Hi David,
There were 3 ways of debugging:
- A lot of printf's
- In my pre-gluon firmware, I had a hardware in the loop simulator: I wrote a small flight simulator that would write the fake GPS and attitude signals to the gluon module, which would then write the aileron and elevator position to the flight simulator. I used this to write most of the navigation part. I'm also planning to port it to the gluon firmware... but I only need time! There are some cool flightsimulators that have TCP-ports available that offer the position and attitude data. This data could be written to the gluon module that would act as if it was real sensor data. Very cool things
- Careful flight tests
- Datalogging at 50Hz to dataflash and "replaying" this situation as if it was real data. See
http://code.google.com/p/gluonpilot/sou ... _csv.c#412 and
http://code.google.com/p/gluonpilot/sou ... _csv.c#647 - Load 50Hz datalogging to Matlab and use Matlab algorithms:
http://gluonpilot.com/wiki/Matlab_attitude_estimation - I never really used the ICD2 debugging as it probably won't work in a real-time system.
1) Yes, the microcontroller and ADC run at 3V3. The Batt input (for battery voltage) is not yet used, but is an analog input with a voltage divider applied to it. The SPI and I2C ports are available for interfacing with other hardware components.
2) Yes I'm actually planning to do that in the next release. Good you noticed this was missing
3) I tried to make this as easy as possible. Of course, the first time you'll have to look here and there to see how it's done. No worries, just ask if you don't see the light right away.
4) Of course! That's why the code is open source!
Tom