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
3b8c1841f8
new SPI2 driver w/testcase
...
5883 and 6050 driver updates
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@363 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-07-02 02:52:33 +00:00
57cbd784a9
a couple optimizations for dynamic HSE frequency - moved SetSysClock() to run after reset vector + bss init, and changed rcc which used hardcoded HSE_VALUE.
...
turn off leds/beeper before initializing pins to prevent flash at startup
uninitialized errorAngle fix in new PID
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@362 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-07-02 00:58:50 +00:00
e010e3a354
Cleaned up SetSysClock to remove duplicated code when configuring HSE or HSI
...
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@359 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-06-30 06:25:24 +00:00
e4ea700fe0
reverted cli line editing stuff - was more trouble than its worth, and caused issues with hercules
...
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@358 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-06-29 15:48:43 +00:00
d442c9dfb6
initial pass at gpio cleanup. removed almost all dependency on stdperiphlib (remaining exti).
...
slightly modified initial pin configuration, but this needs rework soon anyway.
couple spacing/line ending/formatting fixes in sonar driver file while fixing gpio there.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@357 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-06-29 14:09:54 +00:00
4bd505972d
renaming of serial bool returning vars into isFoo(), also fixed bool returned as uint16_t type
...
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@354 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-06-25 07:09:47 +00:00
539f2cb6db
acctrim was broken because changes were never getting saved.
...
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@353 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-06-22 09:11:41 +00:00
c4a1c57b91
careful flight testing may commence
...
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@351 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-06-20 01:17:20 +00:00
82130ca60f
amazing patch from jef78m for cli set
...
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@350 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-06-20 01:15:42 +00:00
3f8fc1b509
oops, this is NOT ready for public consumption yet.
...
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@305 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-05-02 14:17:05 +00:00
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
bba9bc291f
added some more configurable frobs to cli. commit before 2.2 merge.
...
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@288 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-03-11 06:18:20 +00:00
600f50ecac
added MSP_UID patch from cGiessen
...
added sending cell voltages (faked) via frsky telemetry by fiendie
two additional cli commands (aux and dump) from jef79m - aux allows setting switches from command line, dump creates a copy-pasteable config which can be sent to a new board.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@283 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-03-04 00:17:50 +00:00
c88614046b
reversed o/n meaning from previous commit to actually mean what I said :)
...
n = new rev (fullscale acc)
o = old rev (halfscale acc)
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@279 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-02-22 15:57:29 +00:00
bc627783f8
removed mpu6050_scale cli since it's now autodetected.
...
the value is now printed in the status command, after MPU6050 as MPU6050.n = new revision, MPU6050.o = old revision.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@278 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-02-22 11:04:32 +00:00
fc185b8e15
rewrote mpu6050 revision sensing code to match that of eMPL from Invensense.
...
Also changed scalefactor for acc to 256/512 to match multiwii code. untested/etc, proceed with caution.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@276 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-02-21 08:59:27 +00:00
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
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
785443789c
third time's the charm (fixed + confirmed tiltmix gimbal)
...
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@251 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-01-16 11:11:13 +00:00
fc4693af3a
let's try this again (simple gimbal sign fix)
...
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@250 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-01-12 12:49:26 +00:00
a1ac53c841
changed cpu to CBT6 in release build;
...
maybe fixed simplegimbal mixer;
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@249 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-01-12 08:26:24 +00:00
bd08f337e7
Ah, finally fixed spektrum stuff. after PWM rewrite, spektrum init ended up before pwm init, so when rcReadRawFunc was assigned, it was always set to PWM. oops. Thanks to Cerberis @ irc for the patch.
...
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@240 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2013-01-05 01:13:18 +00:00
006e6629f6
Added GIMBAL_MIXTILT (16) to gimbal_flags. Setting gimbal_flags=16 will use "mixed" gimbal i.e. SERVO_MIX_TILT from MultiWii. Untested, but should work(tm).
...
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@239 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-12-27 13:23:43 +00:00
e7bc3cc38e
oops.
...
spektrum support was broken, now fixed.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@238 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-12-24 14:54:37 +00:00
af7e135d75
fix from frog32 for external adc channel allocation;
...
fix from mwc forum for frsky telemetry gps output
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@237 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-11-12 09:08:16 +00:00
12dfa8915d
slight improvement to motion threshold calculation
...
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@234 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-10-27 07:34:45 +00:00
23acf529d7
implemented using one of RC inputs as ADC channel for power meter.
...
added MSP_ACC_TRIM stuff for android GUI.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@231 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-10-19 02:43:27 +00:00
e59f639951
made gyrodiff for motion detection configurable, 0 = disabled
...
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@230 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-10-14 00:34:23 +00:00
0976133f1f
added acc_trim stuff into cli
...
spacing/indentation fixes
flyingwing is somewhat supported, reflect that in comment
added anti-moron gyro calibration routine... if model is getting moved while its arming... don't calculate gyro avearage because its gonna be wrong... example of fail see here: http://www.rcgroups.com/forums/showthread.php?t=1749966
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@229 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-10-13 12:08:56 +00:00
9fc43d5357
fixed MPU6050 sig stuff, d'oh
...
added sensor axis orientation stuff to cli... not the most optimal way but surely one that uses least code, lol!
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@228 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-10-08 13:50:48 +00:00
021b486916
added ability to swap sensor axises dynamically. still needs a sane way to configire in CLI, though.
...
adjusted all drivers for the new align stuff.
commented out default config setting values to zero - memset already did that.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@227 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-10-07 18:03:42 +00:00
193902079c
moved some readonly strings to flash, thanks zyp
...
cleaned up frsky telemetry a bit with verbose telemetry ID names, changed loop timing a bit, added output for heading and voltage (when vbat is enabled). telemetry stuff is untested, so someone try it out.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@226 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-10-07 14:58:12 +00:00
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
4a4c0d585d
sign error in HEX6P mix.
...
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@224 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2012-09-23 11:41:02 +00:00
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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@gmail.com
timecop