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Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of AutoFlight2017_now2 by
main.cpp@2:e7025f2cf0e1, 2018-09-08 (annotated)
- Committer:
- TUATBM
- Date:
- Sat Sep 08 09:21:46 2018 +0000
- Revision:
- 2:e7025f2cf0e1
- Parent:
- 1:f31e17341659
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
TUATBM | 1:f31e17341659 | 1 | //mbed |
TUATBM | 0:92024886c0be | 2 | #include "mbed.h" |
TUATBM | 1:f31e17341659 | 3 | #include "FATFileSystem.h" |
TUATBM | 1:f31e17341659 | 4 | #include "SDFileSystem.h" |
TUATBM | 1:f31e17341659 | 5 | //C |
TUATBM | 0:92024886c0be | 6 | #include "math.h" |
TUATBM | 1:f31e17341659 | 7 | //sensor |
TUATBM | 1:f31e17341659 | 8 | #include "MPU6050_DMP6.h" |
TUATBM | 1:f31e17341659 | 9 | //#include "MPU9250.h" |
TUATBM | 2:e7025f2cf0e1 | 10 | //#inclu |
TUATBM | 2:e7025f2cf0e1 | 11 | #include "BMP280.h" |
TUATBM | 1:f31e17341659 | 12 | #include "hcsr04.h" |
TUATBM | 1:f31e17341659 | 13 | //device |
TUATBM | 1:f31e17341659 | 14 | #include "sbus.h" |
TUATBM | 1:f31e17341659 | 15 | //config |
TUATBM | 0:92024886c0be | 16 | #include "SkipperSv2.h" |
TUATBM | 1:f31e17341659 | 17 | #include "falfalla.h" |
TUATBM | 1:f31e17341659 | 18 | //other |
TUATBM | 0:92024886c0be | 19 | #include "pid.h" |
TUATBM | 0:92024886c0be | 20 | |
TUATBM | 1:f31e17341659 | 21 | #define DEBUG_SEMIAUTO 0 |
TUATBM | 1:f31e17341659 | 22 | #define DEBUG_PRINT_INLOOP |
TUATBM | 1:f31e17341659 | 23 | |
TUATBM | 1:f31e17341659 | 24 | #define KP_ELE 2.0 |
TUATBM | 1:f31e17341659 | 25 | #define KI_ELE 0.0 |
TUATBM | 1:f31e17341659 | 26 | #define KD_ELE 0.0 |
TUATBM | 1:f31e17341659 | 27 | #define KP_RUD 3.0 |
TUATBM | 1:f31e17341659 | 28 | #define KI_RUD 0.0 |
TUATBM | 1:f31e17341659 | 29 | #define KD_RUD 0.0 |
TUATBM | 1:f31e17341659 | 30 | |
TUATBM | 1:f31e17341659 | 31 | #define GAIN_CONTROLVALUE_TO_PWM 3.0 |
TUATBM | 1:f31e17341659 | 32 | |
TUATBM | 1:f31e17341659 | 33 | #define RIGHT_ROLL -17.0 |
TUATBM | 1:f31e17341659 | 34 | #define RIGHT_PITCH -6.3 |
TUATBM | 1:f31e17341659 | 35 | #define LEFT_ROLL 16.0 |
TUATBM | 1:f31e17341659 | 36 | #define LEFT_PITCH -6.0 |
TUATBM | 1:f31e17341659 | 37 | #define STRAIGHT_ROLL 2.0 |
TUATBM | 1:f31e17341659 | 38 | #define STRAIGHT_PITCH -3.0 |
TUATBM | 1:f31e17341659 | 39 | #define TAKEOFF_THR 1.0 |
TUATBM | 1:f31e17341659 | 40 | #define LOOP_THR 0.58 |
TUATBM | 0:92024886c0be | 41 | |
TUATBM | 1:f31e17341659 | 42 | #define RIGHT_ROLL_SHORT -20.0 |
TUATBM | 1:f31e17341659 | 43 | #define RIGHT_PITCH_SHORT -7.0 |
TUATBM | 1:f31e17341659 | 44 | #define LEFT_ROLL_SHORT 22.0 |
TUATBM | 1:f31e17341659 | 45 | #define LEFT_PITCH_SHORT -6.0 |
TUATBM | 1:f31e17341659 | 46 | |
TUATBM | 1:f31e17341659 | 47 | #define GLIDE_ROLL 16.0 |
TUATBM | 1:f31e17341659 | 48 | #define GLIDE_PITCH 0.0 |
TUATBM | 0:92024886c0be | 49 | |
TUATBM | 1:f31e17341659 | 50 | //コンパスキャリブレーション |
TUATBM | 1:f31e17341659 | 51 | //SkipperS2基板 |
TUATBM | 1:f31e17341659 | 52 | /* |
TUATBM | 1:f31e17341659 | 53 | #define MAGBIAS_X -35.0 |
TUATBM | 1:f31e17341659 | 54 | #define MAGBIAS_Y 535.0 |
TUATBM | 1:f31e17341659 | 55 | #define MAGBIAS_Z -50.0 |
TUATBM | 1:f31e17341659 | 56 | */ |
TUATBM | 1:f31e17341659 | 57 | //S2v2 1番基板 |
TUATBM | 1:f31e17341659 | 58 | #define MAGBIAS_X 395.0 |
TUATBM | 1:f31e17341659 | 59 | #define MAGBIAS_Y 505.0 |
TUATBM | 1:f31e17341659 | 60 | #define MAGBIAS_Z -725.0 |
TUATBM | 1:f31e17341659 | 61 | //S2v2 2番基板 |
TUATBM | 1:f31e17341659 | 62 | /* |
TUATBM | 0:92024886c0be | 63 | #define MAGBIAS_X 185.0 |
TUATBM | 0:92024886c0be | 64 | #define MAGBIAS_Y 220.0 |
TUATBM | 0:92024886c0be | 65 | #define MAGBIAS_Z -350.0 |
TUATBM | 1:f31e17341659 | 66 | */ |
TUATBM | 0:92024886c0be | 67 | |
TUATBM | 1:f31e17341659 | 68 | #define ELEMENT 1 |
TUATBM | 1:f31e17341659 | 69 | #define LIMIT_STRAIGHT_YAW 5.0 |
TUATBM | 1:f31e17341659 | 70 | #define LIMIT_LOOPSTOP_YAW 1.0 |
TUATBM | 1:f31e17341659 | 71 | #define THRESHOLD_TURNINGRADIUS_YAW 60.0 |
TUATBM | 1:f31e17341659 | 72 | #define ALLOWHEIGHT 15 |
TUATBM | 0:92024886c0be | 73 | |
TUATBM | 1:f31e17341659 | 74 | #ifndef PI |
TUATBM | 1:f31e17341659 | 75 | #define PI 3.14159265358979 |
TUATBM | 1:f31e17341659 | 76 | #endif |
TUATBM | 0:92024886c0be | 77 | |
TUATBM | 1:f31e17341659 | 78 | const int16_t lengthdivpwm = 320; |
TUATBM | 1:f31e17341659 | 79 | const int16_t changeModeCount = 6; |
TUATBM | 1:f31e17341659 | 80 | |
TUATBM | 1:f31e17341659 | 81 | const float trim[4] = {Trim_Falfalla[0],Trim_Falfalla[1],Trim_Falfalla[2],Trim_Falfalla[3]}; |
TUATBM | 1:f31e17341659 | 82 | const float expMax[4] = {ExpMax_Falfalla[0],ExpMax_Falfalla[1],ExpMax_Falfalla[2],ExpMax_Falfalla[3]}; |
TUATBM | 1:f31e17341659 | 83 | const float expMin[4] = {ExpMin_Falfalla[0],ExpMin_Falfalla[1],ExpMin_Falfalla[2],ExpMin_Falfalla[3]}; |
TUATBM | 1:f31e17341659 | 84 | const int16_t reverce[4] = {ExpMin_Falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]}; |
TUATBM | 0:92024886c0be | 85 | |
TUATBM | 0:92024886c0be | 86 | SBUS sbus(PA_9, PA_10); //SBUS |
TUATBM | 0:92024886c0be | 87 | |
TUATBM | 1:f31e17341659 | 88 | //PwmOut servo1(PC_6); // TIM3_CH1 //echo |
TUATBM | 0:92024886c0be | 89 | PwmOut servo2(PC_7); // TIM3_CH2 //PC_7 |
TUATBM | 0:92024886c0be | 90 | PwmOut servo3(PB_0); // TIM3_CH3 |
TUATBM | 0:92024886c0be | 91 | PwmOut servo4(PB_1); // TIM3_CH4 |
TUATBM | 0:92024886c0be | 92 | PwmOut servo5(PB_6); // TIM4_CH1 |
TUATBM | 1:f31e17341659 | 93 | //PwmOut servo6(PB_7); // TIM4_CH2 //trigger |
TUATBM | 1:f31e17341659 | 94 | //PwmOut servo7(PB_8); // TIM4_CH3 //PB_8 |
TUATBM | 1:f31e17341659 | 95 | //PwmOut servo8(PB_9); // TIM4_CH4 |
TUATBM | 0:92024886c0be | 96 | |
TUATBM | 1:f31e17341659 | 97 | RawSerial pc(PA_2,PA_3, 115200); //tx,rx.baudrate pin;PA_2=UART2_TX, PA_3=UART2_RX |
TUATBM | 1:f31e17341659 | 98 | SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd"); |
TUATBM | 0:92024886c0be | 99 | |
TUATBM | 1:f31e17341659 | 100 | DigitalOut led1(PA_0); //黄色のコネクタ |
TUATBM | 1:f31e17341659 | 101 | DigitalOut led2(PA_1); |
TUATBM | 0:92024886c0be | 102 | DigitalOut led3(PB_4); |
TUATBM | 0:92024886c0be | 103 | DigitalOut led4(PB_5); |
TUATBM | 0:92024886c0be | 104 | |
TUATBM | 1:f31e17341659 | 105 | //InterruptIn switch2(PC_14); |
TUATBM | 1:f31e17341659 | 106 | MPU6050DMP6 mpu6050(PC_0,&pc); //割り込みピン,シリアルポインタ i2cのピン指定は MPU6050>>I2Cdev.h 内のdefine |
TUATBM | 1:f31e17341659 | 107 | HCSR04 usensor(PB_7,PC_6); //trig,echo 9,8 |
TUATBM | 0:92024886c0be | 108 | |
TUATBM | 1:f31e17341659 | 109 | PID pid_ELE(g_kpELE,g_kiELE,g_kdELE); |
TUATBM | 1:f31e17341659 | 110 | PID pid_RUD(g_kpRUD,g_kiRUD,g_kdRUD); |
TUATBM | 0:92024886c0be | 111 | |
TUATBM | 1:f31e17341659 | 112 | enum Channel{AIL, ELE, THR, RUD, DROP, Ch6, Ch7, Ch8}; |
TUATBM | 1:f31e17341659 | 113 | enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度 |
TUATBM | 1:f31e17341659 | 114 | enum OperationMode{StartUp, SemiAuto, RightLoop, LeftLoop, GoStraight, BombwithPC, ZERO, Moebius, Glide}; |
TUATBM | 1:f31e17341659 | 115 | enum BombingMode{Takeoff, Chicken, Transition, Approach}; |
TUATBM | 0:92024886c0be | 116 | enum OutputStatus{Manual, Auto}; |
TUATBM | 0:92024886c0be | 117 | |
TUATBM | 0:92024886c0be | 118 | static OutputStatus output_status = Manual; |
TUATBM | 0:92024886c0be | 119 | OperationMode operation_mode = StartUp; |
TUATBM | 1:f31e17341659 | 120 | BombingMode bombing_mode = Takeoff; |
TUATBM | 1:f31e17341659 | 121 | static int16_t autopwm[8] = {1500,1500,1180,1500,1446,1500}; |
TUATBM | 1:f31e17341659 | 122 | static int16_t trimpwm[6] = {1500,1500,1180,1500,1446,1500}; |
TUATBM | 1:f31e17341659 | 123 | int16_t maxpwm[6] = {1820,1820,1820,1820,1820,1820}; |
TUATBM | 1:f31e17341659 | 124 | int16_t minpwm[6] = {1180,1180,1180,1180,1180,1180}; |
TUATBM | 0:92024886c0be | 125 | int16_t oldTHR = 1000; |
TUATBM | 0:92024886c0be | 126 | |
TUATBM | 0:92024886c0be | 127 | static float nowAngle[3] = {0,0,0}; |
TUATBM | 1:f31e17341659 | 128 | const float trimAngle[3] = {0.0, 0.0, 0.0}; |
TUATBM | 0:92024886c0be | 129 | const float maxAngle[2] = {90, 90}; |
TUATBM | 0:92024886c0be | 130 | const float minAngle[2] = {-90, -90}; |
TUATBM | 0:92024886c0be | 131 | |
TUATBM | 1:f31e17341659 | 132 | float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0; |
TUATBM | 0:92024886c0be | 133 | |
TUATBM | 1:f31e17341659 | 134 | unsigned int g_distance; |
TUATBM | 1:f31e17341659 | 135 | Ticker USsensor; |
TUATBM | 1:f31e17341659 | 136 | static char g_buf[16]; |
TUATBM | 1:f31e17341659 | 137 | char g_landingcommand; |
TUATBM | 1:f31e17341659 | 138 | float g_SerialTargetYAW = 0.0; |
TUATBM | 1:f31e17341659 | 139 | |
TUATBM | 1:f31e17341659 | 140 | Timer t; |
TUATBM | 1:f31e17341659 | 141 | Timeout RerurnChickenServo1; |
TUATBM | 1:f31e17341659 | 142 | Timeout RerurnChickenServo2; |
TUATBM | 0:92024886c0be | 143 | |
TUATBM | 0:92024886c0be | 144 | /*-----関数のプロトタイプ宣言-----*/ |
TUATBM | 0:92024886c0be | 145 | void setup(); |
TUATBM | 0:92024886c0be | 146 | void loop(); |
TUATBM | 0:92024886c0be | 147 | |
TUATBM | 0:92024886c0be | 148 | void Init_PWM(); |
TUATBM | 0:92024886c0be | 149 | void Init_servo(); //サーボ初期化 |
TUATBM | 0:92024886c0be | 150 | void Init_sbus(); //SBUS初期化 |
TUATBM | 0:92024886c0be | 151 | void Init_sensors(); |
TUATBM | 1:f31e17341659 | 152 | void DisplayClock(); //クロック状態確認 |
TUATBM | 0:92024886c0be | 153 | |
TUATBM | 1:f31e17341659 | 154 | //センサの値取得 |
TUATBM | 0:92024886c0be | 155 | void SensingMPU(); |
TUATBM | 1:f31e17341659 | 156 | void UpdateDist(); |
TUATBM | 1:f31e17341659 | 157 | |
TUATBM | 1:f31e17341659 | 158 | //void offsetRollPitch(float FirstROLL, float FirstPITCH); |
TUATBM | 1:f31e17341659 | 159 | //void TransYaw(float FirstYAW); |
TUATBM | 1:f31e17341659 | 160 | float TranslateNewYaw(float beforeYaw, float newzeroYaw); |
TUATBM | 0:92024886c0be | 161 | void UpdateTargetAngle(float targetAngle[3]); |
TUATBM | 0:92024886c0be | 162 | void CalculateControlValue(float targetAngle[3], float controlValue[3]); |
TUATBM | 0:92024886c0be | 163 | void UpdateAutoPWM(float controlValue[3]); |
TUATBM | 0:92024886c0be | 164 | void ConvertPWMintoRAD(float targetAngle[3]); |
TUATBM | 0:92024886c0be | 165 | inline float CalcRatio(float value, float trim, float limit); |
TUATBM | 0:92024886c0be | 166 | bool CheckSW_Up(Channel ch); |
TUATBM | 0:92024886c0be | 167 | int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min); |
TUATBM | 1:f31e17341659 | 168 | inline int16_t SetTHRinRatio(float ratio); |
TUATBM | 0:92024886c0be | 169 | |
TUATBM | 0:92024886c0be | 170 | //sbus割り込み |
TUATBM | 0:92024886c0be | 171 | void Update_PWM(); //マニュアル・自動モードのpwmデータを整形しpwm変数に入力 |
TUATBM | 1:f31e17341659 | 172 | void Output_PWM(int16_t pwm[6]); //pwmをサーボへ出力 |
TUATBM | 1:f31e17341659 | 173 | |
TUATBM | 1:f31e17341659 | 174 | //シリアル割り込み |
TUATBM | 1:f31e17341659 | 175 | void SendSerial(); //1文字きたら送り返す |
TUATBM | 1:f31e17341659 | 176 | void SendArray(); |
TUATBM | 1:f31e17341659 | 177 | void getSF_Serial(); |
TUATBM | 1:f31e17341659 | 178 | float ConvertByteintoFloat(char high, char low); |
TUATBM | 0:92024886c0be | 179 | |
TUATBM | 1:f31e17341659 | 180 | //SD設定 |
TUATBM | 1:f31e17341659 | 181 | int GetParameter(FILE *fp, const char *paramName,char parameter[]); |
TUATBM | 1:f31e17341659 | 182 | int SetOptions(float *g_kpELE, float *g_kiELE, float *g_kdELE, |
TUATBM | 1:f31e17341659 | 183 | float *g_kpRUD, float *g_kiRUD, float *g_kdRUD, |
TUATBM | 1:f31e17341659 | 184 | float *g_rightloopROLL, float *g_rightloopPITCH, |
TUATBM | 1:f31e17341659 | 185 | float *g_leftloopROLL, float *g_leftloopPITCH, |
TUATBM | 1:f31e17341659 | 186 | float *g_gostraightROLL, float *g_gostraightPITCH, |
TUATBM | 1:f31e17341659 | 187 | float *g_takeoffTHR, float *g_loopTHR, |
TUATBM | 1:f31e17341659 | 188 | float *g_rightloopROLLshort, float *g_rightloopPITCHshort, |
TUATBM | 1:f31e17341659 | 189 | float *g_leftloopROLLshort, float *g_leftloopPITCHshort, |
TUATBM | 1:f31e17341659 | 190 | float *g_glideloopROLL, float *g_glideloopPITCH); |
TUATBM | 0:92024886c0be | 191 | //switch2割り込み |
TUATBM | 0:92024886c0be | 192 | void ResetTrim(); |
TUATBM | 0:92024886c0be | 193 | |
TUATBM | 1:f31e17341659 | 194 | //自動操縦 |
TUATBM | 1:f31e17341659 | 195 | void UpdateTargetAngle_GoStraight(float targetAngle[3]); |
TUATBM | 1:f31e17341659 | 196 | void UpdateTargetAngle_Rightloop(float targetAngle[3]); |
TUATBM | 1:f31e17341659 | 197 | void UpdateTargetAngle_Rightloop_short(float targetAngle[3]); |
TUATBM | 1:f31e17341659 | 198 | void UpdateTargetAngle_Leftloop(float targetAngle[3]); |
TUATBM | 1:f31e17341659 | 199 | void UpdateTargetAngle_Leftloop_short(float targetAngle[3]); |
TUATBM | 1:f31e17341659 | 200 | void UpdateTargetAngle_Moebius(float targetAngle[3]); |
TUATBM | 1:f31e17341659 | 201 | void UpdateTargetAngle_Glide(float targetAngle[3]); |
TUATBM | 1:f31e17341659 | 202 | void UpdateTargetAngle_Takeoff(float targetAngle[3]); |
TUATBM | 1:f31e17341659 | 203 | void UpdateTargetAngle_Approach(float targetAngle[3]); |
TUATBM | 1:f31e17341659 | 204 | void Take_off_and_landing(float targetAngle[3]); |
TUATBM | 1:f31e17341659 | 205 | |
TUATBM | 1:f31e17341659 | 206 | char Rotate(float targetAngle[3], float TargetYAW, char mode); |
TUATBM | 1:f31e17341659 | 207 | |
TUATBM | 1:f31e17341659 | 208 | //投下 |
TUATBM | 1:f31e17341659 | 209 | void Chicken_Drop(); |
TUATBM | 1:f31e17341659 | 210 | void ReturnChickenServo1(); |
TUATBM | 1:f31e17341659 | 211 | void ReturnChickenServo2(); |
TUATBM | 1:f31e17341659 | 212 | |
TUATBM | 1:f31e17341659 | 213 | //超音波による高度補正 |
TUATBM | 1:f31e17341659 | 214 | void checkHeight(float targetAngle[3]); |
TUATBM | 1:f31e17341659 | 215 | void UpdateTargetAngle_NoseUP(float targetAngle[3]); |
TUATBM | 1:f31e17341659 | 216 | void UpdateTargetAngle_NoseDOWN(float targetAngle[3]); |
TUATBM | 1:f31e17341659 | 217 | |
TUATBM | 0:92024886c0be | 218 | //デバッグ用 |
TUATBM | 0:92024886c0be | 219 | void DebugPrint(); |
TUATBM | 0:92024886c0be | 220 | |
TUATBM | 0:92024886c0be | 221 | /*---関数のプロトタイプ宣言終わり---*/ |
TUATBM | 0:92024886c0be | 222 | |
TUATBM | 0:92024886c0be | 223 | int main() |
TUATBM | 0:92024886c0be | 224 | { |
TUATBM | 1:f31e17341659 | 225 | setup(); |
TUATBM | 1:f31e17341659 | 226 | |
TUATBM | 0:92024886c0be | 227 | while(1){ |
TUATBM | 1:f31e17341659 | 228 | |
TUATBM | 0:92024886c0be | 229 | loop(); |
TUATBM | 1:f31e17341659 | 230 | |
TUATBM | 1:f31e17341659 | 231 | if(!CheckSW_Up(Ch7)){ |
TUATBM | 1:f31e17341659 | 232 | led3=0; |
TUATBM | 1:f31e17341659 | 233 | }else{ |
TUATBM | 1:f31e17341659 | 234 | led3=1; |
TUATBM | 1:f31e17341659 | 235 | } |
TUATBM | 0:92024886c0be | 236 | } |
TUATBM | 0:92024886c0be | 237 | } |
TUATBM | 0:92024886c0be | 238 | |
TUATBM | 0:92024886c0be | 239 | void setup(){ |
TUATBM | 1:f31e17341659 | 240 | //buzzer = 0; |
TUATBM | 0:92024886c0be | 241 | led1 = 1; |
TUATBM | 0:92024886c0be | 242 | led2 = 1; |
TUATBM | 1:f31e17341659 | 243 | led3 = 1; |
TUATBM | 1:f31e17341659 | 244 | led4 = 1; |
TUATBM | 0:92024886c0be | 245 | |
TUATBM | 1:f31e17341659 | 246 | SetOptions(&g_kpELE, &g_kiELE, &g_kdELE, |
TUATBM | 1:f31e17341659 | 247 | &g_kpRUD, &g_kiRUD, &g_kdRUD, |
TUATBM | 1:f31e17341659 | 248 | &g_rightloopROLL, &g_rightloopPITCH, |
TUATBM | 1:f31e17341659 | 249 | &g_leftloopROLL, &g_leftloopPITCH, |
TUATBM | 1:f31e17341659 | 250 | &g_gostraightROLL, &g_gostraightPITCH, |
TUATBM | 1:f31e17341659 | 251 | &g_takeoffTHR, &g_loopTHR, |
TUATBM | 1:f31e17341659 | 252 | &g_rightloopROLLshort, &g_rightloopPITCHshort, |
TUATBM | 1:f31e17341659 | 253 | &g_leftloopROLLshort, &g_leftloopPITCHshort, |
TUATBM | 1:f31e17341659 | 254 | &g_glideloopROLL, &g_glideloopPITCH); |
TUATBM | 1:f31e17341659 | 255 | |
TUATBM | 1:f31e17341659 | 256 | |
TUATBM | 0:92024886c0be | 257 | Init_PWM(); |
TUATBM | 0:92024886c0be | 258 | Init_servo(); |
TUATBM | 0:92024886c0be | 259 | Init_sbus(); |
TUATBM | 0:92024886c0be | 260 | Init_sensors(); |
TUATBM | 1:f31e17341659 | 261 | //switch2.rise(ResetTrim); |
TUATBM | 1:f31e17341659 | 262 | pc.attach(getSF_Serial, Serial::RxIrq); |
TUATBM | 1:f31e17341659 | 263 | USsensor.attach(&UpdateDist, 0.05); |
TUATBM | 1:f31e17341659 | 264 | |
TUATBM | 1:f31e17341659 | 265 | NVIC_SetPriority(USART1_IRQn,0); |
TUATBM | 1:f31e17341659 | 266 | NVIC_SetPriority(EXTI0_IRQn,1); |
TUATBM | 1:f31e17341659 | 267 | NVIC_SetPriority(TIM5_IRQn,2); |
TUATBM | 1:f31e17341659 | 268 | NVIC_SetPriority(EXTI9_5_IRQn,3); |
TUATBM | 1:f31e17341659 | 269 | NVIC_SetPriority(USART2_IRQn,4); |
TUATBM | 1:f31e17341659 | 270 | DisplayClock(); |
TUATBM | 0:92024886c0be | 271 | t.start(); |
TUATBM | 1:f31e17341659 | 272 | |
TUATBM | 1:f31e17341659 | 273 | |
TUATBM | 1:f31e17341659 | 274 | pc.printf("MPU calibration start\r\n"); |
TUATBM | 1:f31e17341659 | 275 | |
TUATBM | 1:f31e17341659 | 276 | float offsetstart = t.read(); |
TUATBM | 1:f31e17341659 | 277 | while(t.read() - offsetstart < 26){ |
TUATBM | 1:f31e17341659 | 278 | SensingMPU(); |
TUATBM | 1:f31e17341659 | 279 | for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]); |
TUATBM | 1:f31e17341659 | 280 | pc.printf("\r\n"); |
TUATBM | 1:f31e17341659 | 281 | led1 = !led1; |
TUATBM | 1:f31e17341659 | 282 | led2 = !led2; |
TUATBM | 1:f31e17341659 | 283 | led3 = !led3; |
TUATBM | 1:f31e17341659 | 284 | led4 = !led4; |
TUATBM | 1:f31e17341659 | 285 | } |
TUATBM | 1:f31e17341659 | 286 | |
TUATBM | 1:f31e17341659 | 287 | FirstROLL = nowAngle[ROLL]; |
TUATBM | 1:f31e17341659 | 288 | FirstPITCH = nowAngle[PITCH]; |
TUATBM | 1:f31e17341659 | 289 | nowAngle[ROLL] -=FirstROLL; |
TUATBM | 1:f31e17341659 | 290 | nowAngle[PITCH] -=FirstPITCH; |
TUATBM | 1:f31e17341659 | 291 | |
TUATBM | 0:92024886c0be | 292 | led1 = 0; |
TUATBM | 0:92024886c0be | 293 | led2 = 0; |
TUATBM | 0:92024886c0be | 294 | led3 = 0; |
TUATBM | 0:92024886c0be | 295 | led4 = 0; |
TUATBM | 1:f31e17341659 | 296 | wait(0.2); |
TUATBM | 1:f31e17341659 | 297 | |
TUATBM | 0:92024886c0be | 298 | |
TUATBM | 0:92024886c0be | 299 | pc.printf("All initialized\r\n"); |
TUATBM | 0:92024886c0be | 300 | } |
TUATBM | 0:92024886c0be | 301 | |
TUATBM | 0:92024886c0be | 302 | void loop(){ |
TUATBM | 1:f31e17341659 | 303 | static float targetAngle[3] = {0.0, 0.0, 0.0}, controlValue[2] = {0.0, 0.0}; |
TUATBM | 0:92024886c0be | 304 | |
TUATBM | 0:92024886c0be | 305 | SensingMPU(); |
TUATBM | 0:92024886c0be | 306 | UpdateTargetAngle(targetAngle); |
TUATBM | 1:f31e17341659 | 307 | //Rotate(targetAngle, 30.0); |
TUATBM | 0:92024886c0be | 308 | CalculateControlValue(targetAngle, controlValue); |
TUATBM | 0:92024886c0be | 309 | UpdateAutoPWM(controlValue); |
TUATBM | 1:f31e17341659 | 310 | wait_ms(23); |
TUATBM | 1:f31e17341659 | 311 | //#if DEBUG_PRINT_INLOOP |
TUATBM | 0:92024886c0be | 312 | DebugPrint(); |
TUATBM | 1:f31e17341659 | 313 | //#endif |
TUATBM | 0:92024886c0be | 314 | } |
TUATBM | 0:92024886c0be | 315 | |
TUATBM | 0:92024886c0be | 316 | //サーボ初期化関数 |
TUATBM | 1:f31e17341659 | 317 | void Init_servo(){ |
TUATBM | 0:92024886c0be | 318 | |
TUATBM | 1:f31e17341659 | 319 | //servo1.period_ms(14); |
TUATBM | 1:f31e17341659 | 320 | //servo1.pulsewidth_us(trimpwm[AIL]); |
TUATBM | 0:92024886c0be | 321 | |
TUATBM | 0:92024886c0be | 322 | servo2.period_ms(14); |
TUATBM | 0:92024886c0be | 323 | servo2.pulsewidth_us(trimpwm[ELE]); |
TUATBM | 0:92024886c0be | 324 | |
TUATBM | 0:92024886c0be | 325 | servo3.period_ms(14); |
TUATBM | 0:92024886c0be | 326 | servo3.pulsewidth_us(trimpwm[THR]); |
TUATBM | 0:92024886c0be | 327 | |
TUATBM | 0:92024886c0be | 328 | servo4.period_ms(14); |
TUATBM | 0:92024886c0be | 329 | servo4.pulsewidth_us(trimpwm[RUD]); |
TUATBM | 0:92024886c0be | 330 | |
TUATBM | 0:92024886c0be | 331 | servo5.period_ms(14); |
TUATBM | 1:f31e17341659 | 332 | servo5.pulsewidth_us(1392); |
TUATBM | 0:92024886c0be | 333 | |
TUATBM | 0:92024886c0be | 334 | pc.printf("servo initialized\r\n"); |
TUATBM | 0:92024886c0be | 335 | } |
TUATBM | 0:92024886c0be | 336 | |
TUATBM | 1:f31e17341659 | 337 | //Sbus初期化 |
TUATBM | 0:92024886c0be | 338 | void Init_sbus(){ |
TUATBM | 0:92024886c0be | 339 | sbus.initialize(); |
TUATBM | 0:92024886c0be | 340 | sbus.setLastfuncPoint(Update_PWM); |
TUATBM | 0:92024886c0be | 341 | sbus.startInterrupt(); |
TUATBM | 0:92024886c0be | 342 | } |
TUATBM | 0:92024886c0be | 343 | |
TUATBM | 0:92024886c0be | 344 | void Init_sensors(){ |
TUATBM | 1:f31e17341659 | 345 | if(mpu6050.setup() == -1){ |
TUATBM | 0:92024886c0be | 346 | pc.printf("failed initialize\r\n"); |
TUATBM | 1:f31e17341659 | 347 | while(1){ |
TUATBM | 1:f31e17341659 | 348 | led1 = 1; led2 = 0; led3 = 1; led4 = 0; |
TUATBM | 1:f31e17341659 | 349 | wait(1); |
TUATBM | 1:f31e17341659 | 350 | led1 = 0; led2 = 1; led3 = 0; led4 = 1; |
TUATBM | 1:f31e17341659 | 351 | wait(1); |
TUATBM | 1:f31e17341659 | 352 | } |
TUATBM | 0:92024886c0be | 353 | } |
TUATBM | 0:92024886c0be | 354 | } |
TUATBM | 0:92024886c0be | 355 | |
TUATBM | 0:92024886c0be | 356 | void Init_PWM(){ |
TUATBM | 0:92024886c0be | 357 | for (uint8_t i = 0; i < 4; ++i){ |
TUATBM | 1:f31e17341659 | 358 | trimpwm[i] = 1500 + (int16_t)(lengthdivpwm * (trim[i]/100)); |
TUATBM | 0:92024886c0be | 359 | maxpwm[i] = 1500 + (int16_t)(lengthdivpwm * (expMax[i]/100)); |
TUATBM | 0:92024886c0be | 360 | minpwm[i] = 1500 - (int16_t)(lengthdivpwm * (expMin[i]/100)); |
TUATBM | 0:92024886c0be | 361 | } |
TUATBM | 0:92024886c0be | 362 | pc.printf("PWM initialized\r\n"); |
TUATBM | 0:92024886c0be | 363 | } |
TUATBM | 0:92024886c0be | 364 | |
TUATBM | 0:92024886c0be | 365 | void DisplayClock(){ |
TUATBM | 0:92024886c0be | 366 | pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000); |
TUATBM | 0:92024886c0be | 367 | pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000); |
TUATBM | 0:92024886c0be | 368 | pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000); |
TUATBM | 0:92024886c0be | 369 | pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000); |
TUATBM | 0:92024886c0be | 370 | pc.printf("\r\n"); |
TUATBM | 0:92024886c0be | 371 | } |
TUATBM | 0:92024886c0be | 372 | |
TUATBM | 0:92024886c0be | 373 | void UpdateTargetAngle(float targetAngle[3]){ |
TUATBM | 1:f31e17341659 | 374 | static int16_t count_op = 0, count_out = 0; |
TUATBM | 0:92024886c0be | 375 | #if DEBUG_SEMIAUTO |
TUATBM | 0:92024886c0be | 376 | switch(operation_mode){ |
TUATBM | 0:92024886c0be | 377 | case StartUp: |
TUATBM | 1:f31e17341659 | 378 | if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ |
TUATBM | 0:92024886c0be | 379 | count_op++; |
TUATBM | 0:92024886c0be | 380 | if(count_op > changeModeCount){ |
TUATBM | 0:92024886c0be | 381 | operation_mode = SemiAuto; |
TUATBM | 0:92024886c0be | 382 | pc.printf("Goto SemiAuto mode\r\n"); |
TUATBM | 0:92024886c0be | 383 | count_op = 0; |
TUATBM | 0:92024886c0be | 384 | } |
TUATBM | 0:92024886c0be | 385 | }else count_op = 0; |
TUATBM | 0:92024886c0be | 386 | break; |
TUATBM | 0:92024886c0be | 387 | |
TUATBM | 0:92024886c0be | 388 | case SemiAuto: |
TUATBM | 0:92024886c0be | 389 | /* 大会用では以下のif文を入れてoperation_modeを変える |
TUATBM | 0:92024886c0be | 390 | if(CheckSW_Up(Ch6)){ |
TUATBM | 0:92024886c0be | 391 | count_op++; |
TUATBM | 0:92024886c0be | 392 | if(count_op>changeModeCount){ |
TUATBM | 0:92024886c0be | 393 | output_status = XXX; |
TUATBM | 0:92024886c0be | 394 | led2 = 0; |
TUATBM | 0:92024886c0be | 395 | pc.printf("Goto XXX mode\r\n"); |
TUATBM | 0:92024886c0be | 396 | count_op = 0; |
TUATBM | 0:92024886c0be | 397 | }else count_op = 0; |
TUATBM | 0:92024886c0be | 398 | ConvertPWMintoRAD(targetAngle); |
TUATBM | 0:92024886c0be | 399 | } |
TUATBM | 0:92024886c0be | 400 | */ |
TUATBM | 0:92024886c0be | 401 | ConvertPWMintoRAD(targetAngle); |
TUATBM | 0:92024886c0be | 402 | break; |
TUATBM | 0:92024886c0be | 403 | |
TUATBM | 0:92024886c0be | 404 | default: |
TUATBM | 0:92024886c0be | 405 | operation_mode = SemiAuto; |
TUATBM | 0:92024886c0be | 406 | break; |
TUATBM | 0:92024886c0be | 407 | } |
TUATBM | 0:92024886c0be | 408 | |
TUATBM | 1:f31e17341659 | 409 | #else |
TUATBM | 1:f31e17341659 | 410 | |
TUATBM | 1:f31e17341659 | 411 | switch(operation_mode){ |
TUATBM | 1:f31e17341659 | 412 | case StartUp: |
TUATBM | 1:f31e17341659 | 413 | if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ //ch7;自動・手動切り替え ch8;自動操縦モード切替 |
TUATBM | 1:f31e17341659 | 414 | count_op++; |
TUATBM | 1:f31e17341659 | 415 | if(count_op > changeModeCount){ |
TUATBM | 1:f31e17341659 | 416 | operation_mode = LeftLoop; |
TUATBM | 1:f31e17341659 | 417 | pc.printf("Goto LeftLoop mode\r\n"); |
TUATBM | 1:f31e17341659 | 418 | count_op = 0; |
TUATBM | 1:f31e17341659 | 419 | } |
TUATBM | 1:f31e17341659 | 420 | }else count_op = 0; |
TUATBM | 1:f31e17341659 | 421 | break; |
TUATBM | 1:f31e17341659 | 422 | |
TUATBM | 1:f31e17341659 | 423 | case LeftLoop: |
TUATBM | 1:f31e17341659 | 424 | if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ |
TUATBM | 1:f31e17341659 | 425 | count_op++; |
TUATBM | 1:f31e17341659 | 426 | if(count_op > changeModeCount){ |
TUATBM | 1:f31e17341659 | 427 | operation_mode = RightLoop; |
TUATBM | 1:f31e17341659 | 428 | pc.printf("Goto RightLoop mode\r\n"); |
TUATBM | 1:f31e17341659 | 429 | count_op = 0; |
TUATBM | 1:f31e17341659 | 430 | } |
TUATBM | 1:f31e17341659 | 431 | }else count_op = 0; |
TUATBM | 1:f31e17341659 | 432 | UpdateTargetAngle_Leftloop(targetAngle); |
TUATBM | 1:f31e17341659 | 433 | break; |
TUATBM | 1:f31e17341659 | 434 | |
TUATBM | 1:f31e17341659 | 435 | case RightLoop: |
TUATBM | 1:f31e17341659 | 436 | if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ |
TUATBM | 1:f31e17341659 | 437 | count_op++; |
TUATBM | 1:f31e17341659 | 438 | if(count_op > changeModeCount){ |
TUATBM | 1:f31e17341659 | 439 | operation_mode = Moebius; |
TUATBM | 1:f31e17341659 | 440 | pc.printf("Goto Moebius mode\r\n"); |
TUATBM | 1:f31e17341659 | 441 | count_op = 0; |
TUATBM | 1:f31e17341659 | 442 | } |
TUATBM | 1:f31e17341659 | 443 | }else count_op = 0; |
TUATBM | 1:f31e17341659 | 444 | UpdateTargetAngle_Rightloop(targetAngle); |
TUATBM | 1:f31e17341659 | 445 | |
TUATBM | 1:f31e17341659 | 446 | //Rotate確認用 |
TUATBM | 1:f31e17341659 | 447 | /* |
TUATBM | 1:f31e17341659 | 448 | static char mode = 'G'; |
TUATBM | 1:f31e17341659 | 449 | mode = Rotate(targetAngle,g_SerialTargetYAW,mode); |
TUATBM | 1:f31e17341659 | 450 | */ |
TUATBM | 1:f31e17341659 | 451 | break; |
TUATBM | 1:f31e17341659 | 452 | |
TUATBM | 1:f31e17341659 | 453 | case Moebius: |
TUATBM | 1:f31e17341659 | 454 | if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ |
TUATBM | 1:f31e17341659 | 455 | count_op++; |
TUATBM | 1:f31e17341659 | 456 | if(count_op > changeModeCount){ |
TUATBM | 1:f31e17341659 | 457 | operation_mode = Glide; |
TUATBM | 1:f31e17341659 | 458 | pc.printf("Goto Glide mode\r\n"); |
TUATBM | 1:f31e17341659 | 459 | count_op = 0; |
TUATBM | 1:f31e17341659 | 460 | } |
TUATBM | 1:f31e17341659 | 461 | }else count_op = 0; |
TUATBM | 1:f31e17341659 | 462 | UpdateTargetAngle_Moebius(targetAngle); |
TUATBM | 1:f31e17341659 | 463 | break; |
TUATBM | 1:f31e17341659 | 464 | |
TUATBM | 1:f31e17341659 | 465 | case Glide: |
TUATBM | 1:f31e17341659 | 466 | if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ |
TUATBM | 1:f31e17341659 | 467 | count_op++; |
TUATBM | 1:f31e17341659 | 468 | if(count_op > changeModeCount){ |
TUATBM | 1:f31e17341659 | 469 | operation_mode = BombwithPC; |
TUATBM | 1:f31e17341659 | 470 | pc.printf("Goto Bombing mode\r\n"); |
TUATBM | 1:f31e17341659 | 471 | count_op = 0; |
TUATBM | 1:f31e17341659 | 472 | } |
TUATBM | 1:f31e17341659 | 473 | }else count_op = 0; |
TUATBM | 1:f31e17341659 | 474 | UpdateTargetAngle_Glide(targetAngle); |
TUATBM | 1:f31e17341659 | 475 | break; |
TUATBM | 1:f31e17341659 | 476 | |
TUATBM | 1:f31e17341659 | 477 | case BombwithPC: |
TUATBM | 1:f31e17341659 | 478 | if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ |
TUATBM | 1:f31e17341659 | 479 | count_op++; |
TUATBM | 1:f31e17341659 | 480 | if(count_op > changeModeCount){ |
TUATBM | 1:f31e17341659 | 481 | operation_mode = GoStraight; |
TUATBM | 1:f31e17341659 | 482 | pc.printf("Goto GoStraight mode\r\n"); |
TUATBM | 1:f31e17341659 | 483 | count_op = 0; |
TUATBM | 1:f31e17341659 | 484 | } |
TUATBM | 1:f31e17341659 | 485 | }else count_op = 0; |
TUATBM | 1:f31e17341659 | 486 | Take_off_and_landing(targetAngle); |
TUATBM | 1:f31e17341659 | 487 | break; |
TUATBM | 1:f31e17341659 | 488 | |
TUATBM | 1:f31e17341659 | 489 | case GoStraight: |
TUATBM | 1:f31e17341659 | 490 | if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ |
TUATBM | 1:f31e17341659 | 491 | count_op++; |
TUATBM | 1:f31e17341659 | 492 | if(count_op > changeModeCount){ |
TUATBM | 1:f31e17341659 | 493 | operation_mode = LeftLoop; |
TUATBM | 1:f31e17341659 | 494 | pc.printf("Goto Leftloop mode\r\n"); |
TUATBM | 1:f31e17341659 | 495 | count_op = 0; |
TUATBM | 1:f31e17341659 | 496 | } |
TUATBM | 1:f31e17341659 | 497 | }else count_op = 0; |
TUATBM | 1:f31e17341659 | 498 | UpdateTargetAngle_GoStraight(targetAngle); |
TUATBM | 1:f31e17341659 | 499 | break; |
TUATBM | 1:f31e17341659 | 500 | |
TUATBM | 1:f31e17341659 | 501 | |
TUATBM | 1:f31e17341659 | 502 | default: |
TUATBM | 1:f31e17341659 | 503 | |
TUATBM | 1:f31e17341659 | 504 | operation_mode = StartUp; |
TUATBM | 1:f31e17341659 | 505 | break; |
TUATBM | 0:92024886c0be | 506 | } |
TUATBM | 0:92024886c0be | 507 | #endif |
TUATBM | 1:f31e17341659 | 508 | |
TUATBM | 1:f31e17341659 | 509 | if(CheckSW_Up(Ch7) && output_status == Manual){ |
TUATBM | 1:f31e17341659 | 510 | count_out++; |
TUATBM | 1:f31e17341659 | 511 | if(count_out > changeModeCount){ |
TUATBM | 1:f31e17341659 | 512 | output_status = Auto; |
TUATBM | 1:f31e17341659 | 513 | //led3 = 1; |
TUATBM | 1:f31e17341659 | 514 | count_out = 0; |
TUATBM | 1:f31e17341659 | 515 | } |
TUATBM | 1:f31e17341659 | 516 | }else if(!CheckSW_Up(Ch7) && output_status == Auto){ |
TUATBM | 1:f31e17341659 | 517 | count_out++; |
TUATBM | 1:f31e17341659 | 518 | if(count_out > changeModeCount){ |
TUATBM | 1:f31e17341659 | 519 | output_status = Manual; |
TUATBM | 1:f31e17341659 | 520 | count_out = 0; |
TUATBM | 1:f31e17341659 | 521 | //led3 = 0; |
TUATBM | 1:f31e17341659 | 522 | } |
TUATBM | 1:f31e17341659 | 523 | }else count_out = 0; |
TUATBM | 0:92024886c0be | 524 | } |
TUATBM | 0:92024886c0be | 525 | |
TUATBM | 1:f31e17341659 | 526 | int GetParameter(FILE *fp, const char *paramName,char parameter[]){ |
TUATBM | 1:f31e17341659 | 527 | int i=0, j=0; |
TUATBM | 1:f31e17341659 | 528 | int strmax = 200; |
TUATBM | 1:f31e17341659 | 529 | char str[strmax]; |
TUATBM | 1:f31e17341659 | 530 | |
TUATBM | 1:f31e17341659 | 531 | rewind(fp); //ファイル位置を先頭に |
TUATBM | 1:f31e17341659 | 532 | while(1){ |
TUATBM | 1:f31e17341659 | 533 | if (fgets(str, strmax, fp) == NULL) { |
TUATBM | 1:f31e17341659 | 534 | return 0; |
TUATBM | 1:f31e17341659 | 535 | } |
TUATBM | 1:f31e17341659 | 536 | if (!strncmp(str, paramName, strlen(paramName))) { |
TUATBM | 1:f31e17341659 | 537 | while (str[i++] != '=') {} |
TUATBM | 1:f31e17341659 | 538 | while (str[i] != '\n') { |
TUATBM | 1:f31e17341659 | 539 | parameter[j++] = str[i++]; |
TUATBM | 1:f31e17341659 | 540 | } |
TUATBM | 1:f31e17341659 | 541 | parameter[j] = '\0'; |
TUATBM | 1:f31e17341659 | 542 | return 1; |
TUATBM | 1:f31e17341659 | 543 | } |
TUATBM | 1:f31e17341659 | 544 | } |
TUATBM | 1:f31e17341659 | 545 | return 0; |
TUATBM | 1:f31e17341659 | 546 | } |
TUATBM | 1:f31e17341659 | 547 | |
TUATBM | 1:f31e17341659 | 548 | |
TUATBM | 1:f31e17341659 | 549 | //sdによる設定 |
TUATBM | 1:f31e17341659 | 550 | int SetOptions(float *g_kpELE, float *g_kiELE, float *g_kdELE, |
TUATBM | 1:f31e17341659 | 551 | float *g_kpRUD, float *g_kiRUD, float *g_kdRUD, |
TUATBM | 1:f31e17341659 | 552 | float *g_rightloopROLL, float *g_rightloopPITCH, |
TUATBM | 1:f31e17341659 | 553 | float *g_leftloopROLL, float *g_leftloopPITCH, |
TUATBM | 1:f31e17341659 | 554 | float *g_gostraightROLL, float *g_gostraightPITCH, |
TUATBM | 1:f31e17341659 | 555 | float *g_takeoffTHR, float *g_loopTHR, |
TUATBM | 1:f31e17341659 | 556 | float *g_rightloopROLLshort, float *g_rightloopPITCHshort, |
TUATBM | 1:f31e17341659 | 557 | float *g_leftloopROLLshort, float *g_leftloopPITCHshort, |
TUATBM | 1:f31e17341659 | 558 | float *g_glideloopROLL, float *g_glideloopPITCH |
TUATBM | 1:f31e17341659 | 559 | ){ |
TUATBM | 1:f31e17341659 | 560 | |
TUATBM | 1:f31e17341659 | 561 | pc.printf("SDsetup start.\r\n"); |
TUATBM | 1:f31e17341659 | 562 | |
TUATBM | 1:f31e17341659 | 563 | FILE *fp; |
TUATBM | 1:f31e17341659 | 564 | char parameter[30]; //文字列渡す用の配列 |
TUATBM | 1:f31e17341659 | 565 | int SDerrorcount = 0; //取得できなかった数を返す |
TUATBM | 1:f31e17341659 | 566 | const char *paramNames[] = { |
TUATBM | 1:f31e17341659 | 567 | "KP_ELEVATOR", |
TUATBM | 1:f31e17341659 | 568 | "KI_ELEVATOR", |
TUATBM | 1:f31e17341659 | 569 | "KD_ELEVATOR", |
TUATBM | 1:f31e17341659 | 570 | "KP_RUDDER", |
TUATBM | 1:f31e17341659 | 571 | "KI_RUDDER", |
TUATBM | 1:f31e17341659 | 572 | "KD_RUDDER", |
TUATBM | 1:f31e17341659 | 573 | "RIGHTLOOP_ROLL", |
TUATBM | 1:f31e17341659 | 574 | "RIGHTLOOP_PITCH", |
TUATBM | 1:f31e17341659 | 575 | "LEFTLOOP_ROLL", |
TUATBM | 1:f31e17341659 | 576 | "LEFTLOOP_PITCH", |
TUATBM | 1:f31e17341659 | 577 | "GOSTRAIGHT_ROLL", |
TUATBM | 1:f31e17341659 | 578 | "GOSTRAIGHT_PITCH", |
TUATBM | 1:f31e17341659 | 579 | "TAKEOFF_THR_RATE", |
TUATBM | 1:f31e17341659 | 580 | "LOOP_THR_RATE", |
TUATBM | 1:f31e17341659 | 581 | "RIGHTLOOP_ROLL_SHORT", |
TUATBM | 1:f31e17341659 | 582 | "RIGHTLOOP_PITCH_SHORT", |
TUATBM | 1:f31e17341659 | 583 | "LEFTLOOP_ROLL_SHORT", |
TUATBM | 1:f31e17341659 | 584 | "LEFTLOOP_PITCH_SHORT", |
TUATBM | 1:f31e17341659 | 585 | "AUTOGLIDE_ROLL", |
TUATBM | 1:f31e17341659 | 586 | "AUTOGLIDE PITCH" |
TUATBM | 1:f31e17341659 | 587 | }; |
TUATBM | 1:f31e17341659 | 588 | |
TUATBM | 1:f31e17341659 | 589 | fp = fopen("/sd/option.txt","r"); |
TUATBM | 1:f31e17341659 | 590 | |
TUATBM | 1:f31e17341659 | 591 | if(fp != NULL){ //開けたら |
TUATBM | 1:f31e17341659 | 592 | pc.printf("File was openned.\r\n"); |
TUATBM | 1:f31e17341659 | 593 | if(GetParameter(fp,paramNames[0],parameter)) *g_kpELE = atof(parameter); |
TUATBM | 1:f31e17341659 | 594 | else{ *g_kpELE = KP_ELE; |
TUATBM | 1:f31e17341659 | 595 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 596 | } |
TUATBM | 1:f31e17341659 | 597 | if(GetParameter(fp,paramNames[1],parameter)) *g_kiELE = atof(parameter); |
TUATBM | 1:f31e17341659 | 598 | else{ *g_kiELE = KI_ELE; |
TUATBM | 1:f31e17341659 | 599 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 600 | } |
TUATBM | 1:f31e17341659 | 601 | if(GetParameter(fp,paramNames[2],parameter)) *g_kdELE = atof(parameter); |
TUATBM | 1:f31e17341659 | 602 | else{ *g_kdELE = KD_ELE; |
TUATBM | 1:f31e17341659 | 603 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 604 | } |
TUATBM | 1:f31e17341659 | 605 | if(GetParameter(fp,paramNames[3],parameter)) *g_kpRUD = atof(parameter); |
TUATBM | 1:f31e17341659 | 606 | else{ *g_kpRUD = KP_RUD; |
TUATBM | 1:f31e17341659 | 607 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 608 | } |
TUATBM | 1:f31e17341659 | 609 | if(GetParameter(fp,paramNames[4],parameter)) *g_kiRUD = atof(parameter); |
TUATBM | 1:f31e17341659 | 610 | else{ *g_kiRUD = KI_RUD; |
TUATBM | 1:f31e17341659 | 611 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 612 | } |
TUATBM | 1:f31e17341659 | 613 | if(GetParameter(fp,paramNames[5],parameter)) *g_kdRUD = atof(parameter); |
TUATBM | 1:f31e17341659 | 614 | else{ *g_kdRUD = KD_RUD; |
TUATBM | 1:f31e17341659 | 615 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 616 | } |
TUATBM | 1:f31e17341659 | 617 | if(GetParameter(fp,paramNames[6],parameter)) *g_rightloopROLL = atof(parameter); |
TUATBM | 1:f31e17341659 | 618 | else{ *g_rightloopROLL = RIGHT_ROLL; |
TUATBM | 1:f31e17341659 | 619 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 620 | } |
TUATBM | 1:f31e17341659 | 621 | if(GetParameter(fp,paramNames[7],parameter)) *g_rightloopPITCH = atof(parameter); |
TUATBM | 1:f31e17341659 | 622 | else{ *g_rightloopPITCH = RIGHT_PITCH; |
TUATBM | 1:f31e17341659 | 623 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 624 | } |
TUATBM | 1:f31e17341659 | 625 | if(GetParameter(fp,paramNames[8],parameter)) *g_leftloopROLL = atof(parameter); |
TUATBM | 1:f31e17341659 | 626 | else{ *g_leftloopROLL = LEFT_ROLL; |
TUATBM | 1:f31e17341659 | 627 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 628 | } |
TUATBM | 1:f31e17341659 | 629 | if(GetParameter(fp,paramNames[9],parameter)) *g_leftloopPITCH = atof(parameter); |
TUATBM | 1:f31e17341659 | 630 | else{ *g_leftloopPITCH = LEFT_PITCH; |
TUATBM | 1:f31e17341659 | 631 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 632 | } |
TUATBM | 1:f31e17341659 | 633 | if(GetParameter(fp,paramNames[10],parameter)) *g_gostraightROLL = atof(parameter); |
TUATBM | 1:f31e17341659 | 634 | else{ *g_gostraightROLL = STRAIGHT_ROLL; |
TUATBM | 1:f31e17341659 | 635 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 636 | } |
TUATBM | 1:f31e17341659 | 637 | if(GetParameter(fp,paramNames[11],parameter)) *g_gostraightPITCH = atof(parameter); |
TUATBM | 1:f31e17341659 | 638 | else{ *g_gostraightPITCH = STRAIGHT_PITCH; |
TUATBM | 1:f31e17341659 | 639 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 640 | } |
TUATBM | 1:f31e17341659 | 641 | if(GetParameter(fp,paramNames[12],parameter)) *g_takeoffTHR = atof(parameter); |
TUATBM | 1:f31e17341659 | 642 | else{ *g_takeoffTHR = TAKEOFF_THR; |
TUATBM | 1:f31e17341659 | 643 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 644 | } |
TUATBM | 1:f31e17341659 | 645 | if(GetParameter(fp,paramNames[13],parameter)) *g_loopTHR = atof(parameter); |
TUATBM | 1:f31e17341659 | 646 | else{ *g_loopTHR = LOOP_THR; |
TUATBM | 1:f31e17341659 | 647 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 648 | } |
TUATBM | 1:f31e17341659 | 649 | if(GetParameter(fp,paramNames[14],parameter)) *g_rightloopROLLshort = atof(parameter); |
TUATBM | 1:f31e17341659 | 650 | else{ *g_rightloopROLLshort = RIGHT_ROLL_SHORT; |
TUATBM | 1:f31e17341659 | 651 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 652 | } |
TUATBM | 1:f31e17341659 | 653 | if(GetParameter(fp,paramNames[15],parameter)) *g_rightloopPITCHshort = atof(parameter); |
TUATBM | 1:f31e17341659 | 654 | else{ *g_rightloopPITCHshort = RIGHT_PITCH_SHORT; |
TUATBM | 1:f31e17341659 | 655 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 656 | } |
TUATBM | 1:f31e17341659 | 657 | if(GetParameter(fp,paramNames[16],parameter)) *g_leftloopROLLshort = atof(parameter); |
TUATBM | 1:f31e17341659 | 658 | else{ *g_leftloopROLLshort = LEFT_ROLL_SHORT; |
TUATBM | 1:f31e17341659 | 659 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 660 | } |
TUATBM | 1:f31e17341659 | 661 | if(GetParameter(fp,paramNames[17],parameter)) *g_leftloopPITCHshort = atof(parameter); |
TUATBM | 1:f31e17341659 | 662 | else{ *g_leftloopPITCHshort = LEFT_PITCH_SHORT; |
TUATBM | 1:f31e17341659 | 663 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 664 | } |
TUATBM | 1:f31e17341659 | 665 | if(GetParameter(fp,paramNames[18],parameter)) *g_glideloopROLL = atof(parameter); |
TUATBM | 1:f31e17341659 | 666 | else{ *g_glideloopROLL = GLIDE_ROLL; |
TUATBM | 1:f31e17341659 | 667 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 668 | } |
TUATBM | 1:f31e17341659 | 669 | if(GetParameter(fp,paramNames[19],parameter)) *g_glideloopPITCH = atof(parameter); |
TUATBM | 1:f31e17341659 | 670 | else{ *g_glideloopPITCH = GLIDE_PITCH; |
TUATBM | 1:f31e17341659 | 671 | SDerrorcount++; |
TUATBM | 1:f31e17341659 | 672 | } |
TUATBM | 1:f31e17341659 | 673 | fclose(fp); |
TUATBM | 1:f31e17341659 | 674 | |
TUATBM | 1:f31e17341659 | 675 | }else{ //ファイルがなかったら |
TUATBM | 1:f31e17341659 | 676 | pc.printf("fp was null.\r\n"); |
TUATBM | 1:f31e17341659 | 677 | *g_kpELE = KP_ELE; |
TUATBM | 1:f31e17341659 | 678 | *g_kiELE = KI_ELE; |
TUATBM | 1:f31e17341659 | 679 | *g_kdELE = KD_ELE; |
TUATBM | 1:f31e17341659 | 680 | *g_kpRUD = KP_RUD; |
TUATBM | 1:f31e17341659 | 681 | *g_kiRUD = KI_RUD; |
TUATBM | 1:f31e17341659 | 682 | *g_kdRUD = KD_RUD; |
TUATBM | 1:f31e17341659 | 683 | *g_rightloopROLL = RIGHT_ROLL; |
TUATBM | 1:f31e17341659 | 684 | *g_rightloopPITCH = RIGHT_PITCH; |
TUATBM | 1:f31e17341659 | 685 | *g_leftloopROLL = LEFT_ROLL; |
TUATBM | 1:f31e17341659 | 686 | *g_leftloopPITCH = LEFT_PITCH; |
TUATBM | 1:f31e17341659 | 687 | *g_gostraightROLL = STRAIGHT_ROLL; |
TUATBM | 1:f31e17341659 | 688 | *g_gostraightPITCH = STRAIGHT_PITCH; |
TUATBM | 1:f31e17341659 | 689 | *g_takeoffTHR = TAKEOFF_THR; |
TUATBM | 1:f31e17341659 | 690 | *g_loopTHR = LOOP_THR; |
TUATBM | 1:f31e17341659 | 691 | SDerrorcount = -1; |
TUATBM | 1:f31e17341659 | 692 | } |
TUATBM | 1:f31e17341659 | 693 | pc.printf("SDsetup finished.\r\n"); |
TUATBM | 1:f31e17341659 | 694 | if(SDerrorcount == 0) pc.printf("setting option is success\r\n"); |
TUATBM | 1:f31e17341659 | 695 | else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n"); |
TUATBM | 1:f31e17341659 | 696 | else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount); |
TUATBM | 1:f31e17341659 | 697 | |
TUATBM | 1:f31e17341659 | 698 | pc.printf("kpELE = %f, kiELE = %f, kdELE = %f\r\n", *g_kpRUD, *g_kiRUD, *g_kdRUD); |
TUATBM | 1:f31e17341659 | 699 | pc.printf("kpRUD = %f, kiRUD = %f, kdRUD = %f\r\n", *g_kpELE, *g_kiELE, *g_kdELE); |
TUATBM | 1:f31e17341659 | 700 | pc.printf("rightloopROLL = %f, rightloopPITCH = %f\r\n", *g_rightloopROLL, *g_rightloopPITCH); |
TUATBM | 1:f31e17341659 | 701 | pc.printf("leftloopROLL = %f, g_leftloopPITCH = %f\r\n", *g_leftloopROLL, *g_leftloopPITCH); |
TUATBM | 1:f31e17341659 | 702 | pc.printf("gostraightROLL = %f, g_gostraightPITCH = %f\r\n", *g_gostraightROLL, *g_gostraightPITCH); |
TUATBM | 1:f31e17341659 | 703 | pc.printf("g_takeoffTHR = %f, g_loopTHR = %f\r\n", *g_takeoffTHR, *g_loopTHR); |
TUATBM | 1:f31e17341659 | 704 | pc.printf("rightloopROLLshort = %f, rightloopPITCHshort = %f\r\n", *g_rightloopROLLshort, *g_rightloopPITCHshort); |
TUATBM | 1:f31e17341659 | 705 | pc.printf("leftloopROLLshort = %f, g_leftloopPITCHshort = %f\r\n", *g_leftloopROLLshort, *g_leftloopPITCHshort); |
TUATBM | 1:f31e17341659 | 706 | pc.printf("glideROLL = %f, glidePITCH = %f\r\n", *g_glideloopROLL, *g_glideloopPITCH); |
TUATBM | 1:f31e17341659 | 707 | |
TUATBM | 1:f31e17341659 | 708 | return SDerrorcount; |
TUATBM | 1:f31e17341659 | 709 | } |
TUATBM | 1:f31e17341659 | 710 | |
TUATBM | 0:92024886c0be | 711 | void CalculateControlValue(float targetAngle[3], float controlValue[3]){ |
TUATBM | 0:92024886c0be | 712 | static int t_last; |
TUATBM | 0:92024886c0be | 713 | int t_now; |
TUATBM | 0:92024886c0be | 714 | float dt; |
TUATBM | 0:92024886c0be | 715 | |
TUATBM | 0:92024886c0be | 716 | t_now = t.read_us(); |
TUATBM | 0:92024886c0be | 717 | dt = (float)((t_now - t_last)/1000000.0f) ; |
TUATBM | 0:92024886c0be | 718 | t_last = t_now; |
TUATBM | 0:92024886c0be | 719 | |
TUATBM | 0:92024886c0be | 720 | controlValue[ROLL] = pid_RUD.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); |
TUATBM | 0:92024886c0be | 721 | controlValue[PITCH] = pid_ELE.calcPID(nowAngle[PITCH], targetAngle[PITCH], dt); |
TUATBM | 0:92024886c0be | 722 | } |
TUATBM | 0:92024886c0be | 723 | |
TUATBM | 0:92024886c0be | 724 | void UpdateAutoPWM(float controlValue[3]){ |
TUATBM | 0:92024886c0be | 725 | int16_t addpwm[2]; //-500~500 |
TUATBM | 1:f31e17341659 | 726 | addpwm[PITCH] = (float)GAIN_CONTROLVALUE_TO_PWM * controlValue[PITCH]; //センサ:機首下げ正 レバー:機首上げ正 |
TUATBM | 1:f31e17341659 | 727 | addpwm[ROLL] = (float)GAIN_CONTROLVALUE_TO_PWM * controlValue[ROLL]; //センサ:右回転正(8月13日時点;左回転が正!) レバー:右回転正 |
TUATBM | 1:f31e17341659 | 728 | |
TUATBM | 1:f31e17341659 | 729 | autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH]; |
TUATBM | 1:f31e17341659 | 730 | autopwm[RUD] = trimpwm[RUD] + reverce[RUD] * addpwm[ROLL]; |
TUATBM | 1:f31e17341659 | 731 | //autopwm[THR] = oldTHR; |
TUATBM | 0:92024886c0be | 732 | |
TUATBM | 0:92024886c0be | 733 | autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]); |
TUATBM | 0:92024886c0be | 734 | autopwm[RUD] = ThresholdMaxMin(autopwm[RUD], maxpwm[RUD], minpwm[RUD]); |
TUATBM | 0:92024886c0be | 735 | } |
TUATBM | 0:92024886c0be | 736 | |
TUATBM | 0:92024886c0be | 737 | inline float CalcRatio(float value, float trim, float limit){ |
TUATBM | 0:92024886c0be | 738 | return (value - trim) / (limit - trim); |
TUATBM | 0:92024886c0be | 739 | } |
TUATBM | 0:92024886c0be | 740 | |
TUATBM | 0:92024886c0be | 741 | bool CheckSW_Up(Channel ch){ |
TUATBM | 0:92024886c0be | 742 | if(SWITCH_CHECK < sbus.manualpwm[ch]){ |
TUATBM | 0:92024886c0be | 743 | return true; |
TUATBM | 0:92024886c0be | 744 | }else{ |
TUATBM | 0:92024886c0be | 745 | return false; |
TUATBM | 0:92024886c0be | 746 | } |
TUATBM | 0:92024886c0be | 747 | } |
TUATBM | 0:92024886c0be | 748 | |
TUATBM | 0:92024886c0be | 749 | int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min){ |
TUATBM | 0:92024886c0be | 750 | if(value > max) return max; |
TUATBM | 0:92024886c0be | 751 | if(value < min) return min; |
TUATBM | 0:92024886c0be | 752 | return value; |
TUATBM | 0:92024886c0be | 753 | } |
TUATBM | 0:92024886c0be | 754 | |
TUATBM | 1:f31e17341659 | 755 | inline int16_t SetTHRinRatio(float ratio){ |
TUATBM | 1:f31e17341659 | 756 | return minpwm[THR] + (int16_t)(2 * lengthdivpwm * ratio); |
TUATBM | 1:f31e17341659 | 757 | } |
TUATBM | 0:92024886c0be | 758 | |
TUATBM | 0:92024886c0be | 759 | /*---SBUS割り込み処理---*/ |
TUATBM | 0:92024886c0be | 760 | |
TUATBM | 0:92024886c0be | 761 | //udate_Inputで抽出したpwmデータを整形して各変数に代入する。(マニュアルモード) |
TUATBM | 0:92024886c0be | 762 | //各stabiGylo関数で算出したpwmを各変数に代入する(自動モード) |
TUATBM | 0:92024886c0be | 763 | void Update_PWM() |
TUATBM | 0:92024886c0be | 764 | { |
TUATBM | 1:f31e17341659 | 765 | static int16_t pwm[5], sbuspwm[5]; |
TUATBM | 1:f31e17341659 | 766 | static int16_t temppwm[6]={trimpwm[0],trimpwm[1],trimpwm[2],trimpwm[3],trimpwm[4]}; |
TUATBM | 1:f31e17341659 | 767 | static int16_t tempsbuspwm[5] = {trimpwm[0],trimpwm[1],trimpwm[2],trimpwm[3],trimpwm[4]}; |
TUATBM | 1:f31e17341659 | 768 | static int counter_abnormalpwm=0; |
TUATBM | 0:92024886c0be | 769 | if(sbus.flg_ch_update == true){ |
TUATBM | 0:92024886c0be | 770 | switch(output_status){ //マニュアルモード,自動モード,自動着陸もモードを切替 |
TUATBM | 1:f31e17341659 | 771 | case Manual: |
TUATBM | 1:f31e17341659 | 772 | for(uint8_t i=1;i<4;i++){ |
TUATBM | 1:f31e17341659 | 773 | if(abs(sbus.manualpwm[i]-tempsbuspwm[i])>300){ |
TUATBM | 1:f31e17341659 | 774 | counter_abnormalpwm++; |
TUATBM | 1:f31e17341659 | 775 | if(counter_abnormalpwm<=1) sbuspwm[i]=tempsbuspwm[i]; |
TUATBM | 1:f31e17341659 | 776 | else { |
TUATBM | 1:f31e17341659 | 777 | counter_abnormalpwm = 0; |
TUATBM | 1:f31e17341659 | 778 | sbuspwm[i] = sbus.manualpwm[i]; |
TUATBM | 1:f31e17341659 | 779 | } |
TUATBM | 1:f31e17341659 | 780 | } |
TUATBM | 1:f31e17341659 | 781 | else{ |
TUATBM | 1:f31e17341659 | 782 | counter_abnormalpwm = 0; |
TUATBM | 1:f31e17341659 | 783 | sbuspwm[i] = sbus.manualpwm[i]; |
TUATBM | 1:f31e17341659 | 784 | } |
TUATBM | 1:f31e17341659 | 785 | tempsbuspwm[i]=sbus.manualpwm[i]; |
TUATBM | 0:92024886c0be | 786 | } |
TUATBM | 1:f31e17341659 | 787 | sbuspwm[4] = sbus.manualpwm[4]; |
TUATBM | 1:f31e17341659 | 788 | |
TUATBM | 1:f31e17341659 | 789 | for(uint8_t i=1;i<5;i++){ |
TUATBM | 1:f31e17341659 | 790 | pwm[i] = sbuspwm[i]; |
TUATBM | 1:f31e17341659 | 791 | } |
TUATBM | 1:f31e17341659 | 792 | oldTHR = sbuspwm[THR]; |
TUATBM | 1:f31e17341659 | 793 | |
TUATBM | 0:92024886c0be | 794 | //pc.printf("update_manual\r\n"); |
TUATBM | 0:92024886c0be | 795 | break; |
TUATBM | 0:92024886c0be | 796 | |
TUATBM | 0:92024886c0be | 797 | case Auto: |
TUATBM | 0:92024886c0be | 798 | pwm[ELE] = autopwm[ELE]; |
TUATBM | 0:92024886c0be | 799 | pwm[THR] = autopwm[THR]; |
TUATBM | 0:92024886c0be | 800 | pwm[RUD] = autopwm[RUD]; |
TUATBM | 1:f31e17341659 | 801 | pwm[DROP] = autopwm[DROP]; |
TUATBM | 0:92024886c0be | 802 | //pc.printf("update_auto\r\n"); |
TUATBM | 0:92024886c0be | 803 | break; |
TUATBM | 0:92024886c0be | 804 | |
TUATBM | 0:92024886c0be | 805 | default: |
TUATBM | 1:f31e17341659 | 806 | for(uint8_t i=1;i<5;i++){ |
TUATBM | 0:92024886c0be | 807 | pwm[i] = sbus.manualpwm[i]; |
TUATBM | 0:92024886c0be | 808 | } //pc.printf("update_manual\r\n"); |
TUATBM | 0:92024886c0be | 809 | break; |
TUATBM | 0:92024886c0be | 810 | } |
TUATBM | 1:f31e17341659 | 811 | for(uint8_t i=1;i<5;i++) if(pwm[i]<1000 || pwm[i]>2000) pwm[i]=temppwm[i]; |
TUATBM | 1:f31e17341659 | 812 | |
TUATBM | 1:f31e17341659 | 813 | if(pwm[4]>1600 || pwm[4]<1420) pwm[4]=temppwm[4]; |
TUATBM | 1:f31e17341659 | 814 | temppwm[4] = pwm[4]; |
TUATBM | 1:f31e17341659 | 815 | |
TUATBM | 0:92024886c0be | 816 | }else{ |
TUATBM | 0:92024886c0be | 817 | pc.printf("0\r\n"); |
TUATBM | 0:92024886c0be | 818 | } |
TUATBM | 1:f31e17341659 | 819 | sbus.flg_ch_update = false; |
TUATBM | 1:f31e17341659 | 820 | |
TUATBM | 1:f31e17341659 | 821 | Output_PWM(pwm); |
TUATBM | 0:92024886c0be | 822 | } |
TUATBM | 0:92024886c0be | 823 | |
TUATBM | 0:92024886c0be | 824 | |
TUATBM | 1:f31e17341659 | 825 | //pwmをサーボに出力。 |
TUATBM | 1:f31e17341659 | 826 | void Output_PWM(int16_t pwm[5]) |
TUATBM | 0:92024886c0be | 827 | { |
TUATBM | 1:f31e17341659 | 828 | //servo1.pulsewidth_us(pwm[0]); |
TUATBM | 0:92024886c0be | 829 | servo2.pulsewidth_us(pwm[1]); |
TUATBM | 0:92024886c0be | 830 | servo3.pulsewidth_us(pwm[2]); |
TUATBM | 0:92024886c0be | 831 | servo4.pulsewidth_us(pwm[3]); |
TUATBM | 0:92024886c0be | 832 | servo5.pulsewidth_us(pwm[4]); |
TUATBM | 0:92024886c0be | 833 | } |
TUATBM | 0:92024886c0be | 834 | |
TUATBM | 0:92024886c0be | 835 | void ResetTrim(){ |
TUATBM | 1:f31e17341659 | 836 | for(uint8_t i=1; i<4; i++){ |
TUATBM | 0:92024886c0be | 837 | trimpwm[i] = sbus.manualpwm[i]; |
TUATBM | 0:92024886c0be | 838 | } |
TUATBM | 0:92024886c0be | 839 | pc.printf("reset PWM trim\r\n"); |
TUATBM | 0:92024886c0be | 840 | } |
TUATBM | 0:92024886c0be | 841 | |
TUATBM | 1:f31e17341659 | 842 | |
TUATBM | 0:92024886c0be | 843 | void SensingMPU(){ |
TUATBM | 0:92024886c0be | 844 | //static int16_t deltaT = 0, t_start = 0; |
TUATBM | 0:92024886c0be | 845 | //t_start = t.read_us(); |
TUATBM | 1:f31e17341659 | 846 | |
TUATBM | 1:f31e17341659 | 847 | float rpy[3] = {0}, oldrpy[3] = {0}; |
TUATBM | 1:f31e17341659 | 848 | static uint16_t count_changeRPY = 0; |
TUATBM | 1:f31e17341659 | 849 | static bool flg_checkoutlier = false; |
TUATBM | 0:92024886c0be | 850 | NVIC_DisableIRQ(USART1_IRQn); |
TUATBM | 1:f31e17341659 | 851 | NVIC_DisableIRQ(USART2_IRQn); |
TUATBM | 1:f31e17341659 | 852 | NVIC_DisableIRQ(TIM5_IRQn); |
TUATBM | 1:f31e17341659 | 853 | NVIC_DisableIRQ(EXTI0_IRQn); |
TUATBM | 1:f31e17341659 | 854 | NVIC_DisableIRQ(EXTI9_5_IRQn); |
TUATBM | 1:f31e17341659 | 855 | |
TUATBM | 1:f31e17341659 | 856 | mpu6050.getRollPitchYaw_Skipper(rpy); |
TUATBM | 1:f31e17341659 | 857 | |
TUATBM | 0:92024886c0be | 858 | NVIC_EnableIRQ(USART1_IRQn); |
TUATBM | 1:f31e17341659 | 859 | NVIC_EnableIRQ(USART2_IRQn); |
TUATBM | 1:f31e17341659 | 860 | NVIC_EnableIRQ(TIM5_IRQn); |
TUATBM | 1:f31e17341659 | 861 | NVIC_EnableIRQ(EXTI0_IRQn); |
TUATBM | 1:f31e17341659 | 862 | NVIC_EnableIRQ(EXTI9_5_IRQn); |
TUATBM | 1:f31e17341659 | 863 | |
TUATBM | 1:f31e17341659 | 864 | |
TUATBM | 1:f31e17341659 | 865 | //外れ値対策 |
TUATBM | 1:f31e17341659 | 866 | for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI; |
TUATBM | 1:f31e17341659 | 867 | rpy[ROLL] -= FirstROLL; |
TUATBM | 1:f31e17341659 | 868 | rpy[PITCH] -= FirstPITCH; |
TUATBM | 1:f31e17341659 | 869 | rpy[YAW] -= FirstYAW; |
TUATBM | 1:f31e17341659 | 870 | |
TUATBM | 1:f31e17341659 | 871 | for(uint8_t i=0; i<3; i++) {if(rpy[i] < nowAngle[i]-10 || rpy[i] > nowAngle[i]+10) {flg_checkoutlier = true;}} |
TUATBM | 1:f31e17341659 | 872 | if(!flg_checkoutlier || count_changeRPY >= 2){ |
TUATBM | 1:f31e17341659 | 873 | for(uint8_t i=0; i<3; i++){ |
TUATBM | 1:f31e17341659 | 874 | nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均 |
TUATBM | 1:f31e17341659 | 875 | } |
TUATBM | 1:f31e17341659 | 876 | count_changeRPY = 0; |
TUATBM | 1:f31e17341659 | 877 | }else count_changeRPY++; |
TUATBM | 1:f31e17341659 | 878 | flg_checkoutlier = false; |
TUATBM | 1:f31e17341659 | 879 | |
TUATBM | 1:f31e17341659 | 880 | } |
TUATBM | 1:f31e17341659 | 881 | |
TUATBM | 1:f31e17341659 | 882 | float TranslateNewYaw(float beforeYaw, float newzeroYaw){ |
TUATBM | 1:f31e17341659 | 883 | float newYaw = beforeYaw - newzeroYaw; |
TUATBM | 1:f31e17341659 | 884 | |
TUATBM | 1:f31e17341659 | 885 | if(newYaw<-180.0f) newYaw += 360.0f; |
TUATBM | 1:f31e17341659 | 886 | else if(newYaw>180.0f) newYaw -= 360.0f; |
TUATBM | 1:f31e17341659 | 887 | return newYaw; |
TUATBM | 1:f31e17341659 | 888 | } |
TUATBM | 1:f31e17341659 | 889 | |
TUATBM | 1:f31e17341659 | 890 | |
TUATBM | 1:f31e17341659 | 891 | void getSF_Serial(){ |
TUATBM | 1:f31e17341659 | 892 | |
TUATBM | 1:f31e17341659 | 893 | static char SFbuf[16]; |
TUATBM | 1:f31e17341659 | 894 | static int bufcounter=0; |
TUATBM | 1:f31e17341659 | 895 | |
TUATBM | 1:f31e17341659 | 896 | SFbuf[bufcounter]=pc.getc(); |
TUATBM | 1:f31e17341659 | 897 | if(SFbuf[0]=='S'&&bufcounter<5) bufcounter++; |
TUATBM | 1:f31e17341659 | 898 | |
TUATBM | 1:f31e17341659 | 899 | if(bufcounter==5 && SFbuf[4]=='F'){ |
TUATBM | 1:f31e17341659 | 900 | g_landingcommand = SFbuf[1]; |
TUATBM | 1:f31e17341659 | 901 | if(g_landingcommand=='Y' || g_landingcommand=='C')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]); |
TUATBM | 1:f31e17341659 | 902 | bufcounter = 0; |
TUATBM | 1:f31e17341659 | 903 | memset(SFbuf, 0, strlen(SFbuf)); |
TUATBM | 1:f31e17341659 | 904 | //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW); |
TUATBM | 1:f31e17341659 | 905 | } |
TUATBM | 1:f31e17341659 | 906 | else if(bufcounter>=5 && SFbuf[4]!='F'){ |
TUATBM | 1:f31e17341659 | 907 | //pc.printf("Communication Falsed.\r\n"); |
TUATBM | 1:f31e17341659 | 908 | bufcounter = 0; |
TUATBM | 1:f31e17341659 | 909 | } |
TUATBM | 1:f31e17341659 | 910 | } |
TUATBM | 1:f31e17341659 | 911 | |
TUATBM | 1:f31e17341659 | 912 | float ConvertByteintoFloat(char high, char low){ |
TUATBM | 1:f31e17341659 | 913 | |
TUATBM | 1:f31e17341659 | 914 | //int16_t intvalue = (int16_t)high*256 + (int16_t)low; |
TUATBM | 1:f31e17341659 | 915 | int16_t intvalue = (int16_t)(((int16_t)high << 8) | low); // Turn the MSB and LSB into a signed 16-bit value |
TUATBM | 1:f31e17341659 | 916 | float floatvalue = (float)intvalue; |
TUATBM | 1:f31e17341659 | 917 | return floatvalue; |
TUATBM | 1:f31e17341659 | 918 | } |
TUATBM | 1:f31e17341659 | 919 | |
TUATBM | 1:f31e17341659 | 920 | |
TUATBM | 1:f31e17341659 | 921 | //超音波割り込み |
TUATBM | 1:f31e17341659 | 922 | void UpdateDist(){ |
TUATBM | 1:f31e17341659 | 923 | g_distance = usensor.get_dist_cm(); |
TUATBM | 1:f31e17341659 | 924 | usensor.start(); |
TUATBM | 1:f31e17341659 | 925 | } |
TUATBM | 1:f31e17341659 | 926 | |
TUATBM | 1:f31e17341659 | 927 | //8の字旋回 |
TUATBM | 1:f31e17341659 | 928 | void UpdateTargetAngle_Moebius(float targetAngle[3]){ |
TUATBM | 1:f31e17341659 | 929 | static uint8_t RotateCounter=0; |
TUATBM | 1:f31e17341659 | 930 | static uint8_t precounter=0; |
TUATBM | 1:f31e17341659 | 931 | static bool flg_setInStartAuto = false; |
TUATBM | 1:f31e17341659 | 932 | static float FirstYAW_Moebius = 0.0; |
TUATBM | 1:f31e17341659 | 933 | float newYaw_Moebius; |
TUATBM | 1:f31e17341659 | 934 | |
TUATBM | 1:f31e17341659 | 935 | if(!flg_setInStartAuto && CheckSW_Up(Ch7)){ |
TUATBM | 1:f31e17341659 | 936 | FirstYAW_Moebius = nowAngle[YAW]; |
TUATBM | 1:f31e17341659 | 937 | RotateCounter = 0; |
TUATBM | 1:f31e17341659 | 938 | flg_setInStartAuto = true; |
TUATBM | 1:f31e17341659 | 939 | }else if(!CheckSW_Up(Ch7)){ |
TUATBM | 1:f31e17341659 | 940 | flg_setInStartAuto = false; |
TUATBM | 1:f31e17341659 | 941 | led2 = 0; |
TUATBM | 1:f31e17341659 | 942 | } |
TUATBM | 1:f31e17341659 | 943 | |
TUATBM | 1:f31e17341659 | 944 | newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius); |
TUATBM | 1:f31e17341659 | 945 | |
TUATBM | 1:f31e17341659 | 946 | if(RotateCounter == 0 && newYaw_Moebius >90.0f && newYaw_Moebius < 180.0f){ |
TUATBM | 1:f31e17341659 | 947 | precounter++; |
TUATBM | 1:f31e17341659 | 948 | if(precounter>3){RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n"); precounter=0;} |
TUATBM | 1:f31e17341659 | 949 | } |
TUATBM | 1:f31e17341659 | 950 | if(RotateCounter == 1 && newYaw_Moebius >-180.0f && newYaw_Moebius < -90.0f){ |
TUATBM | 1:f31e17341659 | 951 | precounter++; |
TUATBM | 1:f31e17341659 | 952 | if(precounter>3){RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n"); precounter=0;} |
TUATBM | 1:f31e17341659 | 953 | |
TUATBM | 1:f31e17341659 | 954 | } |
TUATBM | 1:f31e17341659 | 955 | if(RotateCounter == 2 && newYaw_Moebius >-90.0f && newYaw_Moebius < 10.0f){ |
TUATBM | 1:f31e17341659 | 956 | precounter++; |
TUATBM | 1:f31e17341659 | 957 | if(precounter>3){RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n"); precounter=0;} |
TUATBM | 1:f31e17341659 | 958 | } |
TUATBM | 1:f31e17341659 | 959 | if(RotateCounter == 3 && newYaw_Moebius >10.0f && newYaw_Moebius < 90.0f){ |
TUATBM | 1:f31e17341659 | 960 | precounter++; |
TUATBM | 1:f31e17341659 | 961 | if(precounter>3){RotateCounter++; led2 = 0; pc.printf("Rotate 360\r\n"); precounter=0;} |
TUATBM | 1:f31e17341659 | 962 | } |
TUATBM | 1:f31e17341659 | 963 | if(RotateCounter == 4 && newYaw_Moebius >90.0f && newYaw_Moebius < 180.0f){ |
TUATBM | 1:f31e17341659 | 964 | precounter++; |
TUATBM | 1:f31e17341659 | 965 | if(precounter>3){RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n"); precounter=0;} |
TUATBM | 1:f31e17341659 | 966 | } |
TUATBM | 1:f31e17341659 | 967 | if(RotateCounter == 5 && newYaw_Moebius >-180.0f && newYaw_Moebius < -90.0f){ |
TUATBM | 1:f31e17341659 | 968 | precounter++; |
TUATBM | 1:f31e17341659 | 969 | if(precounter>3){RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n"); precounter=0;} |
TUATBM | 1:f31e17341659 | 970 | } |
TUATBM | 1:f31e17341659 | 971 | if(RotateCounter == 6 && newYaw_Moebius >-90.0f && newYaw_Moebius < 10.0f){ |
TUATBM | 1:f31e17341659 | 972 | precounter++; |
TUATBM | 1:f31e17341659 | 973 | if(precounter>3){RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n"); precounter=0;} |
TUATBM | 1:f31e17341659 | 974 | } |
TUATBM | 1:f31e17341659 | 975 | if(RotateCounter == 7 && newYaw_Moebius >10.0f && newYaw_Moebius < 180.0f){ |
TUATBM | 1:f31e17341659 | 976 | precounter++; |
TUATBM | 1:f31e17341659 | 977 | if(precounter>3){RotateCounter++; led2 = 0; pc.printf("Rotate 360\r\n"); precounter=0;} |
TUATBM | 1:f31e17341659 | 978 | } |
TUATBM | 1:f31e17341659 | 979 | |
TUATBM | 1:f31e17341659 | 980 | |
TUATBM | 1:f31e17341659 | 981 | if(RotateCounter < 6) UpdateTargetAngle_Rightloop_short(targetAngle); |
TUATBM | 1:f31e17341659 | 982 | else UpdateTargetAngle_Leftloop_short(targetAngle); //左旋回 |
TUATBM | 1:f31e17341659 | 983 | } |
TUATBM | 1:f31e17341659 | 984 | |
TUATBM | 1:f31e17341659 | 985 | //自動滑空 |
TUATBM | 1:f31e17341659 | 986 | void UpdateTargetAngle_Glide(float targetAngle[3]){ |
TUATBM | 1:f31e17341659 | 987 | static int THRcount = 0; |
TUATBM | 1:f31e17341659 | 988 | static int t_start = 0; |
TUATBM | 1:f31e17341659 | 989 | static bool flg_tstart = false; |
TUATBM | 1:f31e17341659 | 990 | int t_diff = 0; |
TUATBM | 1:f31e17341659 | 991 | static int groundcount = 0; |
TUATBM | 1:f31e17341659 | 992 | |
TUATBM | 1:f31e17341659 | 993 | targetAngle[ROLL] = g_glideloopROLL; |
TUATBM | 1:f31e17341659 | 994 | targetAngle[PITCH] = g_glideloopPITCH; |
TUATBM | 1:f31e17341659 | 995 | |
TUATBM | 1:f31e17341659 | 996 | //時間計測開始設定 |
TUATBM | 1:f31e17341659 | 997 | if(!flg_tstart && CheckSW_Up(Ch7)){ |
TUATBM | 1:f31e17341659 | 998 | t_start = t.read(); |
TUATBM | 1:f31e17341659 | 999 | flg_tstart = true; |
TUATBM | 1:f31e17341659 | 1000 | pc.printf("timer start\r\n"); |
TUATBM | 1:f31e17341659 | 1001 | }else if(!CheckSW_Up(Ch7)){ |
TUATBM | 1:f31e17341659 | 1002 | t_start = 0; |
TUATBM | 1:f31e17341659 | 1003 | flg_tstart = false; |
TUATBM | 1:f31e17341659 | 1004 | } |
TUATBM | 1:f31e17341659 | 1005 | |
TUATBM | 1:f31e17341659 | 1006 | |
TUATBM | 1:f31e17341659 | 1007 | //フラグが偽であれば計測は行わない |
TUATBM | 1:f31e17341659 | 1008 | if(flg_tstart){ |
TUATBM | 1:f31e17341659 | 1009 | t_diff = t.read() - t_start; |
TUATBM | 1:f31e17341659 | 1010 | //一定高度or15秒でled点灯 |
TUATBM | 1:f31e17341659 | 1011 | if((groundcount>5 && g_distance>0) || t_diff > 15){ |
TUATBM | 1:f31e17341659 | 1012 | led2 = 1; |
TUATBM | 1:f31e17341659 | 1013 | //pc.printf("Call [Stop!] calling!\r\n"); |
TUATBM | 1:f31e17341659 | 1014 | } |
TUATBM | 1:f31e17341659 | 1015 | if(g_distance<180 && g_distance > 0) groundcount++; |
TUATBM | 1:f31e17341659 | 1016 | }else{ |
TUATBM | 1:f31e17341659 | 1017 | t_diff = 0; |
TUATBM | 1:f31e17341659 | 1018 | groundcount = 0; |
TUATBM | 1:f31e17341659 | 1019 | led2 = 0; |
TUATBM | 1:f31e17341659 | 1020 | } |
TUATBM | 1:f31e17341659 | 1021 | |
TUATBM | 1:f31e17341659 | 1022 | if(t_diff > 17){ |
TUATBM | 1:f31e17341659 | 1023 | autopwm[THR] = SetTHRinRatio(0.5); |
TUATBM | 1:f31e17341659 | 1024 | }else{ |
TUATBM | 1:f31e17341659 | 1025 | if(g_distance<150 && g_distance>0 ){ |
TUATBM | 1:f31e17341659 | 1026 | THRcount++; |
TUATBM | 1:f31e17341659 | 1027 | if(THRcount>5){ |
TUATBM | 1:f31e17341659 | 1028 | autopwm[THR] = SetTHRinRatio(0.6); |
TUATBM | 1:f31e17341659 | 1029 | //pc.printf("throttle ON\r\n"); |
TUATBM | 1:f31e17341659 | 1030 | } |
TUATBM | 1:f31e17341659 | 1031 | }else{ |
TUATBM | 1:f31e17341659 | 1032 | autopwm[THR] = 1180; |
TUATBM | 1:f31e17341659 | 1033 | THRcount = 0; |
TUATBM | 1:f31e17341659 | 1034 | } |
TUATBM | 1:f31e17341659 | 1035 | } |
TUATBM | 1:f31e17341659 | 1036 | } |
TUATBM | 1:f31e17341659 | 1037 | |
TUATBM | 1:f31e17341659 | 1038 | //離陸-投下-着陸一連 |
TUATBM | 1:f31e17341659 | 1039 | void Take_off_and_landing(float targetAngle[3]){ |
TUATBM | 1:f31e17341659 | 1040 | if(!CheckSW_Up(Ch7)) bombing_mode = Takeoff; |
TUATBM | 0:92024886c0be | 1041 | |
TUATBM | 1:f31e17341659 | 1042 | switch(bombing_mode){ |
TUATBM | 1:f31e17341659 | 1043 | case Takeoff: |
TUATBM | 1:f31e17341659 | 1044 | static bool flg_setFirstYaw = false; |
TUATBM | 1:f31e17341659 | 1045 | static int TakeoffCount = 0; |
TUATBM | 1:f31e17341659 | 1046 | |
TUATBM | 1:f31e17341659 | 1047 | if(!flg_setFirstYaw && CheckSW_Up(Ch7)){ |
TUATBM | 1:f31e17341659 | 1048 | FirstYAW = nowAngle[YAW] + FirstYAW; |
TUATBM | 1:f31e17341659 | 1049 | flg_setFirstYaw = true; |
TUATBM | 1:f31e17341659 | 1050 | }else if(flg_setFirstYaw && !CheckSW_Up(Ch7)){ |
TUATBM | 1:f31e17341659 | 1051 | flg_setFirstYaw = false; |
TUATBM | 1:f31e17341659 | 1052 | } |
TUATBM | 1:f31e17341659 | 1053 | |
TUATBM | 1:f31e17341659 | 1054 | UpdateTargetAngle_Takeoff(targetAngle); |
TUATBM | 1:f31e17341659 | 1055 | |
TUATBM | 1:f31e17341659 | 1056 | if(g_distance>150) TakeoffCount++; |
TUATBM | 1:f31e17341659 | 1057 | else TakeoffCount = 0; |
TUATBM | 1:f31e17341659 | 1058 | if(TakeoffCount>5){ |
TUATBM | 1:f31e17341659 | 1059 | led2=1; |
TUATBM | 1:f31e17341659 | 1060 | autopwm[THR] = SetTHRinRatio(g_loopTHR); |
TUATBM | 1:f31e17341659 | 1061 | pc.printf("Now go to Approach mode!!"); |
TUATBM | 1:f31e17341659 | 1062 | bombing_mode = Approach; |
TUATBM | 1:f31e17341659 | 1063 | led2=0; |
TUATBM | 1:f31e17341659 | 1064 | } |
TUATBM | 1:f31e17341659 | 1065 | |
TUATBM | 1:f31e17341659 | 1066 | break; |
TUATBM | 1:f31e17341659 | 1067 | /* |
TUATBM | 1:f31e17341659 | 1068 | case Chicken: |
TUATBM | 1:f31e17341659 | 1069 | break; |
TUATBM | 1:f31e17341659 | 1070 | */ |
TUATBM | 1:f31e17341659 | 1071 | case Transition: |
TUATBM | 1:f31e17341659 | 1072 | /* |
TUATBM | 1:f31e17341659 | 1073 | static int ApproachCount = 0; |
TUATBM | 1:f31e17341659 | 1074 | targetAngle[YAW]=180.0; |
TUATBM | 1:f31e17341659 | 1075 | int Judge = Rotate(targetAngle, g_SerialTargetYAW); |
TUATBM | 1:f31e17341659 | 1076 | |
TUATBM | 1:f31e17341659 | 1077 | if(Judge==0) ApproachCount++; |
TUATBM | 1:f31e17341659 | 1078 | if(ApproachCount>5) bombing_mode = Approach; |
TUATBM | 1:f31e17341659 | 1079 | */ |
TUATBM | 1:f31e17341659 | 1080 | break; |
TUATBM | 1:f31e17341659 | 1081 | |
TUATBM | 1:f31e17341659 | 1082 | case Approach: |
TUATBM | 1:f31e17341659 | 1083 | UpdateTargetAngle_Approach(targetAngle); |
TUATBM | 1:f31e17341659 | 1084 | break; |
TUATBM | 1:f31e17341659 | 1085 | |
TUATBM | 1:f31e17341659 | 1086 | default: |
TUATBM | 1:f31e17341659 | 1087 | bombing_mode = Takeoff; |
TUATBM | 1:f31e17341659 | 1088 | break; |
TUATBM | 1:f31e17341659 | 1089 | } |
TUATBM | 1:f31e17341659 | 1090 | } |
TUATBM | 1:f31e17341659 | 1091 | |
TUATBM | 1:f31e17341659 | 1092 | //離陸モード |
TUATBM | 1:f31e17341659 | 1093 | void UpdateTargetAngle_Takeoff(float targetAngle[3]){ |
TUATBM | 1:f31e17341659 | 1094 | static int tELE_start = 0; |
TUATBM | 1:f31e17341659 | 1095 | static bool flg_ELEup = false; |
TUATBM | 1:f31e17341659 | 1096 | int t_def = 0; |
TUATBM | 1:f31e17341659 | 1097 | if(!flg_ELEup && CheckSW_Up(Ch7)){ |
TUATBM | 1:f31e17341659 | 1098 | tELE_start = t.read_ms(); |
TUATBM | 1:f31e17341659 | 1099 | flg_ELEup = true; |
TUATBM | 1:f31e17341659 | 1100 | pc.printf("timer start\r\n"); |
TUATBM | 1:f31e17341659 | 1101 | }else if(!CheckSW_Up(Ch7)){ |
TUATBM | 1:f31e17341659 | 1102 | tELE_start = 0; |
TUATBM | 1:f31e17341659 | 1103 | flg_ELEup = false; |
TUATBM | 1:f31e17341659 | 1104 | } |
TUATBM | 1:f31e17341659 | 1105 | if(flg_ELEup){ |
TUATBM | 1:f31e17341659 | 1106 | t_def = t.read_ms() - tELE_start; |
TUATBM | 1:f31e17341659 | 1107 | |
TUATBM | 1:f31e17341659 | 1108 | //1.5秒経過すればELE上げ舵へ |
TUATBM | 1:f31e17341659 | 1109 | if(t_def>500) targetAngle[PITCH]=-25.0; |
TUATBM | 1:f31e17341659 | 1110 | else{ |
TUATBM | 1:f31e17341659 | 1111 | t_def = 0; |
TUATBM | 1:f31e17341659 | 1112 | targetAngle[PITCH]=g_gostraightPITCH; |
TUATBM | 1:f31e17341659 | 1113 | } |
TUATBM | 1:f31e17341659 | 1114 | } |
TUATBM | 1:f31e17341659 | 1115 | autopwm[THR] = SetTHRinRatio(g_takeoffTHR); //0.7;スロットルの割合 |
TUATBM | 1:f31e17341659 | 1116 | targetAngle[ROLL] = 3.5; |
TUATBM | 1:f31e17341659 | 1117 | /* |
TUATBM | 1:f31e17341659 | 1118 | //pc.printf("%d \r\n",g_distance); |
TUATBM | 1:f31e17341659 | 1119 | targetAngle[ROLL] = g_gostraightROLL; |
TUATBM | 1:f31e17341659 | 1120 | if UptargetAngle[PITCH] = -10.0; |
TUATBM | 1:f31e17341659 | 1121 | autopwm[THR] = SetTHRinRatio(g_takeoffTHR); //0.7;スロットルの割合 |
TUATBM | 1:f31e17341659 | 1122 | */ |
TUATBM | 1:f31e17341659 | 1123 | } |
TUATBM | 1:f31e17341659 | 1124 | |
TUATBM | 1:f31e17341659 | 1125 | //ヨーを目標値にして許容角度になるまで水平旋回 |
TUATBM | 1:f31e17341659 | 1126 | char Rotate(float targetAngle[3], float TargetYAW, char mode){ |
TUATBM | 1:f31e17341659 | 1127 | float diffYaw = TranslateNewYaw(TargetYAW, nowAngle[YAW]); |
TUATBM | 1:f31e17341659 | 1128 | |
TUATBM | 1:f31e17341659 | 1129 | switch(mode){ |
TUATBM | 1:f31e17341659 | 1130 | case 'G': //直進 |
TUATBM | 1:f31e17341659 | 1131 | UpdateTargetAngle_GoStraight(targetAngle); |
TUATBM | 1:f31e17341659 | 1132 | if(diffYaw > LIMIT_STRAIGHT_YAW) mode = 'R'; |
TUATBM | 1:f31e17341659 | 1133 | else if(diffYaw < -LIMIT_STRAIGHT_YAW) mode = 'L'; |
TUATBM | 1:f31e17341659 | 1134 | break; |
TUATBM | 1:f31e17341659 | 1135 | |
TUATBM | 1:f31e17341659 | 1136 | case 'R': //右旋回 |
TUATBM | 1:f31e17341659 | 1137 | UpdateTargetAngle_Rightloop_short(targetAngle); |
TUATBM | 1:f31e17341659 | 1138 | if(diffYaw < LIMIT_LOOPSTOP_YAW && diffYaw > -LIMIT_STRAIGHT_YAW) mode = 'G'; |
TUATBM | 1:f31e17341659 | 1139 | break; |
TUATBM | 1:f31e17341659 | 1140 | |
TUATBM | 1:f31e17341659 | 1141 | case 'L': //左旋回 |
TUATBM | 1:f31e17341659 | 1142 | UpdateTargetAngle_Leftloop_short(targetAngle); |
TUATBM | 1:f31e17341659 | 1143 | if(diffYaw > -LIMIT_LOOPSTOP_YAW && diffYaw < LIMIT_STRAIGHT_YAW) mode = 'G'; |
TUATBM | 1:f31e17341659 | 1144 | break; |
TUATBM | 1:f31e17341659 | 1145 | } |
TUATBM | 1:f31e17341659 | 1146 | |
TUATBM | 1:f31e17341659 | 1147 | return mode; |
TUATBM | 1:f31e17341659 | 1148 | |
TUATBM | 1:f31e17341659 | 1149 | /* |
TUATBM | 1:f31e17341659 | 1150 | if(diffYaw > LIMIT_STRAIGHT_YAW){ |
TUATBM | 1:f31e17341659 | 1151 | UpdateTargetAngle_Rightloop_short(targetAngle); |
TUATBM | 1:f31e17341659 | 1152 | return 1; |
TUATBM | 1:f31e17341659 | 1153 | }else if(diffYaw < -LIMIT_STRAIGHT_YAW){ |
TUATBM | 1:f31e17341659 | 1154 | UpdateTargetAngle_Leftloop_short(targetAngle); |
TUATBM | 1:f31e17341659 | 1155 | return 1; |
TUATBM | 1:f31e17341659 | 1156 | }else{ |
TUATBM | 1:f31e17341659 | 1157 | UpdateTargetAngle_GoStraight(targetAngle); |
TUATBM | 1:f31e17341659 | 1158 | return 0; |
TUATBM | 1:f31e17341659 | 1159 | } |
TUATBM | 1:f31e17341659 | 1160 | */ |
TUATBM | 1:f31e17341659 | 1161 | } |
TUATBM | 1:f31e17341659 | 1162 | |
TUATBM | 1:f31e17341659 | 1163 | //チキラー投下 |
TUATBM | 1:f31e17341659 | 1164 | void Chicken_Drop(){ |
TUATBM | 1:f31e17341659 | 1165 | if(CheckSW_Up(Ch7)){ |
TUATBM | 1:f31e17341659 | 1166 | autopwm[DROP] = 1572; |
TUATBM | 1:f31e17341659 | 1167 | pc.printf("Bombed!\r\n"); |
TUATBM | 1:f31e17341659 | 1168 | RerurnChickenServo1.attach(&ReturnChickenServo1, 3); |
TUATBM | 1:f31e17341659 | 1169 | //operation_mode = Approach; |
TUATBM | 1:f31e17341659 | 1170 | //buzzer = 0; |
TUATBM | 1:f31e17341659 | 1171 | } |
TUATBM | 1:f31e17341659 | 1172 | } |
TUATBM | 1:f31e17341659 | 1173 | |
TUATBM | 1:f31e17341659 | 1174 | void ReturnChickenServo1(){ |
TUATBM | 1:f31e17341659 | 1175 | autopwm[DROP] = 1438; |
TUATBM | 1:f31e17341659 | 1176 | pc.printf("first reverse\r\n"); |
TUATBM | 1:f31e17341659 | 1177 | RerurnChickenServo2.attach(&ReturnChickenServo2, 1); |
TUATBM | 1:f31e17341659 | 1178 | } |
TUATBM | 1:f31e17341659 | 1179 | |
TUATBM | 1:f31e17341659 | 1180 | void ReturnChickenServo2(){ |
TUATBM | 1:f31e17341659 | 1181 | autopwm[DROP] = 1446; |
TUATBM | 1:f31e17341659 | 1182 | pc.printf("second reverse\r\n"); |
TUATBM | 1:f31e17341659 | 1183 | } |
TUATBM | 1:f31e17341659 | 1184 | |
TUATBM | 1:f31e17341659 | 1185 | //着陸モード(PCからの指令に従う) |
TUATBM | 1:f31e17341659 | 1186 | void UpdateTargetAngle_Approach(float targetAngle[3]){ |
TUATBM | 1:f31e17341659 | 1187 | static char rotatemode = 'G'; |
TUATBM | 1:f31e17341659 | 1188 | if(output_status == Manual) rotatemode = 'G'; |
TUATBM | 1:f31e17341659 | 1189 | |
TUATBM | 1:f31e17341659 | 1190 | //pc.putc(g_landingcommand); |
TUATBM | 1:f31e17341659 | 1191 | switch(g_landingcommand){ |
TUATBM | 1:f31e17341659 | 1192 | case 'R': //右旋回セヨ |
TUATBM | 1:f31e17341659 | 1193 | UpdateTargetAngle_Rightloop(targetAngle); |
TUATBM | 1:f31e17341659 | 1194 | break; |
TUATBM | 1:f31e17341659 | 1195 | |
TUATBM | 1:f31e17341659 | 1196 | case 'L': //左旋回セヨ |
TUATBM | 1:f31e17341659 | 1197 | UpdateTargetAngle_Leftloop(targetAngle); |
TUATBM | 1:f31e17341659 | 1198 | break; |
TUATBM | 1:f31e17341659 | 1199 | |
TUATBM | 1:f31e17341659 | 1200 | case 'G': //直進セヨ |
TUATBM | 1:f31e17341659 | 1201 | UpdateTargetAngle_GoStraight(targetAngle); |
TUATBM | 1:f31e17341659 | 1202 | break; |
TUATBM | 1:f31e17341659 | 1203 | |
TUATBM | 1:f31e17341659 | 1204 | case 'Y': //指定ノヨー方向ニ移動セヨ |
TUATBM | 1:f31e17341659 | 1205 | rotatemode = Rotate(targetAngle, g_SerialTargetYAW, rotatemode); |
TUATBM | 1:f31e17341659 | 1206 | break; |
TUATBM | 1:f31e17341659 | 1207 | |
TUATBM | 1:f31e17341659 | 1208 | case 'B': //ブザーヲ鳴ラセ |
TUATBM | 1:f31e17341659 | 1209 | //buzzer = 1; |
TUATBM | 1:f31e17341659 | 1210 | break; |
TUATBM | 1:f31e17341659 | 1211 | |
TUATBM | 1:f31e17341659 | 1212 | case 'D': //物資ヲ落トセ |
TUATBM | 1:f31e17341659 | 1213 | Chicken_Drop(); |
TUATBM | 1:f31e17341659 | 1214 | break; |
TUATBM | 1:f31e17341659 | 1215 | |
TUATBM | 1:f31e17341659 | 1216 | case 'C': //停止セヨ |
TUATBM | 1:f31e17341659 | 1217 | rotatemode = Rotate(targetAngle, g_SerialTargetYAW, rotatemode); |
TUATBM | 1:f31e17341659 | 1218 | autopwm[THR] = minpwm[THR]; |
TUATBM | 1:f31e17341659 | 1219 | break; |
TUATBM | 1:f31e17341659 | 1220 | } |
TUATBM | 1:f31e17341659 | 1221 | } |
TUATBM | 1:f31e17341659 | 1222 | |
TUATBM | 1:f31e17341659 | 1223 | void checkHeight(float targetAngle[3]){ |
TUATBM | 1:f31e17341659 | 1224 | |
TUATBM | 1:f31e17341659 | 1225 | static int targetHeight = 200; |
TUATBM | 1:f31e17341659 | 1226 | |
TUATBM | 1:f31e17341659 | 1227 | if(g_distance < targetHeight + ALLOWHEIGHT){ |
TUATBM | 1:f31e17341659 | 1228 | UpdateTargetAngle_NoseUP(targetAngle); |
TUATBM | 1:f31e17341659 | 1229 | if(CheckSW_Up(Ch7)) led2 = 1; |
TUATBM | 1:f31e17341659 | 1230 | } |
TUATBM | 1:f31e17341659 | 1231 | else if(g_distance > targetHeight - ALLOWHEIGHT){ |
TUATBM | 1:f31e17341659 | 1232 | UpdateTargetAngle_NoseDOWN(targetAngle); |
TUATBM | 1:f31e17341659 | 1233 | if(CheckSW_Up(Ch7)) led2 = 1; |
TUATBM | 1:f31e17341659 | 1234 | } |
TUATBM | 1:f31e17341659 | 1235 | else led2=0; |
TUATBM | 1:f31e17341659 | 1236 | } |
TUATBM | 1:f31e17341659 | 1237 | |
TUATBM | 1:f31e17341659 | 1238 | void UpdateTargetAngle_NoseUP(float targetAngle[3]){ |
TUATBM | 1:f31e17341659 | 1239 | |
TUATBM | 1:f31e17341659 | 1240 | //targetAngle[PITCH] += 2.0f; |
TUATBM | 1:f31e17341659 | 1241 | //if(nowAngle[PITCH]<targetAngle[PITCH]) autopwm[THR] = SetTHRinRatio(0.6); |
TUATBM | 1:f31e17341659 | 1242 | autopwm[THR] = SetTHRinRatio(g_loopTHR+0.05f); |
TUATBM | 1:f31e17341659 | 1243 | //pc.printf("nose UP"); |
TUATBM | 1:f31e17341659 | 1244 | } |
TUATBM | 1:f31e17341659 | 1245 | |
TUATBM | 1:f31e17341659 | 1246 | void UpdateTargetAngle_NoseDOWN(float targetAngle[3]){ |
TUATBM | 1:f31e17341659 | 1247 | |
TUATBM | 1:f31e17341659 | 1248 | //targetAngle[PITCH] -= 2.0f; |
TUATBM | 1:f31e17341659 | 1249 | autopwm[THR] = SetTHRinRatio(g_loopTHR-0.05f); |
TUATBM | 1:f31e17341659 | 1250 | //pc.printf("nose DOWN"); |
TUATBM | 1:f31e17341659 | 1251 | } |
TUATBM | 1:f31e17341659 | 1252 | |
TUATBM | 1:f31e17341659 | 1253 | //直進 |
TUATBM | 1:f31e17341659 | 1254 | void UpdateTargetAngle_GoStraight(float targetAngle[3]){ |
TUATBM | 1:f31e17341659 | 1255 | |
TUATBM | 1:f31e17341659 | 1256 | targetAngle[ROLL] = g_gostraightROLL; |
TUATBM | 1:f31e17341659 | 1257 | targetAngle[PITCH] = g_gostraightPITCH; |
TUATBM | 1:f31e17341659 | 1258 | autopwm[THR] = SetTHRinRatio(g_loopTHR); |
TUATBM | 1:f31e17341659 | 1259 | |
TUATBM | 1:f31e17341659 | 1260 | //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); |
TUATBM | 1:f31e17341659 | 1261 | } |
TUATBM | 1:f31e17341659 | 1262 | |
TUATBM | 1:f31e17341659 | 1263 | //右旋回 |
TUATBM | 1:f31e17341659 | 1264 | void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回 |
TUATBM | 1:f31e17341659 | 1265 | |
TUATBM | 1:f31e17341659 | 1266 | targetAngle[ROLL] = g_rightloopROLL; |
TUATBM | 1:f31e17341659 | 1267 | targetAngle[PITCH] = g_rightloopPITCH ; |
TUATBM | 1:f31e17341659 | 1268 | autopwm[THR] = SetTHRinRatio(g_loopTHR); |
TUATBM | 1:f31e17341659 | 1269 | //checkHeight(targetAngle); |
TUATBM | 1:f31e17341659 | 1270 | //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); |
TUATBM | 1:f31e17341659 | 1271 | } |
TUATBM | 1:f31e17341659 | 1272 | |
TUATBM | 1:f31e17341659 | 1273 | void UpdateTargetAngle_Rightloop_short(float targetAngle[3]){ //右旋回 |
TUATBM | 1:f31e17341659 | 1274 | |
TUATBM | 1:f31e17341659 | 1275 | targetAngle[ROLL] = g_rightloopROLLshort; |
TUATBM | 1:f31e17341659 | 1276 | targetAngle[PITCH] = g_rightloopPITCHshort; |
TUATBM | 1:f31e17341659 | 1277 | autopwm[THR] = SetTHRinRatio(g_loopTHR); |
TUATBM | 1:f31e17341659 | 1278 | |
TUATBM | 1:f31e17341659 | 1279 | |
TUATBM | 1:f31e17341659 | 1280 | //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); |
TUATBM | 1:f31e17341659 | 1281 | } |
TUATBM | 1:f31e17341659 | 1282 | |
TUATBM | 1:f31e17341659 | 1283 | //左旋回 |
TUATBM | 1:f31e17341659 | 1284 | void UpdateTargetAngle_Leftloop(float targetAngle[3]){ |
TUATBM | 1:f31e17341659 | 1285 | |
TUATBM | 1:f31e17341659 | 1286 | targetAngle[ROLL] = g_leftloopROLL; |
TUATBM | 1:f31e17341659 | 1287 | targetAngle[PITCH] = g_leftloopPITCH; |
TUATBM | 1:f31e17341659 | 1288 | autopwm[THR] = SetTHRinRatio(g_loopTHR); |
TUATBM | 1:f31e17341659 | 1289 | //checkHeight(targetAngle); |
TUATBM | 1:f31e17341659 | 1290 | |
TUATBM | 1:f31e17341659 | 1291 | //printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); |
TUATBM | 1:f31e17341659 | 1292 | } |
TUATBM | 1:f31e17341659 | 1293 | |
TUATBM | 1:f31e17341659 | 1294 | void UpdateTargetAngle_Leftloop_short(float targetAngle[3]){ |
TUATBM | 1:f31e17341659 | 1295 | |
TUATBM | 1:f31e17341659 | 1296 | targetAngle[ROLL] = g_leftloopROLLshort; |
TUATBM | 1:f31e17341659 | 1297 | targetAngle[PITCH] = g_leftloopPITCHshort; |
TUATBM | 1:f31e17341659 | 1298 | autopwm[THR] = SetTHRinRatio(g_loopTHR); |
TUATBM | 1:f31e17341659 | 1299 | |
TUATBM | 1:f31e17341659 | 1300 | //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); |
TUATBM | 0:92024886c0be | 1301 | } |
TUATBM | 0:92024886c0be | 1302 | |
TUATBM | 0:92024886c0be | 1303 | //デバッグ用 |
TUATBM | 0:92024886c0be | 1304 | void DebugPrint(){ |
TUATBM | 1:f31e17341659 | 1305 | /* |
TUATBM | 1:f31e17341659 | 1306 | static int16_t deltaT = 0, t_start = 0; |
TUATBM | 1:f31e17341659 | 1307 | deltaT = t.read_u2s() - t_start; |
TUATBM | 1:f31e17341659 | 1308 | pc.printf("t:%d us, ",deltaT); |
TUATBM | 0:92024886c0be | 1309 | pc.printf("\r\n"); |
TUATBM | 1:f31e17341659 | 1310 | t_start = t.read_us(); |
TUATBM | 1:f31e17341659 | 1311 | */ |
TUATBM | 1:f31e17341659 | 1312 | |
TUATBM | 1:f31e17341659 | 1313 | //pc.printf("%d", sbus.manualpwm[4]); |
TUATBM | 1:f31e17341659 | 1314 | |
TUATBM | 1:f31e17341659 | 1315 | //for(uint8_t i=0; i<8; i++) pc.printf("%d ",sbus.manualpwm[i]); |
TUATBM | 1:f31e17341659 | 1316 | //for(uint8_t i=1; i<5; i++) pc.printf("%d ",sbus.manualpwm[i]); |
TUATBM | 0:92024886c0be | 1317 | //pc.printf("\r\n"); |
TUATBM | 1:f31e17341659 | 1318 | //for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]); |
TUATBM | 1:f31e17341659 | 1319 | //for(uint8_t i=0; i<2; i++) pc.printf("%3.2f\t",nowAngle[i]); //ロール、ピッチのみ 小数点以下2ケタ |
TUATBM | 1:f31e17341659 | 1320 | //pc.printf("%d\t",autopwm[ELE]); pc.printf("%d\t",autopwm[RUD]); |
TUATBM | 1:f31e17341659 | 1321 | //pc.printf("%d",g_distance); |
TUATBM | 0:92024886c0be | 1322 | |
TUATBM | 1:f31e17341659 | 1323 | //pc.printf("Mode: %c: ",g_buf[0]); |
TUATBM | 1:f31e17341659 | 1324 | //if(g_buf[0] == 'Y') pc.printf(" %3.1f",g_SerialTargetYAW); |
TUATBM | 1:f31e17341659 | 1325 | //pc.printf("%x ",sbus.failsafe_status); |
TUATBM | 1:f31e17341659 | 1326 | |
TUATBM | 0:92024886c0be | 1327 | //pc.printf("\r\n"); |
TUATBM | 1:f31e17341659 | 1328 | } |