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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
added fifo mode to adxl345 driver, currently disabled. work in progress.
fixed output for PWM 5-8 when used with PPM + camstab + abovequad configs.
fixed baro, now alt-hold actually works. silly copypaste typo.
trashed all remaining parts of power meter and lcd configuration stuff. useless.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@145 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
added float-based acc lpf, acc_lpf_factor values now changed, its 1/factor now, values 60+ and larger filter heavier.
playing with release MPU6050 hardware, looks like acc1G is fucked, as predicted
bug in serial output (forgot to output armed bit to GUI, estalt is /10)
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@144 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
split uart2 initialization inside drv_uart. added receive data callback to use either with GPS or spektrum satellite
added spektrum satellite support, also freeing up 4 motor outputs for hexa/octo/camstab
configurable acc lpf and gyro lpf via cli
configurable (build-time) temperature lpf on baro. seems mostly useless.
fixed a nice boner bug in mag code which ended up multiplying magADC twice with magCal data.
fixed mpu3050 driver to allow configurable lpf, also broke other stuff in the process. considering moving this sort of stuff to "init" struct for sensor.
pwm driver rewritten to fully disable pwm/ppm inputs (such as using spektrum satellite case)
cleaned up double math in gps.c to use sinf/cosf etc
removed TRUSTED_ACCZ since its useless anyway
whitespace cleanup
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@130 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
changed gyro/acc to allow different drivers without recompile, this allowed adding mpu6050 support w/autodetect
moved sensor orientation code into driver - each driver provides its own
added support for mpu6050 - desolder mpu3050 and adxl345, replace with mpu6050 for instant ???
merged multiwii 2.0pre3 code changes (none that mattered except mag calibration and typo in baro stuff)
changes to sensor autodetect for new dynamic drivers
more of ledring stuff done (still doesn't work, so dont try)
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@115 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
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