rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-30 15:52:12 +01:00
Code Issues Releases Activity

CC-9 1. Improve the timings of the attitude estimation

Browse Source 
2. Disable FirmareIAP module in CC (somehow causes lockups when also using vTaskDelayUntil in Attitude WTF)
3. Make the SPI bus run a little faster so we can handle the 3200 Hz from accel
while running the filter at 333 Hz

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2664 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-02-01 02:18:19 +00:00 committed by peabody124
parent 8b2034ea05
commit 3f088bed8d
3 changed files with 10 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
flight/CopterControl/Makefile
View File

@ -57,14 +57,7 @@ FLASH_TOOL = OPENOCD
USE_THUMB_MODE = YES USE_THUMB_MODE = YES
# List of modules to include # List of modules to include
MODULES = Telemetry ManualControl Actuator Attitude Stabilization FirmwareIAP MODULES = Telemetry Attitude Stabilization Actuator ManualControl #FirmwareIAP
#Actuator Telemetry ManualControl Stabilization FirmwareIAP
#MODULES = Telemetry Example
#MODULES = Telemetry MK/MKSerial
#MODULES = Telemetry
#MODULES += Osd/OsdEtStd
# MCU name, submodel and board # MCU name, submodel and board
# - MCU used for compiler-option (-mcpu) # - MCU used for compiler-option (-mcpu)

2
flight/CopterControl/System/pios_board.c
View File

@ -107,7 +107,7 @@ const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
.SPI_CRCPolynomial = 7, .SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High, .SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge, .SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16, .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
}, },
.use_crc = FALSE, .use_crc = FALSE,
.dma = { .dma = {

16
flight/Modules/Attitude/attitude.c
View File

@ -58,10 +58,10 @@
#include "pios_flash_w25x.h" #include "pios_flash_w25x.h"
// Private constants // Private constants
#define STACK_SIZE_BYTES 740 #define STACK_SIZE_BYTES 440
#define TASK_PRIORITY (tskIDLE_PRIORITY+0) #define TASK_PRIORITY (tskIDLE_PRIORITY+3)
#define UPDATE_RATE 2 /* ms */ #define UPDATE_RATE 3
#define GYRO_NEUTRAL 1665 #define GYRO_NEUTRAL 1665
#define GYRO_SCALE (0.008f * 180 / M_PI) #define GYRO_SCALE (0.008f * 180 / M_PI)
@ -92,7 +92,7 @@ int32_t AttitudeInitialize(void)
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE); PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
return 0; return 0;
} }
static portTickType lastSysTime;
/** /**
* Module thread, should not return. * Module thread, should not return.
*/ */
@ -109,7 +109,7 @@ static void AttitudeTask(void *parameters)
// Main task loop // Main task loop
while (1) { while (1) {
//portTickType lastSysTime; //
PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE); PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
// TODO: register the adc callback, push the data onto a queue (safe for thread) // TODO: register the adc callback, push the data onto a queue (safe for thread)
@ -118,8 +118,8 @@ static void AttitudeTask(void *parameters)
updateAttitude(); updateAttitude();
/* Wait for the next update interval */ /* Wait for the next update interval */
//vTaskDelayUntil(&lastSysTime, UPDATE_RATE / portTICK_RATE_MS); vTaskDelayUntil(&lastSysTime, UPDATE_RATE / portTICK_RATE_MS);
vTaskDelay(UPDATE_RATE / portTICK_RATE_MS); //vTaskDelay(UPDATE_RATE / portTICK_RATE_MS);
} }
} }
@ -172,7 +172,7 @@ void updateSensors()
AttitudeRawSet(&attitudeRaw); AttitudeRawSet(&attitudeRaw);
} }
#define UPDATE_FRAC 0.99f #define UPDATE_FRAC 0.999f
void updateAttitude() void updateAttitude()
{ {
AttitudeActualData attitudeActual; AttitudeActualData attitudeActual;