Commit graph

2704 commits

Author SHA1 Message Date
timecop@gmail.com 9d5bfdb60b forgot to add lpf_for_velocity into tunables for new althold
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@222 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-20 01:47:22 +00:00
timecop@gmail.com ab509889ca stmloader serial fix from lianj
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@221 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-19 23:22:30 +00:00
timecop@gmail.com 2544c290ae enabled mahowik althold by default. let the users figure it out.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@220 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-19 11:14:12 +00:00
timecop@gmail.com 817eb09b8a fixed bug in soft_i2c driver (doesnt affect anyone except testing)
added VAR_FLOAT to cli - now allows setting/printing float vars
fixed newlines in pwm driver
exported new althold tunables to cli (some are floats) - still not enabled by default until I know it works

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@219 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-18 13:29:35 +00:00
timecop@gmail.com f3ce558871 flying wing servo output fix
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@218 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-12 10:39:30 +00:00
timecop@gmail.com a51bb66ad4 more mahowik althold changes. at least it doesn't shoot up in the air now on enable... but still nothing impressive.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@217 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-12 07:09:45 +00:00
timecop@gmail.com a139b96de6 fixed bug with MTK init - stuff was sent without delay while changing baudrates, and it would wreck stuff - changing rate mid-buffer. oops. should work now.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@216 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-12 02:15:14 +00:00
timecop@gmail.com 8e16d83a37 testing: merged patch from http://www.multiwii.com/forum/viewtopic.php?p=22485#p22485
no binaries, as it doesn't work at the claimed PIDs of 5.0-0.030-30

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@214 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-10 09:11:22 +00:00
timecop@gmail.com 70884d69d5 bring back flying wing w/all configuration options
config version bumped, settings cleared.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@213 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-09 11:35:35 +00:00
timecop@gmail.com b94c13b1c5 allow using GPS in PWM input mode. This (obviously) reduces number of available channels by 2.
I heard thats not a problem since tarduino only allows 4RC+2AUX channels anyway! If you want more, upgrade to PPM.
So you use RC3/4 for GPS, and connect the rest of the channels as usual. Channels used for GPS uart are
skipped, so no changes to 'map' are necessary. Simply connect in order.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@212 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-08 12:53:55 +00:00
timecop@gmail.com 4ed57b2696 fix for airplane pwm mode - variable wasn't initialized, resulting in non-working motors on some compilers.
synced angle/horizon mode stuff from mwc. no idea what it does.
perhaps the most important part of this update:
-errorAngle = constrain(2 * rcCommand[axis] - GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis];
+errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis];
(which means GPS might actually work).

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@209 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-08 08:15:16 +00:00
timecop@gmail.com ad1939591f oops, printf stuff forgotten to add to uv project.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@208 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-06 06:54:06 +00:00
timecop@gmail.com 3cd8e4e3f6 added printf() support via SpareTimeLabs printf lib. this cleaned up some mess inside cli.c
example of usage: http://bcas.tv/paste/results/xToE9w26.html
hover-tested quadx loaded as custom mix, works.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@207 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-06 06:35:02 +00:00
timecop@gmail.com 98cba890e1 moving towards custom mixer table and proper fixedwing mixer.
refactored all of mixer.c to use tables instead of hardcoded mix.
custom mixer is stored in flash, but currently has no UI to configure it.
do not choose mixer CUSTOM in console.

hover-tested QUADX, if upgrading anything else, please carefully check motor response first, preferably without props on heavy models.
tec

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@206 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-05 23:44:55 +00:00
timecop@gmail.com fef43457c0 buffer overrun in cli parser, increased command buffer. oops. thanks nicodh.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@205 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-05 06:58:57 +00:00
timecop@gmail.com b2bc4bf9e6 Finished merging GPS autoconfig + ubx protocol code.
use set gps_type=X in cli to configure, where X=0 if NMEA (no special config), X=1 if UBX (enters ubx binary mode), X=2 if MTK (sets up MTK for 5Hz operation).
changed default GPS rate to 115200 baud
added baudrate reset stuff to UART driver for GPS autoconfigure
NONE of this is tested (except UBX working on my window)

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@204 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-04 16:26:46 +00:00
timecop@gmail.com 80d7ba604b merged multiwii GPS code from 1097. still no support for UBX, or GPS auto-config, soon.
added interrupt pins from mag/mma/mpu for rev4 hardware. nothing done with them yet - candidates for EXTI use
added tx buffer to UART2 (gps) in preparation for auto-config


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@203 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-04 09:13:59 +00:00
timecop 70db9006af mag init after gyro
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@202 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-08-23 23:50:52 +00:00
timecop fd9d077d8b I2C bypass mode permanently enabled on MPU6050.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@201 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-08-22 23:59:34 +00:00
timecop 10570a6579 i2c no-ack fix (never actually worked properly, fixed now)
bumped config version, or else r198 crashed on update from recent version
airplane mode config passed to drv_pwm


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@199 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-08-21 05:41:58 +00:00
timecop e6cb4a0b1c cleaned up bmp085 driver
added ms5611 driver
refactored pressure sensor subsystem to allow multiple sensors
couple changes in PWM driver to make motor/servo arrangement for airplane mode more intuitive
moved MAX_MOTORS/MAX_SERVOS etc into drv_pwm.h
staring to merge back in airplane/flyingwing mixes
fix for tri servo display - mwc moved it to servo[5] again, gui was broken, function not.
will probably implement custom mixer soon (motors only, no servos)


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@198 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-08-20 10:25:10 +00:00
timecop ee76242525 rewritten and cleaned up PWM driver
this has been hover-tested.
all current functionality *should* work even though the driver has been rewritten.
please test carefully, especially servo configurations!

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@197 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-08-17 06:48:30 +00:00
timecop 9b7e26b274 makefile fix to add l3gd driver
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@196 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-08-15 14:51:17 +00:00
timecop 288d0ca4a6 committing built firmware w/currentTime fix
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@195 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-08-15 08:48:07 +00:00
timecop 9a842f6bb0 fix for 32bit overflow of currentTime killing baro/mag after 72 minutes (yes, someone noticed)
thanks to enots @ feenode.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@194 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-08-15 08:47:23 +00:00
timecop e894dba995 fixed bug in mpu6050 accel code
added mpu6050 acc scale factor fixup for es/non es chips (exposed as cli option as well)


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@191 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-08-07 08:00:16 +00:00
timecop ecda218e8f added support for l3g4200d i2c gyro, autodetected
added motors off in hardfault handler, so we drop to the ground on hardfault.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@190 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-08-05 01:57:51 +00:00
timecop 75adda0597 allow 0 for looptime to go back to not-rate-limited loop.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@183 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-07-21 07:06:19 +00:00
timecop c98113b82c synced with mwc 2.1. it's suprising how many "new" things in 2.1 didn't actually matter on a real platform.
removed camtrig stuff since it wasnt possible. somewhat replaced with aux forwarding (see below)
2.1 buzzer code changed, untested.
removed flying wing mixer. nobody used that. 
added alt_hold_throttle_neutral, nav_slew_rate and looptime configuration to cli. default looptime set to 3000. changed default gyro_cmpf to 400 to sync with 2.1.
increased bmp085 oversampling
added gimbal_flags (bit 4 set) flag which, in PPM mode, forwards AUX1..4 to the lower 4 PWM outputs instead of using them as motors. set gimbal_flags=8 to test it out. output is fixed to 50Hz.
merged 2.1 gps changes (not many)
casting in gyro smoothing (nobody uses that anyway)
calibrate accel in gimbal mode, set smallangle in gyro-only mode
vtail4 mixer fix
flight tested on quadx w/ppm.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@182 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-07-20 14:53:15 +00:00
timecop e70d7b5d16 added softi2c source file (oops)
changed gpio speeds to 2mhz from 50, nothing is toggling at 50mhz here. reduce ringing/noise.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@181 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-07-14 07:43:18 +00:00
timecop 23d11299b8 added test driver for software i2c. disabled by default. no, that wasn't the cause of cycletime jumps.
increased flash size to 128k, moved config data in last kbyte of that. as a result all settings are reset, please save them.
corrected hex6x mixer.
added telemetry to makefile.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@180 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-07-14 02:00:39 +00:00
timecop 829331c020 added pidalt stuff into cli
added a modifier for set (type "set *") to see min/max values for each parameter. this is for gui stuff
bumped config VERSION
fixed 0xffff - now stuff in drv_pwm, after it was mentioned to me for the  3rd time :p
replaced some uint8_t -> uint32_t for loop counters - saving 4 to 8 bytes of flash each time. thanks goes to thee 35+ years of C experience kicad guy.
turned bitfiends into a regular struct - instant 100byte flash size reduction

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@174 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-07-02 15:47:12 +00:00
timecop c998f5ca67 added support for outputting FrSky telemetry by silpstream @ rcgroups
feature TELEMETRY to enable it. when armed, telemetry is sent out the TX pin. It must be connected to 'Rx' pin of FrSky telemetry receiver via a level shifter. When disarmed, port goes back to 115200 bps for GUI.
fixed a typo in imu.c introduced by  GYRO_INTERLEAVE junk.
todo: just switch serial speed instead of reinitializing everything.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@173 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-07-01 15:32:45 +00:00
timecop 9c2204c179 synced serial protocol to multiwii-dev 20120622
changed booleans to bitfield struct to match with 0622
no other functional changes, and not all enhancements (like boxlight) from 0622 are implemented yet
NOT flight tested, use at your own risk.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@172 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-06-30 13:20:53 +00:00
timecop 2fd5645dce made sonar support compiled in (lol)
changed PPM pulse idle detect to 2.7ms per JimDrew instructions
updated keil project w /sonar source files.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@168 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-06-26 01:36:58 +00:00
timecop ce1ec92a67 Makefile fix from zippe; Untested to build on Win32, but presumably works on Lunix, etc.
Now properly builds both Naze and FY90Q targets.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@167 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-06-19 05:46:55 +00:00
timecop 4366c7f0d4 adding sonar support from sbaron, disabled by default.
docs: http://www.rcgroups.com/forums/showpost.php?p=21903320&postcount=3827

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@166 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-06-15 13:53:49 +00:00
timecop 09de7d7d03 rebuild FY90Q version.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@165 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-06-14 06:40:25 +00:00
timecop f73ccdd0a9 fixed mma driver ID;
fixed a boner #ifdef typo in imu.c
go back to gyro glitch stuff in sensors.c
do gyrocal during acc cal as well

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@164 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-06-14 04:12:23 +00:00
timecop 8fb580d3f5 added FY90Q buyild target to Makefile
fixed mag calibration finally I think...
heading + mag declination calculation done using better precision.
increased gyro bias calculation to 1000.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@163 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-06-14 03:35:23 +00:00
timecop 572d5827cc took out cycle counter stuff for timing, now using systick + counter strictly. ... seems improved loop precision a bit.
put gyro interleave under define. this needs to be cleaned sometime.
took out "gyro glitch" stuff that was leftover from  nintendo days.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@162 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-06-07 15:29:37 +00:00
timecop 19ca85963b trashed uvop keil file since that was system-specific stuff.
applied mwc-dev GPS code with bits of tarducopter code by sbaron. Thanks again. Moved some of the GPS config stuff into cli - gps_lpf, min/max nav speed, nav_controls_heading. Remember I don't test any GPS functionality at all, so if this makes your quad fly towards North Korea at over 9000cm/sec, this is NOT my problem.
spacing fixes in a couple files.
trashed old serial code that was under #if 0


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@161 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-06-06 15:09:44 +00:00
timecop 12d6c41407 oops, my retarded arm fix disabled all arming :)
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@160 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-06-01 03:15:22 +00:00
timecop 49653ec65e rearranged accelerometer autodetect code and allow user override by "set acc_hardware" in CLI (0=autodetect,1=adxl345,2=mpu6050,3=mma845x)
added arm/disarm on left/righ roll while throttle down to  configuration options and disabled it by default. "set retarded_arm" in CLI
put gyro_cmpf_factor into settings. default is 310, can be increased to decrease acc influence. debug use only.
dropped acc_lpf_factor back to 4. those who want it at 100, make it so.
cleaned up MPU6050 driver with humanreadable register names
got rid of MMGYRO crap - no use


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@159 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-05-31 17:28:05 +00:00
timecop e124390bb1 oops, forgot to commit mma845x driver.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@158 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-05-19 03:07:00 +00:00
timecop 59ccf93dd3 added driver for MMA8452QT accelerometer
added mag_declination set option to cli - oops
status in cli now prints which ACC hardware is used. work in proress to show difference between hardware with MPU6050 and MPU3050


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@157 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-05-18 16:01:10 +00:00
timecop b929f79b54 Fix for shipping MPU6050 versions (AFS=2 fix, only affected a couple sample boards with MPU6000-ES, MPU6050-EL now works).
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@156 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-05-17 15:22:04 +00:00
timecop 18db641282 readded support for failsafe (thanks rimshotcopter for bugging me about it for a month)
new config ooptions for failsafe, so current settings are cleared
fixed mistake where yaw servo stuff for tri was still hardcoded even though it had configurable values in cli
reduced level default D to 20 from 100 (dunno what effect this has, shrug)
untested, enable feature FAILSAFE at your own risk.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@155 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-05-09 05:29:30 +00:00
timecop 6da3320be8 oops.
mistake in serial.c which made it impossible to do 'R' anymore.
fixed.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@154 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-05-06 14:42:00 +00:00
timecop 941f2f1762 added improved mag calibration from http://www.multiwii.com/forum/viewtopic.php?p=13334#p13334 (thanks EOSBandi)
new hex file only works with Java GUI 20120504-dev :( WinGUI is still not updated. Use latest release version on downloads page if want to use WinGUI.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@153 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-05-06 09:58:03 +00:00