static void stabilizerTask(void* param)
{
uint32_t tick = 0;
uint32_t lastWakeTime;
vTaskSetApplicationTaskTag(0, (void*)TASK_STABILIZER_ID_NBR);
//Wait for the system to be fully started to start stabilization loop
systemWaitStart();
// Wait for sensors to be calibrated
lastWakeTime = xTaskGetTickCount ();
while(!sensorsAreCalibrated()) {
vTaskDelayUntil(&lastWakeTime, F2T(RATE_MAIN_LOOP));
}
while(1) {
vTaskDelayUntil(&lastWakeTime, F2T(RATE_MAIN_LOOP));
#ifdef ESTIMATOR_TYPE_kalman
stateEstimatorUpdate(&state, &sensorData, &control);
#else
sensorsAcquire(&sensorData, tick);
stateEstimator(&state, &sensorData, tick);
#endif
commanderGetSetpoint(&setpoint, &state);
sitAwUpdateSetpoint(&setpoint, &sensorData, &state);
stateController(&control, &sensorData, &state, &setpoint, tick);
powerDistribution(&control);
tick++;
}
}
/**
* Proximity task running at PROXIMITY_TASK_FREQ Hz.
*
* @param param Currently unused.
*/
static void proximityTask(void* param)
{
uint32_t lastWakeTime;
vTaskSetApplicationTaskTag(0, (void*)TASK_PROXIMITY_ID_NBR);
//Wait for the system to be fully started to start stabilization loop
systemWaitStart();
lastWakeTime = xTaskGetTickCount();
while(1)
{
vTaskDelayUntil(&lastWakeTime, F2T(PROXIMITY_TASK_FREQ));
#if defined(MAXSONAR_ENABLED)
/* Read the MaxBotix sensor. */
proximityDistance = maxSonarReadDistance(MAXSONAR_MB1040_AN, &proximityAccuracy);
#endif
/* Get the latest average value calculated. */
proximityDistanceAvg = proximitySWinAdd(proximityDistance);
/* Get the latest median value calculated. */
proximityDistanceMedian = proximitySWinMedian(proximitySWin);
}
}
static void poseCommanderTask(void* param) {
uint32_t lastWakeTime;
//Wait for the system to be fully started to start pose controller loop
systemWaitStart();
lastWakeTime = xTaskGetTickCount ();
while(1) {
vTaskDelayUntil(&lastWakeTime, F2T(POSECOMMANDERFREQUENCY)); // 100Hz
// read actual pose value
actualPoseGetPose(&actualPose);
// get desired pose value
if(desiredPoses.front != 0) {
desiredPose = *(Pose*)(desiredPoses.front->item);
}
// update data for logging
updateErrors(&desiredPose, &actualPose);
// test for goal reached and shift
if(reached(&desiredPose, &actualPose)) {
if(desiredPoses.front != 0) {
if(desiredPoses.front->next != 0) {
linkedlistItem front = *linkedListPopFront(&desiredPoses);
deleteLinkedlistItem(&front);
}
}
}
}
}
static void stabilizerTask(void* param)
{
uint32_t lastWakeTime;
vTaskSetApplicationTaskTag(0, (void*)TASK_STABILIZER_ID_NBR);
//Wait for the system to be fully started to start stabilization loop
systemWaitStart();
lastWakeTime = xTaskGetTickCount ();
while(1)
{
vTaskDelayUntil(&lastWakeTime, F2T(IMU_UPDATE_FREQ));
// Magnetometer not yet used more then for logging.
imu9Read(&gyro, &acc, &mag);
if (imu6IsCalibrated())
{
commanderGetRPY(&rollDesired, &pitchDesired, &yawDesired);
sensfusion6UpdateQ(gyro.x, gyro.y, gyro.z, acc.x, acc.y, acc.z, FUSION_UPDATE_DT);
sensfusion6GetEulerRPY(&eulerRollActual, &eulerPitchActual, &eulerYawActual);
if (horizonMode) {
horizonPID(eulerRollActual, eulerPitchActual, -gyro.z,
rollDesired, pitchDesired, yawDesired);
} else {
ratePID(gyro.x, -gyro.y, -gyro.z,
rollDesired, pitchDesired, yawDesired);
}
controllerGetActuatorOutput(&actuatorRoll, &actuatorPitch, &actuatorYaw);
commanderGetThrust(&actuatorThrust);
/* Call out before performing thrust updates, if any functions would like to influence the thrust. */
if (armed) {
distributePower(actuatorThrust, actuatorRoll, actuatorPitch, actuatorYaw);
} else {
distributePower(0, 0, 0, 0);
controllerResetAllPID();
}
}
}
}
static void stabilizerTask(void* param) {
uint32_t attitudeCounter = 0;
uint32_t altHoldCounter = 0;
uint32_t lastWakeTime;
vTaskSetApplicationTaskTag(0, (void*) TASK_STABILIZER_ID_NBR);
//Wait for the system to be fully started to start stabilization loop
systemWaitStart();
lastWakeTime = xTaskGetTickCount();
while (1) {
vTaskDelayUntil(&lastWakeTime, F2T(IMU_UPDATE_FREQ)); // 500Hz
// Magnetometer not yet used more then for logging.
imu9Read(&gyro, &acc, &mag);
if (imu6IsCalibrated()) {
commanderGetRPY(&eulerRollDesired, &eulerPitchDesired, &eulerYawDesired);
commanderGetRPYType(&rollType, &pitchType, &yawType);
// 250HZ
if (++attitudeCounter >= ATTITUDE_UPDATE_RATE_DIVIDER) {
sensfusion6UpdateQ(gyro.x, gyro.y, gyro.z, acc.x, acc.y, acc.z, FUSION_UPDATE_DT);
sensfusion6GetEulerRPY(&eulerRollActual, &eulerPitchActual, &eulerYawActual);
accWZ = sensfusion6GetAccZWithoutGravity(acc.x, acc.y, acc.z);
accMAG = (acc.x * acc.x) + (acc.y * acc.y) + (acc.z * acc.z);
// Estimate speed from acc (drifts)
vSpeed += deadband(accWZ, vAccDeadband) * FUSION_UPDATE_DT;
controllerCorrectAttitudePID(eulerRollActual, eulerPitchActual, eulerYawActual,
eulerRollDesired, eulerPitchDesired, -eulerYawDesired, &rollRateDesired,
&pitchRateDesired, &yawRateDesired);
attitudeCounter = 0;
}
// 100HZ
if (imuHasBarometer() && (++altHoldCounter >= ALTHOLD_UPDATE_RATE_DIVIDER)) {
stabilizerAltHoldUpdate();
altHoldCounter = 0;
}
if (rollType == RATE) {
rollRateDesired = eulerRollDesired;
}
if (pitchType == RATE) {
pitchRateDesired = eulerPitchDesired;
}
if (yawType == RATE) {
yawRateDesired = -eulerYawDesired;
}
// TODO: Investigate possibility to subtract gyro drift.
controllerCorrectRatePID(gyro.x, -gyro.y, gyro.z, rollRateDesired, pitchRateDesired,
yawRateDesired);
controllerGetActuatorOutput(&actuatorRoll, &actuatorPitch, &actuatorYaw);
if (!altHold || !imuHasBarometer()) {
// Use thrust from controller if not in altitude hold mode
commanderGetThrust(&actuatorThrust);
} else {
// Added so thrust can be set to 0 while in altitude hold mode after disconnect
commanderWatchdog();
}
if (actuatorThrust > 0) {
#if defined(TUNE_ROLL)
distributePower(actuatorThrust, actuatorRoll, 0, 0);
#elif defined(TUNE_PITCH)
distributePower(actuatorThrust, 0, actuatorPitch, 0);
#elif defined(TUNE_YAW)
distributePower(actuatorThrust, 0, 0, -actuatorYaw);
#else
distributePower(actuatorThrust, actuatorRoll, actuatorPitch, -actuatorYaw);
#endif
} else {
distributePower(0, 0, 0, 0);
controllerResetAllPID();
}
}
}
}
static void sensorsTask(void *param)
{
systemWaitStart();
uint32_t lastWakeTime = xTaskGetTickCount();
static BiasObj bmi160GyroBias;
static BiasObj bmi055GyroBias;
#ifdef SENSORS_TAKE_ACCEL_BIAS
static BiasObj bmi160AccelBias;
static BiasObj bmi055AccelBias;
#endif
Axis3i16 gyroPrim;
Axis3i16 accelPrim;
Axis3f accelPrimScaled;
Axis3i16 accelPrimLPF;
Axis3i32 accelPrimStoredFilterValues;
#ifdef LOG_SEC_IMU
Axis3i16 gyroSec;
Axis3i16 accelSec;
Axis3f accelSecScaled;
Axis3i16 accelSecLPF;
Axis3i32 accelSecStoredFilterValues;
#endif /* LOG_SEC_IMU */
/* wait an additional second the keep bus free
* this is only required by the z-ranger, since the
* configuration will be done after system start-up */
//vTaskDelayUntil(&lastWakeTime, M2T(1500));
while (1)
{
vTaskDelayUntil(&lastWakeTime, F2T(SENSORS_READ_RATE_HZ));
/* calibrate if necessary */
if (!allSensorsAreCalibrated)
{
if (!bmi160GyroBias.found) {
sensorsGyroCalibrate(&bmi160GyroBias, SENSORS_BMI160);
#ifdef SENSORS_TAKE_ACCEL_BIAS
sensorsAccelCalibrate(&bmi160AccelBias,
&bmi160GyroBias, SENSORS_BMI160);
#endif
}
if (!bmi055GyroBias.found)
{
sensorsGyroCalibrate(&bmi055GyroBias, SENSORS_BMI055);
#ifdef SENSORS_TAKE_ACCEL_BIAS
sensorsAccelCalibrate(&bmi055AccelBias,
&bmi055GyroBias, SENSORS_BMI055);
#endif
}
if ( bmi160GyroBias.found && bmi055GyroBias.found
#ifdef SENSORS_TAKE_ACCEL_BIAS
&& bmi160AccelBias.found && bmi055AccelBias.found
#endif
)
{
// soundSetEffect(SND_CALIB);
DEBUG_PRINT("Sensor calibration [OK].\n");
ledseqRun(SYS_LED, seq_calibrated);
allSensorsAreCalibrated= true;
}
}
else {
/* get data from chosen sensors */
sensorsGyroGet(&gyroPrim, gyroPrimInUse);
sensorsAccelGet(&accelPrim, accelPrimInUse);
#ifdef LOG_SEC_IMU
sensorsGyroGet(&gyroSec, gyroSecInUse);
sensorsAccelGet(&accelSec, accelSecInUse);
#endif
/* FIXME: for sensor deck v1 realignment has to be added her */
switch(gyroPrimInUse) {
case SENSORS_BMI160:
sensorsApplyBiasAndScale(&sensors.gyro, &gyroPrim,
&bmi160GyroBias.value,
SENSORS_BMI160_DEG_PER_LSB_CFG);
break;
case SENSORS_BMI055:
sensorsApplyBiasAndScale(&sensors.gyro, &gyroPrim,
&bmi055GyroBias.value,
SENSORS_BMI055_DEG_PER_LSB_CFG);
break;
}
sensorsAccIIRLPFilter(&accelPrim, &accelPrimLPF,
&accelPrimStoredFilterValues,
(int32_t)sensorsAccLpfAttFactor);
switch(accelPrimInUse) {
case SENSORS_BMI160:
sensorsApplyBiasAndScale(&accelPrimScaled, &accelPrimLPF,
&bmi160AccelBias.value,
SENSORS_BMI160_G_PER_LSB_CFG);
break;
case SENSORS_BMI055:
sensorsApplyBiasAndScale(&accelPrimScaled, &accelPrimLPF,
&bmi055AccelBias.value,
SENSORS_BMI055_G_PER_LSB_CFG);
break;
}
sensorsAccAlignToGravity(&accelPrimScaled, &sensors.acc);
#ifdef LOG_SEC_IMU
switch(gyroSecInUse) {
case SENSORS_BMI160:
sensorsApplyBiasAndScale(&sensors.gyroSec, &gyroSec,
&bmi160GyroBias.value,
SENSORS_BMI160_DEG_PER_LSB_CFG);
break;
case SENSORS_BMI055:
sensorsApplyBiasAndScale(&sensors.gyroSec, &gyroSec,
&bmi055GyroBias.value,
SENSORS_BMI055_DEG_PER_LSB_CFG);
break;
}
sensorsAccIIRLPFilter(&accelSec, &accelSecLPF,
&accelSecStoredFilterValues,
(int32_t)sensorsAccLpfAttFactor);
switch(accelSecInUse) {
case SENSORS_BMI160:
sensorsApplyBiasAndScale(&accelSecScaled, &accelSecLPF,
&bmi160AccelBias.value,
SENSORS_BMI160_G_PER_LSB_CFG);
break;
case SENSORS_BMI055:
sensorsApplyBiasAndScale(&accelSecScaled, &accelSecLPF,
&bmi055AccelBias.value,
SENSORS_BMI055_G_PER_LSB_CFG);
break;
}
sensorsAccAlignToGravity(&accelSecScaled, &sensors.accSec);
#endif
}
if (isMagnetometerPresent)
{
static uint8_t magMeasDelay = SENSORS_DELAY_MAG;
if (--magMeasDelay == 0)
{
bmm150_read_mag_data(&bmm150Dev);
sensors.mag.x = bmm150Dev.data.x;
sensors.mag.y = bmm150Dev.data.y;
sensors.mag.z = bmm150Dev.data.z;
magMeasDelay = SENSORS_DELAY_MAG;
}
}
if (isBarometerPresent)
{
static uint8_t baroMeasDelay = SENSORS_DELAY_BARO;
static int32_t v_temp_s32;
static uint32_t v_pres_u32;
static baro_t* baro280 = &sensors.baro;
if (--baroMeasDelay == 0)
{
bmp280_read_pressure_temperature(&v_pres_u32, &v_temp_s32);
sensorsScaleBaro(baro280, (float)v_pres_u32, (float)v_temp_s32/100.0f);
baroMeasDelay = baroMeasDelayMin;
}
}
/* ensure all queues are populated at the same time */
vTaskSuspendAll();
xQueueOverwrite(accelPrimDataQueue, &sensors.acc);
xQueueOverwrite(gyroPrimDataQueue, &sensors.gyro);
#ifdef LOG_SEC_IMU
xQueueOverwrite(gyroSecDataQueue, &sensors.gyroSec);
xQueueOverwrite(accelSecDataQueue, &sensors.accSec);
#endif
if (isBarometerPresent)
{
xQueueOverwrite(baroPrimDataQueue, &sensors.baro);
}
if (isMagnetometerPresent)
{
xQueueOverwrite(magPrimDataQueue, &sensors.mag);
}
xTaskResumeAll();
}
}
static void stabilizerTask(void* param)
{
uint32_t attitudeCounter = 0;
uint32_t lastWakeTime;
vTaskSetApplicationTaskTag(0, (void*)TASK_STABILIZER_ID_NBR);
//Wait for the system to be fully started to start stabilization loop
systemWaitStart();
lastWakeTime = xTaskGetTickCount ();
while(1)
{
vTaskDelayUntil(&lastWakeTime, F2T(IMU_UPDATE_FREQ));
imu6Read(&gyro, &acc);
hmc5883lGetHeading(&magHeadingX, &magHeadingY, &magHeadingZ);
if(altMode == ALTIMETER_MODE_PRESSURE) {
altimeterTmp = ms5611GetPressure(MS5611_OSR_4096);
if(altimeterTmp > 0.0f) {
pressure = altimeterTmp;
altMode = ALTIMETER_MODE_TEMPERATURE;
}
}
if(altMode == ALTIMETER_MODE_TEMPERATURE) {
altimeterTmp = ms5611GetTemperature(MS5611_OSR_4096);
if(altimeterTmp > 0.0f) {
temperature = altimeterTmp;
altMode = ALTIMETER_MODE_PRESSURE;
}
}
if (imu6IsCalibrated())
{
commanderGetRPY(&eulerRollDesired, &eulerPitchDesired, &eulerYawDesired);
commanderGetRPYType(&rollType, &pitchType, &yawType);
if (++attitudeCounter >= ATTITUDE_UPDATE_RATE_DIVIDER)
{
//sensfusion6UpdateQ(gyro.x, gyro.y, gyro.z, acc.x, acc.y, acc.z, FUSION_UPDATE_DT);
//sensfusion6GetEulerRPY(&eulerRollActual, &eulerPitchActual, &eulerYawActual);
//controllerCorrectAttitudePID(eulerRollActual, eulerPitchActual, eulerYawActual,
// eulerRollDesired, eulerPitchDesired, -eulerYawDesired,
// &rollRateDesired, &pitchRateDesired, &yawRateDesired);
//controllerCorrectAttitudePID(0, 0, 0, 0, 0, 0, &rollRateDesired, &pitchRateDesired, &yawRateDesired);
attitudeCounter = 0;
}
if (rollType == RATE)
{
rollRateDesired = eulerRollDesired;
}
if (pitchType == RATE)
{
pitchRateDesired = eulerPitchDesired;
}
if (yawType == RATE)
{
yawRateDesired = -eulerYawDesired;
}
/*
// TODO: Investigate possibility to subtract gyro drift.
controllerCorrectRatePID(gyro.x, -gyro.y, gyro.z,
rollRateDesired, pitchRateDesired, yawRateDesired);
controllerGetActuatorOutput(&actuatorRoll, &actuatorPitch, &actuatorYaw);
*/
commanderGetTrust(&actuatorThrust);
distributePower(actuatorThrust, 0, 0, 0);
if (actuatorThrust > 0)
{
#if defined(TUNE_ROLL)
distributePower(actuatorThrust, actuatorRoll, 0, 0);
#elif defined(TUNE_PITCH)
distributePower(actuatorThrust, 0, actuatorPitch, 0);
#elif defined(TUNE_YAW)
distributePower(actuatorThrust, 0, 0, -actuatorYaw);
#else
distributePower(actuatorThrust, actuatorRoll, actuatorPitch, -actuatorYaw);
#endif
}
else
{
distributePower(0, 0, 0, 0);
controllerResetAllPID();
}
#if 0
static int i = 0;
if (++i > 19)
{
uartPrintf("%i, %i, %i\n",
(int32_t)(eulerRollActual*100),
(int32_t)(eulerPitchActual*100),
(int32_t)(eulerYawActual*100));
i = 0;
}
#endif
}
}
}
static void stabilizerTask(void* param)
{
uint32_t lastWakeTime;
//uint32_t tempTime;
uint16_t heartbCounter = 0;
uint16_t attitudeCounter = 0;
uint16_t altHoldCounter = 0;
//uint32_t data[6];
//Wait for the system to be fully started to start stabilization loop
systemWaitStart();
lastWakeTime = xTaskGetTickCount ();
for( ; ;)
{
//tempTime = lastWakeTime;
vTaskDelayUntil(&lastWakeTime, F2T(IMU_UPDATE_FREQ)); // 500Hz
heartbCounter ++;
/*
if (lastWakeTime < tempTime) {
tempTime = (0 - tempTime) + lastWakeTime;
} else {
tempTime = lastWakeTime - tempTime;
}
*/
while (heartbCounter >= HEART_UPDATE_RATE_DIVIDER) { // 1Hz
MAVLINK(mavlink_msg_heartbeat_send(MAVLINK_COMM_0, MAV_TYPE_QUADROTOR, MAV_AUTOPILOT_GENERIC, MAV_MODE_PREFLIGHT, 0, MAV_STATE_STANDBY);)
heartbCounter = 0;
}
imuRead(&gyro, &acc, &mag);
if (imu6IsCalibrated())
{
// 250HZ
if (++attitudeCounter >= ATTITUDE_UPDATE_RATE_DIVIDER)
{
MahonyAHRSupdateIMU(gyro.y, gyro.x, gyro.z, acc.y, acc.x, acc.z);
//filterUpdate_mars(gyro.x, gyro.y, gyro.z, acc.x, acc.y, acc.z,mag.x,mag.y,mag.z);
//MahonyAHRSupdate(gyro.x, gyro.y, gyro.z, acc.x, acc.y, acc.z,mag.x,mag.y,mag.z);
//MahonyAHRSupdate(gyro.y, gyro.x, gyro.z, acc.y, acc.x, acc.z,mag.y,mag.x,mag.z);
//filterUpdate_mars(gyro.x, gyro.y, gyro.z, acc.x, acc.y, acc.z,mag.x,mag.y,mag.z);
//MahonyAHRSupdate(gyro.y, gyro.x, gyro.z, acc.y, acc.x, acc.z,mag.y,mag.x,mag.z);
sensfusion6GetEulerRPY(&eulerRollActual, &eulerPitchActual, &eulerYawActual);
radRollActual = eulerRollActual * M_PI / 180.0f;
radPitchActual = eulerPitchActual * M_PI / 180.0f;
radYawActual = eulerYawActual * M_PI / 180.0f;
//float yh, xh;
#define yh (mag.y * cos(radRollActual) - mag.z * sin(radRollActual))
#define xh (mag.x*cos(radPitchActual) + mag.y*sin(radRollActual)*sin(radPitchActual) + mag.z * cos(radRollActual)*sin(radPitchActual))
radYawActual = atan2(-yh,xh);
MAVLINK(mavlink_msg_attitude_send(MAVLINK_COMM_0, lastWakeTime, \
radRollActual, radPitchActual, radYawActual, \
gyro.x, gyro.y, gyro.z);)
attitudeCounter = 0;
}
