/** * Module thread, should not return. */ static void vtolPathFollowerTask(void *parameters) { SystemSettingsData systemSettings; FlightStatusData flightStatus; portTickType lastUpdateTime; VtolPathFollowerSettingsConnectCallback(SettingsUpdatedCb); PathDesiredConnectCallback(SettingsUpdatedCb); VtolPathFollowerSettingsGet(&guidanceSettings); PathDesiredGet(&pathDesired); // Main task loop lastUpdateTime = xTaskGetTickCount(); while (1) { // Conditions when this runs: // 1. Must have VTOL type airframe // 2. Flight mode is PositionHold and PathDesired.Mode is Endpoint OR // FlightMode is PathPlanner and PathDesired.Mode is Endpoint or Path SystemSettingsGet(&systemSettings); if ( (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_VTOL) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_QUADP) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_QUADX) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXA) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_OCTO) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXX) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_TRI) ) { AlarmsSet(SYSTEMALARMS_ALARM_PATHFOLLOWER,SYSTEMALARMS_ALARM_WARNING); vTaskDelay(1000); continue; } // Continue collecting data if not enough time vTaskDelayUntil(&lastUpdateTime, MS2TICKS(guidanceSettings.UpdatePeriod)); // Convert the accels into the NED frame updateNedAccel(); FlightStatusGet(&flightStatus); // Check the combinations of flightmode and pathdesired mode switch(flightStatus.FlightMode) { /* This combination of RETURNTOHOME and HOLDPOSITION looks strange but * is correct. RETURNTOHOME mode uses HOLDPOSITION with the position * set to home */ case FLIGHTSTATUS_FLIGHTMODE_RETURNTOHOME: if (pathDesired.Mode == PATHDESIRED_MODE_HOLDPOSITION) { updateEndpointVelocity(); updateVtolDesiredAttitude(); } else { AlarmsSet(SYSTEMALARMS_ALARM_PATHFOLLOWER,SYSTEMALARMS_ALARM_ERROR); } break; case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD: if (pathDesired.Mode == PATHDESIRED_MODE_HOLDPOSITION) { updateEndpointVelocity(); updateVtolDesiredAttitude(); } else { AlarmsSet(SYSTEMALARMS_ALARM_PATHFOLLOWER,SYSTEMALARMS_ALARM_ERROR); } break; case FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER: if (pathDesired.Mode == PATHDESIRED_MODE_FLYENDPOINT || pathDesired.Mode == PATHDESIRED_MODE_HOLDPOSITION) { updateEndpointVelocity(); updateVtolDesiredAttitude(); } else if (pathDesired.Mode == PATHDESIRED_MODE_FLYVECTOR || pathDesired.Mode == PATHDESIRED_MODE_FLYCIRCLELEFT || pathDesired.Mode == PATHDESIRED_MODE_FLYCIRCLERIGHT) { updatePathVelocity(); updateVtolDesiredAttitude(); } else { AlarmsSet(SYSTEMALARMS_ALARM_PATHFOLLOWER,SYSTEMALARMS_ALARM_ERROR); } break; default: for (uint32_t i = 0; i < VTOL_PID_NUM; i++) pid_zero(&vtol_pids[i]); // Track throttle before engaging this mode. Cheap system ident StabilizationDesiredData stabDesired; StabilizationDesiredGet(&stabDesired); throttleOffset = stabDesired.Throttle; break; } AlarmsClear(SYSTEMALARMS_ALARM_PATHFOLLOWER); } }
/** * Module thread, should not return. */ static void guidanceTask(void *parameters) { SystemSettingsData systemSettings; GuidanceSettingsData guidanceSettings; ManualControlCommandData manualControl; portTickType thisTime; portTickType lastUpdateTime; UAVObjEvent ev; float accel[3] = {0,0,0}; uint32_t accel_accum = 0; float q[4]; float Rbe[3][3]; float accel_ned[3]; // Main task loop lastUpdateTime = xTaskGetTickCount(); while (1) { GuidanceSettingsGet(&guidanceSettings); // Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe if ( xQueueReceive(queue, &ev, guidanceSettings.UpdatePeriod / portTICK_RATE_MS) != pdTRUE ) { AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_WARNING); } else { AlarmsClear(SYSTEMALARMS_ALARM_GUIDANCE); } // Collect downsampled attitude data AttitudeRawData attitudeRaw; AttitudeRawGet(&attitudeRaw); accel[0] += attitudeRaw.accels[0]; accel[1] += attitudeRaw.accels[1]; accel[2] += attitudeRaw.accels[2]; accel_accum++; // Continue collecting data if not enough time thisTime = xTaskGetTickCount(); if( (thisTime - lastUpdateTime) < (guidanceSettings.UpdatePeriod / portTICK_RATE_MS) ) continue; lastUpdateTime = xTaskGetTickCount(); accel[0] /= accel_accum; accel[1] /= accel_accum; accel[2] /= accel_accum; //rotate avg accels into earth frame and store it AttitudeActualData attitudeActual; AttitudeActualGet(&attitudeActual); q[0]=attitudeActual.q1; q[1]=attitudeActual.q2; q[2]=attitudeActual.q3; q[3]=attitudeActual.q4; Quaternion2R(q, Rbe); for (uint8_t i=0; i<3; i++){ accel_ned[i]=0; for (uint8_t j=0; j<3; j++) accel_ned[i] += Rbe[j][i]*accel[j]; } accel_ned[2] += 9.81; NedAccelData accelData; NedAccelGet(&accelData); // Convert from m/s to cm/s accelData.North = accel_ned[0] * 100; accelData.East = accel_ned[1] * 100; accelData.Down = accel_ned[2] * 100; NedAccelSet(&accelData); ManualControlCommandGet(&manualControl); SystemSettingsGet(&systemSettings); GuidanceSettingsGet(&guidanceSettings); if ((manualControl.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) && ((systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL) || (systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_QUADP) || (systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_QUADX) || (systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_HEXA) )) { if(positionHoldLast == 0) { /* When enter position hold mode save current position */ PositionDesiredData positionDesired; PositionActualData positionActual; PositionDesiredGet(&positionDesired); PositionActualGet(&positionActual); positionDesired.North = positionActual.North; positionDesired.East = positionActual.East; PositionDesiredSet(&positionDesired); positionHoldLast = 1; } if(guidanceSettings.GuidanceMode == GUIDANCESETTINGS_GUIDANCEMODE_DUAL_LOOP) updateVtolDesiredVelocity(); else manualSetDesiredVelocity(); updateVtolDesiredAttitude(); } else { // Be cleaner and get rid of global variables northIntegral = 0; eastIntegral = 0; downIntegral = 0; positionHoldLast = 0; } accel[0] = accel[1] = accel[2] = 0; accel_accum = 0; } }