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mikrokopter-genom3 / codels @ master

Name Size Revision Age Author Comment
Makefile.am 1.64 KB ce5c21da over 1 year Anthony Mallet Merge latest skeleton template
calibration.cc 14.6 KB a9dbd26c over 2 years Anthony Mallet Fix vel -> avel typo (after switching to openro...
codels.h 4.27 KB 6d19046f over 2 years Anthony Mallet Log sensor rate
filter.c 2.57 KB 73b02cfb about 4 years Anthony Mallet Initialize the IIR filter for the IMU with the ...
mikrokopter_codels.c 10.3 KB 0690a68f almost 2 years Anthony Mallet Set measured sensor rate to the desired value w...
mikrokopter_comm_codels.c 14.7 KB 2ba7f56b over 1 year Anthony Mallet Reset the time offset of the received data if i...
mikrokopter_main_codels.c 22.3 KB 5ae0d242 over 1 year Anthony Mallet Don't publish IMU/motor data at fixed 1kHz, but...
tty.c 10.4 KB 2b50d492 almost 3 years Anthony Mallet Fix -Wunused-parameter

Latest revisions

# Date Author Comment
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.

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