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58 commits

Author SHA1 Message Date
dongie
4972770907 correction of calculation for throttle angle correction (should really just replace with cosf() at some point 2013-11-26 11:31:23 +09:00
fiendie
6ab48fc438 Revert new PID stuff and move it to a separate branch for now. 2013-11-07 13:15:31 +01:00
Lukas S
b996b26cbb new Baseflight PID
full gyro scale is used now
and a new pid with float calculations was added based on PIDrewrite
eeprom size was also increased from 1kB to 2kB
2013-11-03 03:48:45 +01:00
timecop@gmail.com
609df47cd4 tri gyro data reading fix - closes issue #18
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@464 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-11-01 00:47:05 +00:00
timecop@gmail.com
35f0a8e4b0 old altitude calculation used again, added lpf for accZ by Luggi09
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@462 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-10-30 11:57:54 +00:00
timecop@gmail.com
ca7d7e32f6 removed some double promotions that sneaked in, as well as replaced fabs() with float-only fabsf() version. trashed doubles from _atof(). Considering trashing that whole function for KEIL builds.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@439 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-10-13 16:19:46 +00:00
timecop@gmail.com
07055c8872 fixing initializion for anglesrad[]
add drv_softserial to common drivers in Makefile

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@436 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-10-12 08:07:08 +00:00
timecop@gmail.com
6bbc8fdb22 fix accZ/shake detection when copter upside down. oops.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@432 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-10-12 06:57:31 +00:00
timecop@gmail.com
800ce6bdf7 fixed a fuckup with yaw_rate that was caused by more 8bit leftover garbage
fixed althold vel/constrain typo thx Marcin
flight-tested this build on my shitcopter, CAREFUL flight testing may commence.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@428 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-10-04 01:51:31 +00:00
timecop@gmail.com
3744f36895 calculate heading using gyro-only on boards without mag - idea by Cesco
added constants for gyro/acc/baro cal and fixed calibration to add /2
warning cleanup in drv_serial.c

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@426 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-10-02 02:18:14 +00:00
timecop@gmail.com
91d64fc6c1 removed retarded small_angles shit and replaced with proper calculation.
no more small angles while shaking the board.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@415 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-29 13:10:58 +00:00
timecop@gmail.com
c8f0fc78b3 removed references to avr optimizations we stopped using long time ago
fixed heading calculation jump

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@413 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-22 04:03:18 +00:00
timecop@gmail.com
64e8f247bf oops. gyro only does NOT need getEstimatedAttitude. bad!
ms5611 driver improvements (was failing below 20c)
merged some althold cleanups

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@411 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-21 11:18:15 +00:00
timecop@gmail.com
1ff4bcec5a Nice catch on gyro-only fly fail
-robertb

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@410 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-21 07:57:28 +00:00
timecop@gmail.com
8a5157db46 disconnected magcal from core and put it all into hmc5883 driver. no need to keep track of it if driver does init by itself as well.
moved annexcode into mw.c instead of imu.c
hopefully didn't break anything.
NOT FLIGHT TESTED.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@405 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-19 15:07:48 +00:00
timecop@gmail.com
14893afb32 cleanup of sensor readings and sensor driver API reorganization part 1
documented L3G4200D driver why 0x28 read was suddenly turning into 0xA8
removed old wiimotion averaging cruft from computeIMU
NOT FLIGHT TESTED

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@403 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-19 11:20:53 +00:00
timecop@gmail.com
6d3467c759 higer precision float radian angles are now used for acc and mag rotation
no need to cripple the readings here

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@402 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-15 12:29:29 +00:00
timecop@gmail.com
26db228f79 merge in althold changes from github
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@401 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-15 02:02:09 +00:00
timecop@gmail.com
05ced4c784 fixing mag heading. DO NOT FLY!
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@399 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-14 15:42:16 +00:00
timecop@gmail.com
44a671136b the great sensor orientation unfucking work in progress part 2.
fixed MMA8452 orientation, as well as mag calculations.
gyro/mag is still reversed on Z, DO NOT FLY.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@398 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-14 15:35:44 +00:00
timecop@gmail.com
1cc306493b beginnings of the great sensor orientation unfucking. WORK IN PROGRESS DO NOT FLY.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@397 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-14 12:27:26 +00:00
dominicc1974@gmail.com
4c191270bf Changing all line endings to WINDOWS line endings (CR+LF) and removing all End-Of-Line whitespace and using spaces instead of tabs. Please ensure you configure your editors and tools to follow suit. If using git please enable autocrlf in your .git/config file.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@393 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-09-06 23:14:48 +00:00
timecop@gmail.com
509e349e69 Whitespace/compiler warnings cleanups by Dominic Clifton;
Slight tweak of new althold defaults
NOT-flight-tested .hex committing so people can commence with althold testing.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@391 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-08-31 01:40:13 +00:00
timecop@gmail.com
f663a57613 improved altitude hold thanks to Luggi09
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@386 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-08-24 14:57:26 +00:00
timecop@gmail.com
0664b3005d fixed Makefile to build w/new drivers (thanks Hydra)
int32 updates in sonar driver
added 12mhz buzzer check
Removed debug output from GPS module
int32'ified althold
output HSE MHz+SysClkMHz on debug[3]

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@379 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-08-19 23:29:20 +00:00
timecop@gmail.com
b6fc652b20 beginnings of cli editing support by cehteh; (still buggy)
added and began work on integrating failsafe_detect_threshold
got rid of acc_lpf_for_velocity since that seemed no longer used.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@317 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-05-09 12:26:11 +00:00
timecop@gmail.com
c26603dd72 some more minor updates from 2.2
added variable for gyro_cmpfm factor (mag) to configurables
changed gyro_cmpf factor to 600 (higher gyro influence)
got rid of GYRO_INTERLEAVE stuff (didn't work, obsolete)
got rid of applyDeadband hacks, invsqrt hacks, and other shit. ifdef'd original baseflight attitude/heading calcs w/new 2.2 routines
fixed cockup in altitude calculation w/applyDeadband
remaining: GPS

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@304 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-05-02 14:07:52 +00:00
timecop@gmail.com
98d0581ac2 part 2 of ?? of mw2.2 merge (still not flight-tested, so no binaries)
defaulted to looptime of 3500 (yea, yea)
rewrote baro stuff to match mwc2.2 - both supported sensors now return temperature and pressure, which is used in altitude calculation code
rewrote hmc5883 driver to include calibration inside the driver file instead of calling parts of calibration from userspace. it will now blink LED1 while calibrating
some parts remaining to do.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@298 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-03-23 15:58:18 +00:00
timecop@gmail.com
491b3627f6 begin initial merge of 2.2 features
mw2.2-merged stuff:
* implemented profiles 0-2 (called 'setting' in mwiigui)
* merged in MSP changes including profile switch
* cleaned up rc / aux switch stuff in mw.c based on 2.2 rewrite
* main loop switch for baro/sonar shit adjusted
todo: basically the rest of 2.2 changes (i think some minor imu/gps/baro updates)
baseflight-specific stuff:
* made boxitems transmission dynamic, based on enabled features. no more GPS / camstab trash if it's not enabled
* cleaned up gyro drivers to return scale factor to imu code
* set gyro_lpf now controls every supported gyro - not all take same values, see driver files for allowed ranges, in case of invalid lpf, defaults to something reasonable (around 30-40hz)

maybe couple other things I forgot. this is all 100% experimental, untested, and not even flown. thats why there's  no hex.
merge is still ongoing.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@294 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-03-14 14:03:30 +00:00
timecop@gmail.com
4c0fe94072 further accuracy improvement for mag calculation.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@263 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-02-07 04:59:29 +00:00
timecop@gmail.com
d1d6a5d5ef very nice proper magnetometer vector rotation from crashpilot1000
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@261 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-02-06 04:08:10 +00:00
timecop@gmail.com
005308b430 Applied patch from trunet for running at 64MHz off HSI for broken Chinese kcopter clones
status in cli now prints cpu MHz, 72 when running off crystal, 64 when running off intrc.
corrected WHO_AM_I check for mpu6050 when it's used on alternate address (AD0 high).
corrected PWM driver to consider CPU clock for timer prescalers - now things properly work below 72MHz
added a neat hack for pitch angle calculation so that it's not affected when roll reaches 90deg
added proper math for vector rotation instead of small-angle approximation

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@225 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-10-06 14:40:24 +00:00
timecop@gmail.com
1dea2b3b3b integrated tommie's eeprom sanity check. much less chances of new firmware screwing up due to old config version.
fixed pwm init for airplane mode mistakenly deleting motors from the mix. flyingwing should really work now.
removed led debug from althold


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@223 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-21 04:12:17 +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
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
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
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
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
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
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
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
timecop
0d7460960e merged changes from multiwii_dev 20120504. this means new serial protocol, new buzzer code
fixed spacing in ledring.c
defaulted acc_lpf to 100
correction in vtail4 mix (from multiwii_dev)
trashed more unused LOG_VALUES crap
no binary build since this is untested / non-flight-tested.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@152 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-05-05 12:47:52 +00:00
timecop
26b2031e24 fixed cli version from pre-3 stuff
increased gyro complementary filter factor to 500 to reduce acc influence (should hopefully fix random walk stuff?)
fixed a bug in servotilt stuff (maybe?)

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@150 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-05-01 00:07:22 +00:00