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Code Issues Releases Activity

Process the settings updates more discretely in revo attitude

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This commit is contained in:
James Cotton 2012-07-21 13:50:16 -05:00
parent 6eb0fd2b3b
commit e5bd999975
1 changed files with 34 additions and 23 deletions
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57
flight/Modules/Attitude/revolution/attitude.c
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@ -99,6 +99,7 @@ static AttitudeSettingsData attitudeSettings;
static HomeLocationData homeLocation;
static RevoCalibrationData revoCalibration;
static RevoSettingsData revoSettings;
static bool gyroBiasSettingsUpdated = false;
const uint32_t SENSOR_QUEUE_SIZE = 10;
// Private functions
@ -204,6 +205,8 @@ static void AttitudeTask(void *parameters)
// Force settings update to make sure rotation loaded
settingsUpdatedCb(AttitudeSettingsHandle());
settingsUpdatedCb(RevoSettingsHandle());
settingsUpdatedCb(RevoCalibrationHandle());
settingsUpdatedCb(HomeLocationHandle());
// Wait for all the sensors be to read
vTaskDelay(100);
@ -834,35 +837,43 @@ static int32_t getNED(GPSPositionData * gpsPosition, float * NED)
return 0;
}
static void settingsUpdatedCb(UAVObjEvent * objEv)
static void settingsUpdatedCb(UAVObjEvent * ev)
{
float lat, alt;
// If the object updated was the ObjectPersistence execute requested action
if (ev->obj == RevoCalibrationHandle()) {
RevoCalibrationGet(&revoCalibration);
AttitudeSettingsGet(&attitudeSettings);
RevoCalibrationGet(&revoCalibration);
RevoSettingsGet(&revoSettings);
HomeLocationGet(&homeLocation);
/* When the revo calibration is updated, update the GyroBias object */
GyrosBiasData gyrosBias;
GyrosBiasGet(&gyrosBias);
gyrosBias.x = revoCalibration.gyro_bias[REVOCALIBRATION_GYRO_BIAS_X];
gyrosBias.y = revoCalibration.gyro_bias[REVOCALIBRATION_GYRO_BIAS_X];
gyrosBias.z = revoCalibration.gyro_bias[REVOCALIBRATION_GYRO_BIAS_X];
GyrosBiasSet(&gyrosBias);
GyrosBiasData gyrosBias;
GyrosBiasGet(&gyrosBias);
gyrosBias.x = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_X] / 100.0f;
gyrosBias.y = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Y] / 100.0f;
gyrosBias.z = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Z] / 100.0f;
GyrosBiasSet(&gyrosBias);
gyroBiasSettingsUpdated = true;
// Compute matrix to convert deltaLLA to NED
lat = homeLocation.Latitude / 10.0e6f * DEG2RAD;
alt = homeLocation.Altitude;
// In case INS currently running
INSSetMagVar(revoCalibration.mag_var);
INSSetAccelVar(revoCalibration.accel_var);
INSSetGyroVar(revoCalibration.gyro_var);
INSSetBaroVar(revoCalibration.baro_var);
} else if (ev->obj == HomeLocationHandle()) {
HomeLocationGet(&homeLocation);
// In case INS currently running
INSSetMagVar(revoCalibration.mag_var);
INSSetAccelVar(revoCalibration.accel_var);
INSSetGyroVar(revoCalibration.gyro_var);
INSSetBaroVar(revoCalibration.baro_var);
// Compute matrix to convert deltaLLA to NED
float lat, alt;
lat = homeLocation.Latitude / 10.0e6f * DEG2RAD;
alt = homeLocation.Altitude;
T[0] = alt+6.378137E6f;
T[1] = cosf(lat)*(alt+6.378137E6f);
T[2] = -1.0f;
T[0] = alt+6.378137E6f;
T[1] = cosf(lat)*(alt+6.378137E6f);
T[2] = -1.0f;
} else if (ev->obj == AttitudeSettingsHandle()) {
AttitudeSettingsGet(&attitudeSettings);
} else if (ev->obj == RevoSettingsHandle()) {
RevoSettingsGet(&revoSettings);
}
}
/**
* @}