Ian Hua / Quadcopter-mbedRTOS

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

RTOS-Threads/src/Task4.cpp@14:267368c83b6a, 2014-05-02 (annotated)

Committer:
pHysiX
Date:
Fri May 02 17:19:00 2014 +0000
Revision:
14:267368c83b6a
Parent:
10:ef5fe86f67fe
Child:
19:bd88749c8db4
Reduced ESC pulse frequency to 200Hz from 400Hz since control is run up to 200Hz

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 7:3d28cfc4901b 1 /* Update ESC (100Hz) */
pHysiX 7:3d28cfc4901b 2 /* 200Hz <= PWM frequency (400Hz) <= 400Hz */
pHysiX 2:ab967d7b4346 3
pHysiX 1:43f8ac7ca6d7 4 #include "tasks.h"
pHysiX 1:43f8ac7ca6d7 5 #include "setup.h"
pHysiX 1:43f8ac7ca6d7 6
pHysiX 2:ab967d7b4346 7 int ESCpower[4] = {0, 0, 0, 0};
pHysiX 10:ef5fe86f67fe 8 int stallESC = 0;
pHysiX 10:ef5fe86f67fe 9
pHysiX 14:267368c83b6a 10 bool armed = false;
pHysiX 2:ab967d7b4346 11
pHysiX 1:43f8ac7ca6d7 12 void Task4(void const *argurment)
pHysiX 1:43f8ac7ca6d7 13 {
pHysiX 14:267368c83b6a 14 if (armed) {
pHysiX 10:ef5fe86f67fe 15 if (counterESC) {
pHysiX 10:ef5fe86f67fe 16 /* [YAW PITCH ROLL THROTTLE AUX] */
pHysiX 10:ef5fe86f67fe 17 ESCpower[0] = (RCCommand[3]*9/10) + (pitch_adjust / 2) - (roll_adjust / 2) + (yaw_adjust / 2);
pHysiX 10:ef5fe86f67fe 18 ESCpower[1] = (RCCommand[3]*9/10) + (pitch_adjust / 2) + (roll_adjust / 2) - (yaw_adjust / 2);
pHysiX 10:ef5fe86f67fe 19 ESCpower[2] = (RCCommand[3]*9/10) - (pitch_adjust / 2) + (roll_adjust / 2) + (yaw_adjust / 2);
pHysiX 10:ef5fe86f67fe 20 ESCpower[3] = (RCCommand[3]*9/10) - (pitch_adjust / 2) - (roll_adjust / 2) - (yaw_adjust / 2);
pHysiX 10:ef5fe86f67fe 21
pHysiX 10:ef5fe86f67fe 22 //BT.printf("%4d %4d %4d %4d\n", ESCpower[0], ESCpower[1], ESCpower[2], ESCpower[3]);
pHysiX 10:ef5fe86f67fe 23
pHysiX 10:ef5fe86f67fe 24 for (int i = 0; i < 4; i++)
pHysiX 10:ef5fe86f67fe 25 ESC[i].pulsewidth_us(ESCpower[i]);
pHysiX 3:605fbcb54e75 26
pHysiX 10:ef5fe86f67fe 27 counterESC = false;
pHysiX 10:ef5fe86f67fe 28 } else {
pHysiX 10:ef5fe86f67fe 29 stallESC++;
pHysiX 10:ef5fe86f67fe 30
pHysiX 10:ef5fe86f67fe 31 if (stallESC > 1) {
pHysiX 10:ef5fe86f67fe 32 imu.debugSerial.printf("ESC NOT UPDATED FAST ENOUGH!\n");
pHysiX 10:ef5fe86f67fe 33 stallESC = 0;
pHysiX 10:ef5fe86f67fe 34 }
pHysiX 10:ef5fe86f67fe 35 }
pHysiX 10:ef5fe86f67fe 36 } else {
pHysiX 10:ef5fe86f67fe 37 for (int i = 0; i < 4; i++)
pHysiX 10:ef5fe86f67fe 38 ESC[i].pulsewidth_us(ESCpower[i]);
pHysiX 10:ef5fe86f67fe 39 }
pHysiX 3:605fbcb54e75 40
pHysiX 2:ab967d7b4346 41 //LED[4] = !LED[4];
pHysiX 10:ef5fe86f67fe 42 }