CF brushless experiments

Author: jonas-eschmann

src/config/config.h

@@ -174,7 +174,7 @@
 #define MEM_TASK_STACKSIZE              (2 * configMINIMAL_STACK_SIZE)
 #define PARAM_TASK_STACKSIZE            (2 * configMINIMAL_STACK_SIZE)
 #define SENSORS_TASK_STACKSIZE          (2 * configMINIMAL_STACK_SIZE)
-#define STABILIZER_TASK_STACKSIZE       (5 * configMINIMAL_STACK_SIZE)
+#define STABILIZER_TASK_STACKSIZE       (3 * configMINIMAL_STACK_SIZE)
 #define RATE_SUPERVISOR_TASK_STACKSIZE  configMINIMAL_STACK_SIZE
 #define NRF24LINK_TASK_STACKSIZE        configMINIMAL_STACK_SIZE
 #define ESKYLINK_TASK_STACKSIZE         configMINIMAL_STACK_SIZE

src/hal/src/sensors_bmi088_bmp3xx.c

@@ -322,7 +322,7 @@ static void sensorsTask(void *param)
       gyroScaledIMU.y =  (gyroRaw.y - gyroBias.y) * SENSORS_BMI088_DEG_PER_LSB_CFG;
       gyroScaledIMU.z =  (gyroRaw.z - gyroBias.z) * SENSORS_BMI088_DEG_PER_LSB_CFG;
       sensorsAlignToAirframe(&gyroScaledIMU, &sensorData.gyro);
-      // applyAxis3fLpf((lpf2pData*)(&gyroLpf), &sensorData.gyro);
+      applyAxis3fLpf((lpf2pData*)(&gyroLpf), &sensorData.gyro);
 
       measurement.type = MeasurementTypeGyroscope;
       measurement.data.gyroscope.gyro = sensorData.gyro;
@@ -334,7 +334,7 @@ static void sensorsTask(void *param)
       accScaledIMU.z = accelRaw.z * SENSORS_BMI088_G_PER_LSB_CFG / accScale;
       sensorsAlignToAirframe(&accScaledIMU, &accScaled);
       sensorsAccAlignToGravity(&accScaled, &sensorData.acc);
-      // applyAxis3fLpf((lpf2pData*)(&accLpf), &sensorData.acc);
+      applyAxis3fLpf((lpf2pData*)(&accLpf), &sensorData.acc);
 
       measurement.type = MeasurementTypeAcceleration;
       measurement.data.acceleration.acc = sensorData.acc;