The shitfest goes on . I will give (sh)github another try anyway. If you load it into eclipse you can do some autoformat for the indentation. With this little program http://www.componentsoftware.com/products/csdiff/ it is really easy to see the changes.
Crashpilot1000 wrote:github is pure sh** i will not waste time on this anymore. Using sources and picking good stuff is much better for me.
. An improved acc calibration might be beneficial in the future. Crashpilot1000 wrote:DAMN, THE GPS INS IS WORKING NOW! I will post the code later, still fiddeling with some variables.
Crashpilot1000 wrote:mr.sneezy: I haven't flown the original TC/Mwii stuff.
Hi!
In this version the GPS/ACC integration works nicely.
Cheers
Kraut Rob
To save TC's code entry fingerLapino wrote:Hi TC,
do I have to upload or configure the ublox neo6m prior to hooking it up to the naze or is it done automatically?
It's there something else to consider else than the connecting to the right pin or crossing tx/rx?
Thanks in advance
. I would suggest setting/keeping gps_ins_pos to 0.5 and start fiddeling with gps_ins_vel starting with 0.5. Code: Select all
/* Check product revision. */
if (i2c_read(st.hw->addr, st.reg->accel_offs, 6, data))
return -1;
rev = ((data[5] & 0x01) << 2) | ((data[3] & 0x01) << 1) |
(data[1] & 0x01);
if (rev) {
/* Congrats, these parts are better. */
if (rev == 1)
st.chip_cfg.accel_half = 1;
else if (rev == 2)
st.chip_cfg.accel_half = 0;
else {
log_e("Unsupported software product rev %d.\n", rev);
return -1;
}
} else {
if (i2c_read(st.hw->addr, st.reg->prod_id, 1, data))
return -1;
rev = data[0] & 0x0F;
if (!rev) {
log_e("Product ID read as 0 indicates device is either "
"incompatible or an MPU3050.\n");
return -1;
} else if (rev == 4) {
log_i("Half sensitivity part found.\n");
st.chip_cfg.accel_half = 1;
} else
st.chip_cfg.accel_half = 0;
}
Crashpilot1000 wrote:
The ublox support is also reworked.
gps_type = 0 [GPS_NMEA = 0, GPS_UBLOX = 1, GPS_MTK16 = 2, GPS_MTK19 = 3, GPS_UBLOX_DUMB = 4]
gps_type = 1 GPS_UBLOX (does autoconfig, sends the "block", you set baudrate)
gps_type = 4 GPS_UBLOX_DUMB (You have to set baudrate, You have to configure ublox with ublox center on your own. This mode just parses the ublox binary output)
So with type 4 you will have to/can configure ublox with the ublox center on your own. It will just parse the binary output (not nmea, thats mode 0).
. .Code: Select all
Real_GPS_speed[GPS_X] = (float)(Real_GPS_coord[LON] - Last_Real_GPS_coord[LON]) * MagicEarthNumber * CosLatScaleLon * gpsHz; // To rad, include Earthradius and Time 5Hz
Real_GPS_speed[GPS_Y] = (float)(Real_GPS_coord[LAT] - Last_Real_GPS_coord[LAT]) * MagicEarthNumber * gpsHz; // To rad, include Earthradius and Time
Last_Real_GPS_coord[LON] = Real_GPS_coord[LON];
Last_Real_GPS_coord[LAT] = Real_GPS_coord[LAT];
VelNorth = VelNorth * cfg.gps_ins_vel + Real_GPS_speed[GPS_Y] * (1.0f - cfg.gps_ins_vel); // CF: GPS Correction
VelEast = VelEast * cfg.gps_ins_vel + Real_GPS_speed[GPS_X] * (1.0f - cfg.gps_ins_vel); // CF: GPS Correction
GPS_coord[LAT] = GPS_coord[LAT] + cfg.gps_ins_pos * (float)(Real_GPS_coord[LAT] - GPS_coord[LAT]);
GPS_coord[LON] = GPS_coord[LON] + cfg.gps_ins_pos * (float)(Real_GPS_coord[LON] - GPS_coord[LON]);
jy0933 wrote:so basically the sonar feature does nothing at all( except the displaying measurement)
Crashpilot1000 wrote:@fiendie: If sonar is implemented it is a possible point of severe failure. You can't just say "ohh i got sonar contact, that must be earth and so i correct all barovalues to that offset to 0" that will do a serious trouble when flying over a 20 m tree. Perhaps the sonar correction could be constrained to a scaled down change of targethight? For example: Sonar contact 1-5m is scaled down to 1m relative change of targethight. That could be useful when flying over water with some waves on it. The copter will keep the hight without doing a jump on every wave. Sonar is not necessary for autolanding anymore and that was its main purpose on many other copter systems.
Cheers Kraut Rob