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3304 commits 10 branches 287 tags 532 MiB
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70 commits

Author SHA1 Message Date
borisbstyle
8d8d57a1f4 Set F1 target i2c to 800khz 
Still 200us spare time left in luxfloat
 2015-10-08 15:38:49 +02:00
borisbstyle
f39ca7add6 Minimize latency in Acro modes with acc enabled 2015-09-25 15:23:04 +02:00
borisbstyle
4a492c611a More Jitter Enhancements for Naze target 
remove debug

Anti Jitter Enhancements for Naze target

Jitter Optimalisation without emf avoidance
 2015-09-24 00:40:42 +02:00
ProDrone
57fc0f0a57 Added debug IMU speed output 2015-09-22 23:21:27 +02:00
borisbstyle
8be859bb36 Yaw Inversion in quaternion_to_rpy 2015-09-22 11:15:49 +02:00
borisbstyle
0539abc649 Dterm scaling correction // Code cleanup 2015-09-21 00:19:06 +02:00
Konstantin Sharlaimov (DigitalEntity)
45a4f11f92 Added #define for imu debug output (+16 squashed commit) 
Squashed local commits:

from       : e4265d4a13f63f82d5cf55eea2c091622f96660b
up to (inc): 72416dc74745fa8bae1aded79aa4b9ed0e389076
 2015-09-19 14:50:53 +02:00
digitalentity
a3b57386c2 Ported fast trigonometry functions over from @Crashpilot1000 Harakiri code 
Fixed maths_unittest.cc to correctly handle float-point numbers
 2015-07-09 22:38:17 +10:00
Michael Hope
5c6760fd82 various: tidy up various things found when building with a C++ compiler. 
Remove duplicate consts.
Pull in the include files where functions and variables are declared.
Mark file local but duplicated variables as static.
Mark some variable declarations as extern.
Remove duplicated variable definition.

Signed-off-by: Michael Hope <mlhx@google.com>
 2015-06-04 22:32:31 +02:00
Steveis
6448b4b3d7 Replaced gyroData with gyroADC as they both contain the same value 2015-05-17 07:14:42 +01:00
Steveis
318592b063 Removed tricopter yaw gyro smoothing from imuUpdate 2015-05-10 11:02:44 +01:00
Dominic Clifton
f28158a5a7 Cleanup debug code. 2015-04-14 13:59:11 +01:00
Dominic Clifton
55cac2bdeb Finally rename flight.c/.h to pid.c/.h. Cleanup some dependencies. 
Relocate more code.
 2015-02-01 00:39:38 +01:00
Dominic Clifton
8cc9e8ca37 More relocation of variables. 2015-02-01 00:03:46 +01:00
Dominic Clifton
53406a7ac7 Relocate some structures and code to the right places. 
This cleans up the include file order somewhat and fixes a couple of
dependencies.

The goal of this is to rename flight.c/flight.h to pid.c/pid.h.
 2015-01-31 23:47:51 +01:00
Dominic Clifton
01b2ce0b36 IMU naming cleanup. 2015-01-31 22:23:38 +01:00
Dominic Clifton
7c2c5eb152 Removing TODOs. 
If it needs to be done it will be done.
 2015-01-31 22:08:03 +01:00
Dominic Clifton
22f80129f2 Update calculate heading comment (ledvinap). 2015-01-25 01:07:14 +01:00
Pierre Hugo
67a2d5cd75 Add test for calculate heading. 2015-01-23 23:31:43 -08:00
Pierre Hugo
f312636b9f Add comments suggesting moving throttle angle correction code into own module. 2015-01-23 23:31:43 -08:00
Pierre Hugo
8d994df457 Move code around to avoid forward declaration. 2015-01-23 23:31:43 -08:00
Pierre Hugo
d691f72849 Moved configuring of IMU all into one function call. 2015-01-23 23:31:43 -08:00
Pierre Hugo
616c40a827 Added clarifying comment and todo. 2015-01-21 19:44:01 -08:00
Pierre Hugo
29c5630957 Moved vectors, euler angles, rotation and normalization from imu to maths. 2015-01-21 19:42:06 -08:00
Pierre Hugo
919a8796e7 Switched configureIMU to consistant name. 2015-01-21 19:37:56 -08:00
Pierre Hugo
ab8b5efe2c Switched initIMU to consistant name. 2015-01-21 19:36:41 -08:00
Pierre Hugo
d6b08f22c1 Added clarifying comments to calculateHeading body. 2015-01-21 19:28:05 -08:00
Pierre Hugo
d1a1cc3f13 Added clarifying comment to calculateHeading method. 2015-01-21 19:27:46 -08:00
Pierre Hugo
fcdc0af218 Clarified comments around vector rotate method. 2015-01-21 19:26:28 -08:00
Pierre Hugo
6711c56dc5 Switched to explicitly using M_PI. 2015-01-21 19:20:19 -08:00
Pierre Hugo
3e6e8f44c2 Switched to using degreesToRadians from DEG2RAD macro. 2015-01-21 19:14:31 -08:00
Dominic Clifton
ee19c1f071 Rename multiType to mixerMode. Rename MULTITYPE_* to MIXER_*. 
'Type' is a noise word.

'Multi' is a mis-nomer - there is nothing 'multi' about a gimbal or
fixed wing.
 2014-12-24 11:58:57 +00:00
Dominic Clifton
183c5f8e16 Add MPU9150 mag support and mag autodetection. Add AK8975 mag driver. 
Note: not working on the sparky, MPU9150 needs passthough enabling but
when enabled the mag and gyro won't ack on the default addresses.  Needs
further investigation.
 2014-12-21 23:40:48 +00:00
Kyle Manna
c806046181 perms: Remove execute bit on source files 
* Remove the execute bit on source files.
* No functional change.
 2014-11-26 10:13:29 -06:00
Dominic Clifton
503e7a0817 Decouple altitudehold.c from config.c. Update flight_imu_unittest and 
altitude_hold_unittest.
 2014-11-03 20:03:21 +01:00
Dominic Clifton
daa823ddba AltHold cleanup. 
* Renamed several methods and variables so they make more sense.
* Move more altitude hold related code out of imu.c/h into
altitudehold.c/h.
* Fixed a unsigned integer being using instead of an signed integer in
the throttle calculation code.
 2014-09-29 01:34:15 +01:00
Dominic Clifton
3eb8bcb3e5 Merge branch 'feature-sonar-flight-mode-no-baro' of dclifton-github.com:nebbian/cleanflight into nebbian-feature-sonar-flight-mode-no-baro 
Fixed tabs, kept old references to VARIO.  Made SONAR mode a new option so that aux settings could be preserved.

Conflicts:
	src/main/config/runtime_config.h
	src/main/flight/altitudehold.h
	src/main/flight/imu.c
	src/main/io/rc_controls.h
	src/main/mw.c
	src/main/sensors/initialisation.c
 2014-09-26 13:36:19 +01:00
Dominic Clifton
d60183d91d Normalize all the line endings 2014-09-15 23:40:17 +01:00
Ben Hitchcock
66fce423bb Code allowing the use of sonar without requiring a barometer. 
This code has been flight tested on a Naze32 acro, with no barometer onboard.  It also works when the target doesn't have BARO defined.
 2014-09-05 11:28:55 +08:00
Dominic Clifton
f5d9589f0a Disable debug output. 2014-08-24 22:53:06 +01:00
Dominic Clifton
3f0754d295 Replace global flags with stateFlags, flightModeFlags and armingFlags. 
Each flag was previously a whole byte, now all of the flags only take up
4 bytes as they are represented by bit masks.

This is cleaner because the different kind of flags are now separated.

Additionally this changes the behaviour of arming slightly.  When using
a switch to arm the aircraft will not arm unless the switch has been in
the off state once.  This prevents arming if you power the aircraft with
a low throttle and the switch in the on position.
 2014-08-24 12:11:30 +01:00
luggi
7917e44293 slow change althold now controls velocity directly 
The throttle stick input now directly sets the vertical velocity
setpoint of the copter. (alt_hold_fast_change = 0)

Conflicts:

	src/imu.c
	src/mw.c
	src/mw.h
 2014-08-01 22:52:08 +01:00
Dominic Clifton
ff82839f89 Fixing alt hold constraints to be 8192 instead of 8196. 
The previous code before 5b1de9cce966c033ae7b01d9318161e0e40e08a8 was
using (x / 8) and then constraining using +/- 1024.  Removing the / 8 in
commit 5b1de9cce966c033ae7b01d9318161e0e40e08a8 should have meant the
new constraint values were (1024 * 8) = 8192.
 2014-08-01 22:43:01 +01:00
luggi
75f94aa11b althold constants updated 
baro velocity now limited to 15m/s
d-term is now smaller

Conflicts:

	src/imu.c
 2014-08-01 22:39:23 +01:00
luggi
1bf806f54c make the accZ lpf used for althold configurable 
set the variable accz_lpf_cutoff to the desired cutoff frequency
this can help to make althold smoother on copters with lots of
vibrations

Conflicts:

	src/cli.c
	src/config.c
	src/imu.c
	src/mw.h
 2014-08-01 22:31:22 +01:00
Dominic Clifton
38cbe28e0f Apply accz pt1 element fixes. 
See:
f7132b9d33211a55b8bd2c92f14da59f35b715a4
b1f58bc01fcf1632b3c3947a5ed0e807c2763a30
5832e2f67fcd2ee93044b300fda37a420c595813
a5961aeda657225fa843a115a94229313db4b2db
 2014-08-01 21:10:26 +01:00
Dominic Clifton
9f1a0fcb4c Cleanup line endings. 2014-07-31 23:53:34 +01:00
Dominic Clifton
3d65e4ff96 Changes missed from last commit. 2014-07-31 13:47:46 +01:00
treymarc
9cf90fa230 smallAngle configurable, user can arm/disarm with swith in any 
orientation
Conflicts:

	src/cli.c
	src/config.c
	src/imu.c
	src/mw.c
	src/mw.h
 2014-07-31 00:25:24 +01:00
Dominic Clifton
e56535f4f3 Fix builds on targets that do not have sonar support. 2014-07-22 21:25:03 +01:00