00
Lorenz Meier 7f2a63eb96 Completed calibration state machine, calibration state now propagating to sensor, scale calibration soon 2012-08-06 23:43:09 +02:00
Lorenz Meier 139cd09176 Faster sensor bus resets on timeouts, massively reworked fixed wing app, tested 2012-08-05 15:56:24 +02:00
px4dev 8a365179ea Fresh import of the PX4 firmware sources. 2012-08-04 15:12:36 -07:00