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:
- 73:f6f378311c8d
- Child:
- 74:d281aaef9766
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/new_changelog.txt Mon Jul 30 16:48:48 2018 +0000 @@ -0,0 +1,69 @@ +/* + 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 + - commented out sdLogger().appendLogFile(current_state, 1); //writing data + - commented out sdLogger().appendLogFile(current_state, 0); //close log file + - reduced timer to 20 seconds for bench testing + - modified ConfigFileIO for rudder() + - added in getFloatUserInput function from newer code + - changed LinearActuator & batt() in StaticDefs to match new pinouts from Bob/Matt/Troy fixes + - slowed down battery motor because it's silly fast at 30 volts (bench test) + * BCE gain is proportional 0.1 now 0.01 + - BATT was moving in the wrong direction, gain was P: 0.10, I: 0.0, D: 0.0 + * change gain to P: -0.10 (gain was flipped, I think the old circuit board had the voltages flipped ? ?) + - StateMachine changes for testing + * added keyboard_menu_STREAM_STATUS(); + * added keyboard_menu_RUDDER_SERVO_settings(); + - modified the zero on the battery position from 610 to 836 + - BMM (batt) slope may be incorrect, seems low, currently 0.12176 + - modified the zero on BCE from 253 to 460 + - Pressure readings are wrong + * added readADCCounts() to omegaPX209 class to see channel readings + * modified omegaPX209 class to use filtered ADC readings from SpiADC.readCh4() + - fixed rudderLoop to headingLoop from newer code + Modified FSG PCB V_1_2 + - added init headingLoop to main + - added pitch and heading outputs to STREAM_STATUS + NOTE: Flipped motor controller output on connector side with battery mass mover (BMM) + - Motor direction was opposite the BCE motor (because of gearing) + - BMM P gain is now positive 0.02 (from -0.10) + Modified FSG PCB V_1_3 + - added timing code for interrupt that drives the rudder (testing with o-scope) + - PID controller replaced with newer version from 5/29 code branch + - StateMachine hanged style of variables to match convention in code + Modified FSG PCB V_1_4 + - adc tests + Modified FSG PCB V_1_5 + - IMU update + - Testing print outs + Modified FSG PCB V_1_6 + - new BMM zero count of 240 (confirmed manually) + - new BCE zero count of 400 (confirmed manually) + - Modified emergency climb to go to position 10 on the BMM, not zero (almost relying on the limit switch) + - fixed keyboard input; including typing in the timeout (can enter exact times) + Modified FSG PCB V_1_7 + - removed data logger references + - fixed bug where I was logging data twice in the interrupt code and the main file + - fixed bug where Multi-Dive sequence wasn't restarting (the counter used to get the current state was not reset) + Modified FSG PCB v_1_7C + - 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