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Code Issues Releases Activity

CC-3 CC Complimentary filter: Strip out some unused code and get the sampling

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2570 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-01-24 07:51:51 +00:00 committed by peabody124
parent 99fcd089d4
commit d5ccb59b5a
1 changed files with 1 additions and 35 deletions
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36
flight/Modules/CCAttitude/ccattitude.c
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@ -53,8 +53,6 @@
#include "attituderaw.h"
#include "attitudeactual.h"
#include "attitudedesired.h"
#include "actuatordesired.h"
#include "actuatorcommand.h"
#include "manualcontrolcommand.h"
#include "CoordinateConversions.h"
@ -62,7 +60,7 @@
#define STACK_SIZE_BYTES 740
#define TASK_PRIORITY (tskIDLE_PRIORITY+0)
#define UPDATE_RATE 100 /* ms */
#define UPDATE_RATE 2 /* ms */
#define GYRO_NEUTRAL 1665
#define GYRO_SCALE 0.010f
@ -75,11 +73,8 @@ static xTaskHandle taskHandle;
// Private functions
static void CCAttitudeTask(void *parameters);
void updateInput();
void updateSensors();
void updateAttitude();
void updateStabilization();
void updateActuator();
/**
* Initialise the module, called on startup
@ -113,11 +108,8 @@ static void CCAttitudeTask(void *parameters)
// TODO: register the adc callback, push the data onto a queue (safe for thread)
// with the queue ISR version
updateInput();
updateSensors();
updateAttitude();
updateStabilization();
updateActuator();
/* Wait for the next update interval */
vTaskDelayUntil(&lastSysTime, UPDATE_RATE / portTICK_RATE_MS);
@ -211,32 +203,6 @@ void updateAttitude()
AttitudeActualSet(&attitudeActual);
}
void updateStabilization()
{
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
AttitudeDesiredData attitudeDesired;
AttitudeDesiredGet(&attitudeDesired);
AttitudeRawData attitudeRaw;
AttitudeRawGet(&attitudeRaw);
ActuatorDesiredData actuatorDesired;
ActuatorDesiredGet(&actuatorDesired);
}
void updateActuator()
{
ActuatorDesiredData actuatorDesired;
ActuatorDesiredGet(&actuatorDesired);
ActuatorCommandData actuatorCommand;
ActuatorCommandGet(&actuatorCommand);
ActuatorCommandSet(&actuatorCommand);
}
/**
* @}
* @}