Created by Lenz Grimmer and last modified
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Lenz Grimmer

Recent revisions

37. By Lenz Grimmer

- Extended Telemetry output to include all RX channels
 - Modified Telemetry output format: enclose related blocks with "|"

36. By Lenz Grimmer

- Incorporated and adapted pitch, yaw and roll stick interpretation code from
   EasyIMUPilot code base
 - Made maximum roll and pitch angle in stable mode configurable via
   MAX_ROLL and MAX_PITCH defines
 - Made stick behaviour configurable to better accommodate other PPM RXes
   (providing REVERSE_* defines that support inverting stick positions)
 - Bumped up version number to 0.4
 - Decreased P value for roll and pitch from 2.1 to 2.0
 - MAX_ROLL and MAX_PITCH are set to 45°, MAX_YAW_SPEED is set to 8°/s
   (as these timings apply to all Rx channels, not just the throttle)

35. By Lenz Grimmer

- Allow enabling/disabling the compass in flight (using the AUX2 switch)
 - Updated size of RX struct to accommodate 7 channels

34. By Lenz Grimmer

- Slightly reduced pitch and roll P value to 2.1 to avoid wobbling on descent
 - Added reading of all 7 RX channels (added Flt Mode switch)

33. By Lenz Grimmer

- Slightly updated the roll and pitch gyro offsets
 - Only delay the arming of the motors, not the disarming

32. By Lenz Grimmer

- Added some (configurable) delay to the arming/disarming of motors
 - Removed superflous REDLEDOFF call (setupMotors() does this already)

31. By Lenz Grimmer

- DCM Bugfix: it's obviously not sufficient to just multiply the DCM Matrix with the Update
   Matrix, it needs to be added, too.

30. By Lenz Grimmer

- Code cleanup: removed some unused variables/defines
 - Added some more comments to the code

29. By Lenz Grimmer

 - Fixed compile error in matrix multiplication

28. By Lenz Grimmer

- Merged more improvements from EasyIMU Pilot
 - DCM improvements: use Vector_Norm and Vector_Add_Scale
 - Removed Temporary_Matrix
 - Moved Matrix and mag_heading declarations into proper places

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