Moved gps crates locally because they were broken. Correct gps stream…

… to the navigation module. Calibrated accelerometer and magenetometer with ellipsoid fitting. Got a correct bearing reading from callibrated magnetometer so we have yaw.

.gitignore

@@ -6,5 +6,4 @@ rs,toml
 .vscode/
 node_modules/
 out.txt
-
-
+*.key

copter/Cargo.toml

@@ -7,8 +7,8 @@ authors = ["Thomas Deegan <tadeegan@gmail.com>", "Martin Deegan <mddeegan@gmail.
 rust-pigpio = "0.2.0"
 time = "0.1"
 debug_server = {path = "./debug", version = "0.1.0"}
-protos = {path = "./protos"}
-config = {path = "./config"}
+protos = { path = "./protos" }
+config = { path = "./config" }
 protobuf = "1.2.2"
 ansi_term = "0.9.0"
 i2csensors = "0.1.*"
@@ -18,8 +18,10 @@ i2cdev-l3gd20 = "0.1.*"
 i2cdev-lsm303d = "0.1.*"
 i2cdev-lsm9ds0 = "0.1.*"
 i2cdev = "0.3.1"
-unbounded-gpsd = "0.4.1"
+unbounded-gpsd = { path = "./unbounded-gpsd" }
+wifilocation = { path = "./wifilocation" }
 nalgebra = "0.13"
+typenum = "1.7.0"
 
 [[bin]]
 name = "drone"

copter/config.json

@@ -1,10 +1,10 @@
 {
-  "roll_kp": 3.1,
-  "roll_ki": 0.08,
-  "roll_kd": 0.85,
-  "pitch_kp": 3.0,
-  "pitch_ki": 0.08,
-  "pitch_kd": 0.8,
+  "roll_kp": 3.7,
+  "roll_ki": 1.6,
+  "roll_kd": 0.6,
+  "pitch_kp": 3.7,
+  "pitch_ki": 1.6,
+  "pitch_kd": 0.6,
   "yaw_kp": 0.0,
   "yaw_ki": 0.0,
   "yaw_kd": 0.0,
@@ -18,8 +18,9 @@
   "integral_decay_time": 0.8,
   "integral_bandwidth": 10.0,
   "server_address": "10.0.0.209:7070",
-  "hover_power": 1290,
-  "max_motor_speed": 1465,
+  "hover_power": 1280,
+  "max_motor_speed": 1395,
+  "take_off_time": 3.0,
   "debug_websocket_port": 27070,
   "sea_level_pressure": 1.01325,
   "derivative_sampling": 0.001,

copter/config/src/lib.rs

@@ -18,7 +18,19 @@ pub struct SensorCalibrations {
     pub gyro_z: f32,
     pub accel_x: f32,
     pub accel_y: f32,
-    pub accel_z: f32
+    pub accel_z: f32,
+    pub mag_ofs_x: f32,
+    pub mag_ofs_y: f32,
+    pub mag_ofs_z: f32,
+    pub mag_rot_11: f32,
+    pub mag_rot_12: f32,
+    pub mag_rot_13: f32,
+    pub mag_rot_21: f32,
+    pub mag_rot_22: f32,
+    pub mag_rot_23: f32,
+    pub mag_rot_31: f32,
+    pub mag_rot_32: f32,
+    pub mag_rot_33: f32,
 }
 
 impl SensorCalibrations {
@@ -31,7 +43,19 @@ impl SensorCalibrations {
                 gyro_z: 0.0,
                 accel_x: 0.0,
                 accel_y: 0.0,
-                accel_z:  0.0
+                accel_z:  0.0,
+                mag_ofs_x: 0.0,
+                mag_ofs_y: 0.0,
+                mag_ofs_z: 0.0,
+                mag_rot_11: 0.0,
+                mag_rot_12: 0.0,
+                mag_rot_13: 0.0,
+                mag_rot_21: 0.0,
+                mag_rot_22: 0.0,
+                mag_rot_23: 0.0,
+                mag_rot_31: 0.0,
+                mag_rot_32: 0.0,
+                mag_rot_33: 0.0,
             }
         }
         let mut contents = String::new();
@@ -42,7 +66,19 @@ impl SensorCalibrations {
                 gyro_z: 0.0,
                 accel_x: 0.0,
                 accel_y: 0.0,
-                accel_z:  0.0
+                accel_z:  0.0,
+                mag_ofs_x: 0.0,
+                mag_ofs_y: 0.0,
+                mag_ofs_z: 0.0,
+                mag_rot_11: 0.0,
+                mag_rot_12: 0.0,
+                mag_rot_13: 0.0,
+                mag_rot_21: 0.0,
+                mag_rot_22: 0.0,
+                mag_rot_23: 0.0,
+                mag_rot_31: 0.0,
+                mag_rot_32: 0.0,
+                mag_rot_33: 0.0,
             }
         }
         toml::from_str(contents.as_ref()).unwrap()
@@ -86,8 +122,9 @@ pub struct Config {
     pub integral_decay_time: f32,
     pub integral_bandwidth: f32,
     pub server_address: String,
-    pub hover_power: u32,
-    pub max_motor_speed: u32,
+    pub hover_power: f32,
+    pub max_motor_speed: f32,
+    pub take_off_time: f32,
     pub debug_websocket_port: i32,
     pub sea_level_pressure: f32,
     pub derivative_sampling: f32,

copter/debug/src/lib.rs

@@ -105,6 +105,7 @@ fn start_port(server: &mut Server<NoTlsAcceptor>) -> Result<Client<TcpStream>,()
 pub struct Logger {}
 
 impl Logger {
+    //Return PID channel, Motor_channel, IMU channel, time channel
     pub fn new(on: bool) -> Sender<Signal> {
         let (tx,rx): (Sender<Signal>,Receiver<Signal>) = channel();
         if on {