Revision 5:7b7db24ef6eb, committed 2014-09-22

Comitter:

joe4465

Date:

Mon Sep 22 10:16:31 2014 +0000

Parent:

4:8609c71ac803

Child:

6:4c207e7b1203

Commit message:

Testing with Euler angles instead of YPR

Changed in this revision

--- a/FreeIMU.lib	Thu Sep 18 08:57:47 2014 +0000
+++ b/FreeIMU.lib	Mon Sep 22 10:16:31 2014 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/joe4465/code/FreeIMU/#2e61e49cc3f5
+http://mbed.org/users/tyftyftyf/code/FreeIMU/#ea86489d606b

--- a/Ping.lib	Thu Sep 18 08:57:47 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/rosienej/code/Ping/#6996f66161d7

--- a/flightController.h	Thu Sep 18 08:57:47 2014 +0000
+++ b/flightController.h	Mon Sep 22 10:16:31 2014 +0000
@@ -182,7 +182,7 @@
 void GetAttitude()
 {
     //Get raw data from IMU
-    _freeIMU.getYawPitchRoll(_ypr);
+    _freeIMU.getYawPitchRoll(_ypr); // try get euler to get full rotation in each axis
     _freeIMU.getRate(_gyroRate);
     
     //Take off zero values to account for any angle inbetween the PCB level and ground
@@ -190,12 +190,17 @@
     _ypr[2] = _ypr[2] - _zeroValues[2];
     
     //Swap pitch and roll angle because IMU is mounted at a right angle to the board
-    //Rate does not need to be switched
     float pitch = _ypr[2];
     float roll = -_ypr[1]; //Needs to be negative
     _ypr[1] = pitch;
     _ypr[2] = roll;
     
+    //Swap pitch and roll rate because IMU is mounted at a right angle to the board
+    pitch = _gyroRate[2];
+    roll = -_gyroRate[1];
+    _gyroRate[1] = pitch;
+    _gyroRate[2] = roll;
+    
     //Try swapping yaw
     //_ypr[0] = - _ypr[0];
 }

--- a/serialPortMonitor.h	Thu Sep 18 08:57:47 2014 +0000
+++ b/serialPortMonitor.h	Mon Sep 22 10:16:31 2014 +0000
@@ -35,11 +35,11 @@
 
 void SerialPortMonitorTask(void const *n)
 {
+    //Print to windows application
     int batt = 0;
     _wirelessSerial.printf("<%1.6f:%1.6f:%1.6f:%1.6f:%1.6f:%1.6f:%1.6f:%d:%1.6f:%1.6f:%1.6f:%1.6f:%1.6f:%1.6f:%d:%d:%d:%d:%1.6f:%1.6f:%1.6f:%1.2f:%1.2f:%1.2f:%1.2f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%1.8f:%d>",
     _motorPower[0], _motorPower[1], _motorPower[2], _motorPower[3], _ypr[0], _ypr[1], _ypr[2], batt, _ratePIDControllerOutputs[0], _ratePIDControllerOutputs[1], _ratePIDControllerOutputs[2], _stabPIDControllerOutputs[0], _stabPIDControllerOutputs[1], _stabPIDControllerOutputs[2], _armed, _initialised, _rate, _stab, _gyroRate[0], _gyroRate[1], _gyroRate[2], _rcMappedCommands[0], _rcMappedCommands[1], _rcMappedCommands[2], _rcMappedCommands[3], _yawRatePIDControllerP, _yawRatePIDControllerI, _yawRatePIDControllerD, _pitchRatePIDControllerP, _pitchRatePIDControllerI, _pitchRatePIDControllerD, _rollRatePIDControllerP, _rollRatePIDControllerI, _rollRatePIDControllerD, _yawStabPIDControllerP, _yawStabPIDControllerI, _yawStabPIDControllerD, _pitchStabPIDControllerP, _pitchStabPIDControllerI, _pitchStabPIDControllerD, _rollStabPIDControllerP, _rollStabPIDControllerI, _rollStabPIDControllerD, 0/*_gpsValues[0]*/, 0/* _gpsValues[1]*/, 0/*_gpsValues[2]*/, 0/*_gpsValues[3]*/, 0/*_gpsValues[4]*/, 0/*_gpsConnected*/); 
         
-        
     //Check for wireless serial command
     if (_wirelessSerial.readable() > 0)
     {
@@ -76,7 +76,7 @@
         
         switch (c)
         {
-            case 60: // 
+            case 60: // <
                 _gpsSerialRxPos = 0;
                 break;
             
@@ -99,6 +99,7 @@
 }
 
 //Checks for a valid command from the serial port and executes it
+//<Command=Value>
 void CheckWirelessSerialCommand()
 {
     int length = _wirelessSerialRxPos;
@@ -266,6 +267,7 @@
 }
 
 //Checks for a valid command from the serial port and executes it
+//<%.2f:%.2f:%.2f:%.2f:%.2f:%d>", latitude, longitude, GnssInfo.altitude.meters(), GnssInfo.course.deg(), GnssInfo.speed.kph(), _connectedFlag);
 /*void CheckGPSSerialCommand()
 {
     int length = _gpsSerialRxPos;
@@ -279,6 +281,14 @@
     
     printf("command\r\n");
     
+    //Convert _gpsSerialBuffer to string
+    
+    //Split on :
+    
+    //Check it split into 6 parts
+    
+    //Convert to cirrect format and assign to vars
+    
     char command = _gpsSerialBuffer[0];
     double value = 0;
     if(length > 1)