void AvcNav::update (AvcImu *imu) {
gpsUpdated = false;
if (imu->getHdop() > .0001 && imu->getFixTime() != fixTime) {
updateGps(imu);
}
updateCompass(imu);
}
void executePeriodicTasks(void)
{
static int periodicTaskIndex = 0;
switch (periodicTaskIndex++) {
#ifdef MAG
case UPDATE_COMPASS_TASK:
if (sensors(SENSOR_MAG)) {
updateCompass(&masterConfig.magZero);
}
break;
#endif
#ifdef BARO
case UPDATE_BARO_TASK:
if (sensors(SENSOR_BARO)) {
baroUpdate(currentTime);
}
break;
#endif
#if defined(BARO) || defined(SONAR)
case CALCULATE_ALTITUDE_TASK:
if (false
#if defined(BARO)
|| (sensors(SENSOR_BARO) && isBaroReady())
#endif
#if defined(SONAR)
|| sensors(SENSOR_SONAR)
#endif
) {
calculateEstimatedAltitude(currentTime);
}
break;
#endif
#ifdef SONAR
case UPDATE_SONAR_TASK:
if (sensors(SENSOR_SONAR)) {
sonarUpdate();
}
break;
#endif
#ifdef DISPLAY
case UPDATE_DISPLAY_TASK:
if (feature(FEATURE_DISPLAY)) {
updateDisplay();
}
break;
#endif
}
if (periodicTaskIndex >= PERIODIC_TASK_COUNT) {
periodicTaskIndex = 0;
}
}
void executePeriodicTasks(void)
{
static int periodicTaskIndex = 0;
switch (periodicTaskIndex++) {
#ifdef MAG
case UPDATE_COMPASS_TASK:
if (sensors(SENSOR_MAG)) {
updateCompass(&masterConfig.magZero);
}
break;
#endif
#ifdef BARO
case UPDATE_BARO_TASK:
if (sensors(SENSOR_BARO)) {
baroUpdate(currentTime);
}
break;
case CALCULATE_ALTITUDE_TASK:
if (sensors(SENSOR_BARO) && isBaroReady()) {
calculateEstimatedAltitude(currentTime);
}
break;
#endif
#ifdef GPS
case UPDATE_GPS_TASK:
// if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
// hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will
// change this based on available hardware
if (feature(FEATURE_GPS)) {
gpsThread();
}
break;
#endif
#ifdef SONAR
case UPDATE_SONAR_TASK:
if (sensors(SENSOR_SONAR)) {
Sonar_update();
}
break;
#endif
}
if (periodicTaskIndex >= PERIODIC_TASK_COUNT) {
periodicTaskIndex = 0;
}
}
int MyWindow::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QWidget::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: updateMotor((*reinterpret_cast< double(*)>(_a[1])),(*reinterpret_cast< double(*)>(_a[2]))); break;
case 1: set((*reinterpret_cast< int(*)>(_a[1]))); break;
case 2: set_replay(); break;
case 3: updateCompass((*reinterpret_cast< double(*)>(_a[1]))); break;
case 4: updateScene(); break;
default: ;
}
_id -= 5;
}
return _id;
}
inv_error_t MPU9250_DMP::update(unsigned char sensors)
{
inv_error_t aErr = INV_SUCCESS;
inv_error_t gErr = INV_SUCCESS;
inv_error_t mErr = INV_SUCCESS;
inv_error_t tErr = INV_SUCCESS;
if (sensors & UPDATE_ACCEL)
aErr = updateAccel();
if (sensors & UPDATE_GYRO)
gErr = updateGyro();
if (sensors & UPDATE_COMPASS)
mErr = updateCompass();
if (sensors & UPDATE_TEMP)
tErr = updateTemperature();
return aErr | gErr | mErr | tErr;
}
void taskUpdateCompass(void)
{
if (sensors(SENSOR_MAG)) {
updateCompass(&masterConfig.magZero);
}
}
void executePeriodicTasks(void)
{
static int periodicTaskIndex = 0;
switch (periodicTaskIndex++) {
#ifdef MAG
case UPDATE_COMPASS_TASK:
if (sensors(SENSOR_MAG)) {
updateCompass(&masterConfig.magZero);
}
break;
#endif
#ifdef BARO
case UPDATE_BARO_TASK:
if (sensors(SENSOR_BARO)) {
baroUpdate(currentTime);
}
break;
#endif
#if defined(BARO) || defined(SONAR)
case CALCULATE_ALTITUDE_TASK:
#if defined(BARO) && !defined(SONAR)
if (sensors(SENSOR_BARO) && isBaroReady()) {
#endif
#if defined(BARO) && defined(SONAR)
if ((sensors(SENSOR_BARO) && isBaroReady()) || sensors(SENSOR_SONAR)) {
#endif
#if !defined(BARO) && defined(SONAR)
if (sensors(SENSOR_SONAR)) {
#endif
calculateEstimatedAltitude(currentTime);
}
break;
#endif
#ifdef SONAR
case UPDATE_SONAR_TASK:
if (sensors(SENSOR_SONAR)) {
sonarUpdate();
}
break;
#endif
#ifdef DISPLAY
case UPDATE_DISPLAY_TASK:
if (feature(FEATURE_DISPLAY)) {
updateDisplay();
}
break;
#endif
}
if (periodicTaskIndex >= PERIODIC_TASK_COUNT) {
periodicTaskIndex = 0;
}
}
void processRx(void)
{
calculateRxChannelsAndUpdateFailsafe(currentTime);
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!IS_RC_MODE_ACTIVE(BOXARM))
mwDisarm();
}
updateRSSI(currentTime);
if (feature(FEATURE_FAILSAFE)) {
if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsEnabled()) {
failsafeEnable();
}
failsafeUpdateState();
}
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
if (throttleStatus == THROTTLE_LOW) {
pidResetErrorAngle();
pidResetErrorGyro();
}
// When armed and motors aren't spinning, disarm board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP) && !STATE(FIXED_WING)
&& masterConfig.auto_disarm_delay != 0
&& isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if ((int32_t)(disarmAt - millis()) < 0) // delay is over
mwDisarm();
} else {
disarmAt = millis() + masterConfig.auto_disarm_delay * 1000; // extend delay
}
}
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
updateActivatedModes(currentProfile->modeActivationConditions);
if (!cliMode) {
updateAdjustmentStates(currentProfile->adjustmentRanges);
processRcAdjustments(currentControlRateProfile, &masterConfig.rxConfig);
}
bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeHasTimerElapsed())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
pidResetErrorAngle();
ENABLE_FLIGHT_MODE(ANGLE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
pidResetErrorAngle();
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
} else {
LED1_OFF;
}
#ifdef MAG
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
if (IS_RC_MODE_ACTIVE(BOXMAG)) {
if (!FLIGHT_MODE(MAG_MODE)) {
ENABLE_FLIGHT_MODE(MAG_MODE);
magHold = heading;
}
} else {
DISABLE_FLIGHT_MODE(MAG_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
headFreeModeHold = heading; // acquire new heading
}
}
#endif
#ifdef GPS
if (sensors(SENSOR_GPS)) {
updateGpsWaypointsAndMode();
}
#endif
if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
}
if (masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
}
void loop(void)
{
static uint32_t loopTime;
#if defined(BARO) || defined(SONAR)
static bool haveProcessedAnnexCodeOnce = false;
#endif
updateRx();
if (shouldProcessRx(currentTime)) {
processRx();
#ifdef BARO
// the 'annexCode' initialses rcCommand, updateAltHoldState depends on valid rcCommand data.
if (haveProcessedAnnexCodeOnce) {
if (sensors(SENSOR_BARO)) {
updateAltHoldState();
}
}
#endif
#ifdef SONAR
// the 'annexCode' initialses rcCommand, updateAltHoldState depends on valid rcCommand data.
if (haveProcessedAnnexCodeOnce) {
if (sensors(SENSOR_SONAR)) {
updateSonarAltHoldState();
}
}
#endif
} else {
// not processing rx this iteration
executePeriodicTasks();
// if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
// hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will
// change this based on available hardware
#ifdef GPS
if (feature(FEATURE_GPS)) {
gpsThread();
}
#endif
}
currentTime = micros();
if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
loopTime = currentTime + masterConfig.looptime;
imuUpdate(¤tProfile->accelerometerTrims, masterConfig.mixerMode);
// Measure loop rate just after reading the sensors
currentTime = micros();
cycleTime = (int32_t)(currentTime - previousTime);
previousTime = currentTime;
annexCode();
#if defined(BARO) || defined(SONAR)
haveProcessedAnnexCodeOnce = true;
#endif
#ifdef AUTOTUNE
updateAutotuneState();
#endif
#ifdef MAG
if (sensors(SENSOR_MAG)) {
updateMagHold();
}
#endif
#if defined(BARO) || defined(SONAR)
if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
applyAltHold(&masterConfig.airplaneConfig);
}
}
#endif
// If we're armed, at minimum throttle, and we do arming via the
// sticks, do not process yaw input from the rx. We do this so the
// motors do not spin up while we are trying to arm or disarm.
if (isUsingSticksForArming() && rcData[THROTTLE] <= masterConfig.rxConfig.mincheck) {
rcCommand[YAW] = 0;
}
if (currentProfile->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(currentProfile->throttle_correction_value);
}
#ifdef GPS
if (sensors(SENSOR_GPS)) {
if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
updateGpsStateForHomeAndHoldMode();
}
}
#endif
// PID - note this is function pointer set by setPIDController()
pid_controller(
¤tProfile->pidProfile,
currentControlRateProfile,
masterConfig.max_angle_inclination,
¤tProfile->accelerometerTrims,
&masterConfig.rxConfig
);
mixTable();
#ifdef USE_SERVOS
filterServos();
writeServos();
#endif
writeMotors();
#ifdef BLACKBOX
if (!cliMode && feature(FEATURE_BLACKBOX)) {
handleBlackbox();
}
#endif
}
#ifdef TELEMETRY
if (!cliMode && feature(FEATURE_TELEMETRY)) {
handleTelemetry();
}
#endif
#ifdef LED_STRIP
if (feature(FEATURE_LED_STRIP)) {
updateLedStrip();
}
#endif
}
void executePeriodicTasks(void)
{
static int periodicTaskIndex = 0;
switch (periodicTaskIndex++) {
#ifdef MAG
case UPDATE_COMPASS_TASK:
if (sensors(SENSOR_MAG)) {
updateCompass(&masterConfig.magZero);
}
break;
#endif
#ifdef BARO
case UPDATE_BARO_TASK:
if (sensors(SENSOR_BARO)) {
baroUpdate(currentTime);
}
break;
#endif
#if defined(BARO) || defined(SONAR)
case CALCULATE_ALTITUDE_TASK:
#if defined(BARO) && !defined(SONAR)
if (sensors(SENSOR_BARO) && isBaroReady()) {
#endif
#if defined(BARO) && defined(SONAR)
if ((sensors(SENSOR_BARO) && isBaroReady()) || sensors(SENSOR_SONAR)) {
#endif
#if !defined(BARO) && defined(SONAR)
if (sensors(SENSOR_SONAR)) {
#endif
calculateEstimatedAltitude(currentTime);
}
break;
#endif
#ifdef SONAR
case UPDATE_SONAR_TASK:
if (sensors(SENSOR_SONAR)) {
sonarUpdate();
}
break;
#endif
#ifdef DISPLAY
case UPDATE_DISPLAY_TASK:
if (feature(FEATURE_DISPLAY)) {
updateDisplay();
}
break;
#endif
}
if (periodicTaskIndex >= PERIODIC_TASK_COUNT) {
periodicTaskIndex = 0;
}
}
void processRx(void)
{
static bool armedBeeperOn = false;
calculateRxChannelsAndUpdateFailsafe(currentTime);
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!IS_RC_MODE_ACTIVE(BOXARM))
mwDisarm();
}
updateRSSI(currentTime);
if (feature(FEATURE_FAILSAFE)) {
if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
failsafeStartMonitoring();
}
failsafeUpdateState();
}
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
if (throttleStatus == THROTTLE_LOW) {
pidResetErrorAngle();
pidResetErrorGyro();
}
// When armed and motors aren't spinning, do beeps and then disarm
// board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP)
&& !STATE(FIXED_WING)
) {
if (isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if (masterConfig.auto_disarm_delay != 0
&& (int32_t)(disarmAt - millis()) < 0
) {
// auto-disarm configured and delay is over
mwDisarm();
armedBeeperOn = false;
} else {
// still armed; do warning beeps while armed
beeper(BEEPER_ARMED);
armedBeeperOn = true;
}
} else {
// throttle is not low
if (masterConfig.auto_disarm_delay != 0) {
// extend disarm time
disarmAt = millis() + masterConfig.auto_disarm_delay * 1000;
}
if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
} else {
// arming is via AUX switch; beep while throttle low
if (throttleStatus == THROTTLE_LOW) {
beeper(BEEPER_ARMED);
armedBeeperOn = true;
} else if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
}
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
updateActivatedModes(currentProfile->modeActivationConditions);
if (!cliMode) {
updateAdjustmentStates(currentProfile->adjustmentRanges);
processRcAdjustments(currentControlRateProfile, &masterConfig.rxConfig);
}
bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeIsActive())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
pidResetErrorAngle();
ENABLE_FLIGHT_MODE(ANGLE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
pidResetErrorAngle();
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
} else {
LED1_OFF;
}
#ifdef MAG
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
if (IS_RC_MODE_ACTIVE(BOXMAG)) {
if (!FLIGHT_MODE(MAG_MODE)) {
ENABLE_FLIGHT_MODE(MAG_MODE);
magHold = heading;
}
} else {
DISABLE_FLIGHT_MODE(MAG_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
headFreeModeHold = heading; // acquire new heading
}
}
#endif
#ifdef GPS
if (sensors(SENSOR_GPS)) {
updateGpsWaypointsAndMode();
}
#endif
if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
}
if (masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
if ((!masterConfig.telemetryConfig.telemetry_switch && ARMING_FLAG(ARMED)) ||
(masterConfig.telemetryConfig.telemetry_switch && IS_RC_MODE_ACTIVE(BOXTELEMETRY))) {
releaseSharedTelemetryPorts();
} else {
// the telemetry state must be checked immediately so that shared serial ports are released.
telemetryCheckState();
mspAllocateSerialPorts(&masterConfig.serialConfig);
}
}
#endif
}
void filterRc(void){
static int16_t lastCommand[4] = { 0, 0, 0, 0 };
static int16_t deltaRC[4] = { 0, 0, 0, 0 };
static int16_t factor, rcInterpolationFactor;
static filterStatePt1_t filteredCycleTimeState;
uint16_t rxRefreshRate, filteredCycleTime;
// Set RC refresh rate for sampling and channels to filter
initRxRefreshRate(&rxRefreshRate);
filteredCycleTime = filterApplyPt1(cycleTime, &filteredCycleTimeState, 1);
rcInterpolationFactor = rxRefreshRate / filteredCycleTime + 1;
if (isRXDataNew) {
for (int channel=0; channel < 4; channel++) {
deltaRC[channel] = rcData[channel] - (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
lastCommand[channel] = rcData[channel];
}
isRXDataNew = false;
factor = rcInterpolationFactor - 1;
} else {
factor--;
}
// Interpolate steps of rcData
if (factor > 0) {
for (int channel=0; channel < 4; channel++) {
rcData[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
}
} else {
factor = 0;
}
}
void loop(void)
{
static uint32_t loopTime;
#if defined(BARO) || defined(SONAR)
static bool haveProcessedAnnexCodeOnce = false;
#endif
updateRx(currentTime);
if (shouldProcessRx(currentTime)) {
processRx();
isRXDataNew = true;
#ifdef BARO
// the 'annexCode' initialses rcCommand, updateAltHoldState depends on valid rcCommand data.
if (haveProcessedAnnexCodeOnce) {
if (sensors(SENSOR_BARO)) {
updateAltHoldState();
}
}
#endif
#ifdef SONAR
// the 'annexCode' initialses rcCommand, updateAltHoldState depends on valid rcCommand data.
if (haveProcessedAnnexCodeOnce) {
if (sensors(SENSOR_SONAR)) {
updateSonarAltHoldState();
}
}
#endif
} else {
// not processing rx this iteration
executePeriodicTasks();
// if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
// hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will
// change this based on available hardware
#ifdef GPS
if (feature(FEATURE_GPS)) {
gpsThread();
}
#endif
}
currentTime = micros();
if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
loopTime = currentTime + masterConfig.looptime;
imuUpdate(¤tProfile->accelerometerTrims);
// Measure loop rate just after reading the sensors
currentTime = micros();
cycleTime = (int32_t)(currentTime - previousTime);
previousTime = currentTime;
// Gyro Low Pass
if (currentProfile->pidProfile.gyro_cut_hz) {
int axis;
static filterStatePt1_t gyroADCState[XYZ_AXIS_COUNT];
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroADC[axis] = filterApplyPt1(gyroADC[axis], &gyroADCState[axis], currentProfile->pidProfile.gyro_cut_hz);
}
}
if (masterConfig.rxConfig.rcSmoothing) {
filterRc();
}
annexCode();
#if defined(BARO) || defined(SONAR)
haveProcessedAnnexCodeOnce = true;
#endif
#ifdef MAG
if (sensors(SENSOR_MAG)) {
updateMagHold();
}
#endif
#ifdef GTUNE
updateGtuneState();
#endif
#if defined(BARO) || defined(SONAR)
if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
applyAltHold(&masterConfig.airplaneConfig);
}
}
#endif
// If we're armed, at minimum throttle, and we do arming via the
// sticks, do not process yaw input from the rx. We do this so the
// motors do not spin up while we are trying to arm or disarm.
// Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
if (isUsingSticksForArming() && rcData[THROTTLE] <= masterConfig.rxConfig.mincheck
#ifndef USE_QUAD_MIXER_ONLY
&& !((masterConfig.mixerMode == MIXER_TRI || masterConfig.mixerMode == MIXER_CUSTOM_TRI) && masterConfig.mixerConfig.tri_unarmed_servo)
&& masterConfig.mixerMode != MIXER_AIRPLANE
&& masterConfig.mixerMode != MIXER_FLYING_WING
#endif
) {
rcCommand[YAW] = 0;
}
if (currentProfile->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(currentProfile->throttle_correction_value);
}
#ifdef GPS
if (sensors(SENSOR_GPS)) {
if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
updateGpsStateForHomeAndHoldMode();
}
}
#endif
// PID - note this is function pointer set by setPIDController()
pid_controller(
¤tProfile->pidProfile,
currentControlRateProfile,
masterConfig.max_angle_inclination,
¤tProfile->accelerometerTrims,
&masterConfig.rxConfig
);
mixTable();
#ifdef USE_SERVOS
filterServos();
writeServos();
#endif
if (motorControlEnable) {
writeMotors();
}
#ifdef BLACKBOX
if (!cliMode && feature(FEATURE_BLACKBOX)) {
handleBlackbox();
}
#endif
}
#ifdef TELEMETRY
if (!cliMode && feature(FEATURE_TELEMETRY)) {
telemetryProcess(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
}
#endif
#ifdef LED_STRIP
if (feature(FEATURE_LED_STRIP)) {
updateLedStrip();
}
#endif
}
void taskUpdateCompass(void)
{
if (sensors(SENSOR_MAG)) {
updateCompass(&sensorTrims()->magZero);
}
}
int main(int argc, char *argv[])
{
int done=0; double gpsUpdateRate, imuUpdateRate, eulerUpdateRate;
long int gpsUpdateCount, imuUpdateCount, eulerUpdateCount, kalmanUpdateCount;
double lastTime;
// Program begins with the usual logging of data and so on...
captureQuitSignal();
shared = (Q_SHARED * )attach_memory(QBOATShareKey, sizeof(Q_SHARED));
sharedDIAG = (DIAG_SHARED *)attach_memory(DIAGShareKey, sizeof(DIAG_SHARED));
createDirectory();
sleep(1);
openKalmanlogfile();
fprintf(stderr,"\nExtended Kalman Filter v 1.0 for the Q-boat (based on the Heli INS by Srik)");
initEverything();
lastTime = get_time();
// Now begin main loop...
while (!done) {
// Run a loop to check if we've received new data from the sensors...
if((get_time()-lastTime)>=1.0) {
fprintf(stderr,"\nGPS %dHz, IMU %d Hz, EUL %d Hz, KAL %dHz, LastTime %f",gpsUpdateCount, imuUpdateCount, eulerUpdateCount,kalmanUpdateCount,lastTime);
gpsUpdateCount = 0; imuUpdateCount = 0; eulerUpdateCount = 0; kalmanUpdateCount = 0; lastTime = get_time();
}
if(shared->SensorData.lastEulerKalmanTime<shared->SensorData.eulerUpdateTime) {
++eulerUpdateCount;
if(!init_compass)
compassInit();
else updateCompass();
}
#ifdef __USE3DMG_DATA__
if(shared->SensorData.lastImuKalmanTime<shared->SensorData.imuUpdateTime) {
if(!init_imu)
imuInit();
else updateImu();
++imuUpdateCount;
}
#endif
#ifdef __USEXBOW_DATA__
if(shared->SensorData.lastImuKalmanTime<sharedDIAG->xbowData.lastXbowTime) {
if(!init_imu)
imuInit();
else updateImu();
++imuUpdateCount;
}
#endif
if(shared->SensorData.lastGpsKalmanTime<shared->SensorData.gpsUpdateTime) {
if(!init_gps)
gpsInit();
else updateGPS();
++gpsUpdateCount;
}
if(!init_kf) {
if(init_gps && init_compass && init_imu)
kalmanInit();
}
// Update the State...
if(init_kf && (get_time() - shared->kalmanData.lastKalmanUpdateTime)>=0.01) {
updateState();
++kalmanUpdateCount;
}
usleep(50);
}
}
