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
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
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
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
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
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
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
added ms5611 driver
refactored pressure sensor subsystem to allow multiple sensors
couple changes in PWM driver to make motor/servo arrangement for airplane mode more intuitive
moved MAX_MOTORS/MAX_SERVOS etc into drv_pwm.h
staring to merge back in airplane/flyingwing mixes
fix for tri servo display - mwc moved it to servo[5] again, gui was broken, function not.
will probably implement custom mixer soon (motors only, no servos)
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@198 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
this has been hover-tested.
all current functionality *should* work even though the driver has been rewritten.
please test carefully, especially servo configurations!
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@197 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
increased flash size to 128k, moved config data in last kbyte of that. as a result all settings are reset, please save them.
corrected hex6x mixer.
added telemetry to makefile.
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@180 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
applied mwc-dev GPS code with bits of tarducopter code by sbaron. Thanks again. Moved some of the GPS config stuff into cli - gps_lpf, min/max nav speed, nav_controls_heading. Remember I don't test any GPS functionality at all, so if this makes your quad fly towards North Korea at over 9000cm/sec, this is NOT my problem.
spacing fixes in a couple files.
trashed old serial code that was under #if 0
git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@161 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
timecop@gmail.com
timecop