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();
}
}
}
}
void flightControl(void) {
// this should run at 500Hz
if ((micros() - elapsed_micros) >= (2000)) {
elapsed_micros = micros();
// flicker the leds to measure correct speed
GPIOA->ODR ^= 1<<15;
GPIOB->ODR ^= 1<<2;
// read gyro
gyro_read(&gyro_data);
// controls
/*
throttle = payload[0] * 0xff;
yaw = payload[1] * 0xff;
pitch = payload[3] * 0xff;
roll = payload[4] * 0xff;
// trims
yaw_trim = payload[2];
pitch_trim = payload[5];
roll_trim = payload[6];
*/
// convert channels for crazyflie PID:
#if 0
rollRateDesired = (float) (payload[4] - 128.0) * 256;
pitchRateDesired = (float) (payload[3] - 128.0) * 256;
yawRateDesired = (float) (payload[1] - 128.0) * 256;
#else
actuatorThrust = payload[0] * 256;
// Roll, aka aileron, float +- 50.0 in degrees
s32 f_roll = (payload[4] - 0x80) * 0x50 * FRAC_SCALE / (10000 / 400);
frac2float(f_roll, &rollRateDesired);
// Pitch, aka elevator, float +- 50.0 degrees
s32 f_pitch = (payload[3] - 0x80) * 0x50 * FRAC_SCALE / (10000 / 400);
frac2float(f_pitch, &pitchRateDesired);
// Thrust, aka throttle 0..65535, working range 5535..65535
// No space for overshoot here, hard limit Channel3 by -10000..10000
/*
s32 ch = payload[0] * 0xff;
if (ch < CHAN_MIN_VALUE) {
ch = CHAN_MIN_VALUE;
} else if (ch > CHAN_MAX_VALUE) {
ch = CHAN_MAX_VALUE;
}
actuatorThrust = ch*3L + 35535L;
*/
// Yaw, aka rudder, float +- 400.0 deg/s
s32 f_yaw = (payload[1] - 0x80) * 0x50 * FRAC_SCALE / (10000 / 400);
frac2float(f_yaw, &yawRateDesired);
#endif
// gyro.* == *rateActual == Data measured by IMU
// *rateDesired == Data from RX
controllerCorrectRatePID(-gyro_data.x, gyro_data.y, -gyro_data.z, rollRateDesired, pitchRateDesired, yawRateDesired);
//#define TUNE_ROLL
if (actuatorThrust > 0)
{
#if defined(TUNE_ROLL)
distributePower(actuatorThrust, rollOutput, 0, 0);
#elif defined(TUNE_PITCH)
distributePower(actuatorThrust, 0, pitchOutput, 0);
#elif defined(TUNE_YAW)
distributePower(actuatorThrust, 0, 0, -yawOutput);
#else
distributePower(actuatorThrust, rollOutput, pitchOutput, -yawOutput);
#endif
}
else
{
distributePower(0, 0, 0, 0);
pidReset(&pidRollRate);
pidReset(&pidPitchRate);
pidReset(&pidYawRate);
}
}
#if 0
m0_val = actuatorThrust;
m1_val = actuatorThrust;
m2_val = actuatorThrust;
m3_val = ((yawOutput * 1000) / 0xffff) + 1000;
TIM2->CCR4 = m0_val; // Motor "B"
TIM1->CCR1 = m1_val; // Motor "L"
TIM1->CCR4 = m2_val; // Motor "R"
TIM16->CCR1 = m3_val; // Motor "F"
#endif
}
