update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
new_changelog.txt@104:426224a55f5f, 2019-09-13 (annotated)
- Committer:
- joel_ssc
- Date:
- Fri Sep 13 19:15:40 2019 +0000
- Revision:
- 104:426224a55f5f
- Parent:
- 96:0048e13ca2c3
slight change includes reset_PI
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 | 75:92e79d23d29a | 66 | (the timing is because the PV may move around in the water before it stabilizes) |
tnhnrl | 75:92e79d23d29a | 67 | - Homing Sequence now moves at -0.5 not -0.1 (was way too slow) |
tnhnrl | 75:92e79d23d29a | 68 | Modified code at Carderock (2018-08-15) |
tnhnrl | 75:92e79d23d29a | 69 | - Removed -1 multiplier from IMU outputs |
tnhnrl | 75:92e79d23d29a | 70 | - Pitch is incorrectly oriented now, pitch down |
tnhnrl | 75:92e79d23d29a | 71 | - Heading/Yaw is off by 90 degrees I believe (north is not north) |
tnhnrl | 75:92e79d23d29a | 72 | - Did not check roll |
tnhnrl | 76:c802e1da4179 | 73 | - KNOWN ISSUE of log file not having consistent line length (will throw off python data receiver) |
tnhnrl | 76:c802e1da4179 | 74 | Modified code at Carderock (2018-08-16) |
joel_ssc | 84:eccd8e837134 | 75 | - Observations at LASR lead to fixes on the save PID files, zero offsets were saving incorrectly, fixed |
joel_ssc | 84:eccd8e837134 | 76 | 2019 feb 15 Modified code jcw |
joel_ssc | 84:eccd8e837134 | 77 | - LogOO?.csv name and version number is set with logvers.txt |
joel_ssc | 84:eccd8e837134 | 78 | - DIAG00?.txt likewise set with logvers.txt |
joel_ssc | 84:eccd8e837134 | 79 | - diagnostic logging to diagnostics file |
joel_ssc | 84:eccd8e837134 | 80 | - legfile.txt sets parameters ( max-depth, min_depth, heading, timeout, yo_time) for a dive leg, after which mbed program ends |
joel_ssc | 84:eccd8e837134 | 81 | to allow monitor computer to access via usb filesystem |
joel_ssc | 84:eccd8e837134 | 82 | - added states: Leg_position_dive, leg_position_rise, fb_exit to handle above yo-yo leg and exit |
joel_ssc | 84:eccd8e837134 | 83 | have not yet added these states in menu operations. |
joel_ssc | 84:eccd8e837134 | 84 | STILL TO DO: |
joel_ssc | 84:eccd8e837134 | 85 | - test size of log file and set new log file name and update logvers.txt |
joel_ssc | 84:eccd8e837134 | 86 | - allow for something other than 0=leg in legfile.txt so that state will NOT drop into legfile.txt operations mode |
joel_ssc | 85:dd8176285b6e | 87 | - add access to leg_position_dive ( with exit??) to menu operations -maybe |
joel_ssc | 89:0b8291dbf340 | 88 | 25 feb 2019 DONE: jcw |
joel_ssc | 85:dd8176285b6e | 89 | - added state ENDLEG_WAIT - will drop to keyboard/FLOAT_BROADCAST if char is read over xbee() while waiting |
joel_ssc | 85:dd8176285b6e | 90 | - test time for log file to be cycled - in main.cpp |
joel_ssc | 89:0b8291dbf340 | 91 | - convert from feet to meters in depth().getposition() calls ( deep inside outerloop() ) |
joel_ssc | 91:916ee0fea9ff | 92 | 07may2019 DONE as of now jcw |
joel_ssc | 89:0b8291dbf340 | 93 | - fixed version of posvelfilt that can deal with heading variables |
joel_ssc | 89:0b8291dbf340 | 94 | - state FLYING_IDLE that is to be ended by a pulldown on a DigitalIn line - presently has a timeout for testing |
joel_ssc | 91:916ee0fea9ff | 95 | - state START_SWIM that is started automatically at end of FLYING_IDLE and splashdown wait |
joel_ssc | 89:0b8291dbf340 | 96 | - Find_Neutral will run immediately if splashdown ends with FSG upside down, but START_SWIM will exit the mbed program |
joel_ssc | 89:0b8291dbf340 | 97 | and return control to Raspberry PI for communications. |
joel_ssc | 91:916ee0fea9ff | 98 | I have not yet exercised code that would run if the FSG submerges and does not self -right under water. |
joel_ssc | 91:916ee0fea9ff | 99 | It should happen soon. I think I do that on the bench. |
joel_ssc | 91:916ee0fea9ff | 100 | - FIND_NEUTRAL will be run if flag and file showing neutral found has not been set - this is important in my view. |
joel_ssc | 89:0b8291dbf340 | 101 | if find Neutral fails, file is written to warn raspberry PI |
joel_ssc | 89:0b8291dbf340 | 102 | - lots of flashing leds() to indicate still running. |
joel_ssc | 91:916ee0fea9ff | 103 | - runs on bare board. still to be tested with FSG full system, or even pieces - such as imu(). |
joel_ssc | 96:0048e13ca2c3 | 104 | 17may2019 changes to logic for find_neutral failed exit cases in main.cpp |
joel_ssc | 91:916ee0fea9ff | 105 | |
joel_ssc | 91:916ee0fea9ff | 106 |