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();
}
}
}
}
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();
}
}
}
}
