Flight control firmware development based on TI TM4C MCU
!!!Important note:
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The flight mode should be set to "00" to enable manual control, "01"-"03", which can only be viewed as coding templetes, is prohibited to use in normal case & need to be rewritten when performing spcific use. Be very carful since mode "01"-"03" may contain automatic flight task.
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The parameters in control_command.c & FLOW_B.c must be reconfig costomizedly when performing on different drone.
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Telemetry(UART1) instructions is contained in "Instrucions.txt".
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PORT definition: UART1 > Telemetry UART2 > Renesas interface(Specific use in NUEDC) UART6 > Optical flow sensor IIC3 > Sonar sensor NRF_PORT > NRF SSI2 > 3 channal additional PWM OUT(used as gimbal control) & Telemetry mode control ROTOR_PORT > 4 channal main PWM OUT UART7_PORT > PPM Capture(Optional Remote controller interface, cannot be used temporarily because of crash with main flight task, which need further research)
rev1.0.4 2017/8/13:
NUEDC final version.
Warning: this version code has problem of starting rotor which require further revision
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add key detect to enable flight mode change
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rewrite auto control code
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add pic hold to hold drone horizontally when no optical flow sensor is applicable
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split "flight init task" to 4 differrent functions to persue improved expensibility
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add "one-key startup" in "flight routine task"
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several trivial adjustment to meet the need of the competition
rev0.6 2017/8/3:
optical flow para ameliorate
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Optical flow para ameliorate, compatible with old verision flow senosr
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Code structure improvment: attitude solving, flow
rev0.5 2017/7/31:
Add back core_uartstdio.h to retrive the normal state of flow
rev0.4 2017/7/30:
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Add several inc.h to make the code "include" more perspicuous.
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Attach these inc.h to all the execuable files and bulid successfully.
rev0.3 2017/7/28:
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Add test tim0 so that code execution time measurement can be feasible
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The tir0/tmr1 init has also been optimized for JLINK DBG
rev0.2 2017/7/27:
preliminary improvement on code structure
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Add comment template to IAR8
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Optimize the Main entrance init code style