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Trouble programming sensor reading #1744
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I'm trying to get the accelerometer read by my custom code and right now, it is outputting bad, not-updated data despite looking like it should be updating. Here is the code static void dbgMessagerTask(void* parameters)
{
Axis3f acc;
while (true)
{
if (sensorsAreCalibrated())
{
// Read accelerometer values
sensorsReadAcc(&acc);
consolePrintf("Acc: (%f,%f,%f) \n",
(double) acc.x,
(double) acc.y,
(double) acc.z
);
sensorsResume();
}
//delay
vTaskDelay(50);
}
}What am I missing that will make it work? |
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Replies: 1 comment 4 replies
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Hi @PapercutSmothie ! Its looking like the queue where sensor data is stored might be empty when you fetch data from it. If so you could take several different approaches. I hope you got the clarification you needed to make this work! |
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I've so far updated the code to this: #include "config.h"
#include "debug.h"
#include "FreeRTOS.h"
#include "queue.h"
#include "static_mem.h"
#include "task.h"
#include "sensors.h"
static xQueueHandle inputQueue;
STATIC_MEM_QUEUE_ALLOC(inputQueue, 1, sizeof(Axis3f));
static void dbgMessagerTask(void*);
STATIC_MEM_TASK_ALLOC(dbgMessagerTask, DEBUG_MESSAGER_TASK_STACKSIZE);
static bool isInit = false;
void dbgMessagerTaskInit()
{
inputQueue = STATIC_MEM_QUEUE_CREATE(inputQueue);
//TODO
STATIC_MEM_TASK_CREATE(dbgMessagerTask, dbgMessagerTask,DEBUG_MESSAGER_TASK_NAME,NULL,DEBUG_MESSAGER_TASK_PRI);
isInit = true;
}
bool dbgMessagerTaskTest()
{
return isInit;
}
static void dbgMessagerTask(void* parameters)
{
Axis3f acc;
while (true)
{
//wait for values
sensorsWaitDataReady();
// Read accelerometer values
if (sensorsReadAcc(&acc))
{
consolePrintf("Acc: (%f,%f,%f) \n",
(double) acc.x,
(double) acc.y,
(double) acc.z
);
}
else
{
consolePrintf("No new acceleration data found\n");
}
sensorsResume();
}
}
void dbgMessagerTaskEnqueueInput(int value)
{
xQueueOverwrite(inputQueue, &value);
}The priority is 1, which is well below the sensor's of 4. When I get the log, this is the data I get for a brief while As you can probably tell, it gets cut off for some reason and I'm assuming this is the problem now that I am looking at the problem again |
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I've done some more testing and I noticed that the sensorsWaitDataReady() causes the program to wait indefinitely on the sensors and the sensorsReadAcc() always returns false. Could the sensors not be updating in a way my program can see it? I would assume it is set up by default to run. |
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Hi! I think that the stabilizer task reads out the sensor data from the queue before your task. However I agree that sensorsWaitDataReady() should give you what you want. What I do doubt is that this is a feasible use case. If you manage to read out the sensor data from the queue there is no data for the stabilizer task to read. I highly doubt the Crazyflie will be able to fly without this data. If you are only looking to print, could you print in the stabilizer task? Or put in the data in another queue or variable in the stabilizer task, for the dbgMessagerTask to read from? |
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I mostly just wanted to be able to access the sensor readings in outside code and was able to add a simple piece of code into stabilizer.c to allow me access to the sensors. Thank you so much for the help! |
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Hi!
I think that the stabilizer task reads out the sensor data from the queue before your task. However I agree that sensorsWaitDataReady() should give you what you want.
What I do doubt is that this is a feasible use case. If you manage to read out the sensor data from the queue there is no data for the stabilizer task to read. I highly doubt the Crazyflie will be able to fly without this data.
If you are only looking to print, could you print in the stabilizer task? Or put in the data in another queue or variable in the stabilizer task, for the dbgMessagerTask to read from?