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1,750 Commits 2 Branches 0 Tags 84 MiB
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64 Commits

Author SHA1 Message Date
Benjamin Vedder 615dc52007
Merge branch 'master' into configurable_gyro_and_accel_filters 2022-04-19 16:05:27 +02:00
Mitch Lustig 430ec56965 Make magnetometer user configurable 2022-04-17 13:19:35 -07:00
Mitch Lustig a041a3b952 Add support for configuring IMU onboard filters 2022-04-15 21:31:03 -07:00
Benjamin Vedder 3a530ac3f7 App ADC abs min and max voltage limits 2022-04-01 18:43:03 +02:00
Benjamin Vedder e9d6fd5842 Use bitfields for CAN-messages and support two different CAN status rates 2022-03-11 18:08:28 +01:00
Benjamin Vedder 61356d6ae9 Added APPCONF_UAVCAN_RAW_RPM_MAX default value 2021-11-24 14:15:30 +01:00
Benjamin Vedder 91a19fa8b3 IMU improvements 2021-08-22 11:51:03 +02:00
Mitch Lustig 64ed53f473 Fix balance tiltback default speeds 2021-08-19 17:19:21 -07:00
Mitch Lustig fafe047730 Tiltback updates 2021-08-18 00:45:51 -07:00
Dado Mista 813d5b15fa Balance App: introduce new speed based variable tiltback 
Nose angle adjustment, similar in purpose as constant tiltback
but it is proportional to erpm aka speed.

Signed-off-by: Dado Mista <dadomista@gmail.com>
 2021-06-25 21:42:37 -07:00
Benjamin Vedder 186e1ce40a Disable vesc remote control by default and enable it after pairing 2021-06-15 12:58:10 +02:00
Benjamin Vedder 75b84f1f2d Added kill switch support 2021-06-13 13:46:27 +02:00
Mitch Lustig d561c2669b Add balance loop time correction 2021-06-06 14:01:42 -07:00
Mitch Lustig de9400e461 Add brake timeout 2021-06-05 16:05:19 -07:00
Mitch Lustig d68fc0ff4f Balance: Updates 
-Fix D term to use angle rather than error (which includes tilt steps)
-Switch TT to Biquad (Clear z1 z2)
-Split TT Relax speed
-Add Biquad to D term
-Add console command to graph specific variables
-Add console command to dump realtime data from specific variables
 2021-06-01 03:20:00 -07:00
Mitch Lustig b237cf4b9f Add High Pass FIlter, implement current off delay, refactor constanttilt 2021-05-16 14:53:03 -07:00
Mitch Lustig c9ed013f13 Fix low speed Full switch faults, Fix Booster, Improve turn/torque tilts 2021-04-17 18:05:24 -07:00
Mitch Lustig 273f067db3 Code Cleanup 2021-04-07 22:42:21 -07:00
Mitch Lustig 08f27f433c Add turn tilt 2021-04-06 02:18:32 -07:00
Benjamin Vedder fcb7e12158 Made servo output a config option 2021-03-31 16:28:46 +02:00
Mitch Lustig decdc7e7d6 Add torquetilt 2021-03-27 20:13:22 -07:00
Mitch Lustig 3b9fe6ec67 Add Booster 2021-03-27 14:00:55 -07:00
Mitch Lustig 49e624ba3b Remove boring features 2021-03-27 12:17:10 -07:00
Marcos Chaparro 33b5d5c1ba Pedal assist support (PAS) 
This commit enables cadence-based pedal assist for ebikes using
quadrature-style pedal speed sensors.

There are 2 operation modes:
* PAS only: Motor current is based only on pedal feedback
* ADC + PAS: The code will use both ADC and pedal feedback and use
the strongest command to provide seamless overlap when the user is
pedalling and requests extra torque with the throttle.

Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
 2020-12-07 17:06:36 -03:00
Benjamin Vedder 55096f93cc Added UAVCAN raw throttle modes 2020-12-04 17:54:22 +01:00
Mitch Lustig 7db04df582 Add all the variables 2020-07-03 20:33:15 -07:00
Mitch Lustig 24afd4e6f3 Balance sprint 3 
-Can steering based on speed
-Can steering current clamp
-Min rpm for half switch state fault
-Soft mode tuning (pitch angle affinity, setpoint affinity, setpoint limit)
-Reset I value on faults issue #117
-fix startup tiltback
 2020-03-15 23:18:34 -07:00
Mitch Lustig 6d29b6741f Use ADC for switches 2020-02-23 13:34:51 -08:00
Mitch Lustig d4f6036de7 Implement nose angle adjustment 2020-02-23 10:23:19 -08:00
Mitch Lustig 2c07512091 Add can bus, 2 wheel steering & stabilization, brake, dead & fault dealy 2020-02-23 00:22:21 -08:00
Benjamin Vedder b6949d60dc FW4.00: HFI and many updates, see changelog 2020-01-28 19:46:19 +01:00
Mitch Lustig 343dba369a Remove axis config 2019-09-21 01:07:31 -07:00
Mitch Lustig d160f74651 Merge branch 'master' into balance 2019-09-12 22:50:12 -07:00
Mitch Lustig 3c31d264fd Add high voltage tiltback 2019-09-12 00:07:26 -07:00
Mitch Lustig 518776d04e Add basic low voltage tiltback 2019-09-10 19:29:44 -07:00
Mitch Lustig 67a4653bd8 Add support for dual fault switches 2019-09-10 01:07:05 -07:00
Benjamin Vedder eb6f5945ce FW 3.61: Added smart reverse mode to PPM app, and some fixes 2019-09-09 19:34:26 +02:00
Mitch Lustig 72e9c24bd7 Make axes configurable, remove offset management 2019-09-08 18:32:53 -07:00
Mitch Lustig 011d3055f6 Merge branch 'master' into merge_new_master 2019-09-08 15:05:54 -07:00
Mitch Lustig 98652977a2 Merge master 2019-09-08 11:42:28 -07:00
Benjamin Vedder a233367be8 MPU9x50 fix, experiment plots, DQ voltage RT data, smart reverse for nunchuk app 2019-09-08 18:25:38 +02:00
Benjamin Vedder 602db7435b FW3.59. Many updates, see changelog for details 2019-09-03 20:39:05 +02:00
Mitch Lustig 7a47053ca6 Add startup calibration sequence 2019-08-27 19:57:35 -07:00
Mitch Lustig a2231593b2 Start on better gyro config 2019-08-25 23:49:33 -07:00
Mitch Lustig 62da9e5b83 Better peripheral gyro management 2019-08-09 23:16:20 -07:00
Mitch Lustig 14faa2e593 Make all features configurable 2019-08-07 00:22:51 -07:00
Mitch Lustig 15703429f5 Add gyro tuning functionality & state machine logic 2019-08-04 11:47:23 -07:00
Mitch Lustig 800115f683 Implement more data to help debug 2019-07-30 00:27:23 -07:00
Mitch Lustig bbba718140 Work to get GUI going 2019-07-29 00:31:48 -07:00
Mitch Lustig fccb59b2ef Merge branch 'master' into balance 2019-07-27 21:28:02 -07:00