void processFlightCommands(void)
{
uint8_t channel;
uint8_t channelsToRead = 8;
float hdgDelta, simpleX, simpleY;
if ( rcActive == true )
{
// Read receiver commands
if (eepromConfig.receiverType == PPM)
channelsToRead = eepromConfig.ppmChannels;
for (channel = 0; channel < channelsToRead; channel++)
{
if (eepromConfig.receiverType == SPEKTRUM)
rxCommand[channel] = spektrumRead(eepromConfig.rcMap[channel]);
else if (eepromConfig.receiverType == SBUS)
rxCommand[channel] = sBusRead(eepromConfig.rcMap[channel]);
else
rxCommand[channel] = rxRead(eepromConfig.rcMap[channel]);
}
rxCommand[ROLL] -= eepromConfig.midCommand; // Roll Range -1000:1000
rxCommand[PITCH] -= eepromConfig.midCommand; // Pitch Range -1000:1000
rxCommand[YAW] -= eepromConfig.midCommand; // Yaw Range -1000:1000
for (channel = 3; channel < channelsToRead; channel++)
rxCommand[channel] -= eepromConfig.midCommand - MIDCOMMAND; // Range 2000:4000
}
// Set past command in detent values
for (channel = 0; channel < 3; channel++)
previousCommandInDetent[channel] = commandInDetent[channel];
// Apply deadbands and set detent discretes'
for (channel = 0; channel < 3; channel++)
{
if ((rxCommand[channel] <= DEADBAND) && (rxCommand[channel] >= -DEADBAND))
{
rxCommand[channel] = 0;
commandInDetent[channel] = true;
}
else
{
commandInDetent[channel] = false;
if (rxCommand[channel] > 0)
{
rxCommand[channel] = (rxCommand[channel] - DEADBAND) * DEADBAND_SLOPE;
}
else
{
rxCommand[channel] = (rxCommand[channel] + DEADBAND) * DEADBAND_SLOPE;
}
}
}
///////////////////////////////////
// Check for low throttle
if ( rxCommand[THROTTLE] < eepromConfig.minCheck )
{
// Check for disarm command ( low throttle, left yaw )
if ( (rxCommand[YAW] < (eepromConfig.minCheck - MIDCOMMAND)) && (armed == true) )
{
disarmingTimer++;
if (disarmingTimer > eepromConfig.disarmCount)
{
zeroPIDstates();
armed = false;
disarmingTimer = 0;
}
}
else
{
disarmingTimer = 0;
}
// Check for gyro bias command ( low throttle, left yaw, aft pitch, right roll )
if ( (rxCommand[YAW ] < (eepromConfig.minCheck - MIDCOMMAND)) &&
(rxCommand[ROLL ] > (eepromConfig.maxCheck - MIDCOMMAND)) &&
(rxCommand[PITCH] < (eepromConfig.minCheck - MIDCOMMAND)) )
{
computeMPU6000RTData();
pulseMotors(3);
}
// Check for arm command ( low throttle, right yaw)
if ((rxCommand[YAW] > (eepromConfig.maxCheck - MIDCOMMAND) ) && (armed == false) && (execUp == true))
{
armingTimer++;
if (armingTimer > eepromConfig.armCount)
{
zeroPIDstates();
armed = true;
armingTimer = 0;
}
}
else
{
armingTimer = 0;
}
}
///////////////////////////////////
// Check for armed true and throttle command > minThrottle
if ((armed == true) && (rxCommand[THROTTLE] > eepromConfig.minThrottle))
pidReset = false;
else
pidReset = true;
///////////////////////////////////
// Check yaw in detent and flight mode to determine hdg hold engaged state
if ((commandInDetent[YAW] == true) && (flightMode == ATTITUDE) && (headingHoldEngaged == false))
{
headingHoldEngaged = true;
setPIDstates(HEADING_PID, 0.0f);
setPIDstates(YAW_RATE_PID, 0.0f);
headingReference = heading.mag;
}
if (((commandInDetent[YAW] == false) || (flightMode != ATTITUDE)) && (headingHoldEngaged == true))
{
headingHoldEngaged = false;
}
///////////////////////////////////
// Vertical Mode Command Processing
verticalReferenceCommand = rxCommand[THROTTLE] - eepromConfig.midCommand;
// Set past altitude reference in detent value
previousVertRefCmdInDetent = vertRefCmdInDetent;
// Apply deadband and set detent discrete'
if ((verticalReferenceCommand <= ALT_DEADBAND) && (verticalReferenceCommand >= -ALT_DEADBAND))
{
verticalReferenceCommand = 0;
vertRefCmdInDetent = true;
}
else
{
vertRefCmdInDetent = false;
if (verticalReferenceCommand > 0)
{
verticalReferenceCommand = (verticalReferenceCommand - ALT_DEADBAND) * ALT_DEADBAND_SLOPE;
}
else
{
verticalReferenceCommand = (verticalReferenceCommand + ALT_DEADBAND) * ALT_DEADBAND_SLOPE;
}
}
///////////////////////////////////////////////
// Need to have AUX channels update modes
// based on change, to allow for both external
// remote commanding from serial port and with
// transmitter switches
//
// Conditions ---------------------------------
// A switch can actuate multiple modes
// Mode enables are defined by channel ranges
// A mode is only enabled/disabled when a
// channel range changes, this allows remote
// commands via serial to be sent
///////////////////////////////////////////////
// Search through each AUX channel
int ch;
for (ch=AUX1; ch<LASTCHANNEL; ch++)
{
// Only make update if channel value changed
if (fabs(previousRxCommand[ch] - rxCommand[ch]) > CHANGE_RANGE)
{
// Search through each mode slot
int slot;
for (slot=1; slot < MODE_SLOTS; slot++)
{
// If mode slot uses current rx channel, update if mode is on/off
if (eepromConfig.mode[slot].channel == ch)
{
// Only change the mode state if the rx channels are in range
int chValue = constrain(rxCommand[ch]/2, 1000, 2000);
if ((chValue >= eepromConfig.mode[slot].minChannelValue) && (chValue <= eepromConfig.mode[slot].maxChannelValue))
{
switch(eepromConfig.mode[slot].modeType)
{
case MODE_NONE:
flightMode = ATTITUDE;
verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
autoNavMode = MODE_NONE;
break;
case MODE_ATTITUDE:
autoNavMode = MODE_NONE;
if (eepromConfig.mode[slot].state)
{
flightMode = ATTITUDE;
setPIDstates(ROLL_ATT_PID, 0.0f);
setPIDstates(PITCH_ATT_PID, 0.0f);
setPIDstates(HEADING_PID, 0.0f);
}
else
{
// if OFF and no other mode set, default to rate mode
flightMode = RATE;
setPIDstates(ROLL_RATE_PID, 0.0f);
setPIDstates(PITCH_RATE_PID, 0.0f);
setPIDstates(YAW_RATE_PID, 0.0f);
}
break;
case MODE_RATE:
autoNavMode = MODE_NONE;
if (eepromConfig.mode[slot].state)
{
flightMode = RATE;
setPIDstates(ROLL_RATE_PID, 0.0f);
setPIDstates(PITCH_RATE_PID, 0.0f);
setPIDstates(YAW_RATE_PID, 0.0f);
}
else
{
// if OFF and no other mode set, default to attitude mode
flightMode = ATTITUDE;
setPIDstates(ROLL_ATT_PID, 0.0f);
setPIDstates(PITCH_ATT_PID, 0.0f);
setPIDstates(HEADING_PID, 0.0f);
}
break;
case MODE_SIMPLE:
autoNavMode = MODE_NONE;
if (eepromConfig.mode[slot].state)
{
flightMode = MODE_SIMPLE;
hdgDelta = sensors.attitude500Hz[YAW] - homeData.magHeading;
hdgDelta = standardRadianFormat(hdgDelta);
simpleX = cosf(hdgDelta) * rxCommand[PITCH] + sinf(hdgDelta) * rxCommand[ROLL ];
simpleY = cosf(hdgDelta) * rxCommand[ROLL ] - sinf(hdgDelta) * rxCommand[PITCH];
rxCommand[ROLL ] = simpleY;
rxCommand[PITCH] = simpleX;
}
else
{
// if OFF and no other mode set, default to attitude mode
flightMode = ATTITUDE;
setPIDstates(ROLL_ATT_PID, 0.0f);
setPIDstates(PITCH_ATT_PID, 0.0f);
setPIDstates(HEADING_PID, 0.0f);
}
break;
case MODE_AUTONAV:
if (eepromConfig.mode[slot].state)
{
flightMode = ATTITUDE;
//verticalModeState = ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT;
autoNavMode = MODE_AUTONAV;
setAutoNavState(AUTONAV_ENABLED);
}
else
{
flightMode = ATTITUDE;
//verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
autoNavMode = MODE_NONE;
setAutoNavState(AUTONAV_DISABLED);
}
break;
case MODE_POSITIONHOLD:
if (eepromConfig.mode[slot].state)
{
flightMode = ATTITUDE;
//verticalModeState = ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT;
autoNavMode = MODE_POSITIONHOLD;
}
else
{
flightMode = ATTITUDE;
//verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
autoNavMode = MODE_NONE;
}
break;
case MODE_RETURNTOHOME:
if (eepromConfig.mode[slot].state)
{
flightMode = ATTITUDE;
//verticalModeState = ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT;
autoNavMode = MODE_RETURNTOHOME;
}
else
{
flightMode = ATTITUDE;
//verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
autoNavMode = MODE_NONE;
}
break;
case MODE_ALTHOLD:
if (eepromConfig.mode[slot].state)
{
if (verticalModeState == ALT_DISENGAGED_THROTTLE_ACTIVE)
{
verticalModeState = ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT;
setPIDstates(HDOT_PID, 0.0f);
setPIDstates(H_PID, 0.0f);
altitudeHoldReference = hEstimate;
throttleReference = rxCommand[THROTTLE];
}
else if (verticalModeState == ALT_DISENGAGED_THROTTLE_INACTIVE)
verticalModeState = ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT;
}
else
if (verticalModeState == VERTICAL_VELOCITY_HOLD_AT_REFERENCE_VELOCITY)
{
verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
altitudeHoldReference = hEstimate;
}
else
verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
break;
case MODE_PANIC:
if (eepromConfig.mode[slot].state)
{
flightMode = ATTITUDE;
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
autoNavMode = MODE_PANIC;
}
break;
}
}
}
}
}
previousRxCommand[ch] = rxCommand[ch];
}
///////////////////////////////////
// AutoNavigation State Machine
switch (autoNavMode)
{
case MODE_NONE:
autoNavPitchAxisCorrection = 0.0;
autoNavRollAxisCorrection = 0.0;
autoNavYawAxisCorrection = 0.0;
break;
case MODE_AUTONAV:
processAutoNavigation();
break;
case MODE_POSITIONHOLD:
processPositionHold();
break;
case MODE_RETURNTOHOME:
processReturnToHome();
break;
}
///////////////////////////////////
// Vertical Mode State Machine
switch (verticalModeState)
{
case ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT:
if ((vertRefCmdInDetent == true) || eepromConfig.verticalVelocityHoldOnly)
verticalModeState = ALT_HOLD_AT_REFERENCE_ALTITUDE;
break;
case ALT_DISENGAGED_THROTTLE_ACTIVE:
break;
case ALT_HOLD_AT_REFERENCE_ALTITUDE:
if ((vertRefCmdInDetent == false) || eepromConfig.verticalVelocityHoldOnly)
verticalModeState = VERTICAL_VELOCITY_HOLD_AT_REFERENCE_VELOCITY;
break;
case VERTICAL_VELOCITY_HOLD_AT_REFERENCE_VELOCITY:
if ((vertRefCmdInDetent == true) && !eepromConfig.verticalVelocityHoldOnly)
{
verticalModeState = ALT_HOLD_AT_REFERENCE_ALTITUDE;
altitudeHoldReference = hEstimate;
}
break;
case ALT_DISENGAGED_THROTTLE_INACTIVE: // This mode verifies throttle is at center when disengaging alt hold
if (((rxCommand[THROTTLE] < throttleCmd + THROTTLE_WINDOW) && (rxCommand[THROTTLE] > throttleCmd - THROTTLE_WINDOW)) || eepromConfig.verticalVelocityHoldOnly)
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
}
}
void processFlightCommands(void)
{
uint8_t channel;
if ( rcActive == true )
{
// Read receiver commands
for (channel = 0; channel < 8; channel++)
rxCommand[channel] = (float)rxRead(eepromConfig.rcMap[channel]);
rxCommand[ROLL] -= eepromConfig.midCommand; // Roll Range -1000:1000
rxCommand[PITCH] -= eepromConfig.midCommand; // Pitch Range -1000:1000
rxCommand[YAW] -= eepromConfig.midCommand; // Yaw Range -1000:1000
rxCommand[THROTTLE] -= eepromConfig.midCommand - MIDCOMMAND; // Throttle Range 2000:4000
rxCommand[AUX1] -= eepromConfig.midCommand - MIDCOMMAND; // Aux1 Range 2000:4000
rxCommand[AUX2] -= eepromConfig.midCommand - MIDCOMMAND; // Aux2 Range 2000:4000
rxCommand[AUX3] -= eepromConfig.midCommand - MIDCOMMAND; // Aux3 Range 2000:4000
rxCommand[AUX4] -= eepromConfig.midCommand - MIDCOMMAND; // Aux4 Range 2000:4000
}
// Set past command in detent values
for (channel = 0; channel < 3; channel++)
previousCommandInDetent[channel] = commandInDetent[channel];
// Apply deadbands and set detent discretes'
for (channel = 0; channel < 3; channel++)
{
if ((rxCommand[channel] <= DEADBAND) && (rxCommand[channel] >= -DEADBAND))
{
rxCommand[channel] = 0;
commandInDetent[channel] = true;
}
else
{
commandInDetent[channel] = false;
if (rxCommand[channel] > 0)
{
rxCommand[channel] = (rxCommand[channel] - DEADBAND) * DEADBAND_SLOPE;
}
else
{
rxCommand[channel] = (rxCommand[channel] + DEADBAND) * DEADBAND_SLOPE;
}
}
}
///////////////////////////////////
// Check for low throttle
if ( rxCommand[THROTTLE] < eepromConfig.minCheck )
{
// Check for disarm command ( low throttle, left yaw ), will disarm immediately
if ( (rxCommand[YAW] < (eepromConfig.minCheck - MIDCOMMAND)) && (armed == true) )
{
armed = false;
zeroPIDintegralError();
zeroPIDstates();
}
// Check for gyro bias command ( low throttle, left yaw, aft pitch, right roll )
if ( (rxCommand[YAW ] < (eepromConfig.minCheck - MIDCOMMAND)) &&
(rxCommand[ROLL ] > (eepromConfig.maxCheck - MIDCOMMAND)) &&
(rxCommand[PITCH] < (eepromConfig.minCheck - MIDCOMMAND)) )
{
computeMPU6000RTData();
pulseMotors(3);
}
// Check for arm command ( low throttle, right yaw), must be present for 1 sec before arming
if ((rxCommand[YAW] > (eepromConfig.maxCheck - MIDCOMMAND) ) && (armed == false) && (execUp == true))
{
armingTimer++;
if ( armingTimer > 50 )
{
zeroPIDintegralError();
zeroPIDstates();
armed = true;
armingTimer = 0;
}
}
else
{
armingTimer = 0;
}
}
///////////////////////////////////
// Check for armed true and throttle command > minThrottle
if ((armed == true) && (rxCommand[THROTTLE] > eepromConfig.minThrottle))
holdIntegrators = false;
else
holdIntegrators = true;
///////////////////////////////////
// Check AUX1 for rate, attitude, or GPS mode (3 Position Switch) NOT COMPLETE YET....
if ((rxCommand[AUX1] > MIDCOMMAND) && (flightMode == RATE))
{
flightMode = ATTITUDE;
setPIDintegralError(ROLL_ATT_PID, 0.0f);
setPIDintegralError(PITCH_ATT_PID, 0.0f);
setPIDintegralError(HEADING_PID, 0.0f);
setPIDstates(ROLL_ATT_PID, 0.0f);
setPIDstates(PITCH_ATT_PID, 0.0f);
setPIDstates(HEADING_PID, 0.0f);
}
else if ((rxCommand[AUX1] <= MIDCOMMAND) && (flightMode == ATTITUDE))
{
flightMode = RATE;
setPIDintegralError(ROLL_RATE_PID, 0.0f);
setPIDintegralError(PITCH_RATE_PID, 0.0f);
setPIDintegralError(YAW_RATE_PID, 0.0f);
setPIDstates(ROLL_RATE_PID, 0.0f);
setPIDstates(PITCH_RATE_PID, 0.0f);
setPIDstates(YAW_RATE_PID, 0.0f);
}
///////////////////////////////////
if ((commandInDetent[YAW] == true) && (flightMode == ATTITUDE))
headingHoldEngaged = true;
else
headingHoldEngaged = false;
///////////////////////////////////
// Check AUX2 for altitude hold mode (2 Position Switch)
if ((rxCommand[AUX2] > MIDCOMMAND) && (previousAUX2State <= MIDCOMMAND)) // Rising edge detection
{
altitudeHoldState = ENGAGED;
altitudeHoldThrottleValue = rxCommand[THROTTLE];
}
else if ((rxCommand[AUX2] <= MIDCOMMAND) && (previousAUX2State > MIDCOMMAND)) // Falling edge detection
{
altitudeHoldState = DISENGAGED;
}
previousAUX2State = rxCommand[AUX2];
///////////////////////////////////
}
void initMPU6000(void)
{
///////////////////////////////////
ENABLE_MPU6000;
spiTransfer(MPU6000_SPI, MPU6000_PWR_MGMT_1); // Device Reset
spiTransfer(MPU6000_SPI, BIT_H_RESET);
DISABLE_MPU6000;
delay(150);
ENABLE_MPU6000;
spiTransfer(MPU6000_SPI, MPU6000_PWR_MGMT_1); // Clock Source PPL with Z axis gyro reference
spiTransfer(MPU6000_SPI, MPU_CLK_SEL_PLLGYROZ);
DISABLE_MPU6000;
delayMicroseconds(1);
ENABLE_MPU6000;
spiTransfer(MPU6000_SPI, MPU6000_USER_CTRL); // Disable Primary I2C Interface
spiTransfer(MPU6000_SPI, BIT_I2C_IF_DIS);
DISABLE_MPU6000;
delayMicroseconds(1);
ENABLE_MPU6000;
spiTransfer(MPU6000_SPI, MPU6000_PWR_MGMT_2);
spiTransfer(MPU6000_SPI, 0x00);
DISABLE_MPU6000;
delayMicroseconds(1);
ENABLE_MPU6000;
spiTransfer(MPU6000_SPI, MPU6000_SMPLRT_DIV); // Accel Sample Rate 1000 Hz, Gyro Sample Rate 8000 Hz
spiTransfer(MPU6000_SPI, 0x00);
DISABLE_MPU6000;
delayMicroseconds(1);
ENABLE_MPU6000;
spiTransfer(MPU6000_SPI, MPU6000_CONFIG); // Accel and Gyro DLPF Setting
spiTransfer(MPU6000_SPI, eepromConfig.dlpfSetting);
DISABLE_MPU6000;
delayMicroseconds(1);
ENABLE_MPU6000;
spiTransfer(MPU6000_SPI, MPU6000_ACCEL_CONFIG); // Accel +/- 4 G Full Scale
spiTransfer(MPU6000_SPI, BITS_FS_4G);
DISABLE_MPU6000;
delayMicroseconds(1);
ENABLE_MPU6000;
spiTransfer(MPU6000_SPI, MPU6000_GYRO_CONFIG); // Gyro +/- 1000 DPS Full Scale
spiTransfer(MPU6000_SPI, BITS_FS_1000DPS);
DISABLE_MPU6000;
///////////////////////////////////
setSPIdivisor(MPU6000_SPI, 2); // 21 MHz SPI clock (within 20 +/- 10%)
///////////////////////////////////
delay(100);
computeMPU6000RTData();
}
void processFlightCommands(void)
{
uint8_t channel;
if (rcActive == true)
{
// Read receiver commands
for (channel = 0; channel < 8; channel++)
{
if (eepromConfig.receiverType == SPEKTRUM)
rxCommand[channel] = (float)spektrumRead(eepromConfig.rcMap[channel]);
else
rxCommand[channel] = (float)ppmRxRead(eepromConfig.rcMap[channel]);
}
rxCommand[ROLL] -= eepromConfig.midCommand; // Roll Range -1000:1000
rxCommand[PITCH] -= eepromConfig.midCommand; // Pitch Range -1000:1000
rxCommand[YAW] -= eepromConfig.midCommand; // Yaw Range -1000:1000
rxCommand[THROTTLE] -= eepromConfig.midCommand - MIDCOMMAND; // Throttle Range 2000:4000
rxCommand[AUX1] -= eepromConfig.midCommand - MIDCOMMAND; // Aux1 Range 2000:4000
rxCommand[AUX2] -= eepromConfig.midCommand - MIDCOMMAND; // Aux2 Range 2000:4000
rxCommand[AUX3] -= eepromConfig.midCommand - MIDCOMMAND; // Aux3 Range 2000:4000
rxCommand[AUX4] -= eepromConfig.midCommand - MIDCOMMAND; // Aux4 Range 2000:4000
}
// Set past command in detent values
for (channel = 0; channel < 3; channel++)
previousCommandInDetent[channel] = commandInDetent[channel];
// Apply deadbands and set detent discretes'
for (channel = 0; channel < 3; channel++)
{
if ((rxCommand[channel] <= DEADBAND) && (rxCommand[channel] >= -DEADBAND))
{
rxCommand[channel] = 0;
commandInDetent[channel] = true;
}
else
{
commandInDetent[channel] = false;
if (rxCommand[channel] > 0)
{
rxCommand[channel] = (rxCommand[channel] - DEADBAND) * DEADBAND_SLOPE;
}
else
{
rxCommand[channel] = (rxCommand[channel] + DEADBAND) * DEADBAND_SLOPE;
}
}
}
///////////////////////////////////
// Check for low throttle
if ( rxCommand[THROTTLE] < eepromConfig.minCheck )
{
// Check for disarm command ( low throttle, left yaw )
if (((rxCommand[YAW] < (eepromConfig.minCheck - MIDCOMMAND)) && (armed == true)) && (verticalModeState == ALT_DISENGAGED_THROTTLE_ACTIVE))
{
disarmingTimer++;
if (disarmingTimer > eepromConfig.disarmCount)
{
zeroPIDintegralError();
zeroPIDstates();
armed = false;
disarmingTimer = 0;
}
}
else
{
disarmingTimer = 0;
}
// Check for gyro bias command ( low throttle, left yaw, aft pitch, right roll )
if ( (rxCommand[YAW ] < (eepromConfig.minCheck - MIDCOMMAND)) &&
(rxCommand[ROLL ] > (eepromConfig.maxCheck - MIDCOMMAND)) &&
(rxCommand[PITCH] < (eepromConfig.minCheck - MIDCOMMAND)) )
{
computeMPU6000RTData();
pulseMotors(3);
}
// Check for arm command ( low throttle, right yaw)
if ((rxCommand[YAW] > (eepromConfig.maxCheck - MIDCOMMAND) ) && (armed == false) && (execUp == true))
{
armingTimer++;
if (armingTimer > eepromConfig.armCount)
{
zeroPIDintegralError();
zeroPIDstates();
armed = true;
armingTimer = 0;
}
}
else
{
armingTimer = 0;
}
}
///////////////////////////////////
// Check for armed true and throttle command > minThrottle
if ((armed == true) && (rxCommand[THROTTLE] > eepromConfig.minThrottle))
holdIntegrators = false;
else
holdIntegrators = true;
///////////////////////////////////
// Check AUX1 for rate, attitude, or GPS mode (3 Position Switch) NOT COMPLETE YET....
if ((rxCommand[AUX1] > MIDCOMMAND) && (flightMode == RATE))
{
flightMode = ATTITUDE;
setPIDintegralError(ROLL_ATT_PID, 0.0f);
setPIDintegralError(PITCH_ATT_PID, 0.0f);
setPIDintegralError(HEADING_PID, 0.0f);
setPIDstates(ROLL_ATT_PID, 0.0f);
setPIDstates(PITCH_ATT_PID, 0.0f);
setPIDstates(HEADING_PID, 0.0f);
}
else if ((rxCommand[AUX1] <= MIDCOMMAND) && (flightMode == ATTITUDE))
{
flightMode = RATE;
setPIDintegralError(ROLL_RATE_PID, 0.0f);
setPIDintegralError(PITCH_RATE_PID, 0.0f);
setPIDintegralError(YAW_RATE_PID, 0.0f);
setPIDstates(ROLL_RATE_PID, 0.0f);
setPIDstates(PITCH_RATE_PID, 0.0f);
setPIDstates(YAW_RATE_PID, 0.0f);
}
///////////////////////////////////
// Check yaw in detent and flight mode to determine hdg hold engaged state
if ((commandInDetent[YAW] == true) && (flightMode == ATTITUDE) && (headingHoldEngaged == false))
{
headingHoldEngaged = true;
setPIDintegralError(HEADING_PID, 0.0f);
setPIDstates(YAW_RATE_PID, 0.0f);
headingReference = heading.mag;
}
if (((commandInDetent[YAW] == false) || (flightMode != ATTITUDE)) && (headingHoldEngaged == true))
{
headingHoldEngaged = false;
}
///////////////////////////////////
// Vertical Mode Command Processing
verticalReferenceCommand = rxCommand[THROTTLE] - eepromConfig.midCommand;
// Set past altitude reference in detent value
previousVertRefCmdInDetent = vertRefCmdInDetent;
// Apply deadband and set detent discrete'
if ((verticalReferenceCommand <= ALT_DEADBAND) && (verticalReferenceCommand >= -ALT_DEADBAND))
{
verticalReferenceCommand = 0;
vertRefCmdInDetent = true;
}
else
{
vertRefCmdInDetent = false;
if (verticalReferenceCommand > 0)
{
verticalReferenceCommand = (verticalReferenceCommand - ALT_DEADBAND) * ALT_DEADBAND_SLOPE;
}
else
{
verticalReferenceCommand = (verticalReferenceCommand + ALT_DEADBAND) * ALT_DEADBAND_SLOPE;
}
}
///////////////////////////////////
// Vertical Mode State Machine
switch (verticalModeState)
{
case ALT_DISENGAGED_THROTTLE_ACTIVE:
if ((rxCommand[AUX2] > MIDCOMMAND) && (previousAUX2State <= MIDCOMMAND)) // AUX2 Rising edge detection
{
verticalModeState = ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT;
setPIDintegralError(HDOT_PID, 0.0f);
setPIDintegralError(H_PID, 0.0f);
setPIDstates(HDOT_PID, 0.0f);
setPIDstates(H_PID, 0.0f);
altitudeHoldReference = hEstimate;
throttleReference = rxCommand[THROTTLE];
}
break;
///////////////////////////////
case ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT:
if ((vertRefCmdInDetent == true) || eepromConfig.verticalVelocityHoldOnly)
verticalModeState = ALT_HOLD_AT_REFERENCE_ALTITUDE;
if ((rxCommand[AUX2] <= MIDCOMMAND) && (previousAUX2State > MIDCOMMAND)) // AUX2 Falling edge detection
verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
if ((rxCommand[AUX4] > MIDCOMMAND) && (previousAUX4State <= MIDCOMMAND)) // AUX4 Rising edge detection
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
break;
///////////////////////////////
case ALT_HOLD_AT_REFERENCE_ALTITUDE:
if ((vertRefCmdInDetent == false) || eepromConfig.verticalVelocityHoldOnly)
verticalModeState = VERTICAL_VELOCITY_HOLD_AT_REFERENCE_VELOCITY;
if ((rxCommand[AUX2] <= MIDCOMMAND) && (previousAUX2State > MIDCOMMAND)) // AUX2 Falling edge detection
verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
if ((rxCommand[AUX4] > MIDCOMMAND) && (previousAUX4State <= MIDCOMMAND)) // AUX4 Rising edge detection
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
break;
///////////////////////////////
case VERTICAL_VELOCITY_HOLD_AT_REFERENCE_VELOCITY:
if ((vertRefCmdInDetent == true) && !eepromConfig.verticalVelocityHoldOnly)
{
verticalModeState = ALT_HOLD_AT_REFERENCE_ALTITUDE;
altitudeHoldReference = hEstimate;
}
if ((rxCommand[AUX2] <= MIDCOMMAND) && (previousAUX2State > MIDCOMMAND)) // AUX2 Falling edge detection
{
verticalModeState = ALT_DISENGAGED_THROTTLE_INACTIVE;
altitudeHoldReference = hEstimate;
}
if ((rxCommand[AUX4] > MIDCOMMAND) && (previousAUX4State <= MIDCOMMAND)) // AUX4 Rising edge detection
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
break;
///////////////////////////////
case ALT_DISENGAGED_THROTTLE_INACTIVE:
if (((rxCommand[THROTTLE] < throttleCmd + THROTTLE_WINDOW) && (rxCommand[THROTTLE] > throttleCmd - THROTTLE_WINDOW)) ||
eepromConfig.verticalVelocityHoldOnly)
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
if ((rxCommand[AUX2] > MIDCOMMAND) && (previousAUX2State <= MIDCOMMAND)) // AUX2 Rising edge detection
verticalModeState = ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT;
if ((rxCommand[AUX4] > MIDCOMMAND) && (previousAUX4State <= MIDCOMMAND)) // AUX4 Rising edge detection
verticalModeState = ALT_DISENGAGED_THROTTLE_ACTIVE;
break;
}
previousAUX2State = rxCommand[AUX2];
previousAUX4State = rxCommand[AUX4];
///////////////////////////////////
}
void sensorCLI()
{
uint8_t sensorQuery = 'x';
uint8_t tempInt;
uint8_t validQuery = false;
cliBusy = true;
cliPortPrint("\nEntering Sensor CLI....\n\n");
while(true)
{
cliPortPrint("Sensor CLI -> ");
while ((cliPortAvailable() == false) && (validQuery == false));
if (validQuery == false)
sensorQuery = cliPortRead();
cliPortPrint("\n");
switch(sensorQuery)
{
///////////////////////////
case 'a': // Sensor Data
cliPortPrintF("\n");
cliPortPrintF("External HMC5883 in use: %s\n", eepromConfig.externalHMC5883 ? "Yes" : "No");
cliPortPrintF("External MS5611 in use: %s\n", eepromConfig.externalMS5611 ? "Yes" : "No");
cliPortPrintF("MXR9150 Accel in use: %s\n", eepromConfig.useMXR9150 ? "Yes" : "No");
cliPortPrintF("\n");
if (eepromConfig.useMXR9150 == true)
{
cliPortPrintF("MXR Accel Bias: %9.3f, %9.3f, %9.3f\n", eepromConfig.accelBiasMXR[XAXIS],
eepromConfig.accelBiasMXR[YAXIS],
eepromConfig.accelBiasMXR[ZAXIS]);
cliPortPrintF("MXR Accel Scale Factor: %9.7f, %9.7f, %9.7f\n", eepromConfig.accelScaleFactorMXR[XAXIS],
eepromConfig.accelScaleFactorMXR[YAXIS],
eepromConfig.accelScaleFactorMXR[ZAXIS]);
}
else
{
cliPortPrintF("MPU Accel Bias: %9.3f, %9.3f, %9.3f\n", eepromConfig.accelBiasMPU[XAXIS],
eepromConfig.accelBiasMPU[YAXIS],
eepromConfig.accelBiasMPU[ZAXIS]);
cliPortPrintF("MPU Accel Scale Factor: %9.7f, %9.7f, %9.7f\n", eepromConfig.accelScaleFactorMPU[XAXIS],
eepromConfig.accelScaleFactorMPU[YAXIS],
eepromConfig.accelScaleFactorMPU[ZAXIS]);
}
cliPortPrintF("Accel Temp Comp Slope: %9.4f, %9.4f, %9.4f\n", eepromConfig.accelTCBiasSlope[XAXIS],
eepromConfig.accelTCBiasSlope[YAXIS],
eepromConfig.accelTCBiasSlope[ZAXIS]);
cliPortPrintF("Accel Temp Comp Bias: %9.4f, %9.4f, %9.4f\n", eepromConfig.accelTCBiasIntercept[XAXIS],
eepromConfig.accelTCBiasIntercept[YAXIS],
eepromConfig.accelTCBiasIntercept[ZAXIS]);
cliPortPrintF("Gyro Temp Comp Slope: %9.4f, %9.4f, %9.4f\n", eepromConfig.gyroTCBiasSlope[ROLL ],
eepromConfig.gyroTCBiasSlope[PITCH],
eepromConfig.gyroTCBiasSlope[YAW ]);
cliPortPrintF("Gyro Temp Comp Intercept: %9.4f, %9.4f, %9.4f\n", eepromConfig.gyroTCBiasIntercept[ROLL ],
eepromConfig.gyroTCBiasIntercept[PITCH],
eepromConfig.gyroTCBiasIntercept[YAW ]);
cliPortPrintF("Internal Mag Bias: %9.4f, %9.4f, %9.4f\n", eepromConfig.magBias[XAXIS],
eepromConfig.magBias[YAXIS],
eepromConfig.magBias[ZAXIS]);
cliPortPrintF("External Mag Bias: %9.4f, %9.4f, %9.4f\n", eepromConfig.magBias[XAXIS + 3],
eepromConfig.magBias[YAXIS + 3],
eepromConfig.magBias[ZAXIS + 3]);
cliPortPrintF("Accel One G: %9.4f\n", accelOneG);
cliPortPrintF("Accel Cutoff: %9.4f\n", eepromConfig.accelCutoff);
cliPortPrintF("KpAcc (MARG): %9.4f\n", eepromConfig.KpAcc);
cliPortPrintF("KiAcc (MARG): %9.4f\n", eepromConfig.KiAcc);
cliPortPrintF("KpMag (MARG): %9.4f\n", eepromConfig.KpMag);
cliPortPrintF("KiMag (MARG): %9.4f\n", eepromConfig.KiMag);
cliPortPrintF("hdot est/h est Comp Fil A: %9.4f\n", eepromConfig.compFilterA);
cliPortPrintF("hdot est/h est Comp Fil B: %9.4f\n", eepromConfig.compFilterB);
cliPortPrint("MPU6000 DLPF: ");
switch(eepromConfig.dlpfSetting)
{
case DLPF_256HZ:
cliPortPrint("256 Hz\n");
break;
case DLPF_188HZ:
cliPortPrint("188 Hz\n");
break;
case DLPF_98HZ:
cliPortPrint("98 Hz\n");
break;
case DLPF_42HZ:
cliPortPrint("42 Hz\n");
break;
}
cliPortPrint("Sensor Orientation: ");
switch(eepromConfig.sensorOrientation)
{
case 1:
cliPortPrint("Normal\n");
break;
case 2:
cliPortPrint("Rotated 90 Degrees CW\n");
break;
case 3:
cliPortPrint("Rotated 180 Degrees\n");
break;
case 4:
cliPortPrint("Rotated 90 Degrees CCW\n");
break;
default:
cliPortPrint("Normal\n");
}
if (eepromConfig.verticalVelocityHoldOnly)
cliPortPrint("Vertical Velocity Hold Only\n\n");
else
cliPortPrint("Vertical Velocity and Altitude Hold\n\n");
cliPortPrintF("Voltage Monitor Scale: %9.4f\n", eepromConfig.voltageMonitorScale);
cliPortPrintF("Voltage Monitor Bias: %9.4f\n", eepromConfig.voltageMonitorBias);
cliPortPrintF("Number of Battery Cells: %1d\n\n", eepromConfig.batteryCells);
cliPortPrintF("Battery Low Setpoint: %4.2f volts\n", eepromConfig.batteryLow);
cliPortPrintF("Battery Very Low Setpoint: %4.2f volts\n", eepromConfig.batteryVeryLow);
cliPortPrintF("Battery Max Low Setpoint: %4.2f volts\n\n", eepromConfig.batteryMaxLow);
validQuery = false;
break;
///////////////////////////
case 'b': // MPU6000 Calibration
mpu6000Calibration();
sensorQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'c': // Magnetometer Calibration
magCalibration();
sensorQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'd': // Accel Bias and Scale Factor Calibration
if (eepromConfig.useMXR9150 == true)
accelCalibrationMXR();
else
accelCalibrationMPU();
sensorQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'e': // Toggle External HMC5883 Use
if (eepromConfig.externalHMC5883 == 0)
eepromConfig.externalHMC5883 = 3;
else
eepromConfig.externalHMC5883 = 0;
initMag();
sensorQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'f': // Toggle External MS5611 Use
if (eepromConfig.externalMS5611)
eepromConfig.externalMS5611 = false;
else
eepromConfig.externalMS5611 = true;
initPressure();
sensorQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'g': // Toggle MXR9150 Use
if (eepromConfig.useMXR9150)
eepromConfig.useMXR9150 = false;
else
eepromConfig.useMXR9150 = true;
computeMPU6000RTData();
sensorQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'h': // MXR Bias
eepromConfig.accelBiasMXR[XAXIS] = readFloatCLI();
eepromConfig.accelBiasMXR[YAXIS] = readFloatCLI();
eepromConfig.accelBiasMXR[ZAXIS] = readFloatCLI();
sensorQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'v': // Toggle Vertical Velocity Hold Only
if (eepromConfig.verticalVelocityHoldOnly)
eepromConfig.verticalVelocityHoldOnly = false;
else
eepromConfig.verticalVelocityHoldOnly = true;
sensorQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'x':
cliPortPrint("\nExiting Sensor CLI....\n\n");
cliBusy = false;
return;
break;
///////////////////////////
case 'A': // Set MPU6000 Digital Low Pass Filter
tempInt = (uint8_t)readFloatCLI();
switch(tempInt)
{
case DLPF_256HZ:
eepromConfig.dlpfSetting = BITS_DLPF_CFG_256HZ;
break;
case DLPF_188HZ:
eepromConfig.dlpfSetting = BITS_DLPF_CFG_188HZ;
break;
case DLPF_98HZ:
eepromConfig.dlpfSetting = BITS_DLPF_CFG_98HZ;
break;
case DLPF_42HZ:
eepromConfig.dlpfSetting = BITS_DLPF_CFG_42HZ;
break;
}
setSPIdivisor(MPU6000_SPI, 64); // 0.65625 MHz SPI clock (within 20 +/- 10%)
GPIO_ResetBits(MPU6000_CS_GPIO, MPU6000_CS_PIN);
spiTransfer(MPU6000_SPI, MPU6000_CONFIG);
spiTransfer(MPU6000_SPI, eepromConfig.dlpfSetting);
GPIO_SetBits(MPU6000_CS_GPIO, MPU6000_CS_PIN);
setSPIdivisor(MPU6000_SPI, 2); // 21 MHz SPI clock (within 20 +/- 10%)
sensorQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'B': // Accel Cutoff
eepromConfig.accelCutoff = readFloatCLI();
sensorQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'C': // kpAcc, kiAcc
eepromConfig.KpAcc = readFloatCLI();
eepromConfig.KiAcc = readFloatCLI();
sensorQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'D': // kpMag, kiMag
eepromConfig.KpMag = readFloatCLI();
eepromConfig.KiMag = readFloatCLI();
sensorQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'E': // h dot est/h est Comp Filter A/B
eepromConfig.compFilterA = readFloatCLI();
eepromConfig.compFilterB = readFloatCLI();
sensorQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'F': // Sensor Orientation
eepromConfig.sensorOrientation = (uint8_t)readFloatCLI();
orientSensors();
sensorQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'N': // Set Voltage Monitor Trip Points
eepromConfig.batteryLow = readFloatCLI();
eepromConfig.batteryVeryLow = readFloatCLI();
eepromConfig.batteryMaxLow = readFloatCLI();
thresholds[BATTERY_LOW].value = eepromConfig.batteryLow;
thresholds[BATTERY_VERY_LOW].value = eepromConfig.batteryVeryLow;
thresholds[BATTRY_MAX_LOW].value = eepromConfig.batteryMaxLow;
sensorQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'V': // Set Voltage Monitor Parameters
eepromConfig.voltageMonitorScale = readFloatCLI();
eepromConfig.voltageMonitorBias = readFloatCLI();
eepromConfig.batteryCells = (uint8_t)readFloatCLI();
sensorQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'W': // Write EEPROM Parameters
cliPortPrint("\nWriting EEPROM Parameters....\n\n");
writeEEPROM();
validQuery = false;
break;
///////////////////////////
case '?':
cliPortPrint("\n");
cliPortPrint("'a' Display Sensor Data 'A' Set MPU6000 DLPF A0 thru 3, see aq32Plus.h\n");
cliPortPrint("'b' MPU6000 Temp Calibration 'B' Set Accel Cutoff BAccelCutoff\n");
cliPortPrint("'c' Magnetometer Calibration 'C' Set kpAcc/kiAcc CkpAcc;kiAcc\n");
cliPortPrint("'d' Accel Bias and SF Calibration 'D' Set kpMag/kiMag DkpMag;kiMag\n");
cliPortPrint("'e' Toggle External HMC5883 State 'E' Set h dot est/h est Comp Filter A/B EA;B\n");
cliPortPrint("'f' Toggle External MS5611 State 'F' Set Sensor Orientation F1 thru 4\n");
cliPortPrint("'g' Toggle MXR9150 Use\n");
cliPortPrint(" 'N' Set Voltage Monitor Trip Points Nlow;veryLow;maxLow\n");
cliPortPrint("'v' Toggle Vertical Velocity Hold Only 'V' Set Voltage Monitor Parameters Vscale;bias;cells\n");
cliPortPrint(" 'W' Write EEPROM Parameters\n");
cliPortPrint("'x' Exit Sensor CLI '?' Command Summary\n");
break;
///////////////////////////
}
}
}
int main(void)
{
///////////////////////////////////////////////////////////////////////////
uint32_t currentTime;
arm_matrix_instance_f32 a;
arm_matrix_instance_f32 b;
arm_matrix_instance_f32 x;
systemReady = false;
systemInit();
systemReady = true;
evrPush(EVR_StartingMain, 0);
#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
while (1)
{
checkUsbActive(false);
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)
{
nonRotatedMagData[XAXIS] = (rawMag[XAXIS].value * magScaleFactor[XAXIS]) - eepromConfig.magBias[XAXIS + eepromConfig.externalHMC5883];
nonRotatedMagData[YAXIS] = (rawMag[YAXIS].value * magScaleFactor[YAXIS]) - eepromConfig.magBias[YAXIS + eepromConfig.externalHMC5883];
nonRotatedMagData[ZAXIS] = (rawMag[ZAXIS].value * magScaleFactor[ZAXIS]) - eepromConfig.magBias[ZAXIS + eepromConfig.externalHMC5883];
arm_mat_init_f32(&a, 3, 3, (float *)hmcOrientationMatrix);
arm_mat_init_f32(&b, 3, 1, (float *)nonRotatedMagData);
arm_mat_init_f32(&x, 3, 1, sensors.mag10Hz);
arm_mat_mult_f32(&a, &b, &x);
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();
nonRotatedAccelData[XAXIS] = ((float)accelSummedSamples500Hz[XAXIS] * 0.5f - accelTCBias[XAXIS]) * ACCEL_SCALE_FACTOR;
nonRotatedAccelData[YAXIS] = ((float)accelSummedSamples500Hz[YAXIS] * 0.5f - accelTCBias[YAXIS]) * ACCEL_SCALE_FACTOR;
nonRotatedAccelData[ZAXIS] = ((float)accelSummedSamples500Hz[ZAXIS] * 0.5f - accelTCBias[ZAXIS]) * ACCEL_SCALE_FACTOR;
arm_mat_init_f32(&a, 3, 3, (float *)mpuOrientationMatrix);
arm_mat_init_f32(&b, 3, 1, (float *)nonRotatedAccelData);
arm_mat_init_f32(&x, 3, 1, sensors.accel500Hz);
arm_mat_mult_f32(&a, &b, &x);
nonRotatedGyroData[ROLL ] = ((float)gyroSummedSamples500Hz[ROLL] * 0.5f - gyroRTBias[ROLL ] - gyroTCBias[ROLL ]) * GYRO_SCALE_FACTOR;
nonRotatedGyroData[PITCH] = ((float)gyroSummedSamples500Hz[PITCH] * 0.5f - gyroRTBias[PITCH] - gyroTCBias[PITCH]) * GYRO_SCALE_FACTOR;
nonRotatedGyroData[YAW ] = ((float)gyroSummedSamples500Hz[YAW] * 0.5f - gyroRTBias[YAW ] - gyroTCBias[YAW ]) * GYRO_SCALE_FACTOR;
arm_mat_init_f32(&a, 3, 3, (float *)mpuOrientationMatrix);
arm_mat_init_f32(&b, 3, 1, (float *)nonRotatedGyroData);
arm_mat_init_f32(&x, 3, 1, sensors.gyro500Hz);
arm_mat_mult_f32(&a, &b, &x);
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
nonRotatedAccelData[XAXIS] = ((float)accelSummedSamples100Hz[XAXIS] * 0.1f - accelTCBias[XAXIS]) * ACCEL_SCALE_FACTOR;
nonRotatedAccelData[YAXIS] = ((float)accelSummedSamples100Hz[YAXIS] * 0.1f - accelTCBias[YAXIS]) * ACCEL_SCALE_FACTOR;
nonRotatedAccelData[ZAXIS] = ((float)accelSummedSamples100Hz[ZAXIS] * 0.1f - accelTCBias[ZAXIS]) * ACCEL_SCALE_FACTOR;
arm_mat_init_f32(&a, 3, 3, (float *)mpuOrientationMatrix);
arm_mat_init_f32(&b, 3, 1, (float *)nonRotatedAccelData);
arm_mat_init_f32(&x, 3, 1, sensors.accel100Hz);
arm_mat_mult_f32(&a, &b, &x);
createRotationMatrix();
bodyAccelToEarthAccel();
vertCompFilter(dt100Hz);
if (armed == true)
{
if ( eepromConfig.activeTelemetry == 1 )
{
// Roll Loop
openLogPortPrintF("1,%1d,%9.4f,%9.4f,%9.4f,%9.4f,%9.4f,%9.4f\n", flightMode,
rateCmd[ROLL],
sensors.gyro500Hz[ROLL],
ratePID[ROLL],
attCmd[ROLL],
sensors.attitude500Hz[ROLL],
attPID[ROLL]);
}
if ( eepromConfig.activeTelemetry == 2 )
{
// Pitch Loop
openLogPortPrintF("2,%1d,%9.4f,%9.4f,%9.4f,%9.4f,%9.4f,%9.4f\n", flightMode,
rateCmd[PITCH],
sensors.gyro500Hz[PITCH],
ratePID[PITCH],
attCmd[PITCH],
sensors.attitude500Hz[PITCH],
attPID[PITCH]);
}
if ( eepromConfig.activeTelemetry == 4 )
{
// Sensors
openLogPortPrintF("3,%8.4f,%8.4f,%8.4f,%8.4f,%8.4f,%8.4f,%8.4f,%8.4f,%8.4f,%8.4f,%8.4f,%8.4f,\n", sensors.accel500Hz[XAXIS],
sensors.accel500Hz[YAXIS],
sensors.accel500Hz[ZAXIS],
sensors.gyro500Hz[ROLL],
sensors.gyro500Hz[PITCH],
sensors.gyro500Hz[YAW],
sensors.mag10Hz[XAXIS],
sensors.mag10Hz[YAXIS],
sensors.mag10Hz[ZAXIS],
sensors.attitude500Hz[ROLL],
sensors.attitude500Hz[PITCH],
sensors.attitude500Hz[YAW]);
}
if ( eepromConfig.activeTelemetry == 8 )
{
}
if ( eepromConfig.activeTelemetry == 16)
{
// Vertical Variables
openLogPortPrintF("%9.4f, %9.4f, %9.4f, %4ld, %1d, %9.4f\n", verticalVelocityCmd,
hDotEstimate,
hEstimate,
ms5611Temperature,
verticalModeState,
throttleCmd);
}
}
executionTime100Hz = micros() - currentTime;
#ifdef _DTIMING
LA3_DISABLE;
#endif
}
///////////////////////////////
if (frame_5Hz)
{
frame_5Hz = false;
currentTime = micros();
deltaTime5Hz = currentTime - previous5HzTime;
previous5HzTime = currentTime;
if (gpsValid() == true)
{
}
//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++;
// Initialize sensors after being warmed up
if ((execUpCount == 20) && (execUp == false))
{
computeMPU6000RTData();
initMag();
initPressure();
}
// Initialize PWM and set mag after sensor warmup
if ((execUpCount == 25) && (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;
}
////////////////////////////////
}
///////////////////////////////////////////////////////////////////////////
}