Added small fixes, also added beeber. Beeber dont seem to work needs fixing.

UAV-ControlSystem/inc/Scheduler/scheduler.h

@@ -122,8 +122,8 @@ typedef enum
 #if defined(BARO) || defined(SONAR)
     TASK_ALTITUDE,
 #endif
-#if BEEPER
+#ifdef BEEPER
-	TASK_BEEPER
+	TASK_BEEPER,
 #endif
 
 	//Debug tasks, ONLY to be used when testing

UAV-ControlSystem/inc/config/eeprom.h

@@ -174,7 +174,7 @@ typedef enum {
 #if defined(BARO) || defined(SONAR)
 	EEPROM_PERIOD_ALTITUDE,
 #endif
-#if BEEPER
+#ifdef BEEPER
 	EEPROM_PERIOD_BEEPER,
 #endif
 

UAV-ControlSystem/inc/drivers/beeper.h

@@ -0,0 +1,19 @@
+/*
+ * beeper.h
+ *
+ *  Created on: 14 nov. 2016
+ *      Author: holmis
+ */
+
+#ifndef DRIVERS_BEEPER_H_
+#define DRIVERS_BEEPER_H_
+
+#include "stm32f4xx_revo.h"
+
+void initBeeper(uint16_t led_pin, GPIO_TypeDef* led_port);
+
+void busyWaitBeep(uint16_t beepTimeMs);
+
+#endif /* DRIVERS_BEEPER_H_ */
+
+

UAV-ControlSystem/inc/stm32f4xx_revo.h

@@ -156,8 +156,9 @@
 
 
  /* Beeper */
-//#define BEEPER
+#define BEEPER
-
+#define BEEPER_PIN						12
+#define BEEPER_PORT						GPIOB
 
 
  /* Define all the moter of the system, servos + extra */

UAV-ControlSystem/inc/system_variables.h

@@ -14,7 +14,7 @@
 #ifndef SYSTEM_VARIABLES_H_
 #define SYSTEM_VARIABLES_H_
 
-#define EEPROM_SYS_VERSION 109
+#define EEPROM_SYS_VERSION 110
 
 #define ADC_STATE
 #include "stm32f4xx.h"

UAV-ControlSystem/src/Scheduler/scheduler.c

@@ -359,7 +359,7 @@ void initSchedulerTasks(void)
 	enableTask(TASK_ALTITUDE, true);
 #endif
 
-#if BEEPER
+#ifdef BEEPER
 	enableTask(TASK_BEEPER, true);
 #endif
 }

UAV-ControlSystem/src/config/cli.c

@@ -198,7 +198,7 @@ typedef enum
 #if defined(BARO) || defined(SONAR)
 	COMMAND_ID_PERIOD_ALTITUDE,
 #endif
-#if BEEPER
+#ifdef BEEPER
 	COMMAND_ID_PERIOD_BEEPER,
 #endif
 
@@ -414,7 +414,7 @@ const cliCommandConfig_t commandTable[COMMAND_ID_COUNT] = {
 			"task_period_altitude", 	COMMAND_ID_PERIOD_ALTITUDE, EEPROM_PERIOD_ALTITUDE, EEPROM_VALUE_TYPE_SYSTEM, 0, VAL_UINT_32, .valueRange = {0, 1000000000}
 		},
 #endif
-#if BEEPER
+#ifdef  BEEPER
 		[COMMAND_ID_PERIOD_BEEPER] =
 		{
 			"task_period_beeper", 	COMMAND_ID_PERIOD_BEEPER, EEPROM_PERIOD_BEEPER, EEPROM_VALUE_TYPE_SYSTEM, 0, VAL_UINT_32, .valueRange = {0, 1000000000}

UAV-ControlSystem/src/config/eeprom.c

@@ -189,7 +189,7 @@ EEPROM_DATA_t eeprom_sys_Arr[EEPROM_SYS_COUNT] = {
 		.dataPtr = &(SystemTasks[TASK_ALTITUDE].desiredPeriod),
 	},
 #endif
-#if BEEPER
+#ifdef BEEPER
 	[EEPROM_PERIOD_BEEPER] =
 	{
 		.size = sizeof(SystemTasks[TASK_BEEPER].desiredPeriod),

UAV-ControlSystem/src/drivers/beeper.c

@@ -0,0 +1,34 @@
+/*
+ * beeper.c
+ *
+ *  Created on: 14 nov. 2016
+ *      Author: holmis
+ */
+
+#include "drivers/beeper.h"
+
+
+uint16_t beeperPin;
+GPIO_TypeDef* beeperPort;
+
+void initBeeper(uint16_t led_pin, GPIO_TypeDef* led_port)
+{
+	beeperPin = led_pin;
+	beeperPort = led_port;
+
+	GPIO_InitTypeDef gpinit;
+	gpinit.Pin = led_pin;
+	gpinit.Mode = GPIO_MODE_OUTPUT_OD;
+	gpinit.Pull = GPIO_NOPULL;
+	gpinit.Speed = GPIO_SPEED_HIGH;
+	HAL_GPIO_Init(led_port, &gpinit);
+
+}
+
+void busyWaitBeep(uint16_t beepTimeMs)
+{
+	/* If you use this in the scheduled part of the code, you might face a problem with a little bit of a crash ok? */
+	HAL_GPIO_WritePin(beeperPort, beeperPin, SET);
+	HAL_Delay(beepTimeMs);
+	HAL_GPIO_WritePin(beeperPort, beeperPin, RESET);
+}

UAV-ControlSystem/src/drivers/motormix.c

@@ -74,17 +74,30 @@ typedef struct {
  */
 static const motorMixer_s mixerUAV[] = {
 	/* Throttle, Roll,   Pitch,  Yaw */
+//
+//	{	1.0f, 	 1.0f,	 1.0f, 	-1.0f}, //M1
+//	{	1.0f, 	 1.0f,	 1.0f,	 1.0f}, //M2
+//	{ 	1.0f, 	 0.0f, 	 1.0f,	 0.0f}, //M3
+//	{	1.0f, 	 0.0f,	 1.0f,	 0.0f}, //M4
+//	{ 	1.0f, 	-1.0f,	 1.0f,	 1.0f}, //M5
+//	{ 	1.0f, 	-1.0f,	 1.0f,	-1.0f}, //M6
+//	{ 	1.0f, 	 1.0f,	-1.0f,	 1.0f}, //M7
+//	{ 	1.0f, 	 1.0f,	-1.0f,	-1.0f}, //M8
+//	{ 	1.0f, 	-1.0f,	-1.0f,	-1.0f}, //M9
+//	{ 	1.0f, 	-1.0f,	-1.0f,	 1.0f}, //M10
 
-	{	1.0f, 	 1.0f,	 1.0f, 	-1.0f}, //M1
+
-	{	1.0f, 	 1.0f,	 1.0f,	 1.0f}, //M2
+
-	{ 	1.0f, 	 0.0f, 	 1.0f,	 0.0f}, //M3
+		{	1.0f, 	 1.0f,	 1.0f, 	-1.0f}, //M1
-	{	1.0f, 	 0.0f,	 1.0f,	 0.0f}, //M4
+		{	0.0f, 	 0.0f,	 0.0f, 	0.0f}, //M2
-	{ 	1.0f, 	-1.0f,	 1.0f,	 1.0f}, //M5
+		{	0.0f, 	 0.0f,	 0.0f, 	0.0f}, //M3
-	{ 	1.0f, 	-1.0f,	 1.0f,	-1.0f}, //M6
+		{	0.0f, 	 0.0f,	 0.0f, 	0.0f}, //M4
-	{ 	1.0f, 	 1.0f,	-1.0f,	 1.0f}, //M7
+		{	0.0f, 	 0.0f,	 0.0f, 	0.0f}, //M5
-	{ 	1.0f, 	 1.0f,	-1.0f,	-1.0f}, //M8
+		{ 	1.0f, 	-1.0f,	 1.0f,	-1.0f}, //M6
-	{ 	1.0f, 	-1.0f,	-1.0f,	-1.0f}, //M9
+		{	0.0f, 	 0.0f,	 0.0f, 	0.0f}, //M7
-	{ 	1.0f, 	-1.0f,	-1.0f,	 1.0f}, //M10
+		{	0.0f, 	 0.0f,	 0.0f, 	0.0f}, //M8
+		{	0.0f, 	 0.0f,	 0.0f, 	0.0f}, //M9
+		{	0.0f, 	 0.0f,	 0.0f, 	0.0f}, //M10
 };
 
 
@@ -183,7 +196,11 @@ void mix()
 		// Now we add desired throttle
 		for (int i = 0; i < MOTOR_COUNT; i++)
 			// Constrain in within the regulation of the mix - OBS. Constrain can be removed. Just to make sure
-			motor_output[i] = RPY_Mix[i] + constrain(throttle * mixerUAV[i].throttle, throttleMin, throttleMax);
+
+			// TODO: This line is backup as we discovered that motors could stop at times in airmode on M-UAV. But we have not seen this before
+			//motor_output[i] = RPY_Mix[i] + constrain(throttle * mixerUAV[i].throttle, throttleMin, throttleMax);
+			motor_output[i] = constrain(RPY_Mix[i] + constrain(throttle * mixerUAV[i].throttle, throttleMin, throttleMax), throttleMin, throttleMax);
+
 	}
 	else // Mixer full scale NOT active
 	{

UAV-ControlSystem/src/main.c

@@ -29,6 +29,7 @@
 #include "drivers/motors.h"
 #include "Flight/pid.h"
 #include "drivers/barometer.h"#include "drivers/arduino_com.h"
+#include "drivers/beeper.h"
 
 /**************************************************************************
 * BRIEF: Should contain all the initializations of the system, needs to
@@ -96,8 +97,8 @@ void init_system()
 
 #endif
 
-#if BEEPER
+#ifdef BEEPER
-
+	initBeeper(BEEPER_PIN, BEEPER_PORT);
 #endif
 
 
@@ -120,6 +121,9 @@ int main(void)
 	//Light the yellow led
 	ledOnInverted(Led1, Led1_GPIO_PORT);
 
+	//beep that it has been initialized
+	busyWaitBeep(1000);
+
 	//Initialize the scheduler, add all the tasks that should run to the ready queue of the scheduler
 	initScheduler();
 

UAV-ControlSystem/src/tasks_main.c

@@ -42,6 +42,7 @@
 #include "drivers/motormix.h"
 #include "Flight/pid.h"
 #include "drivers/barometer.h"
+#include "drivers/beeper.h"
 
 void systemTaskGyroPid(void)
 {