This repository has been archived by the owner on Aug 2, 2021. It is now read-only.
The autopilot code that was flown with for competition. From the previous release, this featured:
- More reliable and prioritized datalink code, that included RSSI information, as well as took advantage of the xbee EEPROM to make the modules more interchangeable
- Reliable DMA functionality between interchip communications of the path and attitude manager chips
- Rewrite of the previous orientation controller that used concepts based off of other autopilots (support for more specific gain types, ie. rate and angle, etc). Generic control functions that can apply to multiple vehicle types, rather than just planes, microsecond timers for more precision
- Working airspeed sensor
- More reliable GPS communications, which can still be improved
- Support for debug LED's, and readings for the internal battery (external battery still needs work)
- More reliable PWM readings and support for PPM, as well as UHF disconnect detection that relies on timers rather than a designated RC channel
- New UART interface HAL that will let us port the datalink code to another chip a lot easier
- Added support for unit testing, as well as began unit testing critical parts of the system such as the datalink
- Improvements to the datalink protocol that allows us to send more smaller sized packets down, increasing efficiency