File content as of revision 25:a7cfe421cb4a:

/* File:        Task2.cpp
 * Author:      Trung Tin Ian HUA
 * Date:        May 2014
 * Purpose:     Thread2: Gyro sample and PID Control loop
 * Settings:    200Hz
 */

#include "Task2.h"
#include "setup.h"
#include "PID.h"

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

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

bool counterESC = false;

void Task2(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;

    //if (counterTask1) {

    switch (mode) {
        case RATE:
            yawPIDrate.setSetPoint(inputYPR[0]);
            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();

            counterTask1 = false;
            counterESC = true;

            break;

        case STABLE:
        default:
            pitchPIDstable.setSetPoint(inputYPR[1]);
            rollPIDstable.setSetPoint(inputYPR[2]);

            pitchPIDstable.setProcessValue((int) (ypr[1] - ypr_offset[1]));
            rollPIDstable.setProcessValue((int) (ypr[2] - ypr_offset[2]));

            adjust_stable[1] = pitchPIDstable.compute();
            adjust_stable[2] = rollPIDstable.compute();
            adjust_stable[2] *= -1;

            yawPIDrate.setSetPoint(inputYPR[0]);
            pitchPIDrate.setSetPoint(adjust_stable[1]);
            rollPIDrate.setSetPoint(adjust_stable[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();

            counterTask1 = false;
            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]);
}