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Author SHA1 Message Date
Konstantin Sharlaimov (DigitalEntity)
069994bd92 Quaternion-based Mahony's DCM IMU (implementation by S. Madgwick) 
Mag declination correction. Some cleanups
    DCM code changes from @MauroMombelli, allow gyro-only operation when neither ACC nor MAG can be used (i.e. no MAG and ACC is saturated.
    Replaced 'inclination' and 'heading' with 'attitude', converted all angles to decidegrees
    Prevent magnetometer readings from affecting roll/pitch angles. Compass now affects only yaw axis and magnetic interference won't mess up attitude calculations
    Ability to lock heading to GPS cource for airplanes
    Allow faster acquisition by initial attitude by using higher DCM kP gain on powerup
    Optimize magnetometer correction per @ledvinap suggestion. Better speed and less memory usage
    Prevent acceleration from affecting accSmooth if acceleration magnitude is too high
    Fixed incorrect GPS heading lock
 2015-12-02 23:06:03 +10:00
Konstantin Sharlaimov (DigitalEntity)
5ef05268de Waypoint code rework. Upload/download mission works. Waypoint actions RTH and WAYPOINT are supported (untested) 2015-12-01 17:02:58 +10:00
Konstantin Sharlaimov (DigitalEntity)
ce18dc94eb Waypoint storage reworked - store raw waypoint data (MWP-compliant), convert to local coordinates as required 2015-12-01 10:35:51 +10:00
4712
57efb91d59 Changed disable beeper method. 
Fix indentation level to 4.
Removed CLI support for 1wire pass through
 2015-11-30 15:36:23 +01:00
Konstantin Sharlaimov (DigitalEntity)
fd28138535 Added posDecelerationTime (controlled by Pos I) to control braking strength 2015-11-30 20:14:30 +10:00
Konstantin Sharlaimov (DigitalEntity)
b40df56f16 Added GPS failure handling during RTH. Wait for 2 sec for GPS to get online again, if this does not happen, switch to emergency landing 2015-11-30 14:37:47 +10:00
Konstantin Sharlaimov (DigitalEntity)
43de844aca Fix last waypoint issue 2015-11-30 10:49:21 +10:00
Konstantin Sharlaimov (DigitalEntity)
936df953eb Fixed incorrect pitch direction for fixed-wing altitude controller 2015-11-30 09:28:37 +10:00
Dominic Clifton
d489508e93 Merge pull request #1509 from gkvirkvia/patch-1 
PWM mode *is* usable with enabled uart, make it clear in docs
 2015-11-28 21:12:29 +00:00
Dominic Clifton
0c82a7b927 Fix invalid values in cli error messages. Use 0 based index for 1wire, 
now it is consistent with mmix.  Replace typo in 1wire error message
with standard cli parse error message.
 2015-11-28 14:35:20 +00:00
Dominic Clifton
12157bd791 Merge branch 'ledvinap-fix-303-i2c' 2015-11-28 14:17:49 +00:00
Dominic Clifton
b658df3a2e Merge branch 'fix-303-i2c' of https://github.com/ledvinap/cleanflight into ledvinap-fix-303-i2c 2015-11-28 14:11:26 +00:00
Dominic Clifton
9add024327 Fix whitespace. Remove commented out code. 2015-11-28 14:09:12 +00:00
Dominic Clifton
bd460d18f7 Cleanup whitespace and store the reference to the timer hardware for 
servos too.  Add some consistency to the ordering of the code.
 2015-11-28 14:09:11 +00:00
Dominic Clifton
b5bcb63264 Add 1wire support to the PORT103R development target. 2015-11-28 14:09:10 +00:00
4712
a2218ca918 Runtime ESC count / gpio / pin detection 
Runtime ESC gpio/pin detection
Runtime ESC count detection
 2015-11-28 14:09:09 +00:00
Dominic Clifton
fb3f27b161 Merge pull request #1494 from DreamNik/fix_led_strip_1 
fix for LED strip initialization invalid memory write
 2015-11-28 13:32:55 +00:00
Pierre-A
4f2ed7ff0a fix wrong declaration for baro parameters in CLI 2015-11-28 13:29:23 +00:00
Dominic Clifton
50f3be3d19 Merge pull request #1518 from martinbudden/sonarcleanup 
Sonarcleanup - replaced Sonar magic numbers with #defines. First cut of sonar test code.
 2015-11-28 13:23:06 +00:00
Martin Budden
849797a035 Changed SONAR device characteristics (max range etc) from #defines to variables to allow future support of different SONAR hardware. 2015-11-28 13:13:18 +00:00
ProDrone
6610788b44 Prevent SPEKTRUM receivebuffer overflow 
To solve the same problem for SPEKTRUM as mentioned for SBUS here: https://github.com/cleanflight/cleanflight/issues/1512#issuecomment-159267342
 2015-11-28 12:54:07 +00:00
Dominic Clifton
c0b7dfc796 Merge pull request #1517 from ProDrone/sbus_buffer_overflow_bug 
RX - Prevent SBUS receivebuffer overflow
 2015-11-28 12:28:49 +00:00
Konstantin Sharlaimov (DigitalEntity)
b96d247f90 Added ability to bail out to IDLE state regardless of current state (mostly affects emergency landing) 2015-11-28 20:33:28 +10:00
Konstantin Sharlaimov (DigitalEntity)
bba362bf20 Changed fork name to 'inav' 2015-11-28 20:27:16 +10:00
Konstantin Sharlaimov (DigitalEntity)
fa901e9b9b Fixed issue then bailing out of RTH to PH and position was not reset (drone would still be going home). Fixed conditionless activation of WP mode (required GPS, BARO and ARMED now). FC version string changed. Possible fix to MAG mode (untested). 2015-11-28 14:12:41 +10:00
Konstantin Sharlaimov (DigitalEntity)
e4f327d4b7 Force throttle neutral point for ALTHOLD to be midrc if AltHold is activated when disarmed or current throttle position will not allow altitude control in both directions 2015-11-27 22:03:29 +10:00
Konstantin Sharlaimov (DigitalEntity)
d731486235 Remove dead reckoning possibility. Removed throttle_tilt_compensation option. Added extra arming safety - disable arming if no GPS fix 2015-11-27 15:25:41 +10:00
Konstantin Sharlaimov (DigitalEntity)
62aaa50f93 Fix for throttle drops/jumps due to not reset throttle LPF filter from last attempt. Uppered throttle LPF cutoff to 4Hz 2015-11-27 12:36:22 +10:00
Konstantin Sharlaimov (DigitalEntity)
68ba45f24d Fix for incorrect PH braking target in east direction 2015-11-27 12:26:04 +10:00
Konstantin Sharlaimov (DigitalEntity)
f5ac6a5514 Preliminary MSP waypoint protocol compatibility. Only WAYPOINT action is supported for now 2015-11-27 11:33:40 +10:00
Martin Budden
cda717dbe4 Improved cosine approximation used when calculating altitude when tilted. Now second order Taylor expansion with only 2 extra float multiplies. 2015-11-27 01:12:29 +00:00
Konstantin Sharlaimov (DigitalEntity)
3f16205f39 Beep out READY_BEEP when GPS fix acquired and HOME position set. Don't reset home position on GPS fix loss when disarmed - short GPS outages while on the ground won't ruin RTH 2015-11-27 11:09:59 +10:00
Martin Budden
a097e4912f Improved naming of #defines by including units suffix (_CM etc) and separating naming of device specific constants from general sonar constants. 
Moved device characteristics #defines (max range etc) into sonar_hcsr04.h

Moved calculation of tilt angle from altitudehold.c to sonar.c

Moved tilt checking from sonar_hcsr04.c to sonar.c, the driver should not anticipate usage.
 2015-11-27 00:58:47 +00:00
Konstantin Sharlaimov (DigitalEntity)
77caedcda2 Limit I2C GPS retry rate to 1/500ms. Prevent I2C bus from being flooded by failed I2C transactions when no I2C-GPS is present 2015-11-26 22:41:05 +10:00
Konstantin Sharlaimov (DigitalEntity)
ad3f5a8e3a Change I2C output type to OD 2015-11-26 22:30:21 +10:00
Konstantin Sharlaimov (DigitalEntity)
472ab7694c CLI fixes, emergency landing controller fixes 2015-11-26 17:32:58 +10:00
Konstantin Sharlaimov (DigitalEntity)
51d7babbdd PH braking revisited 2015-11-26 15:08:27 +10:00
Konstantin Sharlaimov (DigitalEntity)
b1ef5e053a A possible fix to zero throttle althold issue. Logging: navDebug[2] = AH PID output; navDebug[3] = AH throttle adjustment 2015-11-26 14:12:25 +10:00
Konstantin Sharlaimov (DigitalEntity)
55e5703e4b Debug: navDebug[0] = gpsGlitch status, navDebug[1] = landing detection status 2015-11-26 10:52:37 +10:00
Konstantin Sharlaimov (DigitalEntity)
68e60f5c37 Added a configurable mc_hover_throttle parameter to be used when calculating altitude controller 2015-11-26 10:20:52 +10:00
Martin Budden
83d3d00163 Added test code for sonar distance and altitude functions 2015-11-25 21:37:39 +00:00
Konstantin Sharlaimov (DigitalEntity)
03bfb70a15 Remove unused filterWithBuffer code. Not useful anymore as inertial filter alone calculate velocity with sufficient accuracy 2015-11-25 22:56:57 +10:00
Konstantin Sharlaimov (DigitalEntity)
4dbd985046 GPS glitch detection fixes. Keep glitch detection disabled for the moment 2015-11-25 21:50:35 +10:00
Konstantin Sharlaimov (DigitalEntity)
6afd3741b2 Surface sensor (SONAR) assisted landing detection 2015-11-25 16:50:11 +10:00
Konstantin Sharlaimov (DigitalEntity)
6850fe324f RTH on failsafe can now be set via CLI. Disabled RC input when executing failsafe RTH. 2015-11-25 16:28:43 +10:00
Konstantin Sharlaimov (DigitalEntity)
ed0f85c41b Fix CLI parameter declaration for baro and PIDs 2015-11-25 15:03:54 +10:00
Konstantin Sharlaimov (DigitalEntity)
68abea6a04 Allow I2C GPS to be selected in CLI 2015-11-25 15:00:26 +10:00
Martin Budden
3e95ecbba9 Replaced Sonar magic numbers with #defines. Added first cut of Sonar test code. Corrected spelling in comments. Minor improvements to comments. 2015-11-24 23:26:58 +00:00
ProDrone
b1a22c69ed Prevent SBUS receivebuffer overflow 
To solve problem mentioned here: https://github.com/cleanflight/cleanflight/issues/1512#issuecomment-159267342
 2015-11-25 00:20:05 +01:00
Martin Budden
230cc3c90e Added link to development folder 2015-11-24 21:55:49 +00:00