Exemple #1
0
void taskAcc(timeUs_t currentTimeUs)
{
    UNUSED(currentTimeUs);

    imuUpdateAccelerometer();
}
Exemple #2
0
void taskUpdateAccelerometer(void)
{
    imuUpdateAccelerometer(&masterConfig.accelerometerTrims);
}
Exemple #3
0
void taskUpdateAccelerometer(void)
{
    imuUpdateAccelerometer(&accelerometerConfig()->accelerometerTrims);
}
Exemple #4
0
void taskMainPidLoop(void)
{
    cycleTime = getTaskDeltaTime(TASK_SELF);
    dT = (float)cycleTime * 0.000001f;

    imuUpdateAccelerometer();
    imuUpdateGyroAndAttitude();

    annexCode();

    if (masterConfig.rxConfig.rcSmoothing) {
        filterRc(isRXDataNew);
    }

#if defined(NAV)
    if (isRXDataNew) {
        updateWaypointsAndNavigationMode();
    }
#endif

    isRXDataNew = false;

#if defined(NAV)
    updatePositionEstimator();
    applyWaypointNavigationAndAltitudeHold();
#endif

    // If we're armed, at minimum throttle, and we do arming via the
    // sticks, do not process yaw input from the rx.  We do this so the
    // motors do not spin up while we are trying to arm or disarm.
    // Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
    if (isUsingSticksForArming() && rcData[THROTTLE] <= masterConfig.rxConfig.mincheck
#ifndef USE_QUAD_MIXER_ONLY
#ifdef USE_SERVOS
            && !((masterConfig.mixerMode == MIXER_TRI || masterConfig.mixerMode == MIXER_CUSTOM_TRI) && masterConfig.servoMixerConfig.tri_unarmed_servo)
#endif
            && masterConfig.mixerMode != MIXER_AIRPLANE
            && masterConfig.mixerMode != MIXER_FLYING_WING
            && masterConfig.mixerMode != MIXER_CUSTOM_AIRPLANE
#endif
    ) {
        rcCommand[YAW] = 0;
    }

    // Apply throttle tilt compensation
    if (!STATE(FIXED_WING)) {
        int16_t thrTiltCompStrength = 0;

        if (navigationRequiresThrottleTiltCompensation()) {
            thrTiltCompStrength = 100;
        }
        else if (currentProfile->throttle_tilt_compensation_strength && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
            thrTiltCompStrength = currentProfile->throttle_tilt_compensation_strength;
        }

        if (thrTiltCompStrength) {
            rcCommand[THROTTLE] = constrain(masterConfig.motorConfig.minthrottle
                                            + (rcCommand[THROTTLE] - masterConfig.motorConfig.minthrottle) * calculateThrottleTiltCompensationFactor(thrTiltCompStrength),
                                            masterConfig.motorConfig.minthrottle,
                                            masterConfig.motorConfig.maxthrottle);
        }
    }

    pidController(&currentProfile->pidProfile, currentControlRateProfile, &masterConfig.rxConfig);

#ifdef HIL
    if (hilActive) {
        hilUpdateControlState();
        motorControlEnable = false;
    }
#endif

    mixTable();

#ifdef USE_SERVOS

    if (isMixerUsingServos()) {
        servoMixer(currentProfile->flaperon_throw_offset, currentProfile->flaperon_throw_inverted);
    }

    if (feature(FEATURE_SERVO_TILT)) {
        processServoTilt();
    }

    //Servos should be filtered or written only when mixer is using servos or special feaures are enabled
    if (isServoOutputEnabled()) {
        filterServos();
        writeServos();
    }
#endif

    if (motorControlEnable) {
        writeMotors();
    }

#ifdef USE_SDCARD
        afatfs_poll();
#endif

#ifdef BLACKBOX
    if (!cliMode && feature(FEATURE_BLACKBOX)) {
        handleBlackbox();
    }
#endif

}
Exemple #5
0
void taskUpdateAccelerometer(void)
{
    imuUpdateAccelerometer(&currentProfile->accelerometerTrims);
}