GitHub - weithegreat/ASCTEC_innerloopFirmware: Innerloop controller firmware. User can send desired Euler angle and Euler rate as well as atttitude feedback from outer measurement

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Name		Name	Last commit message	Last commit date
Latest commit History 9 Commits
.settings		.settings
Common_WinARM		Common_WinARM
.cproject		.cproject
.project		.project
Asctec JTAG Debug.launch		Asctec JTAG Debug.launch
Gen_motor_cmmd.c		Gen_motor_cmmd.c
Gen_motor_cmmd.h		Gen_motor_cmmd.h
LL_HL_comm.c		LL_HL_comm.c
LL_HL_comm.h		LL_HL_comm.h
LPC214x.h		LPC214x.h
LPC2k_ee.c		LPC2k_ee.c
LPC2k_ee.h		LPC2k_ee.h
OpenOCD Asctec-JTAG.launch		OpenOCD Asctec-JTAG.launch
README.txt		README.txt
adc.c		adc.c
adc.h		adc.h
arm-elf-gdb.exe		arm-elf-gdb.exe
asctecCommIntfOnboard.c		asctecCommIntfOnboard.c
asctecCommIntfOnboard.h		asctecCommIntfOnboard.h
asctecDefinesOnboard (copy).h		asctecDefinesOnboard (copy).h
asctecDefinesOnboard.h		asctecDefinesOnboard.h
buildInfoSetup.c		buildInfoSetup.c
buildInfoSetup.h		buildInfoSetup.h
buzzer.c		buzzer.c
buzzer.h		buzzer.h
crt.s		crt.s
declination.h		declination.h
gpsmath.c		gpsmath.c
gpsmath.h		gpsmath.h
hardware.c		hardware.c
hardware.h		hardware.h
i2c.c		i2c.c
i2c.h		i2c.h
i2c1.c		i2c1.c
i2c1.h		i2c1.h
jetiTelemetry.c		jetiTelemetry.c
jetiTelemetry.h		jetiTelemetry.h
libdeclination.a		libdeclination.a
libublox.a		libublox.a
lpc2xxx_asctecusb.cfg		lpc2xxx_asctecusb.cfg
lpc2xxx_asctecusbjtag05.cfg		lpc2xxx_asctecusbjtag05.cfg
lpc_aci_eeprom.c		lpc_aci_eeprom.c
lpc_aci_eeprom.h		lpc_aci_eeprom.h
main.c		main.c
main.h		main.h
makefile		makefile
mymath.c		mymath.c
mymath.h		mymath.h
pelican_ptu.c		pelican_ptu.c
pelican_ptu.h		pelican_ptu.h
sdk.c		sdk.c
sdk.h		sdk.h
sdk_telemetry.c		sdk_telemetry.c
sdk_telemetry.h		sdk_telemetry.h
ssp.c		ssp.c
ssp.h		ssp.h
syscalls.c		syscalls.c
system.c		system.c
system.h		system.h
test.c		test.c
uart.c		uart.c
uart.h		uart.h
ublox.h		ublox.h

Repository files navigation

For documentation visit http://wiki.asctec.de/

Copied right reserved by AscTec;

Customized by Wei Ding. http://weiding.me/

User is able to send desired attitude and euler angular velocity directly to Autopilot. 

State feedback from outside measurement is able to send to Autopilot for more precise control.

Sample control file will be uploaded soon

ctrl_mode 0x04
Desired roll angle 0x0F00
Desired pitch angle 0x0F01
Desired yaw angle 0x0F02
Desired roll velocity 0x0F03
Desired pitch velocity 0x0F04
Desired yaw velocity 0x0F05

Desired Accleration in Z axis(body) 0x0F06
roll angle feedback 0x0F07
pitch angle feedback 0x0F08
yaw angle feedback 0x0F09