bool imu6ManufacturingTest(void)
{
bool testStatus = false;
Axis3f gyro; // Gyro axis data in deg/s
Axis3f acc; // Accelerometer axis data in mG
float pitch, roll;
uint32_t startTick = xTaskGetTickCount();
testStatus = mpu6500SelfTest();
if (testStatus)
{
while (xTaskGetTickCount() - startTick < IMU_VARIANCE_MAN_TEST_TIMEOUT)
{
imu6Read(&gyro, &acc);
if (gyroBias.isBiasValueFound)
{
DEBUG_PRINT("Gyro variance test [OK]\n");
break;
}
}
if (gyroBias.isBiasValueFound)
{
// Calculate pitch and roll based on accelerometer. Board must be level
pitch = tanf(-acc.x/(sqrtf(acc.y*acc.y + acc.z*acc.z))) * 180/(float) M_PI;
roll = tanf(acc.y/acc.z) * 180/(float) M_PI;
if ((fabsf(roll) < IMU_MAN_TEST_LEVEL_MAX) && (fabsf(pitch) < IMU_MAN_TEST_LEVEL_MAX))
{
DEBUG_PRINT("Acc level test [OK]\n");
testStatus = true;
}
else
{
DEBUG_PRINT("Acc level test Roll:%0.2f, Pitch:%0.2f [FAIL]\n", roll, pitch);
testStatus = false;
}
}
else
{
DEBUG_PRINT("Gyro variance test [FAIL]\n");
testStatus = false;
}
}
return testStatus;
}
void imu9Read(Axis3f* gyroOut, Axis3f* accOut, Axis3f* magOut)
{
imu6Read(gyroOut, accOut);
if (isHmc5883lPresent)
{
hmc5883lGetHeading(&mag.x, &mag.y, &mag.z);
magOut->x = (float)mag.x / MAG_GAUSS_PER_LSB;
magOut->y = (float)mag.y / MAG_GAUSS_PER_LSB;
magOut->z = (float)mag.z / MAG_GAUSS_PER_LSB;
}
else
{
magOut->x = 0.0;
magOut->y = 0.0;
magOut->z = 0.0;
}
}
void imu9Read(Axis3f* gyroOut, Axis3f* accOut, Axis3f* magOut)
{
imu6Read(gyroOut, accOut);
if (isHmc5883lPresent)
{
hmc5883lGetHeading(&mag.x, &mag.y, &mag.z);
magOut->x = (fix_t)mag.x * (1.0k / MAG_GAUSS_PER_LSB);
magOut->y = (fix_t)mag.y * (1.0k / MAG_GAUSS_PER_LSB);
magOut->z = (fix_t)mag.z * (1.0k / MAG_GAUSS_PER_LSB);
}
else
{
magOut->x = 0.0k;
magOut->y = 0.0k;
magOut->z = 0.0k;
}
}
void imu9Read(Axis3f* gyroOut, Axis3f* accOut, Axis3f* magOut)
{
imu6Read(gyroOut, accOut);
if (isMagPresent)
{
ak8963GetHeading(&mag.x, &mag.y, &mag.z);
ak8963GetOverflowStatus();
magOut->x = (float)mag.x / MAG_GAUSS_PER_LSB;
magOut->y = (float)mag.y / MAG_GAUSS_PER_LSB;
magOut->z = (float)mag.z / MAG_GAUSS_PER_LSB;
}
else
{
magOut->x = 0.0;
magOut->y = 0.0;
magOut->z = 0.0;
}
}
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
imu6Read(&gyro, &acc);
hmc5883lGetHeading(&heading.x, &heading.y, &heading.z);
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);
// 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 >= HOVER_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();
}
}
}
}
bool sensorsAreCalibrated()
{
Axis3f dummyData;
imu6Read(&dummyData, &dummyData);
return imu6IsCalibrated();
}
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
}
}
}
