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git.gag.com Git - fw/altos/log
Keith Packard [Tue, 17 Dec 2013 05:21:24 +0000 (21:21 -0800)]
Clean up reflashing section, include section on self-flash recovery
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Sat, 14 Dec 2013 19:47:31 +0000 (11:47 -0800)]
ao-tools: Use st-flash for STM flashing instead of openocd
st-flash, from the stlink tools, appears more reliable when flashing
STM CPUs.
Signed-off-by: Keith Packard <keithp@keithp.com>
Bdale Garbee [Sat, 14 Dec 2013 19:16:03 +0000 (12:16 -0700)]
add serial number to ao-usbload call, pass SERIAL to cal-freq
Bdale Garbee [Sat, 14 Dec 2013 01:37:29 +0000 (18:37 -0700)]
temporarily force stlink location in debian/rules to allow complete build
Keith Packard [Tue, 10 Dec 2013 08:54:32 +0000 (00:54 -0800)]
java: Missed libaltos java compile flags from previous patch
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 10 Dec 2013 08:51:01 +0000 (00:51 -0800)]
java: Add -target 1.6 to all java compiles
This makes sure the results can run with the old JVM
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 10 Dec 2013 08:39:52 +0000 (00:39 -0800)]
altos: Remove ARM .ihx files on 'make clean'
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 10 Dec 2013 08:03:20 +0000 (00:03 -0800)]
Set version to 1.3 in preparation for release
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 10 Dec 2013 08:00:31 +0000 (00:00 -0800)]
doc: More altusmetrum.xsl updates for 1.3
Spell checking even
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 10 Dec 2013 07:16:13 +0000 (23:16 -0800)]
debian: .ihx and .map files are left in subdirs now
Install them from the right place
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 10 Dec 2013 07:14:55 +0000 (23:14 -0800)]
altosui: Ship TeleMega-v1.0 firmware
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 10 Dec 2013 07:12:40 +0000 (23:12 -0800)]
ao-bringup: Add turnon_telemega script
And a few helper programs
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 10 Dec 2013 00:06:22 +0000 (16:06 -0800)]
altos: Rename telemega-v0.3 to telemega-v1.0
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 9 Dec 2013 05:08:36 +0000 (21:08 -0800)]
altos: Oops. Was only filling out part of the TeleMetrum ADC record
Because it's missing a return, we'd end up filling out one element of
the ADC record per interrupt, and rotating through which one was set,
hitting all of the even offsets within the struct. Yikes!
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 9 Dec 2013 05:07:17 +0000 (21:07 -0800)]
altosui: When flashing to TeleDongle or TeleBT, match any .ihx file
Let the user pick any .ihx file when using a device which can only be
used as a pair programmer. Note that 'telemetrum' can be either, and
we'll assume that it's a self-programmed device (v2) for now.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 9 Dec 2013 04:34:11 +0000 (20:34 -0800)]
altosui: Match directories in hex file matcher
This makes it possible to navigate around the file system
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 9 Dec 2013 04:33:22 +0000 (20:33 -0800)]
altoslib: Don't require radio_cal or usb_descriptors in AltosRomconfig
Not all products will have these values, so allow them to be missing
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 9 Dec 2013 04:11:46 +0000 (20:11 -0800)]
Add new tools to .gitignore
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 9 Dec 2013 04:09:10 +0000 (20:09 -0800)]
altoslib: Add self-flashing code
This adds the ability to use the AltOS flash-loader on both STM and
NXP processors.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 9 Dec 2013 04:07:23 +0000 (20:07 -0800)]
altoslib: Add AltosNoSymbol exception
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 9 Dec 2013 04:04:43 +0000 (20:04 -0800)]
altoslib: Use symbols in AltosRomconfig instead of fixed offsets
The new Hexfile symbol code automatically adds the needed romconfig
symbols for cc1111 products, and ARM-based products have symbols in
the .ihx files. This means that we can rely on using symbols when
finding config values in memory.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 9 Dec 2013 03:59:37 +0000 (19:59 -0800)]
altosuilib: Don't match product_altusmetrum for product_basestation or product_altimeter
It's been years since we've shipped boards configured with
product_altusmetrum, but now we've repurposed that code for the flash
loader. When matching an explicit product, go ahead and also match
altusmetrum so that the flash loader will fit, but when matching
basestation or altimeter, don't as that will avoid popping up the
flight monitor UI at startup when a board is running the boot loader.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 9 Dec 2013 03:48:27 +0000 (19:48 -0800)]
altoslib: Publish mapping from product name back to USB id
This lets us choose which device to flash based on the filename
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 9 Dec 2013 03:47:44 +0000 (19:47 -0800)]
altoslib: Create AltosProgrammer class
This provides an abstract interface to flashing boards, for
dongle-based and self-programming boards.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 9 Dec 2013 03:46:30 +0000 (19:46 -0800)]
altoslib: Add symbols to .ihx files
Create a new 0xfe record type to hold the symbols, and append them
after the EOF record so that other tools might continue to work.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 9 Dec 2013 03:43:13 +0000 (19:43 -0800)]
altoslib: Support binary reading/writing in AltosLink
Binary reads require an explicit length, and do not work while
telemetry is running.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 9 Dec 2013 03:05:01 +0000 (19:05 -0800)]
altos/stm: arm-none-eabi-binutils now puts 'main' into .text.startup
Change name of .text.ram to .ramtext, then load .text* into flash and
.ramtext into ram. This ensures that 'main' and anything else in a
random .text.* segment will get loaded into flash as appropriate.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 9 Dec 2013 03:04:11 +0000 (19:04 -0800)]
ao-tools: build ao-usbload by default
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Sun, 8 Dec 2013 19:41:09 +0000 (11:41 -0800)]
altoslib: AltosEepromMonitor had false import of altosuilib
Not needed, and breaks the build
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Sun, 8 Dec 2013 19:17:28 +0000 (11:17 -0800)]
altos: remove all versions of stm-demo executable
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Sun, 8 Dec 2013 19:15:37 +0000 (11:15 -0800)]
altos: Change flash loader name to just AltosFlash
Remove the software version string from the product name
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Sun, 8 Dec 2013 19:14:29 +0000 (11:14 -0800)]
altos: Build .ihx files for all arm projects
The .ihx version can be processed by the java loader
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Sun, 8 Dec 2013 19:11:41 +0000 (11:11 -0800)]
altos: Allow products to override default 100mA USB current
This will allow products to specify their own current limit.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Sun, 8 Dec 2013 19:10:00 +0000 (11:10 -0800)]
ao-tools: Clean up ao-stmload and ao-usbload options. Add --raw
ao-stmload only uses stlink, ao-usbload only uses self-flashing, so
clear up the options in the two programs. The new --raw option skips
the serial and radio cal rewriting when flashing the boot loader.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Sun, 8 Dec 2013 19:07:46 +0000 (11:07 -0800)]
ao-tools: Allow building without stlink and readline
This adds --without-stlink and --without-readline options to configure
to disable these features, and adjusts the build process and code to
handle that.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Sun, 8 Dec 2013 07:27:30 +0000 (23:27 -0800)]
ao-tools: Add ao-flash-stm and ao-flash-lpc scripts
These use openocd to download boot loaders to the arm-based products
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Sat, 7 Dec 2013 17:54:17 +0000 (09:54 -0800)]
altosuilib: Deal with AltosUnits API change
The abstract methods in AltosUnits now pass the 'imperial_units' flag
explicitly, so deal with that in AltosUnits itself
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Sat, 7 Dec 2013 17:53:10 +0000 (09:53 -0800)]
altosui: Clean up serial close handling
Unify serial close processing in a single function (close_serial),
make everyone else call that. This avoids a couple of cases where the
device would be closed and not removed from the devices_opened list,
leading to 'device is already in use' messages.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Sat, 7 Dec 2013 17:51:58 +0000 (09:51 -0800)]
altosui: Don't try to report bearing/elevation without GPS
If the distance from the pad cannot be computed (due to lacking GPS),
then don't try to report it.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Sat, 7 Dec 2013 17:49:00 +0000 (09:49 -0800)]
altos: Nothing in altos uses AES decryption, so don't compile it
Saves a bit of space where AES is used, and avoids some compiler warnings.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Sat, 7 Dec 2013 17:47:45 +0000 (09:47 -0800)]
altos/test: Compute and plot tilt based on GPS track
This lets us compare the gyro-computed tilt angle against the actual
flight path.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Sat, 7 Dec 2013 17:40:53 +0000 (09:40 -0800)]
altos: Telemega uses eeprom, include it in main file
ao_telemega.c didn't include ao_eeprom.h leaving a function undefined
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Sat, 7 Dec 2013 17:39:41 +0000 (09:39 -0800)]
altos: Add lots more GPS data to mega log
There's plenty of space in the GPS log packets to hold course, speed,
climb and DOP values, so just stick them in.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Sat, 7 Dec 2013 17:38:50 +0000 (09:38 -0800)]
src/cc1111: Turn off RC osc after xtal is running
There's no reason to keep running the RC oscillator after we switch to
the crystal, so turn it off.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Thu, 28 Nov 2013 23:21:26 +0000 (15:21 -0800)]
doc: First pass for 1.3 finished; docs have most major sections updated.
Final edits and corrections still required.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Thu, 28 Nov 2013 18:44:07 +0000 (10:44 -0800)]
ao-tools: Split out USB loader to ao-usbload
Leave ao-stmload using just stlinkv2
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Thu, 28 Nov 2013 18:31:32 +0000 (10:31 -0800)]
ao-tools: Split out altos symbol editing from ao-stmload
to be shared with ao-usbload
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Thu, 28 Nov 2013 17:52:38 +0000 (09:52 -0800)]
ao-tools: Missing ao-selfload.h
Keith Packard [Thu, 28 Nov 2013 17:52:01 +0000 (09:52 -0800)]
ao-tools: move 16/32-bit readers from ao-stmload to lib
Keith Packard [Thu, 28 Nov 2013 17:46:13 +0000 (09:46 -0800)]
ao-tools: Move ao-selfload into library
This needs to be shared between ao-stmload and ao-usbload
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Thu, 28 Nov 2013 17:31:02 +0000 (09:31 -0800)]
ao-tools: Add ao-elftohex and .ihx symbol support
ao-elftohex converts an elf file into a hex file so that we can load
it with java.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Thu, 28 Nov 2013 17:29:52 +0000 (09:29 -0800)]
ao-tools: Add debug printf support
Keith Packard [Wed, 27 Nov 2013 21:59:06 +0000 (13:59 -0800)]
ao-tools: Create general elf and hex library routines
Pulls the elf stuff out of ao-stmload, change the hex stuff into ao_
routines.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 25 Nov 2013 09:15:36 +0000 (01:15 -0800)]
doc: Work on AltosUI Pyro config docs a bit more.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 25 Nov 2013 08:02:06 +0000 (00:02 -0800)]
altosui: Handle units in pyro config.
This lets you edit the pyro configuration using imperial units if
desired.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 25 Nov 2013 08:01:20 +0000 (00:01 -0800)]
doc: Add telemetry enable and APRS interval config docs
Also starts working on the pyro channel config window docs
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 25 Nov 2013 05:55:20 +0000 (21:55 -0800)]
doc: use correct quotes in altusmetrum.xsl
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 25 Nov 2013 05:50:27 +0000 (21:50 -0800)]
doc: "rocketry electronics" instead of listing products
Keith Packard [Mon, 25 Nov 2013 05:28:26 +0000 (21:28 -0800)]
Use more 1/4 single characters
Keith Packard [Mon, 25 Nov 2013 05:25:06 +0000 (21:25 -0800)]
Remove duplicate log description. Describe pyro config.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 25 Nov 2013 04:05:52 +0000 (20:05 -0800)]
Extend the hardware overview chapter. Edit System Operations
Extend the overview chapter to include tables describing the
electronic and physical board characteristics of each board.
Finish most of the System Operation stuff, still need to add pyro
channel configuration
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 18 Nov 2013 21:48:18 +0000 (13:48 -0800)]
debian: Build now depends on 'xmlto' for docs
This wraps xsltproc, fop and xmllint for formatting pdf files
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 18 Nov 2013 20:43:33 +0000 (12:43 -0800)]
doc: Use system fo docbool.xsl instead of network one
Instead of reading the master stylesheet from the network, just use
the one installed on the system.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 18 Nov 2013 20:42:38 +0000 (12:42 -0800)]
doc: Make pdf files depend on local stylesheet
Now that we're using our own, rebuild the docs when it changes
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 18 Nov 2013 20:42:20 +0000 (12:42 -0800)]
doc: Make micropeak.xsl validate
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 18 Nov 2013 20:38:52 +0000 (12:38 -0800)]
Make companion.xsl validate
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 18 Nov 2013 20:37:23 +0000 (12:37 -0800)]
doc: Make telemetry.xsl validate
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 18 Nov 2013 20:29:42 +0000 (12:29 -0800)]
doc: Make altos.xsl validate
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 18 Nov 2013 20:12:54 +0000 (12:12 -0800)]
doc: Switch to xorg style to generate index
This style sheet generates a nice PDF index
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 18 Nov 2013 20:06:31 +0000 (12:06 -0800)]
doc: Get altusmetrum.xsl to validate
Mostly involved getting the listitem contents into para elements.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 18 Nov 2013 20:05:10 +0000 (12:05 -0800)]
doc: Start work on 1.3 doc updates
Add 1.3 release notes.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 12 Nov 2013 06:02:50 +0000 (15:02 +0900)]
Bump to version 1.2.9.4
Keith Packard [Tue, 12 Nov 2013 07:26:02 +0000 (16:26 +0900)]
altos: include ao_eeprom.h in ao_telemetrum.c to define ao_eeprom_init
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 12 Nov 2013 07:22:49 +0000 (16:22 +0900)]
altos: Make sure flight erase log comes after config blog
Oops. When converting from ao_storage to ao_config, I accidentally had
the flight erase log overwriting the config block.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 12 Nov 2013 07:08:50 +0000 (16:08 +0900)]
altos: Move telemega to using internal eeprom for config
And crank up the default per-flight storage to 1MB
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 12 Nov 2013 07:06:59 +0000 (16:06 +0900)]
altos: Move TeleMetrum v2.0 to using internal eeprom for config
This leaves the whole 8MB of flash for flight storage
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 12 Nov 2013 06:45:32 +0000 (15:45 +0900)]
altos: Allow use of internal EEPROM for config storage
This stops exposing eeprom as 'storage' and instead exposes it with a
separate eeprom API so that it can be used for config storage without
also using it for flight log storage.
The config code has been changed to allow it to either use storage for
configuration data or eeprom.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 12 Nov 2013 06:18:58 +0000 (15:18 +0900)]
altos: Don't hold GPS mutex while waiting in TM v2.0 report
Holding the GPS mutex while waiting for the GPS code to dump data into
the GPS variables is rather counter-productive.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 12 Nov 2013 06:18:53 +0000 (15:18 +0900)]
altos: Build TM v2.0 firmware by default
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 12 Nov 2013 06:01:13 +0000 (15:01 +0900)]
ignore "compile" script
Keith Packard [Tue, 12 Nov 2013 05:59:40 +0000 (14:59 +0900)]
Add TeleMini v2.0 turnon script
Keith Packard [Tue, 12 Nov 2013 05:56:47 +0000 (14:56 +0900)]
ao-tools: add ao-mega man page, ignore executable
Keith Packard [Tue, 12 Nov 2013 05:54:57 +0000 (14:54 +0900)]
altos: Clean up .gitignore and add a few random files
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 12 Nov 2013 05:48:21 +0000 (14:48 +0900)]
Add ublox checksum generating program
Keith Packard [Tue, 12 Nov 2013 05:45:51 +0000 (14:45 +0900)]
Ignore mac .dmg files
Keith Packard [Tue, 12 Nov 2013 05:37:57 +0000 (14:37 +0900)]
altosui, altoslib: Move eeprom download code to altoslib
This should make adding eeprom downloading to altosdroid easier
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 12 Nov 2013 05:28:30 +0000 (14:28 +0900)]
altosui: Make AltosEepromDownload not swing-dependent
Will move to altoslib
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 12 Nov 2013 05:06:20 +0000 (14:06 +0900)]
altoslib: Start moving eeprom download logic to altoslib
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 12 Nov 2013 05:03:42 +0000 (14:03 +0900)]
altoslib: Raise ParseException on invalid eeprom format
Make sure the user knows when data are not downloaded successfully
because the UI doesn't understand the eeprom format.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Tue, 12 Nov 2013 05:01:55 +0000 (14:01 +0900)]
altos: Add orientation tracking to ao_flight_test
Shows calculated offset from vertical in ao_flight_test output
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 28 Oct 2013 07:36:13 +0000 (00:36 -0700)]
altos: Don't hold GPS mutex while waiting for GPS data in report code
Oops. This kinda breaks anyone else waiting for GPS data
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 28 Oct 2013 07:24:59 +0000 (00:24 -0700)]
altos: sample profile address range was too narrow
The range was cranked down at some point to diagnose issues within the
task scheduler. Unfortunately, that change got merged, which meant
that general profiling lost information outside of the lower 4kB of code.
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 28 Oct 2013 06:47:27 +0000 (23:47 -0700)]
altos: Make telemega v0.3 compile with new quaternion code
Adds lots more math code
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 28 Oct 2013 06:46:54 +0000 (23:46 -0700)]
altos: Make telemega v0.1 compile with new quaternion code
Adds the necessary math code
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 28 Oct 2013 06:45:48 +0000 (23:45 -0700)]
altos: Add orientation test when HAS_FLIGHT_DEBUG is set
This just dumps the current orientation to stdout so you can monitor
it in real time
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 28 Oct 2013 06:44:47 +0000 (23:44 -0700)]
altos: Update quaternion tests to check vectors_to_rotation
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 28 Oct 2013 06:42:58 +0000 (23:42 -0700)]
altos: Change ao_mpu6000_gyro arg to float
This lets callers pass more precision than just the original sensor value
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 28 Oct 2013 06:42:26 +0000 (23:42 -0700)]
altos: Fixup for 32-bit gyro averages
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 28 Oct 2013 06:37:55 +0000 (23:37 -0700)]
altos: Correct incremental rotation computation
Trying to compute the combined rotation by taking the x/y/z rotations
as a vector is a good approximation, but not accurate enough for our
application given the large angles we sometimes see.
Instead, use a correct-but-expensive function with a pile of
transcendental function calls. The STM32L seems to be fast enough at least...
Signed-off-by: Keith Packard <keithp@keithp.com>
Keith Packard [Mon, 28 Oct 2013 06:35:54 +0000 (23:35 -0700)]
altos: Compute initial rotation from vertical
This initializes the rotation with the angle from vertical, rather
than simply recording the off-angle vector. Doing this allows us to
accurately track the true orientation of the rocket, instead of just
the offset from the initial non-vertical orientation.
Signed-off-by: Keith Packard <keithp@keithp.com>