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LibrePilot/flight/OpenPilot/Modules/Attitude/attitude.c

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/**
******************************************************************************
*
* @file attitude.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Module to read the attitude solution from the AHRS on a periodic basis.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/**
* Input object: AttitudeSettings
* Output object: AttitudeActual
*
* This module will periodically update the value of latest attitude solution
* that is available from the AHRS.
* The module settings can configure how often AHRS is polled for a new solution.
*
* The module executes in its own thread.
*
* UAVObjects are automatically generated by the UAVObjectGenerator from
* the object definition XML file.
*
* Modules have no API, all communication to other modules is done through UAVObjects.
* However modules may use the API exposed by shared libraries.
* See the OpenPilot wiki for more details.
* http://www.openpilot.org/OpenPilot_Application_Architecture
*
*/
#include "attitude.h"
#include "attitudeactual.h" // object that will be updated by the module
#include "attitudesettings.h" // object holding module settings
#include "pios_opahrs.h" // library for OpenPilot AHRS access functions
// Private constants
#define STACK_SIZE 200
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void attitudeTask(void* parameters);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AttitudeInitialize(void)
{
// Start main task
xTaskCreate(attitudeTask, (signed char*)"Attitude", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
return 0;
}
/**
* Module thread, should not return.
*/
static void attitudeTask(void* parameters)
{
AttitudeSettingsData settings;
AttitudeActualData data;
// Main task loop
while (1)
{
// Update settings with latest value
AttitudeSettingsGet(&settings);
// Get the current object data
AttitudeActualGet(&data);
// Query the latest attitude solution from the AHRS
PIOS_OPAHRS_ReadAttitude();
// Update the data
data.seq++;
data.q1 += 0.111;
data.q2 += 1.1;
data.q3 += 7.0;
data.q4 -= 2.321;
data.Roll += 0.01;
data.Pitch -= 0.03;
data.Yaw += 0.05;
// Update the ExampleObject, after this function is called
// notifications to any other modules listening to that object
// will be sent and the GCS object will be updated through the
// telemetry link. All operations will take place asynchronously
// and the following call will return immediately.
AttitudeActualSet(&data);
// Since this module executes at fixed time intervals, we need to
// block the task until it is time for the next update.
// The settings field is in ms, to convert to RTOS ticks we need
// to divide by portTICK_RATE_MS.
vTaskDelay( settings.UpdatePeriod / portTICK_RATE_MS );
}
}