# Date Author Comment
84979695 [master, tag: mikrokopter-genom3-2.0.1] 2019-06-25 17:02 Anthony Mallet

Release 2.0.1

5ae0d242 2019-06-25 15:52 Anthony Mallet

Don't publish IMU/motor data at fixed 1kHz, but only when new data is present

This allows to tune the publishing frequency according to what the flight
controller sends. In particular, this can be effectively changed with
the set_sensor_rate() service.

This helps when used in combination with ros that has hard times...

ce5c21da 2019-06-25 15:51 Anthony Mallet

Merge latest skeleton template

In particular, split properly the eigen3 codels dependency.

2ba7f56b 2019-04-04 16:29 Anthony Mallet

Reset the time offset of the received data if it diverges too much

The timestamp estimation assumes that the sensors (IMU, motors) are streaming
data at the specified frequency. It can happen that this is not true in
simulation (or if the flight controller did not receive the streaming message)....

067bf12b [tag: mikrokopter-genom3-2.0] 2019-01-30 17:56 Anthony Mallet

Be more tolerant to peaks in measured sensor rate

bc4823ee 2019-01-30 17:56 Anthony Mallet

Don't print "unknown message" when receiving a known, but ignored, message

0690a68f 2019-01-30 17:56 Anthony Mallet

Set measured sensor rate to the desired value when setting a new rate

This accelerates the convergence of the measured rate to the actual value.

28fa3cd5 2018-07-10 17:39 Anthony Mallet

Reject duplicate IMU/motor data packets

It can happen (in simulation only) that mrsim-genom3 sends twice the same data,
due to approximate scheduling and integer roundings in sequence number
computation. Just disregard duplicate data if this happens.

While here, also initialize sensor time structure.

49240d2f 2018-07-10 17:39 Anthony Mallet

Update sensor measurement rate when no message is received

6d19046f 2018-07-05 16:34 Anthony Mallet

Log sensor rate

eb2540b6 2018-07-05 16:30 Anthony Mallet

Check rotor status and sensor rate in servo()

Do a smooth stop if sensor rate don't match what's expected.
Do a hard stop if any motor is in failure state.

83c3e3b2 2018-07-05 16:30 Anthony Mallet

Log bad messages from the flight controller

14c6f7e1 2018-06-28 18:13 Anthony Mallet

During startup, resend start message to motors not going into the start state

This accounts for motors that, for some reason, do not receive the initial
start message.

84177687 2018-06-28 18:12 Anthony Mallet

During startup, disabled motors should not spin, but also not start

7efb274b 2018-06-15 17:13 Anthony Mallet

Actually discard trailing NaNs in set_velocity()

After computing the input length without trailing NaNs, the length must be
written back so that the computation has some effect.

06352b0e 2018-06-15 15:33 Anthony Mallet

Don't scale input twice during startup

The input port may not be refreshed exactly at each period. Depending on the
middleware, the input port data may be overwritten after each read() or only
when new data arrives. So one cannot scale the input in place, one must do a...

052fa6d5 2018-06-14 18:29 Anthony Mallet

Refuse to start servo() if measured sensor rate is below 90% of requested

5a5b507b 2018-06-14 18:17 Anthony Mallet

Measure effective sensor rate and return information with get_sensor_rate()

921c7cec 2018-06-14 15:28 Anthony Mallet

Reset imu values to NaN in case of timeout, to clean log files

The imu _present flag is already reset to false in case of timeout. Also
resetting the values to NaN make the logs more clear, without adding
complexity to the log function.

a9dbd26c 2018-06-13 16:08 Anthony Mallet

Fix vel -> avel typo (after switching to openrobots2-idl)

89762c46 2018-05-29 18:14 Anthony Mallet

Switch to openrobots2-idl - No functional change intended

Mechanically replace all pos->q by att->q and vel->w by avel->w. Do the
same for the covariances.

Bump version to 2.0

b47b2fe2 [tag: mikrokopter-genom3-1.7] 2018-01-31 15:15 Anthony Mallet

Release 1.7

2b50d492 2018-01-31 15:15 Anthony Mallet

Fix -Wunused-parameter

705699ee 2018-01-30 18:48 Anthony Mallet

Use aio(7) for logging and drop log entries when io requests are too slow

Use aio_write(3) to append to the log files. If a previous aio request was
not completed after one period, drop the next log entry and add an empty
line in the log file to indicate the miss (gnuplot will show it nicely)....

7caee75d 2018-01-30 17:24 Anthony Mallet

Fix a comment

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