{"push_id":1248615643,"size":13,"distinct_size":13,"ref":"refs/heads/master","head":"610e85f00b48dd4f65b8429c69bfa79e2578b21d","before":"bb86590a5039dbac8c1beffaa58f73977b015eee","commits":[{"sha":"7207b02722dc86d8201dae75c10a564c33d9f60e","author":{"name":"Arnaud Taffanel","email":"a6a02a54042c1400b77a9dbc2a1b7e9f0dda3490@bitcraze.se"},"message":"Added quick and dirty position set mode to the commander\n\nThis is waiting for a proper implementation of #113. The position setpoint\nis mapped to:\nx: Roll\ny: -1*Pitch\nz: Thrust/1000\nYaw: Yaw!\n\nThe mode is activated by the paramter flightmode.posSetMode. A Z\nsetpoint of 0 turns off the motors and since the Z setpoint is mapped on the\nuint16 thrust the maximal altitude is limited to about 65m.","distinct":true,"url":"https://api.github.com/repos/umbraclet16/crazyflie-firmware/commits/7207b02722dc86d8201dae75c10a564c33d9f60e"},{"sha":"97a54d2f7456ee8107cc262f51447f251d052df7","author":{"name":"Mike Hamer","email":"9c718659c7cd4c715abab71c311def3c89922b67@mikehamer.info"},"message":"Sensors read by interrupt-driven task\n\nThis commit introduces an interrupt-driven task to handle IMU reads using DMA.\n\nThe task configures the IMU's master mode to handle barometer and magnetometer access.\n\nThe task waits on an IMU Data Ready interrupt on EXTI13 before initializing a DMA read (via CPAL) of the IMU's registers.\n\nSince the IMU handles barometer and magnetometer access, all sensors can be read in a single DMA transaction. This eliminates I2C contention problems, since only one transaction occurs on the bus (rather than separately reading from 3 sensors on one bus).\n\nThis significantly improves performance of the sensors. sensors_stock.c takes 700us to read the gyro and accelerometer data (most of the time spent waiting), and thus severely limits the rate of the stabilizer task. This was never an issue since the stock stabilizer is computationally light, but becomes important once more advanced onboard estimators or controllers are added to the mix.\n\nIMPORTANT NOTE: As of this commit, the magnetometer only updates once, and its values stay constant in the IMU registers. I don't know why, but I also don't know anyone who uses a magnetometer for indoor flight... so this is a low priority for me to fix. I have disabled the magnetometer for the time being.\n\nSigned-off-by: Mike Hamer <mike@mikehamer.info>","distinct":true,"url":"https://api.github.com/repos/umbraclet16/crazyflie-firmware/commits/97a54d2f7456ee8107cc262f51447f251d052df7"},{"sha":"faa7096018bc015b19ac6f004b1a28e44f8b5103","author":{"name":"Mike Hamer","email":"9c718659c7cd4c715abab71c311def3c89922b67@mikehamer.info"},"message":"Stop motors on config assert\n\nThis stops the Crazyflie flying off uncontrolably. This is useful for debugging, but might not be desired in production firmware.\n\nSigned-off-by: Mike Hamer <mike@mikehamer.info>","distinct":true,"url":"https://api.github.com/repos/umbraclet16/crazyflie-firmware/commits/faa7096018bc015b19ac6f004b1a28e44f8b5103"},{"sha":"fc88c6a7b7a1ccea8399df155b6132a0f474147c","author":{"name":"Mike Hamer","email":"9c718659c7cd4c715abab71c311def3c89922b67@mikehamer.info"},"message":"Kalman Filter\n\nThe Kalman filter still needs a lot of tuning (process and measurement noises).\n\nIn addition, there are many TODOs, see estimator_kalman.c for more details.\n\nOf particular note are the following issues, which should be investigated\n\n1. When sitting on the ground (quadIsFlying == false), the accelerometer gives information about the attitude of the quad, which could be incorperated into the estimate. Currently the attitude is initialized as zero, and the quad needs to be started flat.\n2. Extensive testing is needed, sometimes the estimate or covariance matrix goes haywire\n3. See all the TODOs in estimator_kalman.c!\n\nSigned-off-by: Mike Hamer <mike@mikehamer.info>","distinct":true,"url":"https://api.github.com/repos/umbraclet16/crazyflie-firmware/commits/fc88c6a7b7a1ccea8399df155b6132a0f474147c"},{"sha":"03550d5d83011bff237ff67a4b398804e55b2e05","author":{"name":"Arnaud Taffanel","email":"a6a02a54042c1400b77a9dbc2a1b7e9f0dda3490@bitcraze.se"},"message":"Fixed PID position controller to work with the kalman filter estimate","distinct":true,"url":"https://api.github.com/repos/umbraclet16/crazyflie-firmware/commits/03550d5d83011bff237ff67a4b398804e55b2e05"},{"sha":"9472f4537f16d5b299c8866ca3bee842f39e021e","author":{"name":"Arnaud Taffanel","email":"a6a02a54042c1400b77a9dbc2a1b7e9f0dda3490@bitcraze.se"},"message":"Added TOA input from the loco deck driver to the kalman filter","distinct":true,"url":"https://api.github.com/repos/umbraclet16/crazyflie-firmware/commits/9472f4537f16d5b299c8866ca3bee842f39e021e"},{"sha":"02c32854d569fdd8e68edf34b3ba825acfbce9d8","author":{"name":"Arnaud Taffanel","email":"a6a02a54042c1400b77a9dbc2a1b7e9f0dda3490@bitcraze.se"},"message":"Disable kalman filter from default\n\nMake a config.mk file with the following line to enable the kalman filter:\nSENSORS            ?= task\nESTIMATOR          ?= kalman","distinct":true,"url":"https://api.github.com/repos/umbraclet16/crazyflie-firmware/commits/02c32854d569fdd8e68edf34b3ba825acfbce9d8"},{"sha":"ede4f2a205d855798a2b50324999e3710b3d3423","author":{"name":"Arnaud Taffanel","email":"a6a02a54042c1400b77a9dbc2a1b7e9f0dda3490@bitcraze.se"},"message":"Inverted setpoint order in hacked x/y/z commander\n\nRelated to #113","distinct":true,"url":"https://api.github.com/repos/umbraclet16/crazyflie-firmware/commits/ede4f2a205d855798a2b50324999e3710b3d3423"},{"sha":"bfd4840d678eeceb287389268f5a49548788f67a","author":{"name":"Arnaud Taffanel","email":"a6a02a54042c1400b77a9dbc2a1b7e9f0dda3490@bitcraze.se"},"message":"Fixed positionSet commander X orientation","distinct":true,"url":"https://api.github.com/repos/umbraclet16/crazyflie-firmware/commits/bfd4840d678eeceb287389268f5a49548788f67a"},{"sha":"3338d6cf6a18e378635eaf9c6b7fdb47ef113969","author":{"name":"Arnaud Taffanel","email":"a6a02a54042c1400b77a9dbc2a1b7e9f0dda3490@bitcraze.se"},"message":"Fix position set commander for ROS compatiblity","distinct":true,"url":"https://api.github.com/repos/umbraclet16/crazyflie-firmware/commits/3338d6cf6a18e378635eaf9c6b7fdb47ef113969"},{"sha":"bbcc449bb78de27f5102d3cc26d5eea05f838985","author":{"name":"Kristoffer Richardsson","email":"1b619aa5b2a214d3daac237407c74a0554dbfb60@bitcraze.io"},"message":"Moved logging of sensors back to stabiliser.c. Closes #138","distinct":true,"url":"https://api.github.com/repos/umbraclet16/crazyflie-firmware/commits/bbcc449bb78de27f5102d3cc26d5eea05f838985"},{"sha":"1cf75fb6a4b19e5568c4dd20d65db71224f54ed4","author":{"name":"Sean Kelly","email":"45b364f25d61d3137e5bef251ed45d8e36884956@outlook.com"},"message":"Creating two variables for VBat an ExtVBat in mV","distinct":true,"url":"https://api.github.com/repos/umbraclet16/crazyflie-firmware/commits/1cf75fb6a4b19e5568c4dd20d65db71224f54ed4"},{"sha":"610e85f00b48dd4f65b8429c69bfa79e2578b21d","author":{"name":"Kristoffer Richardsson","email":"1b619aa5b2a214d3daac237407c74a0554dbfb60@richardsson.org"},"message":"Merge pull request #139 from theseankelly/dev_telem\n\nCreating two variables for VBat an ExtVBat in mV","distinct":true,"url":"https://api.github.com/repos/umbraclet16/crazyflie-firmware/commits/610e85f00b48dd4f65b8429c69bfa79e2578b21d"}]}
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