Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/src/Task2_Master.cpp

Committer:
pHysiX
Date:
2014-05-10
Revision:
28:aa72bd4ff103
Parent:
27:18b6580eb0b1
Child:
30:d9b988f8d84f

File content as of revision 28:aa72bd4ff103:

/* File:        Task2_Master.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_attitude[3] = {0.0, 0.0, 0.0};

//bool counterTask2Master = false;

void Task2_Master(void const *argument)
{
    switch (mode) {
        case RATE:
            break;

        case ATTITUDE:
        default:
            if (counterTask1) {
                pitchPIDstable.setProcessValue((int) (ypr[1] - ypr_offset[1]));
                rollPIDstable.setProcessValue((int) (ypr[2] - ypr_offset[2]));
            }

            pitchPIDstable.setSetPoint(inputYPR[1]);
            rollPIDstable.setSetPoint(inputYPR[2]);

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

            counterTask1 = false;
            //counterTask2Master = true;
            break;
    }
}