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added gps for altitude estimation, remove most unused code, rename altitude.c to position.c, add hdop to nmea

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This commit is contained in:
Diego Basch 2018-04-24 11:11:35 -07:00
parent 75f82c7f2b
commit c46be03047
26 changed files with 154 additions and 550 deletions
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54
src/main/fc/fc_tasks.c
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@ -49,7 +49,7 @@
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/altitude.h"
#include "flight/position.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
@ -81,8 +81,8 @@
#include "sensors/compass.h"
#include "sensors/esc_sensor.h"
#include "sensors/gyro.h"
#include "sensors/rangefinder.h"
#include "sensors/sensors.h"
#include "sensors/rangefinder.h"
#include "scheduler/scheduler.h"
@ -168,25 +168,9 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
}
#endif
#if !defined(USE_ALT_HOLD)
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
updateRcCommands();
#endif
updateArmingStatus();
#ifdef USE_ALT_HOLD
#ifdef USE_BARO
if (sensors(SENSOR_BARO)) {
updateAltHoldState();
}
#endif
#ifdef USE_RANGEFINDER
if (sensors(SENSOR_RANGEFINDER)) {
updateRangefinderAltHoldState();
}
#endif
#endif // USE_ALT_HOLD
}
#endif
@ -204,20 +188,12 @@ static void taskUpdateBaro(timeUs_t currentTimeUs)
}
#endif
#if defined(USE_BARO) || defined(USE_RANGEFINDER)
#if defined(USE_BARO) || defined(USE_GPS)
static void taskCalculateAltitude(timeUs_t currentTimeUs)
{
if (false
#if defined(USE_BARO)
|| (sensors(SENSOR_BARO) && isBaroReady())
#endif
#if defined(USE_RANGEFINDER)
|| sensors(SENSOR_RANGEFINDER)
#endif
) {
calculateEstimatedAltitude(currentTimeUs);
}}
#endif // USE_BARO || USE_RANGEFINDER
calculateEstimatedAltitude(currentTimeUs);
}
#endif // USE_BARO || USE_GPS
#ifdef USE_TELEMETRY
static void taskTelemetry(timeUs_t currentTimeUs)
@ -296,11 +272,8 @@ void fcTasksInit(void)
#ifdef USE_BARO
setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
#endif
#ifdef USE_RANGEFINDER
setTaskEnabled(TASK_RANGEFINDER, sensors(SENSOR_RANGEFINDER));
#endif
#if defined(USE_BARO) || defined(USE_RANGEFINDER)
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_RANGEFINDER));
#if defined(USE_BARO) || defined(USE_GPS)
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_GPS));
#endif
#ifdef USE_DASHBOARD
setTaskEnabled(TASK_DASHBOARD, feature(FEATURE_DASHBOARD));
@ -502,16 +475,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
},
#endif
#ifdef USE_RANGEFINDER
[TASK_RANGEFINDER] = {
.taskName = "RANGEFINDER",
.taskFunc = rangefinderUpdate,
.desiredPeriod = TASK_PERIOD_MS(70), // XXX HCSR04 sonar specific value.
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#if defined(USE_BARO) || defined(USE_RANGEFINDER)
#if defined(USE_BARO) || defined(USE_GPS)
[TASK_ALTITUDE] = {
.taskName = "ALTITUDE",
.taskFunc = taskCalculateAltitude,