/**
* Keep a running filtered version of the acceleration in the NED frame
*/
static void updateNedAccel()
{
float accel[3];
float q[4];
float Rbe[3][3];
float accel_ned[3];
// Collect downsampled attitude data
AccelsData accels;
AccelsGet(&accels);
accel[0] = accels.x;
accel[1] = accels.y;
accel[2] = accels.z;
//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] += GRAVITY;
NedAccelData accelData;
NedAccelGet(&accelData);
accelData.North = accel_ned[0];
accelData.East = accel_ned[1];
accelData.Down = accel_ned[2];
NedAccelSet(&accelData);
}
/**
* 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;
}
}
