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(); } } } }
void flightControl(void) { // this should run at 500Hz if ((micros() - elapsed_micros) >= (2000)) { elapsed_micros = micros(); // flicker the leds to measure correct speed GPIOA->ODR ^= 1<<15; GPIOB->ODR ^= 1<<2; // read gyro gyro_read(&gyro_data); // controls /* throttle = payload[0] * 0xff; yaw = payload[1] * 0xff; pitch = payload[3] * 0xff; roll = payload[4] * 0xff; // trims yaw_trim = payload[2]; pitch_trim = payload[5]; roll_trim = payload[6]; */ // convert channels for crazyflie PID: #if 0 rollRateDesired = (float) (payload[4] - 128.0) * 256; pitchRateDesired = (float) (payload[3] - 128.0) * 256; yawRateDesired = (float) (payload[1] - 128.0) * 256; #else actuatorThrust = payload[0] * 256; // Roll, aka aileron, float +- 50.0 in degrees s32 f_roll = (payload[4] - 0x80) * 0x50 * FRAC_SCALE / (10000 / 400); frac2float(f_roll, &rollRateDesired); // Pitch, aka elevator, float +- 50.0 degrees s32 f_pitch = (payload[3] - 0x80) * 0x50 * FRAC_SCALE / (10000 / 400); frac2float(f_pitch, &pitchRateDesired); // Thrust, aka throttle 0..65535, working range 5535..65535 // No space for overshoot here, hard limit Channel3 by -10000..10000 /* s32 ch = payload[0] * 0xff; if (ch < CHAN_MIN_VALUE) { ch = CHAN_MIN_VALUE; } else if (ch > CHAN_MAX_VALUE) { ch = CHAN_MAX_VALUE; } actuatorThrust = ch*3L + 35535L; */ // Yaw, aka rudder, float +- 400.0 deg/s s32 f_yaw = (payload[1] - 0x80) * 0x50 * FRAC_SCALE / (10000 / 400); frac2float(f_yaw, &yawRateDesired); #endif // gyro.* == *rateActual == Data measured by IMU // *rateDesired == Data from RX controllerCorrectRatePID(-gyro_data.x, gyro_data.y, -gyro_data.z, rollRateDesired, pitchRateDesired, yawRateDesired); //#define TUNE_ROLL if (actuatorThrust > 0) { #if defined(TUNE_ROLL) distributePower(actuatorThrust, rollOutput, 0, 0); #elif defined(TUNE_PITCH) distributePower(actuatorThrust, 0, pitchOutput, 0); #elif defined(TUNE_YAW) distributePower(actuatorThrust, 0, 0, -yawOutput); #else distributePower(actuatorThrust, rollOutput, pitchOutput, -yawOutput); #endif } else { distributePower(0, 0, 0, 0); pidReset(&pidRollRate); pidReset(&pidPitchRate); pidReset(&pidYawRate); } } #if 0 m0_val = actuatorThrust; m1_val = actuatorThrust; m2_val = actuatorThrust; m3_val = ((yawOutput * 1000) / 0xffff) + 1000; TIM2->CCR4 = m0_val; // Motor "B" TIM1->CCR1 = m1_val; // Motor "L" TIM1->CCR4 = m2_val; // Motor "R" TIM16->CCR1 = m3_val; // Motor "F" #endif }
static void stabilizerTask(void* param) { uint32_t attitudeCounter = 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)); imu6Read(&gyro, &acc); hmc5883lGetHeading(&magHeadingX, &magHeadingY, &magHeadingZ); if(altMode == ALTIMETER_MODE_PRESSURE) { altimeterTmp = ms5611GetPressure(MS5611_OSR_4096); if(altimeterTmp > 0.0f) { pressure = altimeterTmp; altMode = ALTIMETER_MODE_TEMPERATURE; } } if(altMode == ALTIMETER_MODE_TEMPERATURE) { altimeterTmp = ms5611GetTemperature(MS5611_OSR_4096); if(altimeterTmp > 0.0f) { temperature = altimeterTmp; altMode = ALTIMETER_MODE_PRESSURE; } } if (imu6IsCalibrated()) { commanderGetRPY(&eulerRollDesired, &eulerPitchDesired, &eulerYawDesired); commanderGetRPYType(&rollType, &pitchType, &yawType); 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); //controllerCorrectAttitudePID(eulerRollActual, eulerPitchActual, eulerYawActual, // eulerRollDesired, eulerPitchDesired, -eulerYawDesired, // &rollRateDesired, &pitchRateDesired, &yawRateDesired); //controllerCorrectAttitudePID(0, 0, 0, 0, 0, 0, &rollRateDesired, &pitchRateDesired, &yawRateDesired); attitudeCounter = 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); */ commanderGetTrust(&actuatorThrust); distributePower(actuatorThrust, 0, 0, 0); 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(); } #if 0 static int i = 0; if (++i > 19) { uartPrintf("%i, %i, %i\n", (int32_t)(eulerRollActual*100), (int32_t)(eulerPitchActual*100), (int32_t)(eulerYawActual*100)); i = 0; } #endif } } }