예제 #1
0
/**
 * 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); 	

	}
}
예제 #2
0
/**
 * 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);
	}
}
예제 #3
0
/**
 * @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]);
	}
}
예제 #4
0
/**
 * 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);

	}
}
예제 #5
0
파일: attitude.c 프로젝트: mirasanti/vbrain
/**
 * 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);
	}
}
예제 #6
0
/**
 * 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);

	}
}
예제 #7
0
파일: autotune.c 프로젝트: 1heinz/TauLabs
/**
 * 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);
	}
}
예제 #8
0
파일: sensors.c 프로젝트: mirasanti/vbrain
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();
	}
}
예제 #9
0
/**
 * 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);
	}
}
예제 #10
0
파일: autotune.c 프로젝트: Trex4Git/dRonin
/**
 * 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);
		}
	}
}
예제 #11
0
/**
 * 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);
}
예제 #12
0
파일: sensors.c 프로젝트: Gussy/TauLabs
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));

	}
}
예제 #13
0
/**
 * 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);
	}
}
예제 #14
0
/**
 * 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);
		}
	}
}
예제 #15
0
/**
 * 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);
    }
}
예제 #16
0
/**
 * 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;
		}				
	}
}
예제 #17
0
파일: attitude.c 프로젝트: robert-b/TauLabs
/**
 * 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);
        }
    }
}