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cf17569de7
gyro data into attitude raw. Hardcoded calibration for now. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2474 ebee16cc-31ac-478f-84a7-5cbb03baadba
137 lines
4.6 KiB
C
137 lines
4.6 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup CCAttitude Copter Control Attitude Estimation
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* @brief Handles communication with AHRS and updating position
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* Specifically updates the the @ref AttitudeActual "AttitudeActual" and @ref AttitudeRaw "AttitudeRaw" settings objects
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* @{
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*
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* @file ccattitude.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Module to handle all comms to the AHRS on a periodic basis.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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******************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/**
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* Input objects: None, takes sensor data via pios
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* Output objects: @ref AttitudeRaw @ref AttitudeActual
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*
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* This module computes an attitude estimate from the sensor data
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*
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* The module executes in its own thread.
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*
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* UAVObjects are automatically generated by the UAVObjectGenerator from
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* the object definition XML file.
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*
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* Modules have no API, all communication to other modules is done through UAVObjects.
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* However modules may use the API exposed by shared libraries.
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* See the OpenPilot wiki for more details.
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* http://www.openpilot.org/OpenPilot_Application_Architecture
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*
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*/
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#include "pios.h"
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#include "ccattitude.h"
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#include "attituderaw.h"
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// Private constants
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#define STACK_SIZE_BYTES 340
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#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
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#define UPDATE_RATE 10 /* ms */
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#define GYRO_NEUTRAL 1665
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#define GYRO_SCALE 0.014f
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// Private types
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// Private variables
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static xTaskHandle taskHandle;
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// Private functions
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static void CCAttitudeTask(void *parameters);
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t CCAttitudeInitialize(void)
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{
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// Start main task
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xTaskCreate(CCAttitudeTask, (signed char *)"CCAttitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_AHRSCOMMS, taskHandle);
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return 0;
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}
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/**
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* Module thread, should not return.
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*/
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static void CCAttitudeTask(void *parameters)
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{
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portTickType lastSysTime;
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// AlarmsClear(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_CRITICAL);
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// Keep flash CS pin high while talking accel
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PIOS_FLASH_DISABLE;
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PIOS_ADXL345_Init();
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// Main task loop
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while (1) {
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//PIOS_WDG_UpdateFlag(PIOS_WDG_AHRS);
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struct pios_adxl345_data accel_data;
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// TODO: register the adc callback, push the data onto a queue (safe for thread)
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// with the queue ISR version
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AttitudeRawData attitudeRaw;
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AttitudeRawGet(&attitudeRaw);
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attitudeRaw.gyros[ATTITUDERAW_GYROS_X] = PIOS_ADC_PinGet(0);
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attitudeRaw.gyros[ATTITUDERAW_GYROS_Y] = PIOS_ADC_PinGet(1);
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attitudeRaw.gyros[ATTITUDERAW_GYROS_Z] = PIOS_ADC_PinGet(2);
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attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_X] = (attitudeRaw.gyros[ATTITUDERAW_GYROS_X] - GYRO_NEUTRAL) * GYRO_SCALE;
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attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Y] = (attitudeRaw.gyros[ATTITUDERAW_GYROS_Y] - GYRO_NEUTRAL) * GYRO_SCALE;
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attitudeRaw.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Z] = (attitudeRaw.gyros[ATTITUDERAW_GYROS_Z] - GYRO_NEUTRAL) * GYRO_SCALE;
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attitudeRaw.gyrotemp[0] = PIOS_ADXL345_Read(&accel_data);
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attitudeRaw.gyrotemp[1] = PIOS_ADC_PinGet(3);
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attitudeRaw.accels[ATTITUDERAW_ACCELS_X] = accel_data.x;
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attitudeRaw.accels[ATTITUDERAW_ACCELS_Y] = accel_data.y;
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attitudeRaw.accels[ATTITUDERAW_ACCELS_Z] = accel_data.z;
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attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_X] = (float) accel_data.x * 0.004f * 9.81;
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attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Y] = (float) accel_data.y * 0.004f * 9.81;
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attitudeRaw.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Z] = (float) accel_data.z * 0.004f * 9.81;
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AttitudeRawSet(&attitudeRaw);
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/* Wait for the next update interval */
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vTaskDelayUntil(&lastSysTime, UPDATE_RATE / portTICK_RATE_MS);
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}
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}
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/**
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* @}
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* @}
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*/
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