Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/src/Task2.cpp@22:ef8aa9728013, 2014-05-08 (annotated)

Committer:
pHysiX
Date:
Thu May 08 10:33:43 2014 +0000
Revision:
22:ef8aa9728013
Parent:
21:b642c18eccd1
Child:
24:54a8cdf17378
Commented and tidied entire code for release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 22:ef8aa9728013 1 /* File: Task2.cpp
pHysiX 22:ef8aa9728013 2 * Author: Trung Tin Ian HUA
pHysiX 22:ef8aa9728013 3 * Date: May 2014
pHysiX 22:ef8aa9728013 4 * Purpose: Thread2: Gyro sample and PID Control loop
pHysiX 22:ef8aa9728013 5 * Settings: 200Hz
pHysiX 22:ef8aa9728013 6 */
pHysiX 2:ab967d7b4346 7
pHysiX 1:43f8ac7ca6d7 8 #include "Task2.h"
pHysiX 1:43f8ac7ca6d7 9 #include "setup.h"
pHysiX 3:605fbcb54e75 10 #include "PID.h"
pHysiX 3:605fbcb54e75 11
pHysiX 21:b642c18eccd1 12 /* YPR Adjust */
pHysiX 21:b642c18eccd1 13 volatile float adjust[3] = {0.0, 0.0, 0.0};
pHysiX 21:b642c18eccd1 14 volatile float adjust_stable[3] = {0.0, 0.0, 0.0};
pHysiX 21:b642c18eccd1 15
pHysiX 3:605fbcb54e75 16 int16_t gx, gy, gz;
pHysiX 10:ef5fe86f67fe 17 volatile int gyro[3] = {0, 0, 0};
pHysiX 10:ef5fe86f67fe 18
pHysiX 10:ef5fe86f67fe 19 bool counterESC = false;
pHysiX 1:43f8ac7ca6d7 20
pHysiX 1:43f8ac7ca6d7 21 void Task2(void const *argument)
pHysiX 1:43f8ac7ca6d7 22 {
pHysiX 21:b642c18eccd1 23 imu.getRotation(&gx, &gy, &gz);
pHysiX 21:b642c18eccd1 24 gyro[0] = gx + 60;
pHysiX 21:b642c18eccd1 25 gyro[1] = gy - 15;
pHysiX 21:b642c18eccd1 26 gyro[2] = gz + 25;
pHysiX 17:18c3bd016e49 27
pHysiX 21:b642c18eccd1 28 for (int i = 0; i < 3; i++)
pHysiX 21:b642c18eccd1 29 gyro[i] /= (float) 32.8;
pHysiX 17:18c3bd016e49 30
pHysiX 21:b642c18eccd1 31 //if (counterTask1) {
pHysiX 21:b642c18eccd1 32 pitchPIDstable.setSetPoint(inputYPR[1]);
pHysiX 21:b642c18eccd1 33 rollPIDstable.setSetPoint(inputYPR[2]);
pHysiX 17:18c3bd016e49 34
pHysiX 21:b642c18eccd1 35 pitchPIDstable.setProcessValue(ypr[1] - ypr_offset[1]);
pHysiX 21:b642c18eccd1 36 rollPIDstable.setProcessValue(ypr[2] - ypr_offset[2]);
pHysiX 17:18c3bd016e49 37
pHysiX 21:b642c18eccd1 38 adjust_stable[1] = pitchPIDstable.compute();
pHysiX 21:b642c18eccd1 39 adjust_stable[2] = rollPIDstable.compute();
pHysiX 17:18c3bd016e49 40
pHysiX 21:b642c18eccd1 41 yawPIDrate.setSetPoint(inputYPR[0]);
pHysiX 21:b642c18eccd1 42 pitchPIDrate.setSetPoint(inputYPR[1]);
pHysiX 21:b642c18eccd1 43 rollPIDrate.setSetPoint(inputYPR[2]);
pHysiX 21:b642c18eccd1 44 //pitchPIDrate.setSetPoint(adjust_stable[1]);
pHysiX 21:b642c18eccd1 45 //rollPIDrate.setSetPoint(adjust_stable[2]);
pHysiX 5:4879ef0e6d41 46
pHysiX 10:ef5fe86f67fe 47 yawPIDrate.setProcessValue(gyro[2]);
pHysiX 10:ef5fe86f67fe 48 pitchPIDrate.setProcessValue(gyro[1]);
pHysiX 10:ef5fe86f67fe 49 rollPIDrate.setProcessValue(gyro[0]);
pHysiX 5:4879ef0e6d41 50
pHysiX 21:b642c18eccd1 51 adjust[0] = yawPIDrate.compute();
pHysiX 21:b642c18eccd1 52 adjust[1] = pitchPIDrate.compute();
pHysiX 21:b642c18eccd1 53 adjust[2] = rollPIDrate.compute();
pHysiX 21:b642c18eccd1 54
pHysiX 21:b642c18eccd1 55 counterTask1 = false;
pHysiX 5:4879ef0e6d41 56
pHysiX 10:ef5fe86f67fe 57 counterESC = true;
pHysiX 11:f9fd410c48c2 58
pHysiX 21:b642c18eccd1 59 if (adjust_check)
pHysiX 21:b642c18eccd1 60 BT.printf("%3.4f %3.4f %3.4f\n", adjust[0], adjust[1], adjust[2]);
pHysiX 21:b642c18eccd1 61
pHysiX 10:ef5fe86f67fe 62 if (gyro_out)
pHysiX 21:b642c18eccd1 63 BT.printf("%3d %3d %3d\n", (int) gyro[0], (int) gyro[1], (int) gyro[2]);
pHysiX 21:b642c18eccd1 64 }