most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown
Dependencies: mbed MODSERIAL FATFileSystem
new_changelog.txt@74:d281aaef9766, 2018-08-14 (annotated)
- Committer:
- tnhnrl
- Date:
- Tue Aug 14 21:06:48 2018 +0000
- Revision:
- 74:d281aaef9766
- Parent:
- 73:f6f378311c8d
- Child:
- 75:92e79d23d29a
1) Fixed deadband on float broadcast ; 2) Fixed find neutral commands
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tnhnrl | 73:f6f378311c8d | 1 | Modified FSG PCB V_1_1 |
tnhnrl | 73:f6f378311c8d | 2 | - Freezes when doing a dive or any timed sequence (commented out SD card references) |
tnhnrl | 73:f6f378311c8d | 3 | - commented out sdLogger().appendLogFile(current_state, 0); //open SD file once |
tnhnrl | 73:f6f378311c8d | 4 | - commented out sdLogger().appendLogFile(current_state, 1); //writing data |
tnhnrl | 73:f6f378311c8d | 5 | - commented out sdLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 73:f6f378311c8d | 6 | - reduced timer to 20 seconds for bench testing |
tnhnrl | 73:f6f378311c8d | 7 | - modified ConfigFileIO for rudder() |
tnhnrl | 73:f6f378311c8d | 8 | - added in getFloatUserInput function from newer code |
tnhnrl | 73:f6f378311c8d | 9 | - changed LinearActuator & batt() in StaticDefs to match new pinouts from Bob/Matt/Troy fixes |
tnhnrl | 73:f6f378311c8d | 10 | - slowed down battery motor because it's silly fast at 30 volts (bench test) |
tnhnrl | 73:f6f378311c8d | 11 | * BCE gain is proportional 0.1 now 0.01 |
tnhnrl | 73:f6f378311c8d | 12 | - BATT was moving in the wrong direction, gain was P: 0.10, I: 0.0, D: 0.0 |
tnhnrl | 73:f6f378311c8d | 13 | * change gain to P: -0.10 (gain was flipped, I think the old circuit board had the voltages flipped ? ?) |
tnhnrl | 73:f6f378311c8d | 14 | - StateMachine changes for testing |
tnhnrl | 73:f6f378311c8d | 15 | * added keyboard_menu_STREAM_STATUS(); |
tnhnrl | 73:f6f378311c8d | 16 | * added keyboard_menu_RUDDER_SERVO_settings(); |
tnhnrl | 73:f6f378311c8d | 17 | - modified the zero on the battery position from 610 to 836 |
tnhnrl | 73:f6f378311c8d | 18 | - BMM (batt) slope may be incorrect, seems low, currently 0.12176 |
tnhnrl | 73:f6f378311c8d | 19 | - modified the zero on BCE from 253 to 460 |
tnhnrl | 73:f6f378311c8d | 20 | - Pressure readings are wrong |
tnhnrl | 73:f6f378311c8d | 21 | * added readADCCounts() to omegaPX209 class to see channel readings |
tnhnrl | 73:f6f378311c8d | 22 | * modified omegaPX209 class to use filtered ADC readings from SpiADC.readCh4() |
tnhnrl | 73:f6f378311c8d | 23 | - fixed rudderLoop to headingLoop from newer code |
tnhnrl | 73:f6f378311c8d | 24 | Modified FSG PCB V_1_2 |
tnhnrl | 73:f6f378311c8d | 25 | - added init headingLoop to main |
tnhnrl | 73:f6f378311c8d | 26 | - added pitch and heading outputs to STREAM_STATUS |
tnhnrl | 73:f6f378311c8d | 27 | NOTE: Flipped motor controller output on connector side with battery mass mover (BMM) |
tnhnrl | 73:f6f378311c8d | 28 | - Motor direction was opposite the BCE motor (because of gearing) |
tnhnrl | 73:f6f378311c8d | 29 | - BMM P gain is now positive 0.02 (from -0.10) |
tnhnrl | 73:f6f378311c8d | 30 | Modified FSG PCB V_1_3 |
tnhnrl | 73:f6f378311c8d | 31 | - added timing code for interrupt that drives the rudder (testing with o-scope) |
tnhnrl | 73:f6f378311c8d | 32 | - PID controller replaced with newer version from 5/29 code branch |
tnhnrl | 73:f6f378311c8d | 33 | - StateMachine hanged style of variables to match convention in code |
tnhnrl | 73:f6f378311c8d | 34 | Modified FSG PCB V_1_4 |
tnhnrl | 73:f6f378311c8d | 35 | - adc tests |
tnhnrl | 73:f6f378311c8d | 36 | Modified FSG PCB V_1_5 |
tnhnrl | 73:f6f378311c8d | 37 | - IMU update |
tnhnrl | 73:f6f378311c8d | 38 | - Testing print outs |
tnhnrl | 73:f6f378311c8d | 39 | Modified FSG PCB V_1_6 |
tnhnrl | 73:f6f378311c8d | 40 | - new BMM zero count of 240 (confirmed manually) |
tnhnrl | 73:f6f378311c8d | 41 | - new BCE zero count of 400 (confirmed manually) |
tnhnrl | 73:f6f378311c8d | 42 | - Modified emergency climb to go to position 10 on the BMM, not zero (almost relying on the limit switch) |
tnhnrl | 73:f6f378311c8d | 43 | - fixed keyboard input; including typing in the timeout (can enter exact times) |
tnhnrl | 73:f6f378311c8d | 44 | Modified FSG PCB V_1_7 |
tnhnrl | 73:f6f378311c8d | 45 | - removed data logger references |
tnhnrl | 73:f6f378311c8d | 46 | - fixed bug where I was logging data twice in the interrupt code and the main file |
tnhnrl | 73:f6f378311c8d | 47 | - fixed bug where Multi-Dive sequence wasn't restarting (the counter used to get the current state was not reset) |
tnhnrl | 73:f6f378311c8d | 48 | Modified FSG PCB v_1_7C |
tnhnrl | 73:f6f378311c8d | 49 | - fixing a bug with the data transmission (output had newline character) because of packet lengths |
tnhnrl | 73:f6f378311c8d | 50 | - new version blasts data and Python program requests lost packets, dramatically faster over USB, slightly faster over XBee |
tnhnrl | 73:f6f378311c8d | 51 | - fixed some format and terminal errors |
tnhnrl | 74:d281aaef9766 | 52 | Modified code 2018-08-06 |
tnhnrl | 74:d281aaef9766 | 53 | - fixed bug with heading save feature, wasn't updating deadband properly |
tnhnrl | 74:d281aaef9766 | 54 | - modified input on servo sub-menu |
tnhnrl | 74:d281aaef9766 | 55 | Modified code 2018-08-07 |
tnhnrl | 74:d281aaef9766 | 56 | - Float broadcast changed to command rudder to center in that state (whatever center is in the file) |
tnhnrl | 74:d281aaef9766 | 57 | - Was sending the wrong command to the position dive (BMM) |
tnhnrl | 74:d281aaef9766 | 58 | Modified code 2018-08-14 |
tnhnrl | 74:d281aaef9766 | 59 | - Fixed the deadband on "case Float_Broadcast" so it exits properly, I was seeing the BCE stop around 317 so I made a fixed deadband of 4.0 (anything 316 or above will exit the state) |
tnhnrl | 74:d281aaef9766 | 60 | - FIND_NEUTRAL was code was double-checked: |
tnhnrl | 74:d281aaef9766 | 61 | 1) Starts with an offset of 25 mm from the manually found neutral BCE position (still buoyant), BMM starts at that neutral position |
tnhnrl | 74:d281aaef9766 | 62 | 2) case NEUTRAL_SINKING: Every 5 seconds it retracts the BCE 5 mm. When it reaches the input depth setpoint it switches to NEUTRAL_RISING |
tnhnrl | 74:d281aaef9766 | 63 | 3) case NEUTRAL_SLOWLY_RISE: Every 5 seconds it extends the BCE 2 mm. When it starts to rise (depth rate is negative) (depth rate positive is sinking, negative is rising) it will immediately stop |
tnhnrl | 74:d281aaef9766 | 64 | and go to case NEUTRAL_CHECK_PITCH. Removed an incorrect line of code that was setting BCE position with depthloop output. |
tnhnrl | 74:d281aaef9766 | 65 | 4) case NEUTRAL_CHECK_PITCH: Every 10 seconds the pitch is adjusted +/- 0.5 mm depending on whether the nose is pitched up or pitched down |
tnhnrl | 74:d281aaef9766 | 66 | (the timing is because the PV may move around in the water before it stabilizes) |