/**
* Module thread, should not return.
*/
static void AttitudeTask(void *parameters)
{
uint8_t init = 0;
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
PIOS_ADC_Config((PIOS_ADC_RATE / 1000.0f) * UPDATE_RATE);
// Keep flash CS pin high while talking accel
PIOS_FLASH_DISABLE;
PIOS_ADXL345_Init();
// Main task loop
while (1) {
if(xTaskGetTickCount() < 10000) {
// For first 5 seconds use accels to get gyro bias
accelKp = 1;
// Decrease the rate of gyro learning during init
accelKi = .5 / (1 + xTaskGetTickCount() / 5000);
} else if (init == 0) {
settingsUpdatedCb(AttitudeSettingsHandle());
init = 1;
}
PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
AttitudeRawData attitudeRaw;
AttitudeRawGet(&attitudeRaw);
updateSensors(&attitudeRaw);
updateAttitude(&attitudeRaw);
AttitudeRawSet(&attitudeRaw);
}
}
/**
* Module task
*/
static void stabilizationTask(void* parameters)
{
portTickType lastSysTime;
portTickType thisSysTime;
UAVObjEvent ev;
QuadMotorsDesiredData actuatorDesired;
FlightStatusData flightStatus;
//SettingsUpdatedCb((UAVObjEvent *) NULL);
// Main task loop
lastSysTime = xTaskGetTickCount();
while(1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
{
AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_WARNING);
continue;
}
// Check how long since last update
thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
lastSysTime = thisSysTime;
FlightStatusGet(&flightStatus);
QuadMotorsDesiredGet(&actuatorDesired);
//if(flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED)
//{
// ZERO MOTORS
//}
//else
//{
//}
//ActuatorSettingsData settings;
//ActuatorSettingsGet(&settings);
//PIOS_SetMKSpeed(settings.ChannelAddr[mixer_channel],value);
PIOS_SetMKSpeed(0,actuatorDesired.motorFront_NW);
PIOS_SetMKSpeed(1,actuatorDesired.motorRight_NE);
PIOS_SetMKSpeed(2,actuatorDesired.motorBack_SE);
PIOS_SetMKSpeed(3,actuatorDesired.motorLeft_SW);
// Clear alarms
AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
}
}
/**
* @brief Gimbal output control task
*/
static void brushlessGimbalTask(void* parameters)
{
UAVObjEvent ev;
TIM2->CNT = 0;
TIM3->CNT = 0;
TIM15->CNT = 0;
TIM17->CNT = 0;
bool armed = false;
bool previous_armed = false;
while (1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_ACTUATOR);
// Wait until the ActuatorDesired object is updated
PIOS_Queue_Receive(queue, &ev, 1);
previous_armed = armed;
armed |= PIOS_Thread_Systime() > 10000;
if (armed && !previous_armed) {
PIOS_Brushless_SetUpdateRate(60000);
}
if (!armed)
continue;
ActuatorDesiredData actuatorDesired;
ActuatorDesiredGet(&actuatorDesired);
// Set the rotation in electrical degrees per second. Note these
// will be divided by the number of physical poles to get real
// mechanical degrees per second
BrushlessGimbalSettingsData settings;
BrushlessGimbalSettingsGet(&settings);
PIOS_Brushless_SetScale(settings.PowerScale[0], settings.PowerScale[1], settings.PowerScale[2]);
PIOS_Brushless_SetMaxAcceleration(settings.SlewLimit[0], settings.SlewLimit[1], settings.SlewLimit[2]);
PIOS_Brushless_SetSpeed(0, actuatorDesired.Roll * settings.MaxDPS[BRUSHLESSGIMBALSETTINGS_MAXDPS_ROLL], 0.001f);
PIOS_Brushless_SetSpeed(1, actuatorDesired.Pitch * settings.MaxDPS[BRUSHLESSGIMBALSETTINGS_MAXDPS_PITCH], 0.001f);
// Use the gyros to set a damping term. This creates a phase offset of the integrated
// driving position to make the control pull against any momentum. Essentially the main
// output to the driver (above) is a velocity signal which the driver takes care of
// integrating to create a position. The current rate of roll creates a shift in that
// position (without changing the integrated position).
// This idea was taken from https://code.google.com/p/brushless-gimbal/
GyrosData gyros;
GyrosGet(&gyros);
PIOS_Brushless_SetPhaseLag(0, -gyros.x * settings.Damping[BRUSHLESSGIMBALSETTINGS_DAMPING_ROLL]);
PIOS_Brushless_SetPhaseLag(1, -gyros.y * settings.Damping[BRUSHLESSGIMBALSETTINGS_DAMPING_PITCH]);
}
}
/**
* Module thread, should not return.
*/
static void AttitudeTask(void *parameters)
{
uint8_t init = 0;
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
PIOS_ADC_Config((PIOS_ADC_RATE / 1000.0f) * UPDATE_RATE);
// Keep flash CS pin high while talking accel
PIOS_FLASH_DISABLE;
PIOS_ADXL345_Init();
// Force settings update to make sure rotation loaded
settingsUpdatedCb(AttitudeSettingsHandle());
// Main task loop
while (1) {
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if((xTaskGetTickCount() < 7000) && (xTaskGetTickCount() > 1000)) {
// For first 7 seconds use accels to get gyro bias
accelKp = 1;
accelKi = 0.9;
yawBiasRate = 0.23;
init = 0;
}
else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
accelKp = 1;
accelKi = 0.9;
yawBiasRate = 0.23;
init = 0;
} else if (init == 0) {
// Reload settings (all the rates)
AttitudeSettingsAccelKiGet(&accelKi);
AttitudeSettingsAccelKpGet(&accelKp);
AttitudeSettingsYawBiasRateGet(&yawBiasRate);
init = 1;
}
PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
AttitudeRawData attitudeRaw;
AttitudeRawGet(&attitudeRaw);
updateSensors(&attitudeRaw);
updateAttitude(&attitudeRaw);
AttitudeRawSet(&attitudeRaw);
}
}
/**
* Module thread, should not return.
*/
static void AttitudeTask(void *parameters)
{
bool first_run = true;
uint32_t last_algorithm;
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
// Force settings update to make sure rotation loaded
settingsUpdatedCb(NULL);
// Wait for all the sensors be to read
vTaskDelay(100);
// Invalidate previous algorithm to trigger a first run
last_algorithm = 0xfffffff;
// Main task loop
while (1) {
int32_t ret_val = -1;
if (last_algorithm != revoSettings.FusionAlgorithm) {
last_algorithm = revoSettings.FusionAlgorithm;
first_run = true;
}
// This function blocks on data queue
switch (revoSettings.FusionAlgorithm ) {
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARY:
ret_val = updateAttitudeComplementary(first_run);
break;
case REVOSETTINGS_FUSIONALGORITHM_INSOUTDOOR:
ret_val = updateAttitudeINSGPS(first_run, true);
break;
case REVOSETTINGS_FUSIONALGORITHM_INSINDOOR:
ret_val = updateAttitudeINSGPS(first_run, false);
break;
default:
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_CRITICAL);
break;
}
if(ret_val == 0)
first_run = false;
PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
}
}
/**
* Module thread, should not return.
*/
static void ahrscommsTask(void *parameters)
{
portTickType lastSysTime;
AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_CRITICAL);
// Main task loop
while (1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_AHRS);
AhrsCommStatus stat;
AhrsSendObjects();
AhrsGetStatus(&stat);
if (stat.linkOk) {
AlarmsClear(SYSTEMALARMS_ALARM_AHRSCOMMS);
} else {
AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_WARNING);
}
InsStatusData sData;
InsStatusGet(&sData);
sData.LinkRunning = stat.linkOk;
sData.AhrsKickstarts = stat.remote.kickStarts;
sData.AhrsCrcErrors = stat.remote.crcErrors;
sData.AhrsRetries = stat.remote.retries;
sData.AhrsInvalidPackets = stat.remote.invalidPacket;
sData.OpCrcErrors = stat.local.crcErrors;
sData.OpRetries = stat.local.retries;
sData.OpInvalidPackets = stat.local.invalidPacket;
InsStatusSet(&sData);
/* Wait for the next update interval */
vTaskDelayUntil(&lastSysTime, 2 / portTICK_RATE_MS);
}
}
/**
* Module thread, should not return.
*/
static void AutotuneTask(void *parameters)
{
//AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
enum AUTOTUNE_STATE state = AT_INIT;
portTickType lastUpdateTime = xTaskGetTickCount();
while(1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_AUTOTUNE);
// TODO:
// 1. get from queue
// 2. based on whether it is flightstatus or manualcontrol
portTickType diffTime;
const uint32_t PREPARE_TIME = 2000;
const uint32_t MEAURE_TIME = 30000;
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
// Only allow this module to run when autotuning
if (flightStatus.FlightMode != FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE) {
state = AT_INIT;
vTaskDelay(50);
continue;
}
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
StabilizationSettingsData stabSettings;
StabilizationSettingsGet(&stabSettings);
ManualControlSettingsData manualSettings;
ManualControlSettingsGet(&manualSettings);
ManualControlCommandData manualControl;
ManualControlCommandGet(&manualControl);
RelayTuningSettingsData relaySettings;
RelayTuningSettingsGet(&relaySettings);
bool rate = relaySettings.Mode == RELAYTUNINGSETTINGS_MODE_RATE;
if (rate) { // rate mode
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
stabDesired.Roll = manualControl.Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL];
stabDesired.Pitch = manualControl.Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH];
} else {
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.Roll = manualControl.Roll * stabSettings.RollMax;
stabDesired.Pitch = manualControl.Pitch * stabSettings.PitchMax;
}
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
stabDesired.Yaw = manualControl.Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW];
stabDesired.Throttle = manualControl.Throttle;
switch(state) {
case AT_INIT:
lastUpdateTime = xTaskGetTickCount();
// Only start when armed and flying
if (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED && stabDesired.Throttle > 0)
state = AT_START;
break;
case AT_START:
diffTime = xTaskGetTickCount() - lastUpdateTime;
// Spend the first block of time in normal rate mode to get airborne
if (diffTime > PREPARE_TIME) {
state = AT_ROLL;
lastUpdateTime = xTaskGetTickCount();
}
break;
case AT_ROLL:
diffTime = xTaskGetTickCount() - lastUpdateTime;
// Run relay mode on the roll axis for the measurement time
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = rate ? STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE :
STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE;
if (diffTime > MEAURE_TIME) { // Move on to next state
state = AT_PITCH;
lastUpdateTime = xTaskGetTickCount();
}
break;
case AT_PITCH:
diffTime = xTaskGetTickCount() - lastUpdateTime;
// Run relay mode on the pitch axis for the measurement time
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = rate ? STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE :
STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE;
if (diffTime > MEAURE_TIME) { // Move on to next state
state = AT_FINISHED;
lastUpdateTime = xTaskGetTickCount();
}
break;
case AT_FINISHED:
// Wait until disarmed and landed before updating the settings
if (flightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED && stabDesired.Throttle <= 0)
state = AT_SET;
break;
case AT_SET:
update_stabilization_settings();
state = AT_INIT;
break;
default:
// Set an alarm or some shit like that
break;
}
StabilizationDesiredSet(&stabDesired);
vTaskDelay(10);
}
}
static void SensorsTask(void *parameters)
{
portTickType lastSysTime;
uint32_t accel_samples = 0;
uint32_t gyro_samples = 0;
int32_t accel_accum[3] = {0, 0, 0};
int32_t gyro_accum[3] = {0,0,0};
float gyro_scaling = 0;
float accel_scaling = 0;
static int32_t timeval;
AlarmsClear(SYSTEMALARMS_ALARM_SENSORS);
UAVObjEvent ev;
settingsUpdatedCb(&ev);
const struct pios_board_info * bdinfo = &pios_board_info_blob;
switch(bdinfo->board_rev) {
case 0x01:
#if defined(PIOS_INCLUDE_L3GD20)
gyro_test = PIOS_L3GD20_Test();
#endif
#if defined(PIOS_INCLUDE_BMA180)
accel_test = PIOS_BMA180_Test();
#endif
break;
case 0x02:
#if defined(PIOS_INCLUDE_MPU6000)
gyro_test = PIOS_MPU6000_Test();
accel_test = gyro_test;
#endif
break;
default:
PIOS_DEBUG_Assert(0);
}
#if defined(PIOS_INCLUDE_HMC5883)
mag_test = PIOS_HMC5883_Test();
#else
mag_test = 0;
#endif
if(accel_test < 0 || gyro_test < 0 || mag_test < 0) {
AlarmsSet(SYSTEMALARMS_ALARM_SENSORS, SYSTEMALARMS_ALARM_CRITICAL);
while(1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
vTaskDelay(10);
}
}
// Main task loop
lastSysTime = xTaskGetTickCount();
bool error = false;
uint32_t mag_update_time = PIOS_DELAY_GetRaw();
while (1) {
// TODO: add timeouts to the sensor reads and set an error if the fail
sensor_dt_us = PIOS_DELAY_DiffuS(timeval);
timeval = PIOS_DELAY_GetRaw();
if (error) {
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
lastSysTime = xTaskGetTickCount();
vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_RATE_MS);
AlarmsSet(SYSTEMALARMS_ALARM_SENSORS, SYSTEMALARMS_ALARM_CRITICAL);
error = false;
} else {
AlarmsClear(SYSTEMALARMS_ALARM_SENSORS);
}
for (int i = 0; i < 3; i++) {
accel_accum[i] = 0;
gyro_accum[i] = 0;
}
accel_samples = 0;
gyro_samples = 0;
AccelsData accelsData;
GyrosData gyrosData;
switch(bdinfo->board_rev) {
case 0x01: // L3GD20 + BMA180 board
#if defined(PIOS_INCLUDE_BMA180)
{
struct pios_bma180_data accel;
int32_t read_good;
int32_t count;
count = 0;
while((read_good = PIOS_BMA180_ReadFifo(&accel)) != 0 && !error)
error = ((xTaskGetTickCount() - lastSysTime) > SENSOR_PERIOD) ? true : error;
if (error) {
// Unfortunately if the BMA180 ever misses getting read, then it will not
// trigger more interrupts. In this case we must force a read to kickstarts
// it.
struct pios_bma180_data data;
PIOS_BMA180_ReadAccels(&data);
continue;
}
while(read_good == 0) {
count++;
accel_accum[1] += accel.x;
accel_accum[0] += accel.y;
accel_accum[2] -= accel.z;
read_good = PIOS_BMA180_ReadFifo(&accel);
}
accel_samples = count;
accel_scaling = PIOS_BMA180_GetScale();
// Get temp from last reading
accelsData.temperature = 25.0f + ((float) accel.temperature - 2.0f) / 2.0f;
}
#endif
#if defined(PIOS_INCLUDE_L3GD20)
{
struct pios_l3gd20_data gyro;
gyro_samples = 0;
xQueueHandle gyro_queue = PIOS_L3GD20_GetQueue();
if(xQueueReceive(gyro_queue, (void *) &gyro, 4) == errQUEUE_EMPTY) {
error = true;
continue;
}
gyro_samples = 1;
gyro_accum[1] += gyro.gyro_x;
gyro_accum[0] += gyro.gyro_y;
gyro_accum[2] -= gyro.gyro_z;
gyro_scaling = PIOS_L3GD20_GetScale();
// Get temp from last reading
gyrosData.temperature = gyro.temperature;
}
#endif
break;
case 0x02: // MPU6000 board
case 0x03: // MPU6000 board
#if defined(PIOS_INCLUDE_MPU6000)
{
struct pios_mpu6000_data mpu6000_data;
xQueueHandle queue = PIOS_MPU6000_GetQueue();
while(xQueueReceive(queue, (void *) &mpu6000_data, gyro_samples == 0 ? 10 : 0) != errQUEUE_EMPTY)
{
gyro_accum[0] += mpu6000_data.gyro_x;
gyro_accum[1] += mpu6000_data.gyro_y;
gyro_accum[2] += mpu6000_data.gyro_z;
accel_accum[0] += mpu6000_data.accel_x;
accel_accum[1] += mpu6000_data.accel_y;
accel_accum[2] += mpu6000_data.accel_z;
gyro_samples ++;
accel_samples ++;
}
if (gyro_samples == 0) {
PIOS_MPU6000_ReadGyros(&mpu6000_data);
error = true;
continue;
}
gyro_scaling = PIOS_MPU6000_GetScale();
accel_scaling = PIOS_MPU6000_GetAccelScale();
gyrosData.temperature = 35.0f + ((float) mpu6000_data.temperature + 512.0f) / 340.0f;
accelsData.temperature = 35.0f + ((float) mpu6000_data.temperature + 512.0f) / 340.0f;
}
#endif /* PIOS_INCLUDE_MPU6000 */
break;
default:
PIOS_DEBUG_Assert(0);
}
// Scale the accels
float accels[3] = {(float) accel_accum[0] / accel_samples,
(float) accel_accum[1] / accel_samples,
(float) accel_accum[2] / accel_samples};
float accels_out[3] = {accels[0] * accel_scaling * accel_scale[0] - accel_bias[0],
accels[1] * accel_scaling * accel_scale[1] - accel_bias[1],
accels[2] * accel_scaling * accel_scale[2] - accel_bias[2]};
if (rotate) {
rot_mult(R, accels_out, accels);
accelsData.x = accels[0];
accelsData.y = accels[1];
accelsData.z = accels[2];
} else {
accelsData.x = accels_out[0];
accelsData.y = accels_out[1];
accelsData.z = accels_out[2];
}
AccelsSet(&accelsData);
// Scale the gyros
float gyros[3] = {(float) gyro_accum[0] / gyro_samples,
(float) gyro_accum[1] / gyro_samples,
(float) gyro_accum[2] / gyro_samples};
float gyros_out[3] = {gyros[0] * gyro_scaling,
gyros[1] * gyro_scaling,
gyros[2] * gyro_scaling};
if (rotate) {
rot_mult(R, gyros_out, gyros);
gyrosData.x = gyros[0];
gyrosData.y = gyros[1];
gyrosData.z = gyros[2];
} else {
gyrosData.x = gyros_out[0];
gyrosData.y = gyros_out[1];
gyrosData.z = gyros_out[2];
}
if (bias_correct_gyro) {
// Apply bias correction to the gyros from the state estimator
GyrosBiasData gyrosBias;
GyrosBiasGet(&gyrosBias);
gyrosData.x -= gyrosBias.x;
gyrosData.y -= gyrosBias.y;
gyrosData.z -= gyrosBias.z;
}
GyrosSet(&gyrosData);
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
#if defined(PIOS_INCLUDE_HMC5883)
MagnetometerData mag;
if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
int16_t values[3];
PIOS_HMC5883_ReadMag(values);
float mags[3] = {-(float) values[1] * mag_scale[0] - mag_bias[0],
-(float) values[0] * mag_scale[1] - mag_bias[1],
-(float) values[2] * mag_scale[2] - mag_bias[2]};
if (rotate) {
float mag_out[3];
rot_mult(R, mags, mag_out);
mag.x = mag_out[0];
mag.y = mag_out[1];
mag.z = mag_out[2];
} else {
mag.x = mags[0];
mag.y = mags[1];
mag.z = mags[2];
}
// Correct for mag bias and update if the rate is non zero
if(cal.MagBiasNullingRate > 0)
magOffsetEstimation(&mag);
MagnetometerSet(&mag);
mag_update_time = PIOS_DELAY_GetRaw();
}
#endif
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
lastSysTime = xTaskGetTickCount();
}
}
/**
* Module task
*/
static void stabilizationTask(void* parameters)
{
portTickType lastSysTime;
portTickType thisSysTime;
UAVObjEvent ev;
ActuatorDesiredData actuatorDesired;
StabilizationDesiredData stabDesired;
RateDesiredData rateDesired;
AttitudeActualData attitudeActual;
AttitudeRawData attitudeRaw;
SystemSettingsData systemSettings;
FlightStatusData flightStatus;
SettingsUpdatedCb((UAVObjEvent *) NULL);
// Main task loop
lastSysTime = xTaskGetTickCount();
ZeroPids();
while(1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
{
AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_WARNING);
continue;
}
// Check how long since last update
thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
lastSysTime = thisSysTime;
FlightStatusGet(&flightStatus);
StabilizationDesiredGet(&stabDesired);
AttitudeActualGet(&attitudeActual);
AttitudeRawGet(&attitudeRaw);
RateDesiredGet(&rateDesired);
SystemSettingsGet(&systemSettings);
#if defined(PIOS_QUATERNION_STABILIZATION)
// Quaternion calculation of error in each axis. Uses more memory.
float rpy_desired[3];
float q_desired[4];
float q_error[4];
float local_error[3];
// Essentially zero errors for anything in rate or none
if(stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)
rpy_desired[0] = stabDesired.Roll;
else
rpy_desired[0] = attitudeActual.Roll;
if(stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)
rpy_desired[1] = stabDesired.Pitch;
else
rpy_desired[1] = attitudeActual.Pitch;
if(stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)
rpy_desired[2] = stabDesired.Yaw;
else
rpy_desired[2] = attitudeActual.Yaw;
RPY2Quaternion(rpy_desired, q_desired);
quat_inverse(q_desired);
quat_mult(q_desired, &attitudeActual.q1, q_error);
quat_inverse(q_error);
Quaternion2RPY(q_error, local_error);
#else
// Simpler algorithm for CC, less memory
float local_error[3] = {stabDesired.Roll - attitudeActual.Roll,
stabDesired.Pitch - attitudeActual.Pitch,
stabDesired.Yaw - attitudeActual.Yaw};
local_error[2] = fmod(local_error[2] + 180, 360) - 180;
#endif
for(uint8_t i = 0; i < MAX_AXES; i++) {
gyro_filtered[i] = gyro_filtered[i] * gyro_alpha + attitudeRaw.gyros[i] * (1 - gyro_alpha);
}
float *attitudeDesiredAxis = &stabDesired.Roll;
float *actuatorDesiredAxis = &actuatorDesired.Roll;
float *rateDesiredAxis = &rateDesired.Roll;
//Calculate desired rate
for(uint8_t i=0; i< MAX_AXES; i++)
{
switch(stabDesired.StabilizationMode[i])
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
rateDesiredAxis[i] = attitudeDesiredAxis[i];
axis_lock_accum[i] = 0;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
{
float weak_leveling = local_error[i] * weak_leveling_kp;
if(weak_leveling > weak_leveling_max)
weak_leveling = weak_leveling_max;
if(weak_leveling < -weak_leveling_max)
weak_leveling = -weak_leveling_max;
rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
axis_lock_accum[i] = 0;
break;
}
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]);
axis_lock_accum[i] = 0;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
if(fabs(attitudeDesiredAxis[i]) > max_axislock_rate) {
// While getting strong commands act like rate mode
rateDesiredAxis[i] = attitudeDesiredAxis[i];
axis_lock_accum[i] = 0;
} else {
// For weaker commands or no command simply attitude lock (almost) on no gyro change
axis_lock_accum[i] += (attitudeDesiredAxis[i] - gyro_filtered[i]) * dT;
if(axis_lock_accum[i] > max_axis_lock)
axis_lock_accum[i] = max_axis_lock;
else if(axis_lock_accum[i] < -max_axis_lock)
axis_lock_accum[i] = -max_axis_lock;
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]);
}
break;
}
}
uint8_t shouldUpdate = 1;
RateDesiredSet(&rateDesired);
ActuatorDesiredGet(&actuatorDesired);
//Calculate desired command
for(int8_t ct=0; ct< MAX_AXES; ct++)
{
if(rateDesiredAxis[ct] > settings.MaximumRate[ct])
rateDesiredAxis[ct] = settings.MaximumRate[ct];
else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct])
rateDesiredAxis[ct] = -settings.MaximumRate[ct];
switch(stabDesired.StabilizationMode[ct])
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
{
float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rateDesiredAxis[ct] - gyro_filtered[ct]);
actuatorDesiredAxis[ct] = bound(command);
break;
}
case STABILIZATIONDESIRED_STABILIZATIONMODE_NONE:
switch (ct)
{
case ROLL:
actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
shouldUpdate = 1;
break;
case PITCH:
actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
shouldUpdate = 1;
break;
case YAW:
actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
shouldUpdate = 1;
break;
}
break;
}
}
// Save dT
actuatorDesired.UpdateTime = dT * 1000;
if(PARSE_FLIGHT_MODE(flightStatus.FlightMode) == FLIGHTMODE_MANUAL)
shouldUpdate = 0;
if(shouldUpdate)
{
actuatorDesired.Throttle = stabDesired.Throttle;
if(dT > 15)
actuatorDesired.NumLongUpdates++;
ActuatorDesiredSet(&actuatorDesired);
}
if(flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED ||
(lowThrottleZeroIntegral && stabDesired.Throttle < 0) ||
!shouldUpdate)
{
ZeroPids();
}
// Clear alarms
AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
}
}
/**
* Module thread, should not return.
*/
static void AutotuneTask(void *parameters)
{
enum AUTOTUNE_STATE state = AT_INIT;
uint32_t last_update_time = PIOS_Thread_Systime();
float X[AF_NUMX] = {0};
float P[AF_NUMP] = {0};
float noise[3] = {0};
af_init(X,P);
uint32_t last_time = 0.0f;
const uint32_t YIELD_MS = 2;
GyrosConnectCallback(at_new_gyro_data);
while(1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_AUTOTUNE);
uint32_t diff_time;
const uint32_t PREPARE_TIME = 2000;
const uint32_t MEASURE_TIME = 60000;
static uint32_t update_counter = 0;
bool doing_ident = false;
bool can_sleep = true;
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
// Only allow this module to run when autotuning
if (flightStatus.FlightMode != FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE) {
state = AT_INIT;
PIOS_Thread_Sleep(50);
continue;
}
switch(state) {
case AT_INIT:
last_update_time = PIOS_Thread_Systime();
// Only start when armed and flying
if (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) {
af_init(X,P);
UpdateSystemIdent(X, NULL, 0.0f, 0, 0);
state = AT_START;
}
break;
case AT_START:
diff_time = PIOS_Thread_Systime() - last_update_time;
// Spend the first block of time in normal rate mode to get airborne
if (diff_time > PREPARE_TIME) {
last_time = PIOS_DELAY_GetRaw();
/* Drain the queue of all current data */
while (circ_queue_read_pos(at_queue)) {
circ_queue_read_completed(at_queue);
}
/* And reset the point spill counter */
update_counter = 0;
at_points_spilled = 0;
state = AT_RUN;
last_update_time = PIOS_Thread_Systime();
}
break;
case AT_RUN:
diff_time = PIOS_Thread_Systime() - last_update_time;
doing_ident = true;
can_sleep = false;
for (int i=0; i<MAX_PTS_PER_CYCLE; i++) {
struct at_queued_data *pt;
/* Grab an autotune point */
pt = circ_queue_read_pos(at_queue);
if (!pt) {
/* We've drained the buffer
* fully. Yay! */
can_sleep = true;
break;
}
/* calculate time between successive
* points */
float dT_s = PIOS_DELAY_DiffuS2(last_time,
pt->raw_time) * 1.0e-6f;
/* This is for the first point, but
* also if we have extended drops */
if (dT_s > 0.010f) {
dT_s = 0.010f;
}
last_time = pt->raw_time;
af_predict(X, P, pt->u, pt->y, dT_s);
// Update uavo every 256 cycles to avoid
// telemetry spam
if (!((update_counter++) & 0xff)) {
UpdateSystemIdent(X, noise, dT_s, update_counter, at_points_spilled);
}
for (uint32_t i = 0; i < 3; i++) {
const float NOISE_ALPHA = 0.9997f; // 10 second time constant at 300 Hz
noise[i] = NOISE_ALPHA * noise[i] + (1-NOISE_ALPHA) * (pt->y[i] - X[i]) * (pt->y[i] - X[i]);
}
/* Free the buffer containing an AT point */
circ_queue_read_completed(at_queue);
}
if (diff_time > MEASURE_TIME) { // Move on to next state
state = AT_FINISHED;
last_update_time = PIOS_Thread_Systime();
}
break;
case AT_FINISHED:
// Wait until disarmed and landed before saving the settings
UpdateSystemIdent(X, noise, 0, update_counter, at_points_spilled);
state = AT_WAITING; // Fall through
case AT_WAITING:
// TODO do this unconditionally on disarm,
// no matter what mode we're in.
if (flightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED) {
// Save the settings locally.
UAVObjSave(SystemIdentHandle(), 0);
state = AT_INIT;
}
break;
default:
// Set an alarm or some shit like that
break;
}
// Update based on manual controls
UpdateStabilizationDesired(doing_ident);
if (can_sleep) {
PIOS_Thread_Sleep(YIELD_MS);
}
}
}
/**
* WARNING! This callback executes with critical flight control priority every
* time a gyroscope update happens do NOT put any time consuming calculations
* in this loop unless they really have to execute with every gyro update
*/
static void stabilizationInnerloopTask()
{
// watchdog and error handling
{
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
#endif
bool warn = false;
bool error = false;
bool crit = false;
// check if outer loop keeps executing
if (stabSettings.monitor.rateupdates > -64) {
stabSettings.monitor.rateupdates--;
}
if (stabSettings.monitor.rateupdates < -(2 * OUTERLOOP_SKIPCOUNT)) {
// warning if rate loop skipped more than 2 execution
warn = true;
}
if (stabSettings.monitor.rateupdates < -(4 * OUTERLOOP_SKIPCOUNT)) {
// critical if rate loop skipped more than 4 executions
crit = true;
}
// check if gyro keeps updating
if (stabSettings.monitor.gyroupdates < 1) {
// error if gyro didn't update at all!
error = true;
}
if (stabSettings.monitor.gyroupdates > 1) {
// warning if we missed a gyro update
warn = true;
}
if (stabSettings.monitor.gyroupdates > 3) {
// critical if we missed 3 gyro updates
crit = true;
}
stabSettings.monitor.gyroupdates = 0;
if (crit) {
AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION, SYSTEMALARMS_ALARM_CRITICAL);
} else if (error) {
AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION, SYSTEMALARMS_ALARM_ERROR);
} else if (warn) {
AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION, SYSTEMALARMS_ALARM_WARNING);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
}
}
RateDesiredData rateDesired;
ActuatorDesiredData actuator;
StabilizationStatusInnerLoopData enabled;
FlightStatusControlChainData cchain;
RateDesiredGet(&rateDesired);
ActuatorDesiredGet(&actuator);
StabilizationStatusInnerLoopGet(&enabled);
FlightStatusControlChainGet(&cchain);
float *rate = &rateDesired.Roll;
float *actuatorDesiredAxis = &actuator.Roll;
int t;
float dT;
dT = PIOS_DELTATIME_GetAverageSeconds(&timeval);
for (t = 0; t < AXES; t++) {
bool reinit = (cast_struct_to_array(enabled, enabled.Roll)[t] != previous_mode[t]);
previous_mode[t] = cast_struct_to_array(enabled, enabled.Roll)[t];
if (t < STABILIZATIONSTATUS_INNERLOOP_THRUST) {
if (reinit) {
stabSettings.innerPids[t].iAccumulator = 0;
}
switch (cast_struct_to_array(enabled, enabled.Roll)[t]) {
case STABILIZATIONSTATUS_INNERLOOP_VIRTUALFLYBAR:
stabilization_virtual_flybar(gyro_filtered[t], rate[t], &actuatorDesiredAxis[t], dT, reinit, t, &stabSettings.settings);
break;
case STABILIZATIONSTATUS_INNERLOOP_RELAYTUNING:
rate[t] = boundf(rate[t],
-cast_struct_to_array(stabSettings.stabBank.MaximumRate, stabSettings.stabBank.MaximumRate.Roll)[t],
cast_struct_to_array(stabSettings.stabBank.MaximumRate, stabSettings.stabBank.MaximumRate.Roll)[t]
);
stabilization_relay_rate(rate[t] - gyro_filtered[t], &actuatorDesiredAxis[t], t, reinit);
break;
case STABILIZATIONSTATUS_INNERLOOP_AXISLOCK:
if (fabsf(rate[t]) > stabSettings.settings.MaxAxisLockRate) {
// While getting strong commands act like rate mode
axis_lock_accum[t] = 0;
} else {
// For weaker commands or no command simply attitude lock (almost) on no gyro change
axis_lock_accum[t] += (rate[t] - gyro_filtered[t]) * dT;
axis_lock_accum[t] = boundf(axis_lock_accum[t], -stabSettings.settings.MaxAxisLock, stabSettings.settings.MaxAxisLock);
rate[t] = axis_lock_accum[t] * stabSettings.settings.AxisLockKp;
}
// IMPORTANT: deliberately no "break;" here, execution continues with regular RATE control loop to avoid code duplication!
// keep order as it is, RATE must follow!
case STABILIZATIONSTATUS_INNERLOOP_RATE:
// limit rate to maximum configured limits (once here instead of 5 times in outer loop)
rate[t] = boundf(rate[t],
-cast_struct_to_array(stabSettings.stabBank.MaximumRate, stabSettings.stabBank.MaximumRate.Roll)[t],
cast_struct_to_array(stabSettings.stabBank.MaximumRate, stabSettings.stabBank.MaximumRate.Roll)[t]
);
actuatorDesiredAxis[t] = pid_apply_setpoint(&stabSettings.innerPids[t], speedScaleFactor, rate[t], gyro_filtered[t], dT);
break;
case STABILIZATIONSTATUS_INNERLOOP_DIRECT:
default:
actuatorDesiredAxis[t] = rate[t];
break;
}
} else {
switch (cast_struct_to_array(enabled, enabled.Roll)[t]) {
case STABILIZATIONSTATUS_INNERLOOP_CRUISECONTROL:
actuatorDesiredAxis[t] = cruisecontrol_apply_factor(rate[t]);
break;
case STABILIZATIONSTATUS_INNERLOOP_DIRECT:
default:
actuatorDesiredAxis[t] = rate[t];
break;
}
}
actuatorDesiredAxis[t] = boundf(actuatorDesiredAxis[t], -1.0f, 1.0f);
}
actuator.UpdateTime = dT * 1000;
if (cchain.Stabilization == FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
ActuatorDesiredSet(&actuator);
} else {
// Force all axes to reinitialize when engaged
for (t = 0; t < AXES; t++) {
previous_mode[t] = 255;
}
}
{
uint8_t armed;
FlightStatusArmedGet(&armed);
float throttleDesired;
ManualControlCommandThrottleGet(&throttleDesired);
if (armed != FLIGHTSTATUS_ARMED_ARMED ||
((stabSettings.settings.LowThrottleZeroIntegral == STABILIZATIONSETTINGS_LOWTHROTTLEZEROINTEGRAL_TRUE) && throttleDesired < 0)) {
// Force all axes to reinitialize when engaged
for (t = 0; t < AXES; t++) {
previous_mode[t] = 255;
}
}
}
PIOS_CALLBACKSCHEDULER_Schedule(callbackHandle, FAILSAFE_TIMEOUT_MS, CALLBACK_UPDATEMODE_LATER);
}
static void SensorsTask(void *parameters)
{
AlarmsClear(SYSTEMALARMS_ALARM_SENSORS);
// HomeLocationData homeLocation;
// HomeLocationGet(&homeLocation);
// homeLocation.Latitude = 0;
// homeLocation.Longitude = 0;
// homeLocation.Altitude = 0;
// homeLocation.Be[0] = 26000;
// homeLocation.Be[1] = 400;
// homeLocation.Be[2] = 40000;
// homeLocation.Set = HOMELOCATION_SET_TRUE;
// HomeLocationSet(&homeLocation);
PIOS_SENSORS_SetMaxGyro(500);
// Main task loop
while (1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
SystemSettingsData systemSettings;
SystemSettingsGet(&systemSettings);
switch(systemSettings.AirframeType) {
case SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWING:
case SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGELEVON:
case SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGVTAIL:
sensor_sim_type = MODEL_AIRPLANE;
break;
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
case SYSTEMSETTINGS_AIRFRAMETYPE_VTOL:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
sensor_sim_type = MODEL_QUADCOPTER;
break;
case SYSTEMSETTINGS_AIRFRAMETYPE_GROUNDVEHICLECAR:
sensor_sim_type = MODEL_CAR;
break;
default:
sensor_sim_type = MODEL_AGNOSTIC;
}
static int i;
i++;
if (i % 5000 == 0) {
//float dT = PIOS_DELAY_DiffuS(last_time) / 10.0e6;
//fprintf(stderr, "Sensor relative timing: %f\n", dT);
}
sensors_count++;
switch(sensor_sim_type) {
case CONSTANT:
simulateConstant();
break;
case MODEL_AGNOSTIC:
simulateModelAgnostic();
break;
case MODEL_QUADCOPTER:
simulateModelQuadcopter();
break;
case MODEL_AIRPLANE:
simulateModelAirplane();
break;
case MODEL_CAR:
simulateModelCar();
}
vTaskDelay(MS2TICKS(2));
}
}
/**
* Module task
*/
static void stabilizationTask(void* parameters)
{
UAVObjEvent ev;
uint32_t timeval = PIOS_DELAY_GetRaw();
ActuatorDesiredData actuatorDesired;
StabilizationDesiredData stabDesired;
RateDesiredData rateDesired;
AttitudeActualData attitudeActual;
GyrosData gyrosData;
FlightStatusData flightStatus;
float *stabDesiredAxis = &stabDesired.Roll;
float *actuatorDesiredAxis = &actuatorDesired.Roll;
float *rateDesiredAxis = &rateDesired.Roll;
float horizonRateFraction = 0.0f;
// Force refresh of all settings immediately before entering main task loop
SettingsUpdatedCb((UAVObjEvent *) NULL);
// Settings for system identification
uint32_t iteration = 0;
const uint32_t SYSTEM_IDENT_PERIOD = 75;
uint32_t system_ident_timeval = PIOS_DELAY_GetRaw();
float dT_filtered = 0;
// Main task loop
zero_pids();
while(1) {
iteration++;
PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
if (PIOS_Queue_Receive(queue, &ev, FAILSAFE_TIMEOUT_MS) != true)
{
AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_WARNING);
continue;
}
calculate_pids();
float dT = PIOS_DELAY_DiffuS(timeval) * 1.0e-6f;
timeval = PIOS_DELAY_GetRaw();
// exponential moving averaging (EMA) of dT to reduce jitter; ~200points
// to have more or less equivalent noise reduction to a normal N point moving averaging: alpha = 2 / (N + 1)
// run it only at the beginning for the first samples, to reduce CPU load, and the value should converge to a constant value
if (iteration < 100) {
dT_filtered = dT;
} else if (iteration < 2000) {
dT_filtered = 0.01f * dT + (1.0f - 0.01f) * dT_filtered;
} else if (iteration == 2000) {
gyro_filter_updated = true;
}
if (gyro_filter_updated) {
if (settings.GyroCutoff < 1.0f) {
gyro_alpha = 0;
} else {
gyro_alpha = expf(-2.0f * (float)(M_PI) *
settings.GyroCutoff * dT_filtered);
}
// Compute time constant for vbar decay term
if (settings.VbarTau < 0.001f) {
vbar_decay = 0;
} else {
vbar_decay = expf(-dT_filtered / settings.VbarTau);
}
gyro_filter_updated = false;
}
FlightStatusGet(&flightStatus);
StabilizationDesiredGet(&stabDesired);
AttitudeActualGet(&attitudeActual);
GyrosGet(&gyrosData);
ActuatorDesiredGet(&actuatorDesired);
#if defined(RATEDESIRED_DIAGNOSTICS)
RateDesiredGet(&rateDesired);
#endif
struct TrimmedAttitudeSetpoint {
float Roll;
float Pitch;
float Yaw;
} trimmedAttitudeSetpoint;
// Mux in level trim values, and saturate the trimmed attitude setpoint.
trimmedAttitudeSetpoint.Roll = bound_min_max(
stabDesired.Roll + trimAngles.Roll,
-settings.RollMax + trimAngles.Roll,
settings.RollMax + trimAngles.Roll);
trimmedAttitudeSetpoint.Pitch = bound_min_max(
stabDesired.Pitch + trimAngles.Pitch,
-settings.PitchMax + trimAngles.Pitch,
settings.PitchMax + trimAngles.Pitch);
trimmedAttitudeSetpoint.Yaw = stabDesired.Yaw;
// For horizon mode we need to compute the desire attitude from an unscaled value and apply the
// trim offset. Also track the stick with the most deflection to choose rate blending.
horizonRateFraction = 0.0f;
if (stabDesired.StabilizationMode[ROLL] == STABILIZATIONDESIRED_STABILIZATIONMODE_HORIZON) {
trimmedAttitudeSetpoint.Roll = bound_min_max(
stabDesired.Roll * settings.RollMax + trimAngles.Roll,
-settings.RollMax + trimAngles.Roll,
settings.RollMax + trimAngles.Roll);
horizonRateFraction = fabsf(stabDesired.Roll);
}
if (stabDesired.StabilizationMode[PITCH] == STABILIZATIONDESIRED_STABILIZATIONMODE_HORIZON) {
trimmedAttitudeSetpoint.Pitch = bound_min_max(
stabDesired.Pitch * settings.PitchMax + trimAngles.Pitch,
-settings.PitchMax + trimAngles.Pitch,
settings.PitchMax + trimAngles.Pitch);
horizonRateFraction = MAX(horizonRateFraction, fabsf(stabDesired.Pitch));
}
if (stabDesired.StabilizationMode[YAW] == STABILIZATIONDESIRED_STABILIZATIONMODE_HORIZON) {
trimmedAttitudeSetpoint.Yaw = stabDesired.Yaw * settings.YawMax;
horizonRateFraction = MAX(horizonRateFraction, fabsf(stabDesired.Yaw));
}
// For weak leveling mode the attitude setpoint is the trim value (drifts back towards "0")
if (stabDesired.StabilizationMode[ROLL] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) {
trimmedAttitudeSetpoint.Roll = trimAngles.Roll;
}
if (stabDesired.StabilizationMode[PITCH] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) {
trimmedAttitudeSetpoint.Pitch = trimAngles.Pitch;
}
if (stabDesired.StabilizationMode[YAW] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) {
trimmedAttitudeSetpoint.Yaw = 0;
}
// Note we divide by the maximum limit here so the fraction ranges from 0 to 1 depending on
// how much is requested.
horizonRateFraction = bound_sym(horizonRateFraction, HORIZON_MODE_MAX_BLEND) / HORIZON_MODE_MAX_BLEND;
// Calculate the errors in each axis. The local error is used in the following modes:
// ATTITUDE, HORIZON, WEAKLEVELING
float local_attitude_error[3];
local_attitude_error[0] = trimmedAttitudeSetpoint.Roll - attitudeActual.Roll;
local_attitude_error[1] = trimmedAttitudeSetpoint.Pitch - attitudeActual.Pitch;
local_attitude_error[2] = trimmedAttitudeSetpoint.Yaw - attitudeActual.Yaw;
// Wrap yaw error to [-180,180]
local_attitude_error[2] = circular_modulus_deg(local_attitude_error[2]);
static float gyro_filtered[3];
gyro_filtered[0] = gyro_filtered[0] * gyro_alpha + gyrosData.x * (1 - gyro_alpha);
gyro_filtered[1] = gyro_filtered[1] * gyro_alpha + gyrosData.y * (1 - gyro_alpha);
gyro_filtered[2] = gyro_filtered[2] * gyro_alpha + gyrosData.z * (1 - gyro_alpha);
// A flag to track which stabilization mode each axis is in
static uint8_t previous_mode[MAX_AXES] = {255,255,255};
bool error = false;
//Run the selected stabilization algorithm on each axis:
for(uint8_t i=0; i< MAX_AXES; i++)
{
// Check whether this axis mode needs to be reinitialized
bool reinit = (stabDesired.StabilizationMode[i] != previous_mode[i]);
// The unscaled input (-1,1)
float *raw_input = &stabDesired.Roll;
previous_mode[i] = stabDesired.StabilizationMode[i];
// Apply the selected control law
switch(stabDesired.StabilizationMode[i])
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
if(reinit)
pids[PID_GROUP_RATE + i].iAccumulator = 0;
// Store to rate desired variable for storing to UAVO
rateDesiredAxis[i] = bound_sym(stabDesiredAxis[i], settings.ManualRate[i]);
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_ACROPLUS:
// this implementation is based on the Openpilot/Librepilot Acro+ flightmode
// and our existing rate & MWRate flightmodes
if(reinit)
pids[PID_GROUP_RATE + i].iAccumulator = 0;
// The factor for gyro suppression / mixing raw stick input into the output; scaled by raw stick input
float factor = fabsf(raw_input[i]) * settings.AcroInsanityFactor / 100;
// Store to rate desired variable for storing to UAVO
rateDesiredAxis[i] = bound_sym(raw_input[i] * settings.ManualRate[i], settings.ManualRate[i]);
// Zero integral for aggressive maneuvers, like it is done for MWRate
if ((i < 2 && fabsf(gyro_filtered[i]) > 150.0f) ||
(i == 0 && fabsf(raw_input[i]) > 0.2f)) {
pids[PID_GROUP_RATE + i].iAccumulator = 0;
pids[PID_GROUP_RATE + i].i = 0;
}
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = factor * raw_input[i] + (1.0f - factor) * actuatorDesiredAxis[i];
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i], 1.0f);
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
if(reinit) {
pids[PID_GROUP_ATT + i].iAccumulator = 0;
pids[PID_GROUP_RATE + i].iAccumulator = 0;
}
// Compute the outer loop
rateDesiredAxis[i] = pid_apply(&pids[PID_GROUP_ATT + i], local_attitude_error[i], dT);
rateDesiredAxis[i] = bound_sym(rateDesiredAxis[i], settings.MaximumRate[i]);
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
// Store for debugging output
rateDesiredAxis[i] = stabDesiredAxis[i];
// Run a virtual flybar stabilization algorithm on this axis
stabilization_virtual_flybar(gyro_filtered[i], rateDesiredAxis[i], &actuatorDesiredAxis[i], dT, reinit, i, &pids[PID_GROUP_VBAR + i], &settings);
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
{
if (reinit)
pids[PID_GROUP_RATE + i].iAccumulator = 0;
float weak_leveling = local_attitude_error[i] * weak_leveling_kp;
weak_leveling = bound_sym(weak_leveling, weak_leveling_max);
// Compute desired rate as input biased towards leveling
rateDesiredAxis[i] = stabDesiredAxis[i] + weak_leveling;
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);
break;
}
case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
if (reinit)
pids[PID_GROUP_RATE + i].iAccumulator = 0;
if (fabsf(stabDesiredAxis[i]) > max_axislock_rate) {
// While getting strong commands act like rate mode
rateDesiredAxis[i] = bound_sym(stabDesiredAxis[i], settings.ManualRate[i]);
// Reset accumulator
axis_lock_accum[i] = 0;
} else {
// For weaker commands or no command simply lock (almost) on no gyro change
axis_lock_accum[i] += (stabDesiredAxis[i] - gyro_filtered[i]) * dT;
axis_lock_accum[i] = bound_sym(axis_lock_accum[i], max_axis_lock);
// Compute the inner loop
float tmpRateDesired = pid_apply(&pids[PID_GROUP_ATT + i], axis_lock_accum[i], dT);
rateDesiredAxis[i] = bound_sym(tmpRateDesired, settings.MaximumRate[i]);
}
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_HORIZON:
if(reinit) {
pids[PID_GROUP_RATE + i].iAccumulator = 0;
}
// Do not allow outer loop integral to wind up in this mode since the controller
// is often disengaged.
pids[PID_GROUP_ATT + i].iAccumulator = 0;
// Compute the outer loop for the attitude control
float rateDesiredAttitude = pid_apply(&pids[PID_GROUP_ATT + i], local_attitude_error[i], dT);
// Compute the desire rate for a rate control
float rateDesiredRate = raw_input[i] * settings.ManualRate[i];
// Blend from one rate to another. The maximum of all stick positions is used for the
// amount so that when one axis goes completely to rate the other one does too. This
// prevents doing flips while one axis tries to stay in attitude mode.
rateDesiredAxis[i] = rateDesiredAttitude * (1.0f-horizonRateFraction) + rateDesiredRate * horizonRateFraction;
rateDesiredAxis[i] = bound_sym(rateDesiredAxis[i], settings.ManualRate[i]);
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_MWRATE:
{
if(reinit) {
pids[PID_GROUP_MWR + i].iAccumulator = 0;
}
/*
Conversion from MultiWii PID settings to our units.
Kp = Kp_mw * 4 / 80 / 500
Kd = Kd_mw * looptime * 1e-6 * 4 * 3 / 32 / 500
Ki = Ki_mw * 4 / 125 / 64 / (looptime * 1e-6) / 500
These values will just be approximate and should help
you get started.
*/
// The unscaled input (-1,1) - note in MW this is from (-500,500)
float *raw_input = &stabDesired.Roll;
// dynamic PIDs are scaled both by throttle and stick position
float scale = (i == 0 || i == 1) ? mwrate_settings.RollPitchRate : mwrate_settings.YawRate;
float pid_scale = (100.0f - scale * fabsf(raw_input[i])) / 100.0f;
float dynP8 = pids[PID_GROUP_MWR + i].p * pid_scale;
float dynD8 = pids[PID_GROUP_MWR + i].d * pid_scale;
// these terms are used by the integral loop this proportional term is scaled by throttle (this is different than MW
// that does not apply scale
float cfgP8 = pids[PID_GROUP_MWR + i].p;
float cfgI8 = pids[PID_GROUP_MWR + i].i;
// Dynamically adjust PID settings
struct pid mw_pid;
mw_pid.p = 0; // use zero Kp here because of strange setpoint. applied later.
mw_pid.d = dynD8;
mw_pid.i = cfgI8;
mw_pid.iLim = pids[PID_GROUP_MWR + i].iLim;
mw_pid.iAccumulator = pids[PID_GROUP_MWR + i].iAccumulator;
mw_pid.lastErr = pids[PID_GROUP_MWR + i].lastErr;
mw_pid.lastDer = pids[PID_GROUP_MWR + i].lastDer;
// Zero integral for aggressive maneuvers
if ((i < 2 && fabsf(gyro_filtered[i]) > 150.0f) ||
(i == 0 && fabsf(raw_input[i]) > 0.2f)) {
mw_pid.iAccumulator = 0;
mw_pid.i = 0;
}
// Apply controller as if we want zero change, then add stick input afterwards
actuatorDesiredAxis[i] = pid_apply_setpoint(&mw_pid, raw_input[i] / cfgP8, gyro_filtered[i], dT);
actuatorDesiredAxis[i] += raw_input[i]; // apply input
actuatorDesiredAxis[i] -= dynP8 * gyro_filtered[i]; // apply Kp term
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);
// Store PID accumulators for next cycle
pids[PID_GROUP_MWR + i].iAccumulator = mw_pid.iAccumulator;
pids[PID_GROUP_MWR + i].lastErr = mw_pid.lastErr;
pids[PID_GROUP_MWR + i].lastDer = mw_pid.lastDer;
}
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_SYSTEMIDENT:
if(reinit) {
pids[PID_GROUP_ATT + i].iAccumulator = 0;
pids[PID_GROUP_RATE + i].iAccumulator = 0;
}
static uint32_t ident_iteration = 0;
static float ident_offsets[3] = {0};
if (PIOS_DELAY_DiffuS(system_ident_timeval) / 1000.0f > SYSTEM_IDENT_PERIOD && SystemIdentHandle()) {
ident_iteration++;
system_ident_timeval = PIOS_DELAY_GetRaw();
SystemIdentData systemIdent;
SystemIdentGet(&systemIdent);
const float SCALE_BIAS = 7.1f;
float roll_scale = expf(SCALE_BIAS - systemIdent.Beta[SYSTEMIDENT_BETA_ROLL]);
float pitch_scale = expf(SCALE_BIAS - systemIdent.Beta[SYSTEMIDENT_BETA_PITCH]);
float yaw_scale = expf(SCALE_BIAS - systemIdent.Beta[SYSTEMIDENT_BETA_YAW]);
if (roll_scale > 0.25f)
roll_scale = 0.25f;
if (pitch_scale > 0.25f)
pitch_scale = 0.25f;
if (yaw_scale > 0.25f)
yaw_scale = 0.2f;
switch(ident_iteration & 0x07) {
case 0:
ident_offsets[0] = 0;
ident_offsets[1] = 0;
ident_offsets[2] = yaw_scale;
break;
case 1:
ident_offsets[0] = roll_scale;
ident_offsets[1] = 0;
ident_offsets[2] = 0;
break;
case 2:
ident_offsets[0] = 0;
ident_offsets[1] = 0;
ident_offsets[2] = -yaw_scale;
break;
case 3:
ident_offsets[0] = -roll_scale;
ident_offsets[1] = 0;
ident_offsets[2] = 0;
break;
case 4:
ident_offsets[0] = 0;
ident_offsets[1] = 0;
ident_offsets[2] = yaw_scale;
break;
case 5:
ident_offsets[0] = 0;
ident_offsets[1] = pitch_scale;
ident_offsets[2] = 0;
break;
case 6:
ident_offsets[0] = 0;
ident_offsets[1] = 0;
ident_offsets[2] = -yaw_scale;
break;
case 7:
ident_offsets[0] = 0;
ident_offsets[1] = -pitch_scale;
ident_offsets[2] = 0;
break;
}
}
if (i == ROLL || i == PITCH) {
// Compute the outer loop
rateDesiredAxis[i] = pid_apply(&pids[PID_GROUP_ATT + i], local_attitude_error[i], dT);
rateDesiredAxis[i] = bound_sym(rateDesiredAxis[i], settings.MaximumRate[i]);
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] += ident_offsets[i];
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);
} else {
// Get the desired rate. yaw is always in rate mode in system ident.
rateDesiredAxis[i] = bound_sym(stabDesiredAxis[i], settings.ManualRate[i]);
// Compute the inner loop only for yaw
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] += ident_offsets[i];
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);
}
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_COORDINATEDFLIGHT:
switch (i) {
case YAW:
if (reinit) {
pids[PID_COORDINATED_FLIGHT_YAW].iAccumulator = 0;
pids[PID_RATE_YAW].iAccumulator = 0;
axis_lock_accum[YAW] = 0;
}
//If we are not in roll attitude mode, trigger an error
if (stabDesired.StabilizationMode[ROLL] != STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)
{
error = true;
break ;
}
if (fabsf(stabDesired.Yaw) < COORDINATED_FLIGHT_MAX_YAW_THRESHOLD) { //If yaw is within the deadband...
if (fabsf(stabDesired.Roll) > COORDINATED_FLIGHT_MIN_ROLL_THRESHOLD) { // We're requesting more roll than the threshold
float accelsDataY;
AccelsyGet(&accelsDataY);
//Reset integral if we have changed roll to opposite direction from rudder. This implies that we have changed desired turning direction.
if ((stabDesired.Roll > 0 && actuatorDesiredAxis[YAW] < 0) ||
(stabDesired.Roll < 0 && actuatorDesiredAxis[YAW] > 0)){
pids[PID_COORDINATED_FLIGHT_YAW].iAccumulator = 0;
}
// Coordinate flight can simply be seen as ensuring that there is no lateral acceleration in the
// body frame. As such, we use the (noisy) accelerometer data as our measurement. Ideally, at
// some point in the future we will estimate acceleration and then we can use the estimated value
// instead of the measured value.
float errorSlip = -accelsDataY;
float command = pid_apply(&pids[PID_COORDINATED_FLIGHT_YAW], errorSlip, dT);
actuatorDesiredAxis[YAW] = bound_sym(command ,1.0);
// Reset axis-lock integrals
pids[PID_RATE_YAW].iAccumulator = 0;
axis_lock_accum[YAW] = 0;
} else if (fabsf(stabDesired.Roll) <= COORDINATED_FLIGHT_MIN_ROLL_THRESHOLD) { // We're requesting less roll than the threshold
// Axis lock on no gyro change
axis_lock_accum[YAW] += (0 - gyro_filtered[YAW]) * dT;
rateDesiredAxis[YAW] = pid_apply(&pids[PID_ATT_YAW], axis_lock_accum[YAW], dT);
rateDesiredAxis[YAW] = bound_sym(rateDesiredAxis[YAW], settings.MaximumRate[YAW]);
actuatorDesiredAxis[YAW] = pid_apply_setpoint(&pids[PID_RATE_YAW], rateDesiredAxis[YAW], gyro_filtered[YAW], dT);
actuatorDesiredAxis[YAW] = bound_sym(actuatorDesiredAxis[YAW],1.0f);
// Reset coordinated-flight integral
pids[PID_COORDINATED_FLIGHT_YAW].iAccumulator = 0;
}
} else { //... yaw is outside the deadband. Pass the manual input directly to the actuator.
actuatorDesiredAxis[YAW] = bound_sym(stabDesiredAxis[YAW], 1.0);
// Reset all integrals
pids[PID_COORDINATED_FLIGHT_YAW].iAccumulator = 0;
pids[PID_RATE_YAW].iAccumulator = 0;
axis_lock_accum[YAW] = 0;
}
break;
case ROLL:
case PITCH:
default:
//Coordinated Flight has no effect in these modes. Trigger a configuration error.
error = true;
break;
}
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_POI:
// The sanity check enforces this is only selectable for Yaw
// for a gimbal you can select pitch too.
if(reinit) {
pids[PID_GROUP_ATT + i].iAccumulator = 0;
pids[PID_GROUP_RATE + i].iAccumulator = 0;
}
float error;
float angle;
if (CameraDesiredHandle()) {
switch(i) {
case PITCH:
CameraDesiredDeclinationGet(&angle);
error = circular_modulus_deg(angle - attitudeActual.Pitch);
break;
case ROLL:
{
uint8_t roll_fraction = 0;
#ifdef GIMBAL
if (BrushlessGimbalSettingsHandle()) {
BrushlessGimbalSettingsRollFractionGet(&roll_fraction);
}
#endif /* GIMBAL */
// For ROLL POI mode we track the FC roll angle (scaled) to
// allow keeping some motion
CameraDesiredRollGet(&angle);
angle *= roll_fraction / 100.0f;
error = circular_modulus_deg(angle - attitudeActual.Roll);
}
break;
case YAW:
CameraDesiredBearingGet(&angle);
error = circular_modulus_deg(angle - attitudeActual.Yaw);
break;
default:
error = true;
}
} else
error = true;
// Compute the outer loop
rateDesiredAxis[i] = pid_apply(&pids[PID_GROUP_ATT + i], error, dT);
rateDesiredAxis[i] = bound_sym(rateDesiredAxis[i], settings.PoiMaximumRate[i]);
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_GROUP_RATE + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound_sym(actuatorDesiredAxis[i],1.0f);
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_NONE:
actuatorDesiredAxis[i] = bound_sym(stabDesiredAxis[i],1.0f);
break;
default:
error = true;
break;
}
}
if (settings.VbarPiroComp == STABILIZATIONSETTINGS_VBARPIROCOMP_TRUE)
stabilization_virtual_flybar_pirocomp(gyro_filtered[2], dT);
#if defined(RATEDESIRED_DIAGNOSTICS)
RateDesiredSet(&rateDesired);
#endif
// Save dT
actuatorDesired.UpdateTime = dT * 1000;
actuatorDesired.Throttle = stabDesired.Throttle;
if(flightStatus.FlightMode != FLIGHTSTATUS_FLIGHTMODE_MANUAL) {
ActuatorDesiredSet(&actuatorDesired);
} else {
// Force all axes to reinitialize when engaged
for(uint8_t i=0; i< MAX_AXES; i++)
previous_mode[i] = 255;
}
if(flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED ||
(lowThrottleZeroIntegral && stabDesired.Throttle < 0))
{
// Force all axes to reinitialize when engaged
for(uint8_t i=0; i< MAX_AXES; i++)
previous_mode[i] = 255;
}
// Clear or set alarms. Done like this to prevent toggling each cycle
// and hammering system alarms
if (error)
AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_ERROR);
else
AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
}
}
/**
* Module task
*/
static void manualControlTask(void *parameters)
{
ManualControlSettingsData settings;
StabilizationSettingsData stabSettings;
ManualControlCommandData cmd;
ActuatorDesiredData actuator;
AttitudeDesiredData attitude;
RateDesiredData rate;
portTickType lastSysTime;
float flightMode;
uint8_t disconnected_count = 0;
uint8_t connected_count = 0;
enum { CONNECTED, DISCONNECTED } connection_state = DISCONNECTED;
// Make sure unarmed on power up
ManualControlCommandGet(&cmd);
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
ManualControlCommandSet(&cmd);
armState = ARM_STATE_DISARMED;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1) {
float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM];
// Wait until next update
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
PIOS_WDG_UpdateFlag(PIOS_WDG_MANUAL);
// Read settings
ManualControlSettingsGet(&settings);
StabilizationSettingsGet(&stabSettings);
if (ManualControlCommandReadOnly(&cmd)) {
FlightTelemetryStatsData flightTelemStats;
FlightTelemetryStatsGet(&flightTelemStats);
if(flightTelemStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
/* trying to fly via GCS and lost connection. fall back to transmitter */
UAVObjMetadata metadata;
UAVObjGetMetadata(&cmd, &metadata);
metadata.access = ACCESS_READWRITE;
UAVObjSetMetadata(&cmd, &metadata);
}
}
if (!ManualControlCommandReadOnly(&cmd)) {
// Check settings, if error raise alarm
if (settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE ||
settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE ||
settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE ||
settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE ||
settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
ManualControlCommandSet(&cmd);
continue;
}
// Read channel values in us
// TODO: settings.InputMode is currently ignored because PIOS will not allow runtime
// selection of PWM and PPM. The configuration is currently done at compile time in
// the pios_config.h file.
for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
#if defined(PIOS_INCLUDE_PWM)
cmd.Channel[n] = PIOS_PWM_Get(n);
#elif defined(PIOS_INCLUDE_PPM)
cmd.Channel[n] = PIOS_PPM_Get(n);
#elif defined(PIOS_INCLUDE_SPEKTRUM)
cmd.Channel[n] = PIOS_SPEKTRUM_Get(n);
#endif
scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]);
}
// Scale channels to -1 -> +1 range
cmd.Roll = scaledChannel[settings.Roll];
cmd.Pitch = scaledChannel[settings.Pitch];
cmd.Yaw = scaledChannel[settings.Yaw];
cmd.Throttle = scaledChannel[settings.Throttle];
flightMode = scaledChannel[settings.FlightMode];
if (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE)
cmd.Accessory1 = scaledChannel[settings.Accessory1];
else
cmd.Accessory1 = 0;
if (settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE)
cmd.Accessory2 = scaledChannel[settings.Accessory2];
else
cmd.Accessory2 = 0;
if (settings.Accessory3 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE)
cmd.Accessory3 = scaledChannel[settings.Accessory3];
else
cmd.Accessory3 = 0;
if (flightMode < -FLIGHT_MODE_LIMIT) {
// Position 1
for(int i = 0; i < 3; i++) {
cmd.StabilizationSettings[i] = settings.Pos1StabilizationSettings[i]; // See assumptions1
}
cmd.FlightMode = settings.Pos1FlightMode; // See assumptions2
} else if (flightMode > FLIGHT_MODE_LIMIT) {
// Position 3
for(int i = 0; i < 3; i++) {
cmd.StabilizationSettings[i] = settings.Pos3StabilizationSettings[i]; // See assumptions5
}
cmd.FlightMode = settings.Pos3FlightMode; // See assumptions6
} else {
// Position 2
for(int i = 0; i < 3; i++) {
cmd.StabilizationSettings[i] = settings.Pos2StabilizationSettings[i]; // See assumptions3
}
cmd.FlightMode = settings.Pos2FlightMode; // See assumptions4
}
// Update the ManualControlCommand object
ManualControlCommandSet(&cmd);
// This seems silly to set then get, but the reason is if the GCS is
// the control input, the set command will be blocked by the read only
// setting and the get command will pull the right values from telemetry
} else
ManualControlCommandGet(&cmd); /* Under GCS control */
// Implement hysteresis loop on connection status
// Must check both Max and Min in case they reversed
if (!ManualControlCommandReadOnly(&cmd) &&
cmd.Channel[settings.Throttle] < settings.ChannelMax[settings.Throttle] - CONNECTION_OFFSET &&
cmd.Channel[settings.Throttle] < settings.ChannelMin[settings.Throttle] - CONNECTION_OFFSET) {
if (disconnected_count++ > 10) {
connection_state = DISCONNECTED;
connected_count = 0;
disconnected_count = 0;
} else
disconnected_count++;
} else {
if (connected_count++ > 10) {
connection_state = CONNECTED;
connected_count = 0;
disconnected_count = 0;
} else
connected_count++;
}
if (connection_state == DISCONNECTED) {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
cmd.Throttle = -1; // Shut down engine with no control
cmd.Roll = 0;
cmd.Yaw = 0;
cmd.Pitch = 0;
//cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
ManualControlCommandSet(&cmd);
} else {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE;
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
ManualControlCommandSet(&cmd);
}
// Arming and Disarming mechanism
if (cmd.Throttle < 0) {
// Throttle is low, in this condition the arming state could change
uint8_t newCmdArmed = cmd.Armed;
static portTickType armedDisarmStart;
// Look for state changes and write in newArmState
if (settings.Arming == MANUALCONTROLSETTINGS_ARMING_NONE) {
// No channel assigned to arming -> arm immediately when throttle is low
newCmdArmed = MANUALCONTROLCOMMAND_ARMED_TRUE;
} else {
float armStickLevel;
uint8_t channel = settings.Arming/2; // 0=Channel1, 1=Channel1_Rev, 2=Channel2, ....
bool reverse = (settings.Arming%2)==1;
bool manualArm = false;
bool manualDisarm = false;
if (connection_state == CONNECTED) {
// Should use RC input only if RX is connected
armStickLevel = scaledChannel[channel];
if (reverse)
armStickLevel =-armStickLevel;
if (armStickLevel <= -0.90)
manualArm = true;
else if (armStickLevel >= +0.90)
manualDisarm = true;
}
switch(armState) {
case ARM_STATE_DISARMED:
newCmdArmed = MANUALCONTROLCOMMAND_ARMED_FALSE;
if (manualArm) {
armedDisarmStart = lastSysTime;
armState = ARM_STATE_ARMING_MANUAL;
}
break;
case ARM_STATE_ARMING_MANUAL:
if (manualArm) {
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)
armState = ARM_STATE_ARMED;
}
else
armState = ARM_STATE_DISARMED;
break;
case ARM_STATE_ARMED:
// When we get here, the throttle is low,
// we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled
armedDisarmStart = lastSysTime;
armState = ARM_STATE_DISARMING_TIMEOUT;
newCmdArmed = MANUALCONTROLCOMMAND_ARMED_TRUE;
break;
case ARM_STATE_DISARMING_TIMEOUT:
// We get here when armed while throttle low, even when the arming timeout is not enabled
if (settings.ArmedTimeout != 0)
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings.ArmedTimeout)
armState = ARM_STATE_DISARMED;
// Switch to disarming due to manual control when needed
if (manualDisarm) {
armedDisarmStart = lastSysTime;
armState = ARM_STATE_DISARMING_MANUAL;
}
break;
case ARM_STATE_DISARMING_MANUAL:
if (manualDisarm) {
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)
armState = ARM_STATE_DISARMED;
}
else
armState = ARM_STATE_ARMED;
break;
}
}
// Update cmd object when needed
if (newCmdArmed != cmd.Armed) {
cmd.Armed = newCmdArmed;
ManualControlCommandSet(&cmd);
}
} else {
// The throttle is not low, in case we where arming or disarming, abort
switch(armState) {
case ARM_STATE_DISARMING_MANUAL:
case ARM_STATE_DISARMING_TIMEOUT:
armState = ARM_STATE_ARMED;
break;
case ARM_STATE_ARMING_MANUAL:
armState = ARM_STATE_DISARMED;
break;
default:
// Nothing needs to be done in the other states
break;
}
}
// End of arming/disarming
// Depending on the mode update the Stabilization or Actuator objects
if (cmd.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) {
actuator.Roll = cmd.Roll;
actuator.Pitch = cmd.Pitch;
actuator.Yaw = cmd.Yaw;
actuator.Throttle = cmd.Throttle;
ActuatorDesiredSet(&actuator);
} else if (cmd.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED) {
attitude.Roll = cmd.Roll * stabSettings.RollMax;
attitude.Pitch = cmd.Pitch * stabSettings.PitchMax;
attitude.Yaw = fmod(cmd.Yaw * 180.0, 360);
attitude.Throttle = (cmd.Throttle < 0) ? -1 : cmd.Throttle;
rate.Roll = cmd.Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL];
rate.Pitch = cmd.Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH];
rate.Yaw = cmd.Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW];
AttitudeDesiredSet(&attitude);
RateDesiredSet(&rate);
}
}
}
/**
* Module task
*/
static void manualControlTask(void *parameters)
{
/* Make sure disarmed on power up */
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
flightStatus.Armed = FLIGHTSTATUS_ARMED_DISARMED;
FlightStatusSet(&flightStatus);
// Main task loop
lastSysTime = PIOS_Thread_Systime();
// Select failsafe before run
failsafe_control_select(true);
while (1) {
// Process periodic data for each of the controllers, including reading
// all available inputs
failsafe_control_update();
transmitter_control_update();
tablet_control_update();
geofence_control_update();
// Initialize to invalid value to ensure first update sets FlightStatus
static FlightStatusControlSourceOptions last_control_selection = -1;
enum control_events control_events = CONTROL_EVENTS_NONE;
// Control logic to select the valid controller
FlightStatusControlSourceOptions control_selection = control_source_select();
bool reset_controller = control_selection != last_control_selection;
// This logic would be better collapsed into control_source_select but
// in the case of the tablet we need to be able to abort and fall back
// to failsafe for now
switch(control_selection) {
case FLIGHTSTATUS_CONTROLSOURCE_TRANSMITTER:
transmitter_control_select(reset_controller);
control_events = transmitter_control_get_events();
break;
case FLIGHTSTATUS_CONTROLSOURCE_TABLET:
{
static bool tablet_previously_succeeded = false;
if (tablet_control_select(reset_controller) == 0) {
control_events = tablet_control_get_events();
tablet_previously_succeeded = true;
} else {
// Failure in tablet control. This would be better if done
// at the selection stage before the tablet is even used.
failsafe_control_select(reset_controller || tablet_previously_succeeded);
control_events = failsafe_control_get_events();
tablet_previously_succeeded = false;
}
break;
}
case FLIGHTSTATUS_CONTROLSOURCE_GEOFENCE:
geofence_control_select(reset_controller);
control_events = geofence_control_get_events();
break;
case FLIGHTSTATUS_CONTROLSOURCE_FAILSAFE:
default:
failsafe_control_select(reset_controller);
control_events = failsafe_control_get_events();
break;
}
if (control_selection != last_control_selection) {
FlightStatusControlSourceSet(&control_selection);
last_control_selection = control_selection;
}
// TODO: This can evolve into a full FSM like I2C possibly
switch(control_events) {
case CONTROL_EVENTS_NONE:
break;
case CONTROL_EVENTS_ARM:
control_event_arm();
break;
case CONTROL_EVENTS_ARMING:
control_event_arming();
break;
case CONTROL_EVENTS_DISARM:
control_event_disarm();
break;
}
// Wait until next update
PIOS_Thread_Sleep_Until(&lastSysTime, UPDATE_PERIOD_MS);
PIOS_WDG_UpdateFlag(PIOS_WDG_MANUAL);
}
}
/**
* Module task
*/
static void manualControlTask(void *parameters)
{
ManualControlSettingsData settings;
ManualControlCommandData cmd;
portTickType lastSysTime;
float flightMode = 0;
uint8_t disconnected_count = 0;
uint8_t connected_count = 0;
enum { CONNECTED, DISCONNECTED } connection_state = DISCONNECTED;
// Make sure unarmed on power up
ManualControlCommandGet(&cmd);
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
ManualControlCommandSet(&cmd);
armState = ARM_STATE_DISARMED;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1) {
float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM];
// Wait until next update
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
PIOS_WDG_UpdateFlag(PIOS_WDG_MANUAL);
// Read settings
ManualControlSettingsGet(&settings);
if (ManualControlCommandReadOnly(&cmd)) {
FlightTelemetryStatsData flightTelemStats;
FlightTelemetryStatsGet(&flightTelemStats);
if(flightTelemStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
/* trying to fly via GCS and lost connection. fall back to transmitter */
UAVObjMetadata metadata;
UAVObjGetMetadata(&cmd, &metadata);
metadata.access = ACCESS_READWRITE;
UAVObjSetMetadata(&cmd, &metadata);
}
}
if (!ManualControlCommandReadOnly(&cmd)) {
// Check settings, if error raise alarm
if (settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE ||
settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE ||
settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE ||
settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE ||
settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
ManualControlCommandSet(&cmd);
continue;
}
// Read channel values in us
// TODO: settings.InputMode is currently ignored because PIOS will not allow runtime
// selection of PWM and PPM. The configuration is currently done at compile time in
// the pios_config.h file.
for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
#if defined(PIOS_INCLUDE_PWM)
cmd.Channel[n] = PIOS_PWM_Get(n);
#elif defined(PIOS_INCLUDE_PPM)
cmd.Channel[n] = PIOS_PPM_Get(n);
#elif defined(PIOS_INCLUDE_SPEKTRUM)
cmd.Channel[n] = PIOS_SPEKTRUM_Get(n);
#endif
scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n], 0);
}
// Scale channels to -1 -> +1 range
cmd.Roll = scaledChannel[settings.Roll];
cmd.Pitch = scaledChannel[settings.Pitch];
cmd.Yaw = scaledChannel[settings.Yaw];
cmd.Throttle = scaledChannel[settings.Throttle];
flightMode = scaledChannel[settings.FlightMode];
if (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE)
cmd.Accessory1 = scaledChannel[settings.Accessory1];
else
cmd.Accessory1 = 0;
if (settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE)
cmd.Accessory2 = scaledChannel[settings.Accessory2];
else
cmd.Accessory2 = 0;
if (settings.Accessory3 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE)
cmd.Accessory3 = scaledChannel[settings.Accessory3];
else
cmd.Accessory3 = 0;
// Note here the code is ass
if (flightMode < -FLIGHT_MODE_LIMIT)
cmd.FlightMode = settings.FlightModePosition[0];
else if (flightMode > FLIGHT_MODE_LIMIT)
cmd.FlightMode = settings.FlightModePosition[2];
else
cmd.FlightMode = settings.FlightModePosition[1];
// Update the ManualControlCommand object
ManualControlCommandSet(&cmd);
// This seems silly to set then get, but the reason is if the GCS is
// the control input, the set command will be blocked by the read only
// setting and the get command will pull the right values from telemetry
} else
ManualControlCommandGet(&cmd); /* Under GCS control */
// Implement hysteresis loop on connection status
// Must check both Max and Min in case they reversed
if (!ManualControlCommandReadOnly(&cmd) &&
cmd.Channel[settings.Throttle] < settings.ChannelMax[settings.Throttle] - CONNECTION_OFFSET &&
cmd.Channel[settings.Throttle] < settings.ChannelMin[settings.Throttle] - CONNECTION_OFFSET) {
if (disconnected_count++ > 10) {
connection_state = DISCONNECTED;
connected_count = 0;
disconnected_count = 0;
} else
disconnected_count++;
} else {
if (connected_count++ > 10) {
connection_state = CONNECTED;
connected_count = 0;
disconnected_count = 0;
} else
connected_count++;
}
if (connection_state == DISCONNECTED) {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
cmd.Throttle = -1; // Shut down engine with no control
cmd.Roll = 0;
cmd.Yaw = 0;
cmd.Pitch = 0;
//cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
ManualControlCommandSet(&cmd);
} else {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE;
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
ManualControlCommandSet(&cmd);
}
//
// Arming and Disarming mechanism
//
// Look for state changes and write in newArmState
uint8_t newCmdArmed = cmd.Armed; // By default, keep the arming state the same
if (settings.Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
// In this configuration we always disarm
newCmdArmed = MANUALCONTROLCOMMAND_ARMED_FALSE;
} else {
// In all other cases, we will not change the arm state when disconnected
if (connection_state == CONNECTED)
{
if (settings.Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSARMED) {
// In this configuration, we go into armed state as soon as the throttle is low, never disarm
if (cmd.Throttle < 0) {
newCmdArmed = MANUALCONTROLCOMMAND_ARMED_TRUE;
}
} else {
// When the configuration is not "Always armed" and no "Always disarmed",
// the state will not be changed when the throttle is not low
if (cmd.Throttle < 0) {
static portTickType armedDisarmStart;
float armingInputLevel = 0;
// Calc channel see assumptions7
switch ( (settings.Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 ) {
case ARMING_CHANNEL_ROLL: armingInputLevel = cmd.Roll; break;
case ARMING_CHANNEL_PITCH: armingInputLevel = cmd.Pitch; break;
case ARMING_CHANNEL_YAW: armingInputLevel = cmd.Yaw; break;
}
bool manualArm = false;
bool manualDisarm = false;
if (connection_state == CONNECTED) {
// Should use RC input only if RX is connected
if (armingInputLevel <= -0.90)
manualArm = true;
else if (armingInputLevel >= +0.90)
manualDisarm = true;
}
// Swap arm-disarming see assumptions8
if ((settings.Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2) {
bool temp = manualArm;
manualArm = manualDisarm;
manualDisarm = temp;
}
switch(armState) {
case ARM_STATE_DISARMED:
newCmdArmed = MANUALCONTROLCOMMAND_ARMED_FALSE;
if (manualArm)
{
if (okToArm()) // only allow arming if it's OK too
{
armedDisarmStart = lastSysTime;
armState = ARM_STATE_ARMING_MANUAL;
}
}
break;
case ARM_STATE_ARMING_MANUAL:
if (manualArm) {
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)
armState = ARM_STATE_ARMED;
}
else
armState = ARM_STATE_DISARMED;
break;
case ARM_STATE_ARMED:
// When we get here, the throttle is low,
// we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled
armedDisarmStart = lastSysTime;
armState = ARM_STATE_DISARMING_TIMEOUT;
newCmdArmed = MANUALCONTROLCOMMAND_ARMED_TRUE;
break;
case ARM_STATE_DISARMING_TIMEOUT:
// We get here when armed while throttle low, even when the arming timeout is not enabled
if (settings.ArmedTimeout != 0)
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings.ArmedTimeout)
armState = ARM_STATE_DISARMED;
// Switch to disarming due to manual control when needed
if (manualDisarm) {
armedDisarmStart = lastSysTime;
armState = ARM_STATE_DISARMING_MANUAL;
}
break;
case ARM_STATE_DISARMING_MANUAL:
if (manualDisarm) {
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)
armState = ARM_STATE_DISARMED;
}
else
armState = ARM_STATE_ARMED;
break;
} // End Switch
} else {
// The throttle is not low, in case we where arming or disarming, abort
switch(armState) {
case ARM_STATE_DISARMING_MANUAL:
case ARM_STATE_DISARMING_TIMEOUT:
armState = ARM_STATE_ARMED;
break;
case ARM_STATE_ARMING_MANUAL:
armState = ARM_STATE_DISARMED;
break;
default:
// Nothing needs to be done in the other states
break;
}
}
}
}
}
// Update cmd object when needed
if (newCmdArmed != cmd.Armed) {
cmd.Armed = newCmdArmed;
ManualControlCommandSet(&cmd);
}
//
// End of arming/disarming
//
// Depending on the mode update the Stabilization or Actuator objects
switch(PARSE_FLIGHT_MODE(cmd.FlightMode)) {
case FLIGHTMODE_UNDEFINED:
// This reflects a bug in the code architecture!
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
break;
case FLIGHTMODE_MANUAL:
updateActuatorDesired(&cmd);
break;
case FLIGHTMODE_STABILIZED:
updateStabilizationDesired(&cmd, &settings);
break;
case FLIGHTMODE_GUIDANCE:
// TODO: Implement
break;
}
}
}
/**
* Module thread, should not return.
*/
static void AttitudeTask(void *parameters)
{
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
// Force settings update to make sure rotation loaded
settingsUpdatedCb(AttitudeSettingsHandle());
enum complimentary_filter_status complimentary_filter_status;
complimentary_filter_status = CF_POWERON;
uint32_t arming_count = 0;
// Main task loop
while (1) {
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if (complimentary_filter_status == CF_POWERON) {
complimentary_filter_status = (xTaskGetTickCount() > 1000) ?
CF_INITIALIZING : CF_POWERON;
} else if(complimentary_filter_status == CF_INITIALIZING &&
(xTaskGetTickCount() < 7000) &&
(xTaskGetTickCount() > 1000)) {
// For first 7 seconds use accels to get gyro bias
accelKp = 0.1f + 0.1f * (xTaskGetTickCount() < 4000);
accelKi = 0.1;
yawBiasRate = 0.1;
accel_filter_enabled = false;
} else if (zero_during_arming &&
(flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
// Use a rapidly decrease accelKp to force the attitude to snap back
// to level and then converge more smoothly
if (arming_count < 20)
accelKp = 1.0f;
else if (accelKp > 0.1f)
accelKp -= 0.01f;
arming_count++;
accelKi = 0.1f;
yawBiasRate = 0.1f;
accel_filter_enabled = false;
// Indicate arming so that after arming it reloads
// the normal settings
if (complimentary_filter_status != CF_ARMING) {
accumulate_gyro_zero();
complimentary_filter_status = CF_ARMING;
accumulating_gyro = true;
}
} else if (complimentary_filter_status == CF_ARMING ||
complimentary_filter_status == CF_INITIALIZING) {
// Reload settings (all the rates)
AttitudeSettingsAccelKiGet(&accelKi);
AttitudeSettingsAccelKpGet(&accelKp);
AttitudeSettingsYawBiasRateGet(&yawBiasRate);
if(accel_alpha > 0.0f)
accel_filter_enabled = true;
// If arming that means we were accumulating gyro
// samples. Compute new bias.
if (complimentary_filter_status == CF_ARMING) {
accumulate_gyro_compute();
accumulating_gyro = false;
arming_count = 0;
}
// Indicate normal mode to prevent rerunning this code
complimentary_filter_status = CF_NORMAL;
}
PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
AccelsData accels;
GyrosData gyros;
int32_t retval = 0;
retval = updateSensorsCC3D(&accels, &gyros);
// During power on set to angle from accel
if (complimentary_filter_status == CF_POWERON) {
float RPY[3];
float theta = atan2f(accels.x, -accels.z);
RPY[1] = theta * RAD2DEG;
RPY[0] = atan2f(-accels.y, -accels.z / cosf(theta)) * RAD2DEG;
RPY[2] = 0;
RPY2Quaternion(RPY, q);
}
// Only update attitude when sensor data is good
if (retval != 0)
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
else {
// Do not update attitude data in simulation mode
if (!AttitudeActualReadOnly())
updateAttitude(&accels, &gyros);
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
}
}
}