public static void Main()
{
SDCard sdCard = new SDCard();
//todo: need sdCard mode detection
ILogger logger = new PersistenceWriter(new FileStream(@"\SD\telemetry.bin", FileMode.CreateNew), new TelemetryFormatter());
//ILogger logger = new DebugLogger(); // use for debugging
//ILogger logger = new NullLogger(); // use for release
//Assumes one type of speed controller on quad
//ISpeedControllerSettings speedControllerSettings = new HobbyKingSs2530Settings();
//IPWM pwmFront = new SecretLabsPWM(Pins.GPIO_PIN_D9);
//SpeedController electricSpeedControllerFront = new SpeedController(speedControllerSettings, pwmFront);
//IPWM pwmRear = new SecretLabsPWM(Pins.GPIO_PIN_D8);
//SpeedController electricSpeedControllerRear = new SpeedController(speedControllerSettings, pwmRear);
//IPWM pwmRight = new SecretLabsPWM(Pins.GPIO_PIN_D8);
//SpeedController electricSpeedControllerRight = new SpeedController(speedControllerSettings, pwmRight);
//IPWM pwmLeft = new SecretLabsPWM(Pins.GPIO_PIN_D8);
//SpeedController electricSpeedControllerLeft = new SpeedController(speedControllerSettings, pwmLeft);
MotorMixer mixer = null;
PIDSettings[] pidSettings = GetPIDSettings();
AxesController axesController = new AxesController(pidSettings[0], pidSettings[1], pidSettings[2], true);
Gyro gyro = new DefaultGyro(new AircraftPrincipalAxes());
Radio radio = new DefaultRadio(null, null);
ControllerLoopSettings loopSettings = GetLoopSettings();
Controller controller = new Controller(mixer, axesController, gyro, radio, loopSettings, GetMotorSettings(), logger);
}
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);
}
}
}
