Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/inc/Task3.h@38:ef65533cca32, 2014-05-13 (annotated)

Committer:
pHysiX
Date:
Tue May 13 13:05:03 2014 +0000
Revision:
38:ef65533cca32
Parent:
36:d95e3d6f2fc4
Child:
44:4be5c01c6de2
Quadcopter unstable again. ; Working on KP and KI for Rate and Attitude.; Still experimenting with frequency of Rate and Attitude loop.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 22:ef8aa9728013 1 /* File: Task3.h
pHysiX 22:ef8aa9728013 2 * Author: Trung Tin Ian HUA
pHysiX 22:ef8aa9728013 3 * Date: May 2014
pHysiX 22:ef8aa9728013 4 * Purpose: Thread3: RC & BT Command, and Telemetry
pHysiX 22:ef8aa9728013 5 * Settings: 50Hz
pHysiX 22:ef8aa9728013 6 */
pHysiX 1:43f8ac7ca6d7 7 #include "mbed.h"
pHysiX 1:43f8ac7ca6d7 8 #include "rtos.h"
pHysiX 1:43f8ac7ca6d7 9 #include "tasks.h"
pHysiX 1:43f8ac7ca6d7 10
pHysiX 1:43f8ac7ca6d7 11 #ifndef _TASK3_H_
pHysiX 1:43f8ac7ca6d7 12 #define _TASKS3_H_
pHysiX 1:43f8ac7ca6d7 13
pHysiX 22:ef8aa9728013 14 // ms timing: Refer to tasks.h to change frequency of Task3.
pHysiX 1:43f8ac7ca6d7 15 #define TASK3_PERIOD 1000/TASK3_FREQUENCY
pHysiX 1:43f8ac7ca6d7 16
pHysiX 25:a7cfe421cb4a 17 enum FLIGHT_MODE {
pHysiX 25:a7cfe421cb4a 18 RATE,
pHysiX 27:18b6580eb0b1 19 ATTITUDE
pHysiX 25:a7cfe421cb4a 20 };
pHysiX 25:a7cfe421cb4a 21
pHysiX 36:d95e3d6f2fc4 22 extern int RCCommand[5];
pHysiX 36:d95e3d6f2fc4 23 extern int inputYPR[3];
pHysiX 1:43f8ac7ca6d7 24 extern float ypr_offset[3];
pHysiX 1:43f8ac7ca6d7 25
pHysiX 36:d95e3d6f2fc4 26 extern FLIGHT_MODE mode;
pHysiX 3:605fbcb54e75 27
pHysiX 36:d95e3d6f2fc4 28 extern AnalogIn voltageSense;
pHysiX 25:a7cfe421cb4a 29
pHysiX 22:ef8aa9728013 30 /* Thread3: RC & BT Command, and Telemetry */
pHysiX 1:43f8ac7ca6d7 31 void Task3(void const *argument);
pHysiX 1:43f8ac7ca6d7 32
pHysiX 33:f88a6ee18103 33 // ========================
pHysiX 33:f88a6ee18103 34 // === Helper functions ===
pHysiX 33:f88a6ee18103 35 // ========================
pHysiX 17:18c3bd016e49 36 int constrainRCCommand(int input);
pHysiX 32:7a9be7761c46 37 int deadbandInputYPR(int input);
pHysiX 38:ef65533cca32 38 int constrainInputYPR(int input);
pHysiX 32:7a9be7761c46 39 void uartDecoder(char input);
pHysiX 17:18c3bd016e49 40
pHysiX 1:43f8ac7ca6d7 41 #endif