static void stabilizerTask(void* param)
{
uint32_t tick = 0;
uint32_t lastWakeTime;
vTaskSetApplicationTaskTag(0, (void*)TASK_STABILIZER_ID_NBR);
//Wait for the system to be fully started to start stabilization loop
systemWaitStart();
// Wait for sensors to be calibrated
lastWakeTime = xTaskGetTickCount ();
while(!sensorsAreCalibrated()) {
vTaskDelayUntil(&lastWakeTime, F2T(RATE_MAIN_LOOP));
}
while(1) {
vTaskDelayUntil(&lastWakeTime, F2T(RATE_MAIN_LOOP));
#ifdef ESTIMATOR_TYPE_kalman
stateEstimatorUpdate(&state, &sensorData, &control);
#else
sensorsAcquire(&sensorData, tick);
stateEstimator(&state, &sensorData, tick);
#endif
commanderGetSetpoint(&setpoint, &state);
sitAwUpdateSetpoint(&setpoint, &sensorData, &state);
stateController(&control, &sensorData, &state, &setpoint, tick);
powerDistribution(&control);
tick++;
}
}
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);
}
}
}
