Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/src/Task2_Slave.cpp

Committer:
pHysiX
Date:
2014-05-10
Revision:
27:18b6580eb0b1
Parent:
26:4a3323ee36d5
Child:
30:d9b988f8d84f

File content as of revision 27:18b6580eb0b1:

/* File:        Task2_Slave.cpp
 * Author:      Trung Tin Ian HUA
 * Date:        May 2014
 * Purpose:     Thread2: Gyro sample and PID Control loop
 * Settings:    200Hz
 */

#include "Task2_Slave.h"
#include "setup.h"
#include "PID.h"

/* YPR Adjust */
volatile float adjust[3] = {0.0, 0.0, 0.0};

int16_t gx, gy, gz;
volatile int gyro[3] = {0, 0, 0};

bool counterESC = false;

void Task2_Slave(void const *argument)
{
    imu.getRotation(&gx, &gy, &gz);
    gyro[0] = gx + 60;
    gyro[1] = gy - 15;
    gyro[2] = gz + 25;

    for (int i = 0; i < 3; i++)
        gyro[i] /= (float) 32.8;

    yawPIDrate.setSetPoint(inputYPR[0]);

    switch (mode) {
        case RATE:
            pitchPIDrate.setSetPoint(inputYPR[1]);
            rollPIDrate.setSetPoint(inputYPR[2]);

            yawPIDrate.setProcessValue(gyro[2]);
            pitchPIDrate.setProcessValue(gyro[1]);
            rollPIDrate.setProcessValue(gyro[0]);

            adjust[0] = yawPIDrate.compute();
            adjust[1] = pitchPIDrate.compute();
            adjust[2] = rollPIDrate.compute();

            counterESC = true;
            break;

        case ATTITUDE:
        default:
            pitchPIDrate.setSetPoint(adjust_attitude[1]);
            rollPIDrate.setSetPoint(adjust_attitude[2]);

            yawPIDrate.setProcessValue(gyro[2]);
            pitchPIDrate.setProcessValue(gyro[1]);
            rollPIDrate.setProcessValue(gyro[0]);

            adjust[0] = yawPIDrate.compute();
            adjust[1] = pitchPIDrate.compute();
            adjust[2] = rollPIDrate.compute();

            counterESC = true;
            break;
    }

    if (adjust_check)
        BT.printf("%3.4f %3.4f %3.4f\n", adjust[0], adjust[1], adjust[2]);

    if (gyro_out)
        BT.printf("%3d %3d %3d\n", (int) gyro[0], (int) gyro[1], (int) gyro[2]);
}