diff --git a/flight/Modules/Attitude/revolution/attitude.c b/flight/Modules/Attitude/revolution/attitude.c
index ad611bb0c..4d8c09993 100644
--- a/flight/Modules/Attitude/revolution/attitude.c
+++ b/flight/Modules/Attitude/revolution/attitude.c
@@ -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) {
diff --git a/flight/PiOS/Boards/STM32F4xx_Revolution.h b/flight/PiOS/Boards/STM32F4xx_Revolution.h
index 82f6f1cca..4c6521270 100644
--- a/flight/PiOS/Boards/STM32F4xx_Revolution.h
+++ b/flight/PiOS/Boards/STM32F4xx_Revolution.h
@@ -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
diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml
index 63e346fc5..8641ace26 100644
--- a/shared/uavobjectdefinition/hwsettings.xml
+++ b/shared/uavobjectdefinition/hwsettings.xml
@@ -9,7 +9,7 @@
-
+
diff --git a/shared/uavobjectdefinition/systemalarms.xml b/shared/uavobjectdefinition/systemalarms.xml
index 54eedc8cd..c95963f88 100644
--- a/shared/uavobjectdefinition/systemalarms.xml
+++ b/shared/uavobjectdefinition/systemalarms.xml
@@ -2,7 +2,7 @@