void imu6Read(Axis3f* gyroOut, Axis3f* accOut)
{
mpu6500GetMotion6(&accelMpu.y, &accelMpu.x, &accelMpu.z, &gyroMpu.y, &gyroMpu.x, &gyroMpu.z);
imuAddBiasValue(&gyroBias, &gyroMpu);
#ifdef IMU_TAKE_ACCEL_BIAS
if (!accelBias.isBiasValueFound)
{
imuAddBiasValue(&accelBias, &accelMpu);
}
#endif
if (!gyroBias.isBiasValueFound)
{
imuFindBiasValue(&gyroBias);
if (gyroBias.isBiasValueFound)
{
soundSetEffect(SND_CALIB);
ledseqRun(SYS_LED, seq_calibrated);
}
}
#ifdef IMU_TAKE_ACCEL_BIAS
if (gyroBias.isBiasValueFound &&
!accelBias.isBiasValueFound)
{
Axis3i32 mean;
imuCalculateBiasMean(&accelBias, &mean);
accelBias.bias.x = mean.x;
accelBias.bias.y = mean.y;
accelBias.bias.z = mean.z - IMU_1G_RAW;
accelBias.isBiasValueFound = true;
}
#endif
imuAccIIRLPFilter(&accelMpu, &accelLPF, &accelStoredFilterValues,
(int32_t)imuAccLpfAttFactor);
imuAccAlignToGravity(&accelLPF, &accelLPFAligned);
// Re-map outputs
gyroOut->x = -(gyroMpu.x - gyroBias.bias.x) * IMU_DEG_PER_LSB_CFG;
gyroOut->y = (gyroMpu.y - gyroBias.bias.y) * IMU_DEG_PER_LSB_CFG;
gyroOut->z = (gyroMpu.z - gyroBias.bias.z) * IMU_DEG_PER_LSB_CFG;
#ifdef IMU_TAKE_ACCEL_BIAS
accOut->x = (accelLPFAligned.x - accelBias.bias.x) * IMU_G_PER_LSB_CFG;
accOut->y = (accelLPFAligned.y - accelBias.bias.y) * IMU_G_PER_LSB_CFG;
accOut->z = (accelLPFAligned.z - accelBias.bias.z) * IMU_G_PER_LSB_CFG;
#else
accOut->x = -(accelLPFAligned.x) * IMU_G_PER_LSB_CFG;
accOut->y = (accelLPFAligned.y) * IMU_G_PER_LSB_CFG;
accOut->z = (accelLPFAligned.z) * IMU_G_PER_LSB_CFG;
#endif
}
/**
* Calculates the bias first when the gyro variance is below threshold. Requires a buffer
* but calibrates platform first when it is stable.
*/
static bool processGyroBias(int16_t gx, int16_t gy, int16_t gz, Axis3f *gyroBiasOut)
{
sensorsAddBiasValue(&gyroBiasRunning, gx, gy, gz);
if (!gyroBiasRunning.isBiasValueFound)
{
sensorsFindBiasValue(&gyroBiasRunning);
if (gyroBiasRunning.isBiasValueFound)
{
soundSetEffect(SND_CALIB);
ledseqRun(SYS_LED, seq_calibrated);
}
}
gyroBiasOut->x = gyroBiasRunning.bias.x;
gyroBiasOut->y = gyroBiasRunning.bias.y;
gyroBiasOut->z = gyroBiasRunning.bias.z;
return gyroBiasRunning.isBiasValueFound;
}
void systemTask(void *arg)
{
bool pass = true;
ledInit();
ledSet(CHG_LED, 1);
#ifdef DEBUG_QUEUE_MONITOR
queueMonitorInit();
#endif
#ifdef ENABLE_UART1
uart1Init();
#endif
#ifdef ENABLE_UART2
uart2Init();
#endif
//Init the high-levels modules
systemInit();
commInit();
commanderInit();
StateEstimatorType estimator = anyEstimator;
deckInit();
estimator = deckGetRequiredEstimator();
stabilizerInit(estimator);
if (deckGetRequiredLowInterferenceRadioMode())
{
platformSetLowInterferenceRadioMode();
}
soundInit();
memInit();
#ifdef PROXIMITY_ENABLED
proximityInit();
#endif
//Test the modules
pass &= systemTest();
pass &= configblockTest();
pass &= commTest();
pass &= commanderTest();
pass &= stabilizerTest();
pass &= deckTest();
pass &= soundTest();
pass &= memTest();
pass &= watchdogNormalStartTest();
//Start the firmware
if(pass)
{
selftestPassed = 1;
systemStart();
soundSetEffect(SND_STARTUP);
ledseqRun(SYS_LED, seq_alive);
ledseqRun(LINK_LED, seq_testPassed);
}
else
{
selftestPassed = 0;
if (systemTest())
{
while(1)
{
ledseqRun(SYS_LED, seq_testPassed); //Red passed == not passed!
vTaskDelay(M2T(2000));
// System can be forced to start by setting the param to 1 from the cfclient
if (selftestPassed)
{
DEBUG_PRINT("Start forced.\n");
systemStart();
break;
}
}
}
else
{
ledInit();
ledSet(SYS_LED, true);
}
}
DEBUG_PRINT("Free heap: %d bytes\n", xPortGetFreeHeapSize());
workerLoop();
//Should never reach this point!
while(1)
vTaskDelay(portMAX_DELAY);
}
void systemTask(void *arg)
{
bool pass = true;
ledInit();
ledSet(CHG_LED, 1);
#ifdef DEBUG_QUEUE_MONITOR
queueMonitorInit();
#endif
uartInit();
#ifdef ENABLE_UART1
uart1Init();
#endif
#ifdef ENABLE_UART2
uart2Init();
#endif
//Init the high-levels modules
systemInit();
#ifndef USE_RADIOLINK_CRTP
#ifdef UART_OUTPUT_TRACE_DATA
//debugInitTrace();
#endif
#ifdef ENABLE_UART
// uartInit();
#endif
#endif //ndef USE_RADIOLINK_CRTP
commInit();
commanderAdvancedInit();
stabilizerInit();
#ifdef PLATFORM_CF2
deckInit();
#endif
soundInit();
memInit();
#ifdef PROXIMITY_ENABLED
proximityInit();
#endif
//Test the modules
pass &= systemTest();
pass &= configblockTest();
pass &= commTest();
pass &= commanderAdvancedTest();
pass &= stabilizerTest();
#ifdef PLATFORM_CF2
pass &= deckTest();
#endif
pass &= soundTest();
pass &= memTest();
pass &= watchdogNormalStartTest();
//Start the firmware
if(pass)
{
selftestPassed = 1;
systemStart();
soundSetEffect(SND_STARTUP);
ledseqRun(SYS_LED, seq_alive);
ledseqRun(LINK_LED, seq_testPassed);
}
else
{
selftestPassed = 0;
if (systemTest())
{
while(1)
{
ledseqRun(SYS_LED, seq_testPassed); //Red passed == not passed!
vTaskDelay(M2T(2000));
// System can be forced to start by setting the param to 1 from the cfclient
if (selftestPassed)
{
DEBUG_PRINT("Start forced.\n");
systemStart();
break;
}
}
}
else
{
ledInit();
ledSet(SYS_LED, true);
}
}
DEBUG_PRINT("Free heap: %d bytes\n", xPortGetFreeHeapSize());
workerLoop();
//Should never reach this point!
while(1)
vTaskDelay(portMAX_DELAY);
}
