static void stabilizerTask(void* param)
{
uint32_t lastWakeTime;
vTaskSetApplicationTaskTag(0, (void*)TASK_STABILIZER_ID_NBR);
//Wait for the system to be fully started to start stabilization loop
systemWaitStart();
lastWakeTime = xTaskGetTickCount ();
while(1)
{
vTaskDelayUntil(&lastWakeTime, F2T(IMU_UPDATE_FREQ));
// Magnetometer not yet used more then for logging.
imu9Read(&gyro, &acc, &mag);
if (imu6IsCalibrated())
{
commanderGetRPY(&rollDesired, &pitchDesired, &yawDesired);
sensfusion6UpdateQ(gyro.x, gyro.y, gyro.z, acc.x, acc.y, acc.z, FUSION_UPDATE_DT);
sensfusion6GetEulerRPY(&eulerRollActual, &eulerPitchActual, &eulerYawActual);
if (horizonMode) {
horizonPID(eulerRollActual, eulerPitchActual, -gyro.z,
rollDesired, pitchDesired, yawDesired);
} else {
ratePID(gyro.x, -gyro.y, -gyro.z,
rollDesired, pitchDesired, yawDesired);
}
controllerGetActuatorOutput(&actuatorRoll, &actuatorPitch, &actuatorYaw);
commanderGetThrust(&actuatorThrust);
/* Call out before performing thrust updates, if any functions would like to influence the thrust. */
if (armed) {
distributePower(actuatorThrust, actuatorRoll, actuatorPitch, actuatorYaw);
} else {
distributePower(0, 0, 0, 0);
controllerResetAllPID();
}
}
}
}
void estimatorComplementary(state_t *state, sensorData_t *sensorData, control_t *control, const uint32_t tick)
{
sensorsAcquire(sensorData, tick); // Read sensors at full rate (1000Hz)
if (RATE_DO_EXECUTE(ATTITUDE_UPDATE_RATE, tick)) {
sensfusion6UpdateQ(sensorData->gyro.x, sensorData->gyro.y, sensorData->gyro.z,
sensorData->acc.x, sensorData->acc.y, sensorData->acc.z,
ATTITUDE_UPDATE_DT);
// Save attitude, adjusted for the legacy CF2 body coordinate system
sensfusion6GetEulerRPY(&state->attitude.roll, &state->attitude.pitch, &state->attitude.yaw);
// Save quaternion, hopefully one day this could be used in a better controller.
// Note that this is not adjusted for the legacy coordinate system
sensfusion6GetQuaternion(
&state->attitudeQuaternion.x,
&state->attitudeQuaternion.y,
&state->attitudeQuaternion.z,
&state->attitudeQuaternion.w);
state->acc.z = sensfusion6GetAccZWithoutGravity(sensorData->acc.x,
sensorData->acc.y,
sensorData->acc.z);
positionUpdateVelocity(state->acc.z, ATTITUDE_UPDATE_DT);
}
if (RATE_DO_EXECUTE(POS_UPDATE_RATE, tick)) {
// If position sensor data is preset, pass it throught
// FIXME: The position sensor shall be used as an input of the estimator
if (sensorData->position.timestamp) {
state->position = sensorData->position;
} else {
positionEstimate(state, sensorData, POS_UPDATE_DT, tick);
}
}
}
static void stabilizerTask(void* param) {
uint32_t attitudeCounter = 0;
uint32_t altHoldCounter = 0;
uint32_t lastWakeTime;
vTaskSetApplicationTaskTag(0, (void*) TASK_STABILIZER_ID_NBR);
//Wait for the system to be fully started to start stabilization loop
systemWaitStart();
lastWakeTime = xTaskGetTickCount();
while (1) {
vTaskDelayUntil(&lastWakeTime, F2T(IMU_UPDATE_FREQ)); // 500Hz
// Magnetometer not yet used more then for logging.
imu9Read(&gyro, &acc, &mag);
if (imu6IsCalibrated()) {
commanderGetRPY(&eulerRollDesired, &eulerPitchDesired, &eulerYawDesired);
commanderGetRPYType(&rollType, &pitchType, &yawType);
// 250HZ
if (++attitudeCounter >= ATTITUDE_UPDATE_RATE_DIVIDER) {
sensfusion6UpdateQ(gyro.x, gyro.y, gyro.z, acc.x, acc.y, acc.z, FUSION_UPDATE_DT);
sensfusion6GetEulerRPY(&eulerRollActual, &eulerPitchActual, &eulerYawActual);
accWZ = sensfusion6GetAccZWithoutGravity(acc.x, acc.y, acc.z);
accMAG = (acc.x * acc.x) + (acc.y * acc.y) + (acc.z * acc.z);
// Estimate speed from acc (drifts)
vSpeed += deadband(accWZ, vAccDeadband) * FUSION_UPDATE_DT;
controllerCorrectAttitudePID(eulerRollActual, eulerPitchActual, eulerYawActual,
eulerRollDesired, eulerPitchDesired, -eulerYawDesired, &rollRateDesired,
&pitchRateDesired, &yawRateDesired);
attitudeCounter = 0;
}
// 100HZ
if (imuHasBarometer() && (++altHoldCounter >= ALTHOLD_UPDATE_RATE_DIVIDER)) {
stabilizerAltHoldUpdate();
altHoldCounter = 0;
}
if (rollType == RATE) {
rollRateDesired = eulerRollDesired;
}
if (pitchType == RATE) {
pitchRateDesired = eulerPitchDesired;
}
if (yawType == RATE) {
yawRateDesired = -eulerYawDesired;
}
// TODO: Investigate possibility to subtract gyro drift.
controllerCorrectRatePID(gyro.x, -gyro.y, gyro.z, rollRateDesired, pitchRateDesired,
yawRateDesired);
controllerGetActuatorOutput(&actuatorRoll, &actuatorPitch, &actuatorYaw);
if (!altHold || !imuHasBarometer()) {
// Use thrust from controller if not in altitude hold mode
commanderGetThrust(&actuatorThrust);
} else {
// Added so thrust can be set to 0 while in altitude hold mode after disconnect
commanderWatchdog();
}
if (actuatorThrust > 0) {
#if defined(TUNE_ROLL)
distributePower(actuatorThrust, actuatorRoll, 0, 0);
#elif defined(TUNE_PITCH)
distributePower(actuatorThrust, 0, actuatorPitch, 0);
#elif defined(TUNE_YAW)
distributePower(actuatorThrust, 0, 0, -actuatorYaw);
#else
distributePower(actuatorThrust, actuatorRoll, actuatorPitch, -actuatorYaw);
#endif
} else {
distributePower(0, 0, 0, 0);
controllerResetAllPID();
}
}
}
}
static void stabilizerTask(void* param)
{
uint32_t lastWakeTime;
//uint32_t tempTime;
uint16_t heartbCounter = 0;
uint16_t attitudeCounter = 0;
uint16_t altHoldCounter = 0;
//uint32_t data[6];
//Wait for the system to be fully started to start stabilization loop
systemWaitStart();
lastWakeTime = xTaskGetTickCount ();
for( ; ;)
{
//tempTime = lastWakeTime;
vTaskDelayUntil(&lastWakeTime, F2T(IMU_UPDATE_FREQ)); // 500Hz
heartbCounter ++;
/*
if (lastWakeTime < tempTime) {
tempTime = (0 - tempTime) + lastWakeTime;
} else {
tempTime = lastWakeTime - tempTime;
}
*/
while (heartbCounter >= HEART_UPDATE_RATE_DIVIDER) { // 1Hz
MAVLINK(mavlink_msg_heartbeat_send(MAVLINK_COMM_0, MAV_TYPE_QUADROTOR, MAV_AUTOPILOT_GENERIC, MAV_MODE_PREFLIGHT, 0, MAV_STATE_STANDBY);)
heartbCounter = 0;
}
imuRead(&gyro, &acc, &mag);
if (imu6IsCalibrated())
{
// 250HZ
if (++attitudeCounter >= ATTITUDE_UPDATE_RATE_DIVIDER)
{
MahonyAHRSupdateIMU(gyro.y, gyro.x, gyro.z, acc.y, acc.x, acc.z);
//filterUpdate_mars(gyro.x, gyro.y, gyro.z, acc.x, acc.y, acc.z,mag.x,mag.y,mag.z);
//MahonyAHRSupdate(gyro.x, gyro.y, gyro.z, acc.x, acc.y, acc.z,mag.x,mag.y,mag.z);
//MahonyAHRSupdate(gyro.y, gyro.x, gyro.z, acc.y, acc.x, acc.z,mag.y,mag.x,mag.z);
//filterUpdate_mars(gyro.x, gyro.y, gyro.z, acc.x, acc.y, acc.z,mag.x,mag.y,mag.z);
//MahonyAHRSupdate(gyro.y, gyro.x, gyro.z, acc.y, acc.x, acc.z,mag.y,mag.x,mag.z);
sensfusion6GetEulerRPY(&eulerRollActual, &eulerPitchActual, &eulerYawActual);
radRollActual = eulerRollActual * M_PI / 180.0f;
radPitchActual = eulerPitchActual * M_PI / 180.0f;
radYawActual = eulerYawActual * M_PI / 180.0f;
//float yh, xh;
#define yh (mag.y * cos(radRollActual) - mag.z * sin(radRollActual))
#define xh (mag.x*cos(radPitchActual) + mag.y*sin(radRollActual)*sin(radPitchActual) + mag.z * cos(radRollActual)*sin(radPitchActual))
radYawActual = atan2(-yh,xh);
MAVLINK(mavlink_msg_attitude_send(MAVLINK_COMM_0, lastWakeTime, \
radRollActual, radPitchActual, radYawActual, \
gyro.x, gyro.y, gyro.z);)
attitudeCounter = 0;
}
