int main(void)
{
///////////////////////////////////////////////////////////////////////////
uint32_t currentTime;
#ifdef _DTIMING
#define LA1_ENABLE GPIO_SetBits(GPIOA, GPIO_Pin_4)
#define LA1_DISABLE GPIO_ResetBits(GPIOA, GPIO_Pin_4)
#define LA4_ENABLE GPIO_SetBits(GPIOC, GPIO_Pin_5)
#define LA4_DISABLE GPIO_ResetBits(GPIOC, GPIO_Pin_5)
#define LA2_ENABLE GPIO_SetBits(GPIOC, GPIO_Pin_2)
#define LA2_DISABLE GPIO_ResetBits(GPIOC, GPIO_Pin_2)
#define LA3_ENABLE GPIO_SetBits(GPIOC, GPIO_Pin_3)
#define LA3_DISABLE GPIO_ResetBits(GPIOC, GPIO_Pin_3)
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
// Init pins
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// Init pins
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
//GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
//GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
//GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
//GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// Init pins
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_5;
//GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
//GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
//GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
//GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOC, &GPIO_InitStructure);
// PB0_DISABLE;
LA4_DISABLE;
LA2_DISABLE;
LA3_DISABLE;
LA1_DISABLE;
#endif
systemInit();
systemReady = true;
evrPush(EVR_StartingMain, 0);
while (1)
{
evrCheck();
///////////////////////////////
if (frame_50Hz)
{
#ifdef _DTIMING
LA2_ENABLE;
#endif
frame_50Hz = false;
currentTime = micros();
deltaTime50Hz = currentTime - previous50HzTime;
previous50HzTime = currentTime;
processFlightCommands();
if (newTemperatureReading && newPressureReading)
{
d1Value = d1.value;
d2Value = d2.value;
calculateTemperature();
calculatePressureAltitude();
newTemperatureReading = false;
newPressureReading = false;
}
sensors.pressureAlt50Hz = firstOrderFilter(sensors.pressureAlt50Hz, &firstOrderFilters[PRESSURE_ALT_LOWPASS]);
rssiMeasure();
updateMax7456(currentTime, 0);
executionTime50Hz = micros() - currentTime;
#ifdef _DTIMING
LA2_DISABLE;
#endif
}
///////////////////////////////
if (frame_10Hz)
{
#ifdef _DTIMING
LA4_ENABLE;
#endif
frame_10Hz = false;
currentTime = micros();
deltaTime10Hz = currentTime - previous10HzTime;
previous10HzTime = currentTime;
if (newMagData == true)
{
sensors.mag10Hz[XAXIS] = (float)rawMag[XAXIS].value * magScaleFactor[XAXIS + eepromConfig.externalHMC5883] - eepromConfig.magBias[XAXIS + eepromConfig.externalHMC5883];
sensors.mag10Hz[YAXIS] = (float)rawMag[YAXIS].value * magScaleFactor[YAXIS + eepromConfig.externalHMC5883] - eepromConfig.magBias[YAXIS + eepromConfig.externalHMC5883];
sensors.mag10Hz[ZAXIS] = -((float)rawMag[ZAXIS].value * magScaleFactor[ZAXIS + eepromConfig.externalHMC5883] - eepromConfig.magBias[ZAXIS + eepromConfig.externalHMC5883]);
newMagData = false;
magDataUpdate = true;
}
decodeUbloxMsg();
batMonTick();
cliCom();
if (eepromConfig.mavlinkEnabled == true)
{
mavlinkSendAttitude();
mavlinkSendVfrHud();
}
executionTime10Hz = micros() - currentTime;
#ifdef _DTIMING
LA4_DISABLE;
#endif
}
///////////////////////////////
if (frame_500Hz)
{
#ifdef _DTIMING
LA1_ENABLE;
#endif
frame_500Hz = false;
currentTime = micros();
deltaTime500Hz = currentTime - previous500HzTime;
previous500HzTime = currentTime;
TIM_Cmd(TIM10, DISABLE);
timerValue = TIM_GetCounter(TIM10);
TIM_SetCounter(TIM10, 0);
TIM_Cmd(TIM10, ENABLE);
dt500Hz = (float)timerValue * 0.0000005f; // For integrations in 500 Hz loop
computeMPU6000TCBias();
sensors.accel500Hz[XAXIS] = ((float)accelSummedSamples500Hz[XAXIS] * 0.5f - eepromConfig.accelBiasMPU[XAXIS] - accelTCBias[XAXIS]) * eepromConfig.accelScaleFactorMPU[XAXIS];
sensors.accel500Hz[YAXIS] = -((float)accelSummedSamples500Hz[YAXIS] * 0.5f - eepromConfig.accelBiasMPU[YAXIS] - accelTCBias[YAXIS]) * eepromConfig.accelScaleFactorMPU[YAXIS];
sensors.accel500Hz[ZAXIS] = -((float)accelSummedSamples500Hz[ZAXIS] * 0.5f - eepromConfig.accelBiasMPU[ZAXIS] - accelTCBias[ZAXIS]) * eepromConfig.accelScaleFactorMPU[ZAXIS];
sensors.gyro500Hz[ROLL ] = ((float)gyroSummedSamples500Hz[ROLL] / 2.0f - gyroRTBias[ROLL ] - gyroTCBias[ROLL ]) * GYRO_SCALE_FACTOR;
sensors.gyro500Hz[PITCH] = -((float)gyroSummedSamples500Hz[PITCH] / 2.0f - gyroRTBias[PITCH] - gyroTCBias[PITCH]) * GYRO_SCALE_FACTOR;
sensors.gyro500Hz[YAW ] = -((float)gyroSummedSamples500Hz[YAW] / 2.0f - gyroRTBias[YAW ] - gyroTCBias[YAW ]) * GYRO_SCALE_FACTOR;
MargAHRSupdate(sensors.gyro500Hz[ROLL], sensors.gyro500Hz[PITCH], sensors.gyro500Hz[YAW],
sensors.accel500Hz[XAXIS], sensors.accel500Hz[YAXIS], sensors.accel500Hz[ZAXIS],
sensors.mag10Hz[XAXIS], sensors.mag10Hz[YAXIS], sensors.mag10Hz[ZAXIS],
eepromConfig.accelCutoff,
magDataUpdate,
dt500Hz);
magDataUpdate = false;
computeAxisCommands(dt500Hz);
mixTable();
writeServos();
writeMotors();
executionTime500Hz = micros() - currentTime;
#ifdef _DTIMING
LA1_DISABLE;
#endif
}
///////////////////////////////
if (frame_100Hz)
{
#ifdef _DTIMING
LA3_ENABLE;
#endif
frame_100Hz = false;
currentTime = micros();
deltaTime100Hz = currentTime - previous100HzTime;
previous100HzTime = currentTime;
TIM_Cmd(TIM11, DISABLE);
timerValue = TIM_GetCounter(TIM11);
TIM_SetCounter(TIM11, 0);
TIM_Cmd(TIM11, ENABLE);
dt100Hz = (float)timerValue * 0.0000005f; // For integrations in 100 Hz loop
sensors.accel100Hz[XAXIS] = ((float)accelSummedSamples100Hz[XAXIS] * 0.1f - eepromConfig.accelBiasMPU[XAXIS] - accelTCBias[XAXIS]) * eepromConfig.accelScaleFactorMPU[XAXIS];
sensors.accel100Hz[YAXIS] = -((float)accelSummedSamples100Hz[YAXIS] * 0.1f - eepromConfig.accelBiasMPU[YAXIS] - accelTCBias[YAXIS]) * eepromConfig.accelScaleFactorMPU[YAXIS];
sensors.accel100Hz[ZAXIS] = -((float)accelSummedSamples100Hz[ZAXIS] * 0.1f - eepromConfig.accelBiasMPU[ZAXIS] - accelTCBias[ZAXIS]) * eepromConfig.accelScaleFactorMPU[ZAXIS];
createRotationMatrix();
bodyAccelToEarthAccel();
vertCompFilter(dt100Hz);
if (armed == true)
{
if ( eepromConfig.activeTelemetry == 1 )
{
// 500 Hz Accels
telemPortPrintF("%9.4f, %9.4f, %9.4f, %9.4f, %9.4f, %9.4f\n", sensors.accel500Hz[XAXIS],
sensors.accel500Hz[YAXIS],
sensors.accel500Hz[ZAXIS]);
}
if ( eepromConfig.activeTelemetry == 2 )
{
// 500 Hz Gyros
telemPortPrintF("%9.4f, %9.4f, %9.4f\n", sensors.gyro500Hz[ROLL ],
sensors.gyro500Hz[PITCH],
sensors.gyro500Hz[YAW ]);
}
if ( eepromConfig.activeTelemetry == 4 )
{
// 500 Hz Attitudes
telemPortPrintF("%9.4f, %9.4f, %9.4f\n", sensors.attitude500Hz[ROLL ],
sensors.attitude500Hz[PITCH],
sensors.attitude500Hz[YAW ]);
}
if ( eepromConfig.activeTelemetry == 8 )
{
// Vertical Variables
telemPortPrintF("%9.4f, %9.4f, %9.4f, %9.4f, %4ld\n", earthAxisAccels[ZAXIS],
sensors.pressureAlt50Hz,
hDotEstimate,
hEstimate,
ms5611Temperature);
}
if ( eepromConfig.activeTelemetry == 16)
{
// Vertical Variables
telemPortPrintF("%9.4f, %9.4f, %9.4f, %4ld, %1d, %9.4f, %9.4f\n", verticalVelocityCmd,
hDotEstimate,
hEstimate,
ms5611Temperature,
verticalModeState,
throttleCmd,
eepromConfig.PID[HDOT_PID].iTerm);
}
}
executionTime100Hz = micros() - currentTime;
#ifdef _DTIMING
LA3_DISABLE;
#endif
}
///////////////////////////////
if (frame_5Hz)
{
frame_5Hz = false;
currentTime = micros();
deltaTime5Hz = currentTime - previous5HzTime;
previous5HzTime = currentTime;
gpsUpdated();
//if (eepromConfig.mavlinkEnabled == true)
//{
// mavlinkSendGpsRaw();
//}
if (batMonVeryLowWarning > 0)
{
LED1_TOGGLE;
batMonVeryLowWarning--;
}
if (execUp == true)
BLUE_LED_TOGGLE;
executionTime5Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_1Hz)
{
frame_1Hz = false;
currentTime = micros();
deltaTime1Hz = currentTime - previous1HzTime;
previous1HzTime = currentTime;
if (execUp == true)
GREEN_LED_TOGGLE;
if (execUp == false)
execUpCount++;
if ((execUpCount == 5) && (execUp == false))
{
execUp = true;
pwmEscInit();
homeData.magHeading = sensors.attitude500Hz[YAW];
}
if (batMonLowWarning > 0)
{
LED1_TOGGLE;
batMonLowWarning--;
}
if (eepromConfig.mavlinkEnabled == true)
{
mavlinkSendHeartbeat();
mavlinkSendSysStatus();
}
executionTime1Hz = micros() - currentTime;
}
////////////////////////////////
}
///////////////////////////////////////////////////////////////////////////
}
int main(void)
{
///////////////////////////////////////////////////////////////////////////
uint32_t currentTime;
systemReady = false;
systemInit();
systemReady = true;
evrPush(EVR_StartingMain, 0);
while (1)
{
evrCheck();
///////////////////////////////
if (frame_50Hz)
{
frame_50Hz = false;
currentTime = micros();
deltaTime50Hz = currentTime - previous50HzTime;
previous50HzTime = currentTime;
processFlightCommands();
if (eepromConfig.useMs5611 == true)
{
if (newTemperatureReading && newPressureReading)
{
d1Value = d1.value;
d2Value = d2.value;
calculateMs5611Temperature();
calculateMs5611PressureAltitude();
newTemperatureReading = false;
newPressureReading = false;
}
}
else
{
if (newTemperatureReading && newPressureReading)
{
uncompensatedTemperatureValue = uncompensatedTemperature.value;
uncompensatedPressureValue = uncompensatedPressure.value;
calculateBmp085Temperature();
calculateBmp085PressureAltitude();
newTemperatureReading = false;
newPressureReading = false;
}
}
sensors.pressureAlt50Hz = firstOrderFilter(sensors.pressureAlt50Hz, &firstOrderFilters[PRESSURE_ALT_LOWPASS]);
executionTime50Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_10Hz)
{
frame_10Hz = false;
currentTime = micros();
deltaTime10Hz = currentTime - previous10HzTime;
previous10HzTime = currentTime;
sensors.mag10Hz[XAXIS] = -((float)rawMag[XAXIS].value * magScaleFactor[XAXIS] - eepromConfig.magBias[XAXIS]);
sensors.mag10Hz[YAXIS] = (float)rawMag[YAXIS].value * magScaleFactor[YAXIS] - eepromConfig.magBias[YAXIS];
sensors.mag10Hz[ZAXIS] = -((float)rawMag[ZAXIS].value * magScaleFactor[ZAXIS] - eepromConfig.magBias[ZAXIS]);
newMagData = false;
magDataUpdate = true;
batMonTick();
cliCom();
if (eepromConfig.mavlinkEnabled == true)
{
mavlinkSendAttitude();
mavlinkSendVfrHud();
}
executionTime10Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_500Hz)
{
frame_500Hz = false;
currentTime = micros();
deltaTime500Hz = currentTime - previous500HzTime;
previous500HzTime = currentTime;
dt500Hz = (float)deltaTime500Hz * 0.000001f; // For integrations in 500 Hz loop
if (eepromConfig.useMpu6050 == true)
{
computeMpu6050TCBias();
sensors.accel500Hz[XAXIS] = ((float)accelData500Hz[XAXIS] - accelTCBias[XAXIS]) * MPU6050_ACCEL_SCALE_FACTOR;
sensors.accel500Hz[YAXIS] = -((float)accelData500Hz[YAXIS] - accelTCBias[YAXIS]) * MPU6050_ACCEL_SCALE_FACTOR;
sensors.accel500Hz[ZAXIS] = -((float)accelData500Hz[ZAXIS] - accelTCBias[ZAXIS]) * MPU6050_ACCEL_SCALE_FACTOR;
sensors.gyro500Hz[ROLL ] = ((float)gyroData500Hz[ROLL ] - gyroRTBias[ROLL ] - gyroTCBias[ROLL ]) * MPU6050_GYRO_SCALE_FACTOR;
sensors.gyro500Hz[PITCH] = -((float)gyroData500Hz[PITCH] - gyroRTBias[PITCH] - gyroTCBias[PITCH]) * MPU6050_GYRO_SCALE_FACTOR;
sensors.gyro500Hz[YAW ] = -((float)gyroData500Hz[YAW ] - gyroRTBias[YAW ] - gyroTCBias[YAW ]) * MPU6050_GYRO_SCALE_FACTOR;
}
else
{
sensors.accel500Hz[XAXIS] = -((float)accelData500Hz[XAXIS] - eepromConfig.accelBias[XAXIS]) * eepromConfig.accelScaleFactor[XAXIS];
sensors.accel500Hz[YAXIS] = -((float)accelData500Hz[YAXIS] - eepromConfig.accelBias[YAXIS]) * eepromConfig.accelScaleFactor[YAXIS];
sensors.accel500Hz[ZAXIS] = -((float)accelData500Hz[ZAXIS] - eepromConfig.accelBias[ZAXIS]) * eepromConfig.accelScaleFactor[ZAXIS];
// HJI sensors.accel500Hz[XAXIS] = firstOrderFilter(sensors.accel500Hz[XAXIS], &firstOrderFilters[ACCEL500HZ_X_LOWPASS]);
// HJI sensors.accel500Hz[YAXIS] = firstOrderFilter(sensors.accel500Hz[YAXIS], &firstOrderFilters[ACCEL500HZ_Y_LOWPASS]);
// HJI sensors.accel500Hz[ZAXIS] = firstOrderFilter(sensors.accel500Hz[ZAXIS], &firstOrderFilters[ACCEL500HZ_Z_LOWPASS]);
computeMpu3050TCBias();
sensors.gyro500Hz[ROLL ] = ((float)gyroData500Hz[ROLL ] - gyroRTBias[ROLL ] - gyroTCBias[ROLL ]) * MPU3050_GYRO_SCALE_FACTOR;
sensors.gyro500Hz[PITCH] = -((float)gyroData500Hz[PITCH] - gyroRTBias[PITCH] - gyroTCBias[PITCH]) * MPU3050_GYRO_SCALE_FACTOR;
sensors.gyro500Hz[YAW ] = -((float)gyroData500Hz[YAW ] - gyroRTBias[YAW ] - gyroTCBias[YAW ]) * MPU3050_GYRO_SCALE_FACTOR;
}
MargAHRSupdate( sensors.gyro500Hz[ROLL], sensors.gyro500Hz[PITCH], sensors.gyro500Hz[YAW],
sensors.accel500Hz[XAXIS], sensors.accel500Hz[YAXIS], sensors.accel500Hz[ZAXIS],
sensors.mag10Hz[XAXIS], sensors.mag10Hz[YAXIS], sensors.mag10Hz[ZAXIS],
magDataUpdate,
dt500Hz );
magDataUpdate = false;
computeAxisCommands(dt500Hz);
mixTable();
writeMotors();
if (eepromConfig.receiverType == SPEKTRUM)
writeServos();
executionTime500Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_100Hz)
{
frame_100Hz = false;
currentTime = micros();
deltaTime100Hz = currentTime - previous100HzTime;
previous100HzTime = currentTime;
dt100Hz = (float)deltaTime100Hz * 0.000001f; // For integrations in 100 Hz loop
sensors.accel100Hz[XAXIS] = sensors.accel500Hz[XAXIS]; // No sensor averaging so use the 500 Hz value
sensors.accel100Hz[YAXIS] = sensors.accel500Hz[YAXIS]; // No sensor averaging so use the 500 Hz value
sensors.accel100Hz[ZAXIS] = sensors.accel500Hz[ZAXIS]; // No sensor averaging so use the 500 Hz value
// HJI sensors.accel100Hz[XAXIS] = firstOrderFilter(sensors.accel100Hz[XAXIS], &firstOrderFilters[ACCEL100HZ_X_LOWPASS]);
// HJI sensors.accel100Hz[YAXIS] = firstOrderFilter(sensors.accel100Hz[YAXIS], &firstOrderFilters[ACCEL100HZ_Y_LOWPASS]);
// HJI sensors.accel100Hz[ZAXIS] = firstOrderFilter(sensors.accel100Hz[ZAXIS], &firstOrderFilters[ACCEL100HZ_Z_LOWPASS]);
createRotationMatrix();
bodyAccelToEarthAccel();
vertCompFilter(dt100Hz);
if (armed == true)
{
if ( eepromConfig.activeTelemetry == 1 )
{
// 500 Hz Accels
telemPortPrintF("%9.4f, %9.4f, %9.4f\n", sensors.accel500Hz[XAXIS],
sensors.accel500Hz[YAXIS],
sensors.accel500Hz[ZAXIS]);
}
if ( eepromConfig.activeTelemetry == 2 )
{
// 500 Hz Gyros
telemPortPrintF("%9.4f, %9.4f, %9.4f\n", sensors.gyro500Hz[ROLL ],
sensors.gyro500Hz[PITCH],
sensors.gyro500Hz[YAW ]);
}
if ( eepromConfig.activeTelemetry == 4 )
{
// 500 Hz Attitudes
telemPortPrintF("%9.4f, %9.4f, %9.4f\n", sensors.attitude500Hz[ROLL ],
sensors.attitude500Hz[PITCH],
sensors.attitude500Hz[YAW ]);
}
if ( eepromConfig.activeTelemetry == 8 )
{
// Vertical Variables
telemPortPrintF("%9.4f, %9.4f, %9.4f, %9.4f\n", earthAxisAccels[ZAXIS],
sensors.pressureAlt50Hz,
hDotEstimate,
hEstimate);
}
if ( eepromConfig.activeTelemetry == 16 )
{
// Vertical Variables
telemPortPrintF("%9.4f, %9.4f, %9.4f,%1d, %9.4f, %9.4f\n", verticalVelocityCmd,
hDotEstimate,
hEstimate,
verticalModeState,
throttleCmd,
eepromConfig.PID[HDOT_PID].iTerm);
}
}
executionTime100Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_5Hz)
{
frame_5Hz = false;
currentTime = micros();
deltaTime5Hz = currentTime - previous5HzTime;
previous5HzTime = currentTime;
if (batMonVeryLowWarning > 0)
{
BEEP_TOGGLE;
batMonVeryLowWarning--;
}
executionTime5Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_1Hz)
{
frame_1Hz = false;
currentTime = micros();
deltaTime1Hz = currentTime - previous1HzTime;
previous1HzTime = currentTime;
if (execUp == false)
execUpCount++;
if ((execUpCount == 5) && (execUp == false))
{
execUp = true;
LED0_OFF;
LED1_OFF;
pwmEscInit();
homeData.magHeading = sensors.attitude500Hz[YAW];
}
if (batMonLowWarning > 0)
{
BEEP_TOGGLE;
batMonLowWarning--;
}
if (eepromConfig.mavlinkEnabled == true)
{
mavlinkSendHeartbeat();
mavlinkSendSysStatus();
}
executionTime1Hz = micros() - currentTime;
}
////////////////////////////////
}
///////////////////////////////////////////////////////////////////////////
}
int main(void)
{
///////////////////////////////////////////////////////////////////////////
uint32_t currentTime;
systemReady = false;
systemInit();
systemReady = true;
evrPush(EVR_StartingMain, 0);
while (1)
{
evrCheck();
///////////////////////////////
if (frame_50Hz)
{
frame_50Hz = false;
currentTime = micros();
deltaTime50Hz = currentTime - previous50HzTime;
previous50HzTime = currentTime;
processFlightCommands();
if (newTemperatureReading && newPressureReading)
{
d1Value = d1.value;
d2Value = d2.value;
calculateTemperature();
calculatePressureAltitude();
newTemperatureReading = false;
newPressureReading = false;
}
sensors.pressureAlt50Hz = firstOrderFilter(sensors.pressureAlt50Hz, &firstOrderFilters[PRESSURE_ALT_LOWPASS]);
executionTime50Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_10Hz)
{
frame_10Hz = false;
currentTime = micros();
deltaTime10Hz = currentTime - previous10HzTime;
previous10HzTime = currentTime;
if (newMagData == true)
{
sensors.mag10Hz[XAXIS] = (float)rawMag[XAXIS].value * magScaleFactor[XAXIS] - sensorConfig.magBias[XAXIS];
sensors.mag10Hz[YAXIS] = -((float)rawMag[YAXIS].value * magScaleFactor[YAXIS] - sensorConfig.magBias[YAXIS]);
sensors.mag10Hz[ZAXIS] = -((float)rawMag[ZAXIS].value * magScaleFactor[ZAXIS] - sensorConfig.magBias[ZAXIS]);
newMagData = false;
magDataUpdate = true;
}
decodeUbloxMsg();
batMonTick();
checkUsbActive();
cliCom();
if (systemConfig.mavlinkEnabled == true)
{
mavlinkSendAttitude();
mavlinkSendVfrHud();
}
executionTime10Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_500Hz)
{
frame_500Hz = false;
currentTime = micros();
deltaTime500Hz = currentTime - previous500HzTime;
previous500HzTime = currentTime;
TIM_Cmd(TIM6, DISABLE);
timerValue = TIM_GetCounter(TIM6);
TIM_SetCounter(TIM6, 0);
TIM_Cmd(TIM6, ENABLE);
dt500Hz = (float)timerValue * 0.0000005f; // For integrations in 500 Hz loop
computeMPU6000TCBias();
sensors.accel500Hz[XAXIS] = -((float)accelSummedSamples500Hz[XAXIS] * 0.5f - sensorConfig.accelBiasMPU[XAXIS] - accelTCBias[XAXIS]) * sensorConfig.accelScaleFactorMPU[XAXIS];
sensors.accel500Hz[YAXIS] = ((float)accelSummedSamples500Hz[YAXIS] * 0.5f - sensorConfig.accelBiasMPU[YAXIS] - accelTCBias[YAXIS]) * sensorConfig.accelScaleFactorMPU[YAXIS];
sensors.accel500Hz[ZAXIS] = -((float)accelSummedSamples500Hz[ZAXIS] * 0.5f - sensorConfig.accelBiasMPU[ZAXIS] - accelTCBias[ZAXIS]) * sensorConfig.accelScaleFactorMPU[ZAXIS];
//sensors.accel500Hz[XAXIS] = firstOrderFilter(sensors.accel500Hz[XAXIS], &firstOrderFilters[ACCEL500HZ_X_LOWPASS]);
//sensors.accel500Hz[YAXIS] = firstOrderFilter(sensors.accel500Hz[YAXIS], &firstOrderFilters[ACCEL500HZ_Y_LOWPASS]);
//sensors.accel500Hz[ZAXIS] = firstOrderFilter(sensors.accel500Hz[ZAXIS], &firstOrderFilters[ACCEL500HZ_Z_LOWPASS]);
sensors.gyro500Hz[ROLL ] = -((float)gyroSummedSamples500Hz[ROLL] / 2.0f - gyroRTBias[ROLL ] - gyroTCBias[ROLL ]) * GYRO_SCALE_FACTOR;
sensors.gyro500Hz[PITCH] = ((float)gyroSummedSamples500Hz[PITCH] / 2.0f - gyroRTBias[PITCH] - gyroTCBias[PITCH]) * GYRO_SCALE_FACTOR;
sensors.gyro500Hz[YAW ] = -((float)gyroSummedSamples500Hz[YAW] / 2.0f - gyroRTBias[YAW ] - gyroTCBias[YAW ]) * GYRO_SCALE_FACTOR;
MargAHRSupdate( sensors.gyro500Hz[ROLL], sensors.gyro500Hz[PITCH], sensors.gyro500Hz[YAW],
sensors.accel500Hz[XAXIS], sensors.accel500Hz[YAXIS], sensors.accel500Hz[ZAXIS],
sensors.mag10Hz[XAXIS], sensors.mag10Hz[YAXIS], sensors.mag10Hz[ZAXIS],
sensorConfig.accelCutoff,
magDataUpdate,
dt500Hz );
magDataUpdate = false;
computeAxisCommands(dt500Hz);
mixTable();
writeServos();
writeMotors();
executionTime500Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_100Hz)
{
frame_100Hz = false;
currentTime = micros();
deltaTime100Hz = currentTime - previous100HzTime;
previous100HzTime = currentTime;
TIM_Cmd(TIM7, DISABLE);
timerValue = TIM_GetCounter(TIM7);
TIM_SetCounter(TIM7, 0);
TIM_Cmd(TIM7, ENABLE);
dt100Hz = (float)timerValue * 0.0000005f; // For integrations in 100 Hz loop
sensors.accel100Hz[XAXIS] = -((float)accelSummedSamples100Hz[XAXIS] * 0.1f - sensorConfig.accelBiasMPU[XAXIS] - accelTCBias[XAXIS]) * sensorConfig.accelScaleFactorMPU[XAXIS];
sensors.accel100Hz[YAXIS] = ((float)accelSummedSamples100Hz[YAXIS] * 0.1f - sensorConfig.accelBiasMPU[YAXIS] - accelTCBias[YAXIS]) * sensorConfig.accelScaleFactorMPU[YAXIS];
sensors.accel100Hz[ZAXIS] = -((float)accelSummedSamples100Hz[ZAXIS] * 0.1f - sensorConfig.accelBiasMPU[ZAXIS] - accelTCBias[ZAXIS]) * sensorConfig.accelScaleFactorMPU[ZAXIS];
//sensors.accel100Hz[XAXIS] = firstOrderFilter(sensors.accel100Hz[XAXIS], &firstOrderFilters[ACCEL100HZ_X_LOWPASS]);
//sensors.accel100Hz[YAXIS] = firstOrderFilter(sensors.accel100Hz[YAXIS], &firstOrderFilters[ACCEL100HZ_Y_LOWPASS]);
//sensors.accel100Hz[ZAXIS] = firstOrderFilter(sensors.accel100Hz[ZAXIS], &firstOrderFilters[ACCEL100HZ_Z_LOWPASS]);
createRotationMatrix();
bodyAccelToEarthAccel();
vertCompFilter(dt100Hz);
if (armed == true)
{
if ( systemConfig.activeTelemetry == 1 )
{
// 500 Hz Accels
telemPortPrintF("%9.4f, %9.4f, %9.4f\n", sensors.accel500Hz[XAXIS],
sensors.accel500Hz[YAXIS],
sensors.accel500Hz[ZAXIS]);
}
if ( systemConfig.activeTelemetry == 2 )
{
// 500 Hz Gyros
telemPortPrintF("%9.4f, %9.4f, %9.4f\n", sensors.gyro500Hz[ROLL ],
sensors.gyro500Hz[PITCH],
sensors.gyro500Hz[YAW ]);
}
if ( systemConfig.activeTelemetry == 4 )
{
// 500 Hz Attitudes
telemPortPrintF("%9.4f, %9.4f, %9.4f\n", sensors.attitude500Hz[ROLL ],
sensors.attitude500Hz[PITCH],
sensors.attitude500Hz[YAW ]);
}
if ( systemConfig.activeTelemetry == 8 )
{
// Vertical Variables
telemPortPrintF("%9.4f, %9.4f, %9.4f, %9.4f, %4ld\n", earthAxisAccels[ZAXIS],
sensors.pressureAlt50Hz,
hDotEstimate,
hEstimate,
ms5611Temperature);
}
if ( systemConfig.activeTelemetry == 16 )
{
// Vertical Variables
telemPortPrintF("%9.4f, %9.4f, %9.4f, %4ld, %1d, %9.4f, %9.4f\n", verticalVelocityCmd,
hDotEstimate,
hEstimate,
ms5611Temperature,
verticalModeState,
throttleCmd,
systemConfig.PID[HDOT_PID].iTerm);
}
}
executionTime100Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_5Hz)
{
frame_5Hz = false;
currentTime = micros();
deltaTime5Hz = currentTime - previous5HzTime;
previous5HzTime = currentTime;
gpsUpdated();
//if (systemConfig.mavlinkEnabled == true)
//{
// mavlinkSendGpsRaw();
//}
if (batMonVeryLowWarning > 0)
{
BEEP_TOGGLE;
batMonVeryLowWarning--;
}
if (execUp == true)
LED0_TOGGLE;
executionTime5Hz = micros() - currentTime;
}
///////////////////////////////
if (frame_1Hz)
{
frame_1Hz = false;
currentTime = micros();
deltaTime1Hz = currentTime - previous1HzTime;
previous1HzTime = currentTime;
if (execUp == false)
execUpCount++;
if ((execUpCount == 5) && (execUp == false))
{
execUp = true;
pwmEscInit();
homeData.magHeading = sensors.attitude500Hz[YAW];
}
if (batMonLowWarning > 0)
{
BEEP_TOGGLE;
batMonLowWarning--;
}
if (systemConfig.mavlinkEnabled == true)
{
mavlinkSendHeartbeat();
mavlinkSendSysStatus();
}
executionTime1Hz = micros() - currentTime;
}
////////////////////////////////
}
///////////////////////////////////////////////////////////////////////////
}
