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
Diff: new_changelog.txt
- Revision:
- 74:d281aaef9766
- Parent:
- 73:f6f378311c8d
- Child:
- 75:92e79d23d29a
--- a/new_changelog.txt Mon Jul 30 16:48:48 2018 +0000 +++ b/new_changelog.txt Tue Aug 14 21:06:48 2018 +0000 @@ -1,4 +1,3 @@ -/* Modified FSG PCB V_1_1 - Freezes when doing a dive or any timed sequence (commented out SD card references) - commented out sdLogger().appendLogFile(current_state, 0); //open SD file once @@ -50,20 +49,18 @@ - fixing a bug with the data transmission (output had newline character) because of packet lengths - new version blasts data and Python program requests lost packets, dramatically faster over USB, slightly faster over XBee - fixed some format and terminal errors -*/ - - -Fixed callback thing on linear actuator - -"callback" added before this, ticker thing - - - float depth_freq = depthLoop().getFilterFrequency(); - float depth_deadband = depthLoop().getDeadband(); - - pitch - - - - pc().printf("PITCH P: %3.3f, I: %3.3f, D %3.3f, offset: %3.1f mm (filter: %0.2f, deadband: %0.2f)\r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset(),pitchLoop().getFilterFrequency(),pitchLoop().getDeadband()); - DEPTH TOO \ No newline at end of file + Modified code 2018-08-06 + - fixed bug with heading save feature, wasn't updating deadband properly + - modified input on servo sub-menu + Modified code 2018-08-07 + - Float broadcast changed to command rudder to center in that state (whatever center is in the file) + - Was sending the wrong command to the position dive (BMM) + Modified code 2018-08-14 + - 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) + - FIND_NEUTRAL was code was double-checked: + 1) Starts with an offset of 25 mm from the manually found neutral BCE position (still buoyant), BMM starts at that neutral position + 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 + 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 + and go to case NEUTRAL_CHECK_PITCH. Removed an incorrect line of code that was setting BCE position with depthloop output. + 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 + (the timing is because the PV may move around in the water before it stabilizes) \ No newline at end of file