uint8_t rc_to_255(int chan) { return clamp(0, ((radio_control_get_channel(chan)+1.0f)/2.0f)*255.0f, 255); }
/** * @brief This is the main loop * * It will be executed at maximum MCU speed (60 Mhz) */ void main_loop_fixed_wing(void) { last_mainloop_idle = sys_time_clock_get_time_usec(); debug_message_buffer("Starting main loop"); while (1) { // Time Measurement uint64_t loop_start_time = sys_time_clock_get_time_usec(); /////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////// /// Camera Shutter /////////////////////////////////////////////////////////////////////////// // Set camera shutter with 2.5ms resolution if (us_run_every(2500, COUNTER1, loop_start_time)) { camera_shutter_handling(loop_start_time); } if (global_data.state.mav_mode == MAV_MODE_RC_TRAINING) { /////////////////////////////////////////////////////////////////////////// /// RC INTERFACE HACK AT 50 Hz /////////////////////////////////////////////////////////////////////////// if (us_run_every(20000, COUNTER8, loop_start_time)) { // Write start byte uart1_transmit(0xFF); // Write channels 1-6 for (int i = 1; i < 7; i++) { uart1_transmit((radio_control_get_channel(1)+1)*127); } } led_toggle(LED_GREEN); led_toggle(LED_RED); // Do not execute any of the functions below continue; } /////////////////////////////////////////////////////////////////////////// /// CRITICAL 200 Hz functions /////////////////////////////////////////////////////////////////////////// if (us_run_every(5000, COUNTER2, loop_start_time)) { // Kalman Attitude filter, used on all systems gyro_read(); sensors_read_acc(); // Read out magnetometer at its default 50 Hz rate static uint8_t mag_count = 0; if (mag_count == 3) { sensors_read_mag(); attitude_observer_correct_magnet(global_data.magnet_corrected); mag_count = 0; } else { mag_count++; } // Correction step of observer filter attitude_observer_correct_accel(global_data.accel_raw); // Write in roll and pitch static float_vect3 att; //if not static we have spikes in roll and pitch on bravo !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! attitude_observer_get_angles(&att); global_data.attitude.x = att.x; global_data.attitude.y = att.y; if (global_data.param[PARAM_ATT_KAL_IYAW]) { global_data.attitude.z += 0.005 * global_data.gyros_si.z; } else { global_data.attitude.z = att.z; } // Prediction step of observer attitude_observer_predict(global_data.gyros_si); control_fixed_wing_attitude(); } /////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////// /// CRITICAL FAST 50 Hz functions /////////////////////////////////////////////////////////////////////////// else if (us_run_every(20000, COUNTER3, loop_start_time)) { // Read Analog-to-Digital converter adc_read(); // Read remote control remote_control(); } /////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////// /// NON-CRITICAL SLOW 100 Hz functions /////////////////////////////////////////////////////////////////////////// else if (us_run_every(10000, COUNTER6, loop_start_time)) { // Send the raw sensor/ADC values communication_send_raw_data(loop_start_time); } /////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////// /// UNCRITICAL SLOW 5 Hz functions /////////////////////////////////////////////////////////////////////////// else if (us_run_every(200000, COUNTER8, loop_start_time)) { // The onboard controllers go into failsafe mode once // position data is missing handle_controller_timeouts(loop_start_time); // Send buffered data such as debug text messages communication_queued_send(); // Empty one message out of the buffer debug_message_send_one(); // Toggle status led //led_toggle(LED_YELLOW); led_toggle(LED_RED); // just for green LED on alpha at the moment // Toggle active mode led if (global_data.state.mav_mode == MAV_MODE_MANUAL || global_data.state.mav_mode == MAV_MODE_GUIDED || global_data.state.mav_mode == MAV_MODE_AUTO) { led_on(LED_GREEN); } else { led_off(LED_GREEN); } handle_eeprom_write_request(); handle_reset_request(); communication_send_controller_feedback(); communication_send_remote_control(); // Pressure sensor driver works, but not tested regarding stability sensors_pressure_bmp085_read_out(); if (global_data.param[PARAM_POSITION_YAW_TRACKING] == 1) { mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 90, global_data.param[PARAM_POSITION_SETPOINT_YAW]); mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 91, global_data.yaw_pos_setpoint); } } /////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////// /// NON-CRITICAL SLOW 1 Hz functions /////////////////////////////////////////////////////////////////////////// else if (us_run_every(1000000, COUNTER9, loop_start_time)) { // Send system state, mode, battery voltage, etc. send_system_state(); if (global_data.param[PARAM_GPS_MODE] >= 10) { //Send GPS information float_vect3 gps; gps.x = gps_utm_north / 100.0f;//m gps.y = gps_utm_east / 100.0f;//m gps.z = gps_utm_zone;// gps_week; debug_vect("GPS", gps); } beep_on_low_voltage(); } /////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////// /// NON-CRITICAL SLOW 20 Hz functions /////////////////////////////////////////////////////////////////////////// else if (us_run_every(50000, COUNTER7, loop_start_time)) { led_toggle(LED_YELLOW); if (global_data.param[PARAM_GPS_MODE] >= 10) { //get thru all gps messages debug_message_send_one(); } communication_send_attitude_position(loop_start_time); } /////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////// /// NON-CRITICAL SLOW 200 Hz functions // /////////////////////////////////////////////////////////////////////////// else if (us_run_every(5000, COUNTER5, loop_start_time)) { if (global_data.state.status == MAV_STATE_STANDBY) { //Check if parameters should be written or read param_handler(); } } /////////////////////////////////////////////////////////////////////////// else { // All Tasks are fine and we have no starvation last_mainloop_idle = loop_start_time; } // Read out comm at max rate - takes only a few microseconds in worst case communication_receive(); // MCU load measurement uint64_t loop_stop_time = sys_time_clock_get_time_usec(); global_data.cpu_usage = measure_avg_cpu_load(loop_start_time, loop_stop_time, min_mainloop_time); global_data.cpu_peak = measure_peak_cpu_load(loop_start_time, loop_stop_time, min_mainloop_time); if (loop_start_time - last_mainloop_idle >= 5000) { debug_message_buffer( "CRITICAL WARNING! CPU LOAD TO HIGH. STARVATION!"); last_mainloop_idle = loop_start_time;//reset to prevent multiple messages } if (global_data.cpu_usage > 800) { // CPU load higher than 80% debug_message_buffer("CRITICAL WARNING! CPU LOAD HIGHER THAN 80%"); } } // End while(1) }