private void ControlLoop()
{
//_logger.Write("TimeStamp,Throttle,pitchSP,pitchPV,pitchOP");
while (_running)
{
long currentTime = DateTime.Now.Ticks;
long deltaTime = currentTime - _previousTime;
float deltaTimeFactor = (float)deltaTime / _loopSettings.LoopUnit;
_previousTime = currentTime;
if (deltaTime > _maxLoopTime)
{
_maxLoopTime = deltaTime;
}
if (currentTime > (_lastRadioTime + _loopSettings.RadioLoopPeriod))
{
_radio.Update();
_lastRadioTime = currentTime;
}
if (currentTime > (_lastSensorTime + _loopSettings.SensorLoopPeriod))
{
_gyro.Update();
_lastSensorTime = currentTime;
}
if (currentTime > (_lastControlTime + _loopSettings.ControlAlgorithmPeriod))
{
_pid.Update(_radio.Axes, _gyro.Axes, deltaTimeFactor);
_lastControlTime = currentTime;
}
if (currentTime > (_lastMotorTime + _loopSettings.MotorLoopPeriod))
{
//_motors.Update(_radio.Throttle , _pid.Axes);
_lastMotorTime = currentTime;
}
if (currentTime > (_lastTelemetryTime + _loopSettings.TelemetryLoopPeriod))
{
_lastTelemetryTime = currentTime;
//_logger.Write(
// currentTime + "," +
// _radio.Throttle + "," +
// _radio.Axes.Pitch + "," +
// _gyro.Axes.Pitch + "," +
// _pid.Axes.Pitch);
}
}
Debug.Print("exiting control loop");
}
public Controller(MotorMixer mixer, AxesController pid, Gyro gyro, Radio radio, ControllerLoopSettings loopSettings, MotorSettings motorSettings, ILogger logger)
{
TelemetryData telemetryData = new TelemetryData();
long previousTime = DateTime.Now.Ticks;
long lastRadioTime = 0;
long lastSensorTime = 0;
long lastControlTime = 0;
long lastMotorTime = 0;
long lastTelemetryTime = 0;
bool systemArmed = false;
while (true)
{
long currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastRadioTime + loopSettings.RadioLoopPeriod))
{
//Debug.Print((loopSettings.LoopUnit/(float)(currentTime-lastRadioTime)).ToString());
lastRadioTime = currentTime;
radio.Update();
systemArmed = radio.Throttle > motorSettings.MinimumOutput;
if (!systemArmed)
{
logger.Flush();
}
}
currentTime = DateTime.Now.Ticks;
if (systemArmed && (currentTime >= (lastSensorTime + loopSettings.SensorLoopPeriod)))
{
//Debug.Print((loopSettings.LoopUnit / (float)(currentTime - lastSensorTime)).ToString());
lastSensorTime = currentTime;
gyro.Update();
}
currentTime = DateTime.Now.Ticks;
if (systemArmed && (currentTime >= (lastControlTime + loopSettings.ControlAlgorithmPeriod)))
{
//Debug.Print((loopSettings.LoopUnit / (float)(currentTime - lastControlTime)).ToString());
lastControlTime = currentTime;
pid.Update(radio.Axes, gyro.Axes, (float)(currentTime - previousTime) / loopSettings.LoopUnit);
previousTime = currentTime;
}
currentTime = DateTime.Now.Ticks;
if (currentTime >= (lastMotorTime + loopSettings.MotorLoopPeriod))
{
//Debug.Print((loopSettings.LoopUnit / (float)(currentTime - lastMotorTime)).ToString());
if (systemArmed)
{
mixer.Update(radio.Throttle, pid.Axes);
}
else
{
mixer.SetSafe();
}
lastMotorTime = currentTime;
}
currentTime = DateTime.Now.Ticks;
if (systemArmed && (currentTime >= (lastTelemetryTime + loopSettings.TelemetryLoopPeriod)))
{
//Debug.Print((loopSettings.LoopUnit / (float)(currentTime - lastTelemetryTime)).ToString());
telemetryData.Update(gyro.Axes, radio.Axes, pid.Axes, currentTime);
lastTelemetryTime = currentTime;
logger.Write(telemetryData);
}
}
}