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Code Issues Releases Activity

Change revo sensors to update at 500 Hz and make sure in all cases it waits for

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the relevant queue to provide data.  Also disable the quaternion stabilization
flag.
This commit is contained in:
James Cotton 2012-05-11 22:09:04 -05:00
parent 65065f2588
commit 836e34a483
5 changed files with 16 additions and 16 deletions
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12
flight/Modules/Attitude/revolution/attitude.c
View File

@ -269,14 +269,20 @@ static int32_t updateAttitudeComplimentary(bool first_run)
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if(first_run) {
#if defined(PIOS_INCLUDE_HMC5883)
// To initialize we need a valid mag reading
if ( xQueueReceive(magQueue, &ev, 0 / portTICK_RATE_MS) != pdTRUE )
return -1;
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
MagnetometerData magData;
MagnetometerGet(&magData);
#else
MagnetometerData magData;
magData.x = 100;
magData.y = 0;
magData.z = 0;
#endif
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
init = 0;
attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / F_PI;
attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / F_PI;

13
flight/Modules/Sensors/sensors.c
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@ -194,6 +194,8 @@ static void SensorsTask(void *parameters)
#if defined(PIOS_INCLUDE_HMC5883)
mag_test = PIOS_HMC5883_Test();
#else
mag_test = 0;
#endif
if(accel_test < 0 || gyro_test < 0 || mag_test < 0) {
@ -412,16 +414,7 @@ static void SensorsTask(void *parameters)
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
switch(bdinfo->board_rev) {
case 0x01: // L3GD20 + BMA180 board
lastSysTime = xTaskGetTickCount();
break;
case 0x02:
vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_RATE_MS);
break;
default:
PIOS_DEBUG_Assert(0);
}
lastSysTime = xTaskGetTickCount();
}
}

3
flight/Revolution/Makefile
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@ -49,7 +49,8 @@ endif
FLASH_TOOL = OPENOCD
# List of modules to include
MODULES = Sensors Attitude/revolution ManualControl Stabilization Altitude/revolution Actuator GPS FirmwareIAP
MODULES = Sensors Attitude/revolution ManualControl Stabilization Actuator
MODULES += Altitude/revolution GPS FirmwareIAP
MODULES += AltitudeHold VtolPathFollower PathPlanner
MODULES += CameraStab
MODULES += OveroSync

2
flight/Revolution/System/inc/pios_config.h
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@ -94,7 +94,7 @@
/* Flags that alter behaviors - mostly to lower resources for CC */
#define PIOS_INCLUDE_INITCALL /* Include init call structures */
#define PIOS_TELEM_PRIORITY_QUEUE /* Enable a priority queue in telemetry */
#define PIOS_QUATERNION_STABILIZATION /* Stabilization options */
//#define PIOS_QUATERNION_STABILIZATION /* Stabilization options */
#define PIOS_GPS_SETS_HOMELOCATION /* GPS options */
/* Alarm Thresholds */

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

@ -174,7 +174,7 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
.exti_cfg = &pios_exti_mpu6000_cfg,
.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
// Clock at 8 khz, downsampled by 8 for 1khz
.Smpl_rate_div = 7,
.Smpl_rate_div = 15,
.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,