float linear_rail_velocity_controller (pid_data_t *pid_data, float cur_vel, float des_vel)
{
/* Cap linear velocity. */
des_vel = MIN(LINEAR_RAIL_VEL_CAP, MAX(-LINEAR_RAIL_VEL_CAP, des_vel));
/* Calculate duty cycle shifts. */
return calculate_pid(cur_vel, des_vel, pid_data);
}
float linear_rail_position_controller (pid_data_t *pid_data, float cur_pos, float des_pos)
{
/* Cap desired position. */
des_pos = MIN(1.0, MAX(0.0, des_pos));
/* Calculate desired velocities. */
return calculate_pid(cur_pos, des_pos, pid_data);
}
void flight_task(void *pvParameters)
{
OSHANDLES *osHandles = (OSHANDLES*)pvParameters;
setup_motors();
write_motors_zero();
memset(&(osHandles->flight_control), 0, sizeof(osHandles->flight_control));
/* ----------------- P I D limit */
PID_DATA pid_pitch = { 700, 001, 000, 100 };
PID_DATA pid_roll = { 700, 001, 000, 100 };
PID_DATA pid_yaw = {1200, 005, 000, 100 };
osHandles->flight_settings.pid_pitch = &pid_pitch;
osHandles->flight_settings.pid_roll = &pid_roll;
osHandles->flight_settings.pid_yaw = &pid_yaw;
osHandles->flight_control.tx_throttle = 1000;
osHandles->flight_control.tx_yaw = 1500;
osHandles->flight_control.tx_pitch = 1500;
osHandles->flight_control.tx_roll = 1500;
osHandles->flight_settings.pitch_roll_tx_scale = 16;
osHandles->flight_settings.yaw_tx_scale = 16;
SENSOR_DATA zero_vals = { 0 };
vTaskDelay(OS_MS(500));
init_wii_sensors();
zero_wii_sensors(&zero_vals);
//int pitch_integral = 0;
//unsigned int last_ms = xTaskGetTickCount();
unsigned int loop_count = 0;
SENSOR_DATA sensor_vals;
int pitch_offset = 0,roll_offset = 0,yaw_offset = 0;
for(;;) //this is a continuous task.
{
unsigned char data_type = update_wii_data(&sensor_vals, &zero_vals);
if (data_type == 1){
//unsigned int this_ms = xTaskGetTickCount();
//pitch_integral += sensor_vals.pitch*(this_ms-last_ms); //deg/s * ms = degrees*1000
//last_ms = this_ms;
pitch_offset = calculate_pid( sensor_vals.pitch+1500, osHandles->flight_control.tx_pitch, &pid_pitch);
roll_offset = calculate_pid( sensor_vals.roll+1500, osHandles->flight_control.tx_roll, &pid_roll);
yaw_offset = calculate_pid( sensor_vals.yaw+1500, osHandles->flight_control.tx_yaw, &pid_yaw);
}
//osHandles->flight_control.tx_throttle;
if (osHandles->flight_control.armed == 3){
if (osHandles->flight_settings.flying_mode == PLUS_MODE){
write_motors(
osHandles->flight_control.tx_throttle + pitch_offset - yaw_offset, //front //TODO: add option to change yaw direction.
osHandles->flight_control.tx_throttle - pitch_offset - yaw_offset, //back
osHandles->flight_control.tx_throttle + roll_offset + yaw_offset, //left
osHandles->flight_control.tx_throttle - roll_offset + yaw_offset //right
);
}
else if (osHandles->flight_settings.flying_mode == X_MODE){
// Front = Front/Right, Back = Left/Rear, Left = Front/Left, Right = Right/Rear
write_motors(
osHandles->flight_control.tx_throttle + pitch_offset + roll_offset + yaw_offset, //front
osHandles->flight_control.tx_throttle - pitch_offset - roll_offset + yaw_offset, //back
osHandles->flight_control.tx_throttle - pitch_offset + roll_offset - yaw_offset, //left
osHandles->flight_control.tx_throttle + pitch_offset - roll_offset - yaw_offset //right
);
}
//safety disarm if not updated command recently enough.
if (osHandles->flight_control.command_used_number++ > 75) { osHandles->flight_control.armed = 0; write_motors_zero(); }
}
else {
if (osHandles->flight_control.please_update_sensors){ //allows the user interface task to zero the sensor values.
osHandles->flight_control.please_update_sensors = 0;
zero_wii_sensors(&zero_vals);
pulse_motors(3, 200);
if (osHandles->flight_control.telem_mode) {rprintf("zero-ed angles.\n");}
}
osHandles->flight_control.command_used_number++;
}
if (!(loop_count%100)&& osHandles->flight_control.telem_mode) { rprintf("ofst[p,r,y]=[%i,%i,%i] <tx_p=%i> srs={%i-%i-%i}\n", pitch_offset, roll_offset, yaw_offset, osHandles->flight_control.tx_pitch ,sensor_vals.pitch,sensor_vals.roll,sensor_vals.yaw); }
//write_PWM_servo(2, calculate_pid(pitch_integral/1000, 0, &(osHandles->flight_settings->pid_roll)) + 1500 );
vTaskDelay(MAX_WII_SENSOR_POLLING_RATE);
loop_count++;
}
}