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Code Issues Releases Activity

Create a separate task for sensors and attitude on revo.

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This commit is contained in:
James Cotton 2011-12-11 23:29:43 -06:00
parent 33a12d829e
commit a9c61845af
5 changed files with 127 additions and 68 deletions
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184
flight/Modules/Attitude/revolution/attitude.c
View File

@ -66,15 +66,22 @@
// Private types
// Private variables
static xTaskHandle taskHandle;
static xTaskHandle sensorTaskHandle;
static xTaskHandle attitudeTaskHandle;
static xQueueHandle gyroQueue;
static xQueueHandle accelQueue;
static xQueueHandle magQueue;
const uint32_t SENSOR_QUEUE_SIZE = 10;
// Private functions
static void SensorTask(void *parameters);
static void AttitudeTask(void *parameters);
static float gyro_correct_int[3] = {0,0,0};
static int8_t updateSensors(AttitudeRawData *);
static void updateAttitude(AttitudeRawData *);
static void updateAttitude();
static void settingsUpdatedCb(UAVObjEvent * objEv);
static float accelKi = 0;
@ -87,17 +94,42 @@ static int8_t rotate = 0;
static bool zero_during_arming = false;
static bool bias_correct_gyro = true;
struct gyro_data {
float x;
float y;
float z;
};
struct accel_data {
float x;
float y;
float z;
};
struct mag_data {
float x;
float y;
float z;
};
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AttitudeStart(void)
{
// Create the queues for the sensors
gyroQueue = xQueueCreate(SENSOR_QUEUE_SIZE, sizeof(struct gyro_data));
accelQueue = xQueueCreate(SENSOR_QUEUE_SIZE, sizeof(struct accel_data));
magQueue = xQueueCreate(SENSOR_QUEUE_SIZE, sizeof(struct mag_data));
// Start main task
xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle);
xTaskCreate(SensorTask, (signed char *)"Sensors", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &sensorTaskHandle);
xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &attitudeTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_SENSORS, sensorTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, attitudeTaskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
PIOS_WDG_RegisterFlag(PIOS_WDG_SENSORS);
return 0;
}
@ -144,30 +176,36 @@ int32_t mag_test;
//int32_t pressure_test;
/**
* Module thread, should not return.
* The sensor task. This polls the gyros at 500 Hz and pumps that data to
* stabilization and to the attitude loop
*/
static void AttitudeTask(void *parameters)
static void SensorTask(void *parameters)
{
uint8_t init = 0;
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
portTickType lastSysTime;
// Force settings update to make sure rotation loaded
settingsUpdatedCb(AttitudeSettingsHandle());
AlarmsClear(SYSTEMALARMS_ALARM_SENSORS);
accel_test = PIOS_BMA180_Test();
gyro_test = PIOS_MPU6000_Test();
mag_test = PIOS_HMC5883_Test();
// pressure_test = PIOS_BMP085_Test();
// Kick of pressure conversions
// PIOS_BMP085_StartADC(TemperatureConv);
if(accel_test < 0 || gyro_test < 0 || mag_test < 0) {
AlarmsSet(SYSTEMALARMS_ALARM_SENSORS, SYSTEMALARMS_ALARM_CRITICAL);
while(1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
vTaskDelay(1);
}
}
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1) {
// TODO: This initialization stuff should be refactored from here
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if((xTaskGetTickCount() < 7000) && (xTaskGetTickCount() > 1000)) {
// For first 7 seconds use accels to get gyro bias
accelKp = 1;
@ -187,21 +225,43 @@ static void AttitudeTask(void *parameters)
AttitudeSettingsYawBiasRateGet(&yawBiasRate);
init = 1;
}
PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
// Update the sensor readings
AttitudeRawData attitudeRaw;
AttitudeRawGet(&attitudeRaw);
if(updateSensors(&attitudeRaw) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
else {
// Only update attitude when sensor data is good
updateAttitude(&attitudeRaw);
AttitudeRawSet(&attitudeRaw);
// TODO: Push data onto queue
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
}
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
vTaskDelayUntil(&lastSysTime, 2 / portTICK_RATE_MS);
}
}
/**
* Module thread, should not return.
*/
static void AttitudeTask(void *parameters)
{
uint8_t init = 0;
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
// Force settings update to make sure rotation loaded
settingsUpdatedCb(AttitudeSettingsHandle());
vTaskDelay(1);
// Main task loop
while (1) {
// This function blocks on data queue
updateAttitude();
PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
}
}
@ -254,6 +314,15 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw)
attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] = (accels[1] - accelbias[1]) * scaling;
attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] = (accels[2] - accelbias[2]) * scaling;
// Push the data onto the queue for attitude to consume
struct accel_data accel_data;
accel_data.x = attitudeRaw->accels[ATTITUDERAW_ACCELS_X];
accel_data.y = attitudeRaw->accels[ATTITUDERAW_ACCELS_X];
accel_data.z = attitudeRaw->accels[ATTITUDERAW_ACCELS_X];
if(xQueueSendToBack(accelQueue, (void *) &accel_data, 0) != pdTRUE) {
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_WARNING);
}
// Make sure we get one sample
count = 0;
while((read_good = PIOS_MPU6000_ReadFifo(&gyro)) != 0);
@ -275,6 +344,15 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw)
attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] = gyros[1] * scaling;
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] = gyros[2] * scaling;
// Push the data onto the queue for attitude to consume
struct gyro_data gyro_data;
gyro_data.x = attitudeRaw->gyros[ATTITUDERAW_GYROS_X];
gyro_data.y = attitudeRaw->gyros[ATTITUDERAW_GYROS_Y];
gyro_data.z = attitudeRaw->gyros[ATTITUDERAW_GYROS_Z];
if(xQueueSendToBack(gyroQueue, (void *) &gyro_data, 0) != pdTRUE) {
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_WARNING);
}
// From data sheet 35 deg C corresponds to -13200, and 280 LSB per C
attitudeRaw->temperature[ATTITUDERAW_TEMPERATURE_GYRO] = 35.0f + ((float) gyro.temperature + 512.0f) / 340.0f;
@ -308,37 +386,23 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw)
}
AttitudeRawSet(&raw);
/*
int32_t retval = PIOS_BMP085_ReadADC();
if (retval == 0) { // Conversion completed
static uint32_t baro_conversions;
if((baro_conversions++) % 2)
PIOS_BMP085_StartADC(PressureConv);
else {
PIOS_BMP085_StartADC(TemperatureConv);
float pressure;
pressure = PIOS_BMP085_GetPressure();
BaroAltitudeData data;
BaroAltitudeGet(&data);
data.Altitude = (1.0f - powf(pressure / BMP085_P0, (1.0f / 5.255f))) * 44330.0f;
data.Pressure = pressure / 1000.0f;
data.Temperature = PIOS_BMP085_GetTemperature() / 10.0f; // Convert to deg C
BaroAltitudeSet(&data);
}
}*/
return 0;
}
float accel_mag;
float qmag;
static void updateAttitude(AttitudeRawData * attitudeRaw)
static void updateAttitude()
{
struct gyro_data gyro_data;
struct accel_data accel_data;
if(xQueueReceive(gyroQueue, (void *) &gyro_data, 10 / portTICK_RATE_MS) != pdTRUE ||
xQueueReceive(accelQueue, (void *) &accel_data, 10 / portTICK_RATE_MS) != pdTRUE) {
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
return;
}
static int32_t timeval;
float dT = PIOS_DELAY_DiffuS(timeval) / 1000000.0f;
timeval = PIOS_DELAY_GetRaw();
@ -348,16 +412,6 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
float gyro[3];
gyro[0] = attitudeRaw->gyros[0];
gyro[1] = attitudeRaw->gyros[1];
gyro[2] = attitudeRaw->gyros[2];
float accels[3];
accels[0] = attitudeRaw->accels[0];
accels[1] = attitudeRaw->accels[1];
accels[2] = attitudeRaw->accels[2];
float grot[3];
float accel_err[3];
@ -368,10 +422,10 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1]));
grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]);
CrossProduct((const float *) accels, (const float *) grot, accel_err);
CrossProduct((const float *) &accel_data.x, (const float *) grot, accel_err);
// Account for accel magnitude
accel_mag = accels[0]*accels[0] + accels[1]*accels[1] + accels[2]*accels[2];
accel_mag = accel_data.x*accel_data.x + accel_data.y*accel_data.y + accel_data.z*accel_data.z;
accel_mag = sqrtf(accel_mag);
accel_err[0] /= accel_mag;
accel_err[1] /= accel_mag;
@ -382,17 +436,18 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
gyro_correct_int[1] += accel_err[1] * accelKi;
// Correct rates based on error, integral component dealt with in updateSensors
gyro[0] += accel_err[0] * accelKp / dT;
gyro[1] += accel_err[1] * accelKp / dT;
gyro[2] += accel_err[2] * accelKp / dT;
gyro_data.x += accel_err[0] * accelKp / dT;
gyro_data.y += accel_err[1] * accelKp / dT;
gyro_data.z += accel_err[2] * accelKp / dT;
// Work out time derivative from INSAlgo writeup
// Also accounts for the fact that gyros are in deg/s
float qdot[4];
qdot[0] = (-q[1] * gyro[0] - q[2] * gyro[1] - q[3] * gyro[2]) * dT * F_PI / 180 / 2;
qdot[1] = (q[0] * gyro[0] - q[3] * gyro[1] + q[2] * gyro[2]) * dT * F_PI / 180 / 2;
qdot[2] = (q[3] * gyro[0] + q[0] * gyro[1] - q[1] * gyro[2]) * dT * F_PI / 180 / 2;
qdot[3] = (-q[2] * gyro[0] + q[1] * gyro[1] + q[0] * gyro[2]) * dT * F_PI / 180 / 2;
qdot[0] = (-q[1] * gyro_data.x - q[2] * gyro_data.y - q[3] * gyro_data.z) * dT * F_PI / 180 / 2;
qdot[1] = (q[0] * gyro_data.x - q[3] * gyro_data.y + q[2] * gyro_data.z) * dT * F_PI / 180 / 2;
qdot[2] = (q[3] * gyro_data.x + q[0] * gyro_data.y - q[1] * gyro_data.z) * dT * F_PI / 180 / 2;
qdot[3] = (-q[2] * gyro_data.x + q[1] * gyro_data.y + q[0] * gyro_data.z) * dT * F_PI / 180 / 2;
// Take a time step
q[0] = q[0] + qdot[0];
@ -429,6 +484,9 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
Quaternion2RPY(&attitudeActual.q1,&attitudeActual.Roll);
AttitudeActualSet(&attitudeActual);
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
}
static void settingsUpdatedCb(UAVObjEvent * objEv) {

1
flight/PiOS/Boards/STM32F4xx_Revolution.h
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@ -103,6 +103,7 @@ TIM8 | | | |
#define PIOS_WDG_STABILIZATION 0x0002
#define PIOS_WDG_ATTITUDE 0x0004
#define PIOS_WDG_MANUAL 0x0008
#define PIOS_WDG_SENSORS 0x0010
//------------------------
// PIOS_I2C

2
shared/uavobjectdefinition/hwsettings.xml
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@ -9,7 +9,7 @@
<field name="OP_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry" defaultvalue="Telemetry"/>
<field name="OP_FlexiPort" units="function" type="enum" elements="1" options="Disabled,GPS" defaultvalue="GPS"/>
<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="115200"/>
<field name="GPSSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS" options="Disabled,Enabled" defaultvalue="Disabled"/>

2
shared/uavobjectdefinition/systemalarms.xml
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@ -2,7 +2,7 @@
<object name="SystemAlarms" singleinstance="true" settings="false">
<description>Alarms from OpenPilot to indicate failure conditions or warnings. Set by various modules.</description>
<field name="Alarm" units="" type="enum" options="Uninitialised,OK,Warning,Error,Critical"
elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Attitude,Stabilization,Guidance,AHRSComms,Battery,FlightTime,I2C,GPS" defaultvalue="Uninitialised"/>
elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Attitude,Sensors,Stabilization,Guidance,AHRSComms,Battery,FlightTime,I2C,GPS" defaultvalue="Uninitialised"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

6
shared/uavobjectdefinition/taskinfo.xml
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@ -1,9 +1,9 @@
<xml>
<object name="TaskInfo" singleinstance="true" settings="false">
<description>Task information</description>
<field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,FlightPlan"/>
<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,FlightPlan"/>
<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,FlightPlan"/>
<field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,FlightPlan"/>
<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,FlightPlan"/>
<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,FlightPlan"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="10000"/>