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Code Issues Releases Activity

Use xTaskGetTickCount() to time long intervals rather than PIOS_DELAY_GetRaw(), because of wrap-around issues.

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This commit is contained in:
Erik Gustavsson 2013-08-26 19:14:47 +02:00
parent 151d44b8e7
commit e39c3f897e
1 changed files with 8 additions and 5 deletions
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13
flight/modules/StateEstimation/filtercf.c
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@ -47,6 +47,9 @@
#define STACK_REQUIRED 512
#define CALIBRATION_DELAY_MS 4000
#define CALIBRATION_DURATION_MS 6000
// Private types
struct data {
AttitudeSettingsData attitudeSettings;
@ -274,18 +277,18 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel
this->grot_filtered[0] = 0.0f;
this->grot_filtered[1] = 0.0f;
this->grot_filtered[2] = 0.0f;
this->timeval = PIOS_DELAY_GetRaw();
this->starttime = this->timeval;
this->timeval = PIOS_DELAY_GetRaw(); // Cycle counter used for precise timing
this->starttime = xTaskGetTickCount(); // Tick counter used for long time intervals
return 0; // must return zero on initial initialization, so attitude will init with a valid quaternion
}
if (this->init == 0 && PIOS_DELAY_DiffuS(this->starttime) < 4000000) {
if (this->init == 0 && xTaskGetTickCount() - this->starttime < CALIBRATION_DELAY_MS / portTICK_RATE_MS) {
// wait 4 seconds for the user to get his hands off in case the board was just powered
this->timeval = PIOS_DELAY_GetRaw();
return 1;
} else if (this->init == 0 && PIOS_DELAY_DiffuS(this->starttime) < 10000000) {
// For first 7 seconds use accels to get gyro bias
} else if (this->init == 0 && xTaskGetTickCount() - this->starttime < (CALIBRATION_DELAY_MS + CALIBRATION_DURATION_MS) / portTICK_RATE_MS) {
// For first 6 seconds use accels to get gyro bias
this->attitudeSettings.AccelKp = 1.0f;
this->attitudeSettings.AccelKi = 0.0f;
this->attitudeSettings.YawBiasRate = 0.23f;