[paparazzi-commits] [paparazzi/paparazzi] 4599fd: [imu] add support for the BMI088 imu (gyro, accel)

[Gautier Hattenberger]

  Branch: refs/heads/crazyflie_2.1-integration
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 4599fdef0db817a1336597ea49e65999f085503f
      
https://github.com/paparazzi/paparazzi/commit/4599fdef0db817a1336597ea49e65999f085503f
  Author: Gautier Hattenberger <address@hidden>
  Date:   2020-01-13 (Mon, 13 Jan 2020)

  Changed paths:
    A conf/modules/imu_bmi088_i2c.xml
    A sw/airborne/modules/imu/imu_bmi088_i2c.c
    A sw/airborne/modules/imu/imu_bmi088_i2c.h
    A sw/airborne/peripherals/bmi088.c
    A sw/airborne/peripherals/bmi088.h
    A sw/airborne/peripherals/bmi088_i2c.c
    A sw/airborne/peripherals/bmi088_i2c.h
    A sw/airborne/peripherals/bmi088_regs.h
    M sw/airborne/subsystems/abi_sender_ids.h

  Log Message:
  -----------
  [imu] add support for the BMI088 imu (gyro, accel)


  Commit: 010cba62c9c1561156a917f253929fe89e275eb9
      
https://github.com/paparazzi/paparazzi/commit/010cba62c9c1561156a917f253929fe89e275eb9
  Author: Gautier Hattenberger <address@hidden>
  Date:   2020-01-13 (Mon, 13 Jan 2020)

  Changed paths:
    A conf/modules/ahrs_madgwick.xml
    A sw/airborne/modules/ahrs/ahrs_madgwick.c
    A sw/airborne/modules/ahrs/ahrs_madgwick.h
    A sw/airborne/modules/ahrs/ahrs_madgwick_wrapper.c
    A sw/airborne/modules/ahrs/ahrs_madgwick_wrapper.h
    M sw/airborne/subsystems/ahrs.h

  Log Message:
  -----------
  [ahrs] add Madgwick AHRS implementation

This a basic AHRS that doesn't need magnetometer and only provide roll
and pitch. Based on quaternions.


  Commit: 380143fcb4f5cc27aa12c771cfe6a948804db4b0
      
https://github.com/paparazzi/paparazzi/commit/380143fcb4f5cc27aa12c771cfe6a948804db4b0
  Author: Gautier Hattenberger <address@hidden>
  Date:   2020-01-13 (Mon, 13 Jan 2020)

  Changed paths:
    A conf/modules/syslink_dl.xml
    M sw/airborne/arch/chibios/mcu_periph/uart_arch.c
    M sw/airborne/arch/chibios/mcu_periph/uart_arch.h
    A sw/airborne/modules/datalink/bitcraze/crtp.h
    A sw/airborne/modules/datalink/bitcraze/syslink.c
    A sw/airborne/modules/datalink/bitcraze/syslink.h
    A sw/airborne/modules/datalink/bitcraze/syslink_dl.c
    A sw/airborne/modules/datalink/bitcraze/syslink_dl.h
    M sw/airborne/modules/datalink/pprz_dl.h

  Log Message:
  -----------
  [datalink] support the datalink over syslink (bitcraze) protocol

Use for communication with crazyflie drone. A generic device
implemetation allows to use this as a regular device for telemetry.
Also provide battery and link status information.
The UART driver is adapted to allow software flow control if needed
(chibios only).


  Commit: df992d352de4fb1f0e4e7446c39ed956a0fb6c74
      
https://github.com/paparazzi/paparazzi/commit/df992d352de4fb1f0e4e7446c39ed956a0fb6c74
  Author: Gautier Hattenberger <address@hidden>
  Date:   2020-01-13 (Mon, 13 Jan 2020)

  Changed paths:
    A conf/tools/crazyradio2ivy.xml
    M sw/ext/pprzlink
    A sw/ground_segment/python/bitcraze/crazyradio2ivy.py

  Log Message:
  -----------
  [tool] crazyradio to Ivy bridge

Used for datalink with crazyflie drones.
Update pprzlink for compatibility between Python 2 and 3.
Requires to install crazflie-lib-python from Bitcraze.


  Commit: c8a4a017a6fe4643efdeb58b2b81331bd09cf59f
      
https://github.com/paparazzi/paparazzi/commit/c8a4a017a6fe4643efdeb58b2b81331bd09cf59f
  Author: Gautier Hattenberger <address@hidden>
  Date:   2020-01-13 (Mon, 13 Jan 2020)

  Changed paths:
    A conf/airframes/ENAC/quadrotor/crazyflie_2.1.xml
    A conf/boards/crazyflie_2.1.makefile
    M conf/flash_modes.xml
    A sw/airborne/arch/chibios/STM32F405xG.ld
    A sw/airborne/boards/crazyflie/chibios/v2.1/board.c
    A sw/airborne/boards/crazyflie/chibios/v2.1/board.cfg
    A sw/airborne/boards/crazyflie/chibios/v2.1/board.h
    A sw/airborne/boards/crazyflie/chibios/v2.1/board.mk
    A sw/airborne/boards/crazyflie/chibios/v2.1/crazyflie.h
    A sw/airborne/boards/crazyflie/chibios/v2.1/mcuconf.h

  Log Message:
  -----------
  [board] Crazyflie 2.1 board file and airframe example


  Commit: c9fc3ce0824493a9334afab4ee9e2967b7794022
      
https://github.com/paparazzi/paparazzi/commit/c9fc3ce0824493a9334afab4ee9e2967b7794022
  Author: Gautier Hattenberger <address@hidden>
  Date:   2020-01-13 (Mon, 13 Jan 2020)

  Changed paths:
    M sw/airborne/arch/chibios/subsystems/actuators/actuators_pwm_arch.c

  Log Message:
  -----------
  [fix] fix macro

It was not making issues since by default PWM_FREQUENCY is also 1M.


Compare: 
https://github.com/paparazzi/paparazzi/compare/4599fdef0db8%5E...c9fc3ce08244