Todo List

File abi.h

explain how to use ABI

Global adc_buf_channel (uint8_t adc_channel, struct adc_buf *s, uint8_t av_nb_sample)

: fx a more general ADC

Global add_byte_to_buffer (uint8_t value)

Add a protection against overflows

File adxl345_i2c.c

IRQ handling

File adxl345_spi.c

Use SPICallback to copy data from rx_buf when transaction is successful, instead of checking transaction status for SPITransSuccess in event loop. Problem is that in the callback we don't have a reference to the Adxl345_Spi struct.

File ahrs_float_dcm_algebra.h

get rid of this and use pprz math lib.

Global autopilot_static_init (void)

: properly implement/fix a triggered attitude loop

, properly implement or remove

Global BARO_ETS_PRESSURE_OFFSET

find real value)

Global BARO_ETS_SCALE

check value At low altitudes pressure change is ~1.2 kPa for every 100 meters. So with a scale ADC->meters of 0.32 we get: 12 Pascal = 0.32 * ADC -> SCALE = ~ 12 / 0.32 = 37.5

Global boardInit (void)

Add your board-specific code, if any.

File gpio_arch.c

implement gpio_set|clear

File gpio_arch.h

implement gpio_set|clear

Global guidance_hybrid_set_cmd_i (struct Int32Eulers *sp_cmd)

calc sp_quat in fixed-point

File hmc58xx.c

DRDY/IRQ handling

Global imu_aspirin_i2c_init (void)

drdy int handling for adxl345

eoc interrupt for itg3200, polling for now (including status reg)

Global imu_aspirin_init (void)

drdy int handling for adxl345

eoc interrupt for itg3200, polling for now (including status reg)

Global ins_int_update_gps (struct GpsState *gps_s)

maybe use gps_s->ned_vel directly??

File itg3200.c

DRDY/IRQ handling

Global memory_read_id (void)

change the cb function to actualy read the value returned

File nav_line_osam.c

compare with normal flight line

Global quat_from_earth_cmd_f (struct FloatQuat *quat, struct FloatVect2 *cmd, float heading)

optimize yaw angle calculation

Global read_rc_setpoint_speed_i (struct Int32Vect2 *speed_sp, bool in_flight, struct RadioControl *rc)

calc proper scale while making sure a division by zero can't occur

Global run_memory_management (void)

We don't need two buffers as far as they are imadiatly copied when sended to the memory

Global sdcard1

Add support for multiple SD cards.

File sdcard_spi.c

CRC checksums are not implemented. Fake values of 0xFF are used and they are ignored by the card.

Global spi0

SPI error struct

Global spi_arch_int_enable (struct spi_periph *spi)

fix priority levels if necessary

Global start_new_log (void)

Add the size of the values sended (in Bytes : SIZE_OF_LOGGED_VALUES).

Add a space to writte the total size of that log (for the progress bar in the downloading application)

Global stateGetAngleOfAttack_f (void)

only float for now

Global stateGetSideslip_f (void)

only float for now

Global stateSetAngleOfAttack_f (float aoa)

no integer yet

Global stateSetSideslip_f (float sideslip)

no integer yet

Global waypoint_set_xy_i (uint8_t wp_id, int32_t x, int32_t y)

: how to handle global waypoints?