Gavan Fantom
8b3ff9feba
Add preliminary support for HMC5883L magnetometer and MPL3115A2 altimeter.
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Logging only, at this stage.
11 years ago
Gavan Fantom
9d5e6da3bf
Yes, we do actually want I2C to run fast.
12 years ago
Gavan Fantom
e8adff93c1
Bye bye Wii Motion Plus, hello MPU6050. Also, increase control loop
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to 200Hz, add SD card logging, and a number of other changes.
12 years ago
Gavan Fantom
b9c08d88b1
Implement CPPM reception. Keep it as an option for now.
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Recalibrate the radio, as the timings have changed.
And, it seems a couple of channels are now swapped with the new radio. Or
rather, unswapped. So fix the channel map to match.
13 years ago
Gavan Fantom
2fa58944fa
New radio, new calibration values.
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Oh, and code to make the calibration easier/possible.
13 years ago
Gavan Fantom
274805c2a0
Limit integral windup, some new PID values and linearise thrust.
13 years ago
Gavan Fantom
999e129e2c
Improve handling of arming, providing LED blink codes if the arming fails.
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Also, implement a software watchdog to make sure that the main real-time
modules are actually being run. Provide a panic facility, also giving blink
codes to indicate the panic reason.
13 years ago
Gavan Fantom
e36ec4d5b1
Let's have an LED driving module so that we can output different patterns for
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status indications etc.
13 years ago
Gavan Fantom
3f12132231
Lots of development of new features. Radio input, motor output, PID control
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loops, boot-time initialisation, option to run without attached UART.
And.. it flies!
13 years ago
Gavan Fantom
2890007195
Take interleaved accelerometer and gyro readings, and integrate them into
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a single attitude estimation.
A bunch of debug stuff, too.
14 years ago
Gavan Fantom
62732758a8
Track gyro using a DCM.
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This brings in an implementation of some general matrix manipulation routines,
not all of which are used at teh moment.
Output the DCM on the UART at 50Hz for the host to display it usefully.
14 years ago
Gavan Fantom
9f79b3d82e
* Make total stack size available as a symbol
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* Implement SWI handler to enable/disable interrupts
* Implement event system to deal with kicking non-interrupt code
15 years ago
Gavan Fantom
e1b1b60a53
* Move UART code into its own file
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* Set up vectored interrupt controller
* Set up timer interrupt
15 years ago
Gavan Fantom
91c1c7e6be
More warnings courtesy of -Wextra
15 years ago
Gavan Fantom
4d37c82b12
* Allow COPTIM to be set outside Makefile
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* Use -Wall -Werror
* Fix some warnings
15 years ago
Gavan Fantom
b3f0bbf7c9
More hacking:
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* initial Wii Motion+ support
* initial timer support
15 years ago
Gavan Fantom
52e1c59a2e
Some progress on i2c control.
15 years ago
Gavan Fantom
f5159013b3
Initial checkin. Basic build and runtime environment, prior to first
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test on actual hardware.
15 years ago
Gavan Fantom