Autoflight2018_18 - 着陸wait版9/16

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航空研究会 / Mbed 2 deprecated Autoflight2018_18

着陸wait版9/16

Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3

Fork of Autoflight2018_17 by 航空研究会

main.cpp@12:763bf416ba4b, 2018-09-16 (annotated)

Committer:: HARUKIDELTA
Date:: Sun Sep 16 06:10:05 2018 +0000
Revision:: 12:763bf416ba4b
Parent:: 11:c0b9ad25d3db
Child:: 13:77b13d5f4d78

Who changed what in which revision?

User	Revision	Line number	New contents of line
HARUKIDELTA	0:17f575135219	1	//mbed
HARUKIDELTA	0:17f575135219	2	#include "mbed.h"
HARUKIDELTA	0:17f575135219	3	#include "FATFileSystem.h"
HARUKIDELTA	0:17f575135219	4	#include "SDFileSystem.h"
HARUKIDELTA	0:17f575135219	5	//C
HARUKIDELTA	0:17f575135219	6	#include "math.h"
HARUKIDELTA	0:17f575135219	7	//sensor
HARUKIDELTA	0:17f575135219	8	#include "MPU6050_DMP6.h"
HARUKIDELTA	0:17f575135219	9	//#include "MPU9250.h"
HARUKIDELTA	0:17f575135219	10	//#include "BMP280.h"
HARUKIDELTA	0:17f575135219	11	#include "hcsr04.h"
HARUKIDELTA	0:17f575135219	12	//device
HARUKIDELTA	0:17f575135219	13	#include "sbus.h"
HARUKIDELTA	0:17f575135219	14	//config
HARUKIDELTA	0:17f575135219	15	#include "SkipperSv2.h"
HARUKIDELTA	0:17f575135219	16	#include "falfalla.h"
HARUKIDELTA	0:17f575135219	17	//other
HARUKIDELTA	0:17f575135219	18	#include "pid.h"
HARUKIDELTA	0:17f575135219	19
HARUKIDELTA	0:17f575135219	20	#define DEBUG_SEMIAUTO 0
HARUKIDELTA	0:17f575135219	21	#define DEBUG_PRINT_INLOOP 1
HARUKIDELTA	0:17f575135219	22
TUATBM	9:f6367b7fd7be	23	#define KP_ELE 15.0 //2.0
HARUKIDELTA	0:17f575135219	24	#define KI_ELE 0.0
TUATBM	9:f6367b7fd7be	25	#define KD_ELE 0.0 //0/0
HARUKIDELTA	0:17f575135219	26	#define KP_RUD 3.0
HARUKIDELTA	0:17f575135219	27	#define KI_RUD 0.0
HARUKIDELTA	0:17f575135219	28	#define KD_RUD 0.0
HARUKIDELTA	2:23daa5fa28b4	29	#define KP_AIL 0.1
HARUKIDELTA	2:23daa5fa28b4	30	#define KI_AIL 0.2
HARUKIDELTA	2:23daa5fa28b4	31	#define KD_AIL 0.2
taknokolat	1:f383708a5a52	32
HARUKIDELTA	2:23daa5fa28b4	33	//#define g_AIL_L_Ratio_rightloop 0.5
HARUKIDELTA	0:17f575135219	34
HARUKIDELTA	0:17f575135219	35	#define GAIN_CONTROLVALUE_TO_PWM 3.0
HARUKIDELTA	0:17f575135219	36
HARUKIDELTA	0:17f575135219	37	#define RIGHT_ROLL -12.0
TUATBM	9:f6367b7fd7be	38	#define RIGHT_PITCH -10.0 //5.0
HARUKIDELTA	0:17f575135219	39	#define LEFT_ROLL 12.0
HARUKIDELTA	0:17f575135219	40	#define LEFT_PITCH -5.0
HARUKIDELTA	0:17f575135219	41	#define STRAIGHT_ROLL 4.0
HARUKIDELTA	0:17f575135219	42	#define STRAIGHT_PITCH 3.0
HARUKIDELTA	0:17f575135219	43	#define TAKEOFF_THR 0.8
HARUKIDELTA	0:17f575135219	44	#define LOOP_THR 0.6
HARUKIDELTA	0:17f575135219	45
HARUKIDELTA	2:23daa5fa28b4	46	#define g_rightloopRUD 1500
HARUKIDELTA	2:23daa5fa28b4	47
HARUKIDELTA	0:17f575135219	48	#define RIGHT_ROLL_SHORT -12.0
HARUKIDELTA	0:17f575135219	49	#define RIGHT_PITCH_SHORT -5.0
HARUKIDELTA	0:17f575135219	50	#define LEFT_ROLL_SHORT 12.0
HARUKIDELTA	0:17f575135219	51	#define LEFT_PITCH_SHORT -5.0
HARUKIDELTA	0:17f575135219	52
TUATBM	9:f6367b7fd7be	53	#define rightloopRUD 1300 //1250
TUATBM	9:f6367b7fd7be	54	#define AIL_R_correctionrightloop 0
TUATBM	9:f6367b7fd7be	55	#define AIL_L_correctionrightloop -400
HARUKIDELTA	3:206b17251f5b	56	#define rightloopshortRUD 1250
HARUKIDELTA	3:206b17251f5b	57	#define AIL_L_correctionrightloopshort 0
HARUKIDELTA	3:206b17251f5b	58	#define leftloopRUD 1500
HARUKIDELTA	3:206b17251f5b	59	#define AIL_L_correctionleftloop -0
HARUKIDELTA	3:206b17251f5b	60	#define leftloopshortRUD 1500
HARUKIDELTA	3:206b17251f5b	61	#define AIL_L_correctionleftloopshort 0
HARUKIDELTA	3:206b17251f5b	62	#define glideloopRUD 1300
HARUKIDELTA	3:206b17251f5b	63
HARUKIDELTA	8:66bba39b95a9	64	#define RIGHTLOOP_RUD 1250
HARUKIDELTA	8:66bba39b95a9	65	#define RIGHTLOOPSHORT_RUD 1250
HARUKIDELTA	8:66bba39b95a9	66	#define LEFTLOOP_RUD 1500
HARUKIDELTA	8:66bba39b95a9	67	#define LEFTLOOPSHORT_RUD 1500
HARUKIDELTA	8:66bba39b95a9	68	#define GLIDELOOP_RUD 1300
HARUKIDELTA	8:66bba39b95a9	69	#define AIL_L_CORRECTION_RIGHTLOOP 0
HARUKIDELTA	8:66bba39b95a9	70	#define AIL_L_CORRECTION_RIGHTLOOPSHORT 0
HARUKIDELTA	8:66bba39b95a9	71	#define AIL_L_CORRECTION_LEFTLOOP 0
HARUKIDELTA	8:66bba39b95a9	72	#define AIL_L_CORRECTION_LEFTLOOPSHORT 0
HARUKIDELTA	3:206b17251f5b	73
HARUKIDELTA	0:17f575135219	74	#define GLIDE_ROLL -12.0
HARUKIDELTA	0:17f575135219	75	#define GLIDE_PITCH -3.0
HARUKIDELTA	0:17f575135219	76
HARUKIDELTA	3:206b17251f5b	77
HARUKIDELTA	3:206b17251f5b	78	#define AIL_L_RatioRising 0.5
HARUKIDELTA	3:206b17251f5b	79	#define AIL_L_RatioDescent 2
HARUKIDELTA	3:206b17251f5b	80
HARUKIDELTA	0:17f575135219	81	//コンパスキャリブレーション
HARUKIDELTA	0:17f575135219	82	//SkipperS2基板
HARUKIDELTA	0:17f575135219	83	/*
HARUKIDELTA	0:17f575135219	84	#define MAGBIAS_X -35.0
HARUKIDELTA	0:17f575135219	85	#define MAGBIAS_Y 535.0
HARUKIDELTA	0:17f575135219	86	#define MAGBIAS_Z -50.0
HARUKIDELTA	0:17f575135219	87	*/
HARUKIDELTA	0:17f575135219	88	//S2v2 1番基板
HARUKIDELTA	0:17f575135219	89	#define MAGBIAS_X 395.0
HARUKIDELTA	0:17f575135219	90	#define MAGBIAS_Y 505.0
HARUKIDELTA	0:17f575135219	91	#define MAGBIAS_Z -725.0
HARUKIDELTA	0:17f575135219	92	//S2v2 2番基板
HARUKIDELTA	0:17f575135219	93	/*
HARUKIDELTA	0:17f575135219	94	#define MAGBIAS_X 185.0
HARUKIDELTA	0:17f575135219	95	#define MAGBIAS_Y 220.0
HARUKIDELTA	0:17f575135219	96	#define MAGBIAS_Z -350.0
HARUKIDELTA	0:17f575135219	97	*/
HARUKIDELTA	0:17f575135219	98
HARUKIDELTA	0:17f575135219	99	#define ELEMENT 1
HARUKIDELTA	0:17f575135219	100	#define LIMIT_STRAIGHT_YAW 5.0
HARUKIDELTA	0:17f575135219	101	#define THRESHOLD_TURNINGRADIUS_YAW 60.0
HARUKIDELTA	0:17f575135219	102	#define ALLOWHEIGHT 15
HARUKIDELTA	0:17f575135219	103
HARUKIDELTA	0:17f575135219	104	#ifndef PI
HARUKIDELTA	0:17f575135219	105	#define PI 3.14159265358979
HARUKIDELTA	0:17f575135219	106	#endif
HARUKIDELTA	0:17f575135219	107
HARUKIDELTA	0:17f575135219	108	const int16_t lengthdivpwm = 320;
HARUKIDELTA	0:17f575135219	109	const int16_t changeModeCount = 6;
HARUKIDELTA	0:17f575135219	110
HARUKIDELTA	0:17f575135219	111	const float trim[4] = {Trim_Falfalla[0],Trim_Falfalla[1],Trim_Falfalla[2],Trim_Falfalla[3]};
HARUKIDELTA	0:17f575135219	112	const float expMax[4] = {ExpMax_Falfalla[0],ExpMax_Falfalla[1],ExpMax_Falfalla[2],ExpMax_Falfalla[3]};
HARUKIDELTA	0:17f575135219	113	const float expMin[4] = {ExpMin_Falfalla[0],ExpMin_Falfalla[1],ExpMin_Falfalla[2],ExpMin_Falfalla[3]};
HARUKIDELTA	3:206b17251f5b	114	const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
HARUKIDELTA	0:17f575135219	115
HARUKIDELTA	0:17f575135219	116	SBUS sbus(PA_9, PA_10); //SBUS
HARUKIDELTA	0:17f575135219	117
HARUKIDELTA	0:17f575135219	118	PwmOut servo1(PC_6); // TIM3_CH1 //old echo
HARUKIDELTA	0:17f575135219	119	PwmOut servo2(PC_7); // TIM3_CH2 //PC_7
HARUKIDELTA	0:17f575135219	120	PwmOut servo3(PB_0); // TIM3_CH3
HARUKIDELTA	0:17f575135219	121	PwmOut servo4(PB_1); // TIM3_CH4
HARUKIDELTA	0:17f575135219	122	PwmOut servo5(PB_6); // TIM4_CH1
HARUKIDELTA	0:17f575135219	123	PwmOut servo6(PB_7); // TIM4_CH2 //old trigger
HARUKIDELTA	0:17f575135219	124	//PwmOut servo7(PB_8); // TIM4_CH3 //PB_8 new echo
HARUKIDELTA	0:17f575135219	125	//PwmOut servo8(PB_9); // TIM4_CH4 //new trigger
HARUKIDELTA	0:17f575135219	126
HARUKIDELTA	0:17f575135219	127	RawSerial pc(PA_2,PA_3, 115200); //tx,rx.baudrate pin;PA_2=UART2_TX, PA_3=UART2_RX
taknokolat	1:f383708a5a52	128	//RawSerial pc2(PB_6,PB_7, 115200); //sbus確認用
HARUKIDELTA	0:17f575135219	129	SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
HARUKIDELTA	0:17f575135219	130
HARUKIDELTA	0:17f575135219	131	DigitalOut led1(PA_0); //黄色のコネクタ
HARUKIDELTA	0:17f575135219	132	DigitalOut led2(PA_1);
HARUKIDELTA	0:17f575135219	133	DigitalOut led3(PB_4);
HARUKIDELTA	0:17f575135219	134	DigitalOut led4(PB_5);
HARUKIDELTA	0:17f575135219	135
HARUKIDELTA	0:17f575135219	136	//InterruptIn switch2(PC_14);
HARUKIDELTA	0:17f575135219	137	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
taknokolat	10:652071c20bf6	138	//HCSR04 usensor(PB_9,PB_8); //trig,echo 9,8
HARUKIDELTA	0:17f575135219	139
taknokolat	1:f383708a5a52	140	PID pid_AIL(g_kpAIL,g_kiAIL,g_kdAIL);
HARUKIDELTA	0:17f575135219	141	PID pid_ELE(g_kpELE,g_kiELE,g_kdELE);
HARUKIDELTA	0:17f575135219	142	PID pid_RUD(g_kpRUD,g_kiRUD,g_kdRUD);
HARUKIDELTA	0:17f575135219	143
HARUKIDELTA	0:17f575135219	144	enum Channel{AIL_R, ELE, THR, RUD, DROP, AIL_L, Ch7, Ch8};
HARUKIDELTA	0:17f575135219	145	enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度
HARUKIDELTA	0:17f575135219	146	enum OperationMode{StartUp, SemiAuto, RightLoop, LeftLoop, GoStraight, BombwithPC, ZERO, Moebius, Glide};
HARUKIDELTA	0:17f575135219	147	enum BombingMode{Takeoff, Chicken, Transition, Approach};
HARUKIDELTA	0:17f575135219	148	enum OutputStatus{Manual, Auto};
HARUKIDELTA	0:17f575135219	149
HARUKIDELTA	0:17f575135219	150	static OutputStatus output_status = Manual;
HARUKIDELTA	0:17f575135219	151	OperationMode operation_mode = StartUp;
HARUKIDELTA	0:17f575135219	152	BombingMode bombing_mode = Takeoff;
HARUKIDELTA	0:17f575135219	153	static int16_t autopwm[8] = {1500,1500,1180,1500,1392,1500};
HARUKIDELTA	7:53b0eb6f6bd3	154	static int16_t trimpwm[6] = {1500,1500,1180,1500,1392,1600};
HARUKIDELTA	0:17f575135219	155	int16_t maxpwm[6] = {1820,1820,1820,1820,1820,1820};
HARUKIDELTA	0:17f575135219	156	int16_t minpwm[6] = {1180,1180,1180,1180,1180,1180};
HARUKIDELTA	0:17f575135219	157	int16_t oldTHR = 1000;
HARUKIDELTA	0:17f575135219	158
HARUKIDELTA	2:23daa5fa28b4	159	int16_t g_AIL_L_Ratio_rightloop = 0.5;
HARUKIDELTA	2:23daa5fa28b4	160
HARUKIDELTA	2:23daa5fa28b4	161
HARUKIDELTA	0:17f575135219	162	static float nowAngle[3] = {0,0,0};
HARUKIDELTA	0:17f575135219	163	const float trimAngle[3] = {0.0, 0.0, 0.0};
HARUKIDELTA	0:17f575135219	164	const float maxAngle[2] = {90, 90};
HARUKIDELTA	0:17f575135219	165	const float minAngle[2] = {-90, -90};
HARUKIDELTA	0:17f575135219	166
HARUKIDELTA	0:17f575135219	167	float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0;
HARUKIDELTA	0:17f575135219	168
HARUKIDELTA	0:17f575135219	169	unsigned int g_distance;
taknokolat	10:652071c20bf6	170	//Ticker USsensor;
HARUKIDELTA	0:17f575135219	171	static char g_buf[16];
taknokolat	10:652071c20bf6	172	char g_landingcommand='Z';
HARUKIDELTA	0:17f575135219	173	float g_SerialTargetYAW;
HARUKIDELTA	0:17f575135219	174
HARUKIDELTA	0:17f575135219	175	Timer t;
HARUKIDELTA	0:17f575135219	176	Timeout RerurnChickenServo1;
HARUKIDELTA	0:17f575135219	177	Timeout RerurnChickenServo2;
HARUKIDELTA	0:17f575135219	178
HARUKIDELTA	0:17f575135219	179	/-----関数のプロトタイプ宣言-----/
HARUKIDELTA	0:17f575135219	180	void setup();
HARUKIDELTA	0:17f575135219	181	void loop();
HARUKIDELTA	0:17f575135219	182
HARUKIDELTA	0:17f575135219	183	void Init_PWM();
HARUKIDELTA	0:17f575135219	184	void Init_servo(); //サーボ初期化
HARUKIDELTA	0:17f575135219	185	void Init_sbus(); //SBUS初期化
HARUKIDELTA	0:17f575135219	186	void Init_sensors();
HARUKIDELTA	0:17f575135219	187	void DisplayClock(); //クロック状態確認
HARUKIDELTA	0:17f575135219	188
HARUKIDELTA	0:17f575135219	189	//センサの値取得
HARUKIDELTA	0:17f575135219	190	void SensingMPU();
HARUKIDELTA	0:17f575135219	191	void UpdateDist();
HARUKIDELTA	0:17f575135219	192
HARUKIDELTA	0:17f575135219	193	//void offsetRollPitch(float FirstROLL, float FirstPITCH);
HARUKIDELTA	0:17f575135219	194	//void TransYaw(float FirstYAW);
HARUKIDELTA	0:17f575135219	195	float TranslateNewYaw(float beforeYaw, float newzeroYaw);
HARUKIDELTA	0:17f575135219	196	void UpdateTargetAngle(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	197	void CalculateControlValue(float targetAngle[3], float controlValue[3]);
HARUKIDELTA	0:17f575135219	198	void UpdateAutoPWM(float controlValue[3]);
HARUKIDELTA	0:17f575135219	199	void ConvertPWMintoRAD(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	200	inline float CalcRatio(float value, float trim, float limit);
HARUKIDELTA	0:17f575135219	201	bool CheckSW_Up(Channel ch);
HARUKIDELTA	0:17f575135219	202	int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min);
HARUKIDELTA	0:17f575135219	203	inline int16_t SetTHRinRatio(float ratio);
HARUKIDELTA	0:17f575135219	204
HARUKIDELTA	0:17f575135219	205	//sbus割り込み
HARUKIDELTA	0:17f575135219	206	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
HARUKIDELTA	0:17f575135219	207	void Output_PWM(int16_t pwm[6]); //pwmをサーボへ出力
HARUKIDELTA	0:17f575135219	208
HARUKIDELTA	0:17f575135219	209	//シリアル割り込み
HARUKIDELTA	0:17f575135219	210	void SendSerial(); //1文字きたら送り返す
HARUKIDELTA	0:17f575135219	211	void SendArray();
HARUKIDELTA	0:17f575135219	212	void getSF_Serial();
HARUKIDELTA	0:17f575135219	213	float ConvertByteintoFloat(char high, char low);
taknokolat	1:f383708a5a52	214	void ISR_Serial_Rx();
HARUKIDELTA	0:17f575135219	215
HARUKIDELTA	0:17f575135219	216	//SD設定
HARUKIDELTA	0:17f575135219	217	int GetParameter(FILE fp, const char paramName,char parameter[]);
HARUKIDELTA	0:17f575135219	218	int SetOptions(float g_kpELE, float g_kiELE, float *g_kdELE,
HARUKIDELTA	0:17f575135219	219	float g_kpRUD, float g_kiRUD, float *g_kdRUD,
HARUKIDELTA	0:17f575135219	220	float g_rightloopROLL, float g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	221	float g_leftloopROLL, float g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	222	float g_gostraightROLL, float g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	223	float g_takeoffTHR, float g_loopTHR,
HARUKIDELTA	0:17f575135219	224	float g_rightloopROLLshort, float g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	225	float g_leftloopROLLshort, float g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	226	float g_glideloopROLL, float g_glideloopPITCH,
HARUKIDELTA	12:763bf416ba4b	227	float g_kpAIL, float g_kiAIL, float *g_kdAIL);
HARUKIDELTA	0:17f575135219	228	//switch2割り込み
HARUKIDELTA	0:17f575135219	229	void ResetTrim();
HARUKIDELTA	0:17f575135219	230
HARUKIDELTA	0:17f575135219	231	//自動操縦
HARUKIDELTA	0:17f575135219	232	void UpdateTargetAngle_GoStraight(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	233	void UpdateTargetAngle_Rightloop(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	234	void UpdateTargetAngle_Rightloop_short(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	235	void UpdateTargetAngle_Leftloop(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	236	void UpdateTargetAngle_Leftloop_short(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	237	void UpdateTargetAngle_Moebius(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	238	void UpdateTargetAngle_Glide(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	239	void UpdateTargetAngle_Takeoff(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	240	void UpdateTargetAngle_Approach(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	241	void Take_off_and_landing(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	242
HARUKIDELTA	0:17f575135219	243	int Rotate(float targetAngle[3], float TargetYAW);
HARUKIDELTA	0:17f575135219	244
HARUKIDELTA	0:17f575135219	245	//投下
HARUKIDELTA	0:17f575135219	246	void Chicken_Drop();
HARUKIDELTA	0:17f575135219	247	void ReturnChickenServo1();
HARUKIDELTA	0:17f575135219	248	void ReturnChickenServo2();
HARUKIDELTA	0:17f575135219	249
HARUKIDELTA	0:17f575135219	250	//超音波による高度補正
HARUKIDELTA	0:17f575135219	251	void checkHeight(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	252	void UpdateTargetAngle_NoseUP(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	253	void UpdateTargetAngle_NoseDOWN(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	254
HARUKIDELTA	0:17f575135219	255	//デバッグ用
HARUKIDELTA	0:17f575135219	256	void DebugPrint();
HARUKIDELTA	0:17f575135219	257
HARUKIDELTA	0:17f575135219	258	/---関数のプロトタイプ宣言終わり---/
HARUKIDELTA	0:17f575135219	259
HARUKIDELTA	0:17f575135219	260	int main()
HARUKIDELTA	0:17f575135219	261	{
HARUKIDELTA	0:17f575135219	262	setup();
HARUKIDELTA	0:17f575135219	263
HARUKIDELTA	0:17f575135219	264
HARUKIDELTA	0:17f575135219	265	while(1){
HARUKIDELTA	0:17f575135219	266
HARUKIDELTA	0:17f575135219	267	loop();
HARUKIDELTA	0:17f575135219	268
taknokolat	10:652071c20bf6	269
taknokolat	10:652071c20bf6	270
HARUKIDELTA	0:17f575135219	271	if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	272	led3=0;
HARUKIDELTA	0:17f575135219	273	}else{
HARUKIDELTA	0:17f575135219	274	led3=1;
HARUKIDELTA	0:17f575135219	275	}
HARUKIDELTA	0:17f575135219	276	}
HARUKIDELTA	0:17f575135219	277
HARUKIDELTA	0:17f575135219	278	}
HARUKIDELTA	0:17f575135219	279
HARUKIDELTA	0:17f575135219	280	void setup(){
HARUKIDELTA	0:17f575135219	281	//buzzer = 0;
HARUKIDELTA	0:17f575135219	282	led1 = 1;
HARUKIDELTA	0:17f575135219	283	led2 = 1;
HARUKIDELTA	0:17f575135219	284	led3 = 1;
HARUKIDELTA	0:17f575135219	285	led4 = 1;
HARUKIDELTA	0:17f575135219	286
HARUKIDELTA	0:17f575135219	287	SetOptions(&g_kpELE, &g_kiELE, &g_kdELE,
HARUKIDELTA	0:17f575135219	288	&g_kpRUD, &g_kiRUD, &g_kdRUD,
HARUKIDELTA	0:17f575135219	289	&g_rightloopROLL, &g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	290	&g_leftloopROLL, &g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	291	&g_gostraightROLL, &g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	292	&g_takeoffTHR, &g_loopTHR,
HARUKIDELTA	0:17f575135219	293	&g_rightloopROLLshort, &g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	294	&g_leftloopROLLshort, &g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	295	&g_glideloopROLL, &g_glideloopPITCH,
HARUKIDELTA	12:763bf416ba4b	296	&g_kpAIL, &g_kiAIL,&g_kdAIL);
HARUKIDELTA	0:17f575135219	297
HARUKIDELTA	0:17f575135219	298
HARUKIDELTA	0:17f575135219	299	Init_PWM();
HARUKIDELTA	0:17f575135219	300	Init_servo();
HARUKIDELTA	0:17f575135219	301	Init_sbus();
HARUKIDELTA	0:17f575135219	302	Init_sensors();
HARUKIDELTA	0:17f575135219	303	//switch2.rise(ResetTrim);
HARUKIDELTA	0:17f575135219	304	pc.attach(getSF_Serial, Serial::RxIrq);
taknokolat	10:652071c20bf6	305	//USsensor.attach(&UpdateDist, 0.05);
HARUKIDELTA	0:17f575135219	306
HARUKIDELTA	0:17f575135219	307	NVIC_SetPriority(USART1_IRQn,0);
HARUKIDELTA	0:17f575135219	308	NVIC_SetPriority(EXTI0_IRQn,1);
HARUKIDELTA	0:17f575135219	309	NVIC_SetPriority(TIM5_IRQn,2);
HARUKIDELTA	0:17f575135219	310	NVIC_SetPriority(EXTI9_5_IRQn,3);
HARUKIDELTA	0:17f575135219	311	NVIC_SetPriority(USART2_IRQn,4);
HARUKIDELTA	0:17f575135219	312	DisplayClock();
HARUKIDELTA	0:17f575135219	313	t.start();
HARUKIDELTA	0:17f575135219	314
HARUKIDELTA	0:17f575135219	315
HARUKIDELTA	0:17f575135219	316	pc.printf("MPU calibration start\r\n");
HARUKIDELTA	0:17f575135219	317
HARUKIDELTA	0:17f575135219	318	float offsetstart = t.read();
HARUKIDELTA	0:17f575135219	319	while(t.read() - offsetstart < 26){
HARUKIDELTA	0:17f575135219	320	SensingMPU();
HARUKIDELTA	0:17f575135219	321	for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
HARUKIDELTA	0:17f575135219	322	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	323	led1 = !led1;
HARUKIDELTA	0:17f575135219	324	led2 = !led2;
HARUKIDELTA	0:17f575135219	325	led3 = !led3;
HARUKIDELTA	0:17f575135219	326	led4 = !led4;
HARUKIDELTA	0:17f575135219	327	}
HARUKIDELTA	0:17f575135219	328
HARUKIDELTA	0:17f575135219	329	FirstROLL = nowAngle[ROLL];
HARUKIDELTA	0:17f575135219	330	FirstPITCH = nowAngle[PITCH];
HARUKIDELTA	0:17f575135219	331	nowAngle[ROLL] -=FirstROLL;
HARUKIDELTA	0:17f575135219	332	nowAngle[PITCH] -=FirstPITCH;
HARUKIDELTA	0:17f575135219	333
HARUKIDELTA	0:17f575135219	334	led1 = 0;
HARUKIDELTA	0:17f575135219	335	led2 = 0;
HARUKIDELTA	0:17f575135219	336	led3 = 0;
HARUKIDELTA	0:17f575135219	337	led4 = 0;
HARUKIDELTA	0:17f575135219	338	wait(0.2);
HARUKIDELTA	0:17f575135219	339
HARUKIDELTA	0:17f575135219	340
HARUKIDELTA	0:17f575135219	341	pc.printf("All initialized\r\n");
HARUKIDELTA	0:17f575135219	342	}
HARUKIDELTA	0:17f575135219	343
HARUKIDELTA	0:17f575135219	344	void loop(){
HARUKIDELTA	0:17f575135219	345	static float targetAngle[3] = {0.0, 0.0, 0.0}, controlValue[2] = {0.0, 0.0};
HARUKIDELTA	0:17f575135219	346
HARUKIDELTA	0:17f575135219	347	SensingMPU();
taknokolat	10:652071c20bf6	348	NVIC_DisableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	349	UpdateTargetAngle(targetAngle);
HARUKIDELTA	0:17f575135219	350	//Rotate(targetAngle, 30.0);
HARUKIDELTA	0:17f575135219	351	CalculateControlValue(targetAngle, controlValue);
taknokolat	10:652071c20bf6	352	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	353	UpdateAutoPWM(controlValue);
taknokolat	10:652071c20bf6	354	NVIC_EnableIRQ(USART1_IRQn);
taknokolat	10:652071c20bf6	355	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	11:c0b9ad25d3db	356	wait_ms(23);
taknokolat	10:652071c20bf6	357	pc.printf("%c",g_landingcommand);
HARUKIDELTA	0:17f575135219	358	#if DEBUG_PRINT_INLOOP
HARUKIDELTA	0:17f575135219	359	DebugPrint();
HARUKIDELTA	0:17f575135219	360	#endif
HARUKIDELTA	0:17f575135219	361	}
HARUKIDELTA	0:17f575135219	362
HARUKIDELTA	0:17f575135219	363	//サーボ初期化関数
HARUKIDELTA	0:17f575135219	364	void Init_servo(){
HARUKIDELTA	0:17f575135219	365
HARUKIDELTA	0:17f575135219	366	servo1.period_ms(14);
HARUKIDELTA	0:17f575135219	367	servo1.pulsewidth_us(trimpwm[AIL_R]);
HARUKIDELTA	0:17f575135219	368
HARUKIDELTA	0:17f575135219	369	servo2.period_ms(14);
HARUKIDELTA	0:17f575135219	370	servo2.pulsewidth_us(trimpwm[ELE]);
HARUKIDELTA	0:17f575135219	371
HARUKIDELTA	0:17f575135219	372	servo3.period_ms(14);
HARUKIDELTA	0:17f575135219	373	servo3.pulsewidth_us(trimpwm[THR]);
HARUKIDELTA	0:17f575135219	374
HARUKIDELTA	0:17f575135219	375	servo4.period_ms(14);
HARUKIDELTA	0:17f575135219	376	servo4.pulsewidth_us(trimpwm[RUD]);
HARUKIDELTA	0:17f575135219	377
HARUKIDELTA	0:17f575135219	378	servo5.period_ms(14);
HARUKIDELTA	0:17f575135219	379	servo5.pulsewidth_us(1392);
HARUKIDELTA	0:17f575135219	380
HARUKIDELTA	0:17f575135219	381	servo6.period_ms(14);
HARUKIDELTA	0:17f575135219	382	servo6.pulsewidth_us(trimpwm[AIL_L]);
HARUKIDELTA	0:17f575135219	383
HARUKIDELTA	0:17f575135219	384	pc.printf("servo initialized\r\n");
HARUKIDELTA	0:17f575135219	385	}
HARUKIDELTA	0:17f575135219	386
HARUKIDELTA	0:17f575135219	387	//Sbus初期化
HARUKIDELTA	0:17f575135219	388	void Init_sbus(){
HARUKIDELTA	0:17f575135219	389	sbus.initialize();
HARUKIDELTA	0:17f575135219	390	sbus.setLastfuncPoint(Update_PWM);
HARUKIDELTA	0:17f575135219	391	sbus.startInterrupt();
HARUKIDELTA	0:17f575135219	392	}
HARUKIDELTA	0:17f575135219	393
HARUKIDELTA	0:17f575135219	394	void Init_sensors(){
HARUKIDELTA	0:17f575135219	395	if(mpu6050.setup() == -1){
HARUKIDELTA	0:17f575135219	396	pc.printf("failed initialize\r\n");
HARUKIDELTA	0:17f575135219	397	while(1){
HARUKIDELTA	0:17f575135219	398	led1 = 1; led2 = 0; led3 = 1; led4 = 0;
HARUKIDELTA	0:17f575135219	399	wait(1);
HARUKIDELTA	0:17f575135219	400	led1 = 0; led2 = 1; led3 = 0; led4 = 1;
HARUKIDELTA	0:17f575135219	401	wait(1);
HARUKIDELTA	0:17f575135219	402	}
HARUKIDELTA	0:17f575135219	403	}
HARUKIDELTA	0:17f575135219	404	}
HARUKIDELTA	0:17f575135219	405
HARUKIDELTA	0:17f575135219	406	void Init_PWM(){
HARUKIDELTA	2:23daa5fa28b4	407	for (uint8_t i = 0; i < 6; ++i){
HARUKIDELTA	0:17f575135219	408	trimpwm[i] = 1500 + (int16_t)(lengthdivpwm * (trim[i]/100));
HARUKIDELTA	0:17f575135219	409	maxpwm[i] = 1500 + (int16_t)(lengthdivpwm * (expMax[i]/100));
HARUKIDELTA	0:17f575135219	410	minpwm[i] = 1500 - (int16_t)(lengthdivpwm * (expMin[i]/100));
HARUKIDELTA	0:17f575135219	411	}
HARUKIDELTA	0:17f575135219	412	pc.printf("PWM initialized\r\n");
HARUKIDELTA	0:17f575135219	413	}
HARUKIDELTA	0:17f575135219	414
HARUKIDELTA	0:17f575135219	415	void DisplayClock(){
HARUKIDELTA	0:17f575135219	416	pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000);
HARUKIDELTA	0:17f575135219	417	pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000);
HARUKIDELTA	0:17f575135219	418	pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000);
HARUKIDELTA	0:17f575135219	419	pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000);
HARUKIDELTA	0:17f575135219	420	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	421	}
HARUKIDELTA	0:17f575135219	422
HARUKIDELTA	0:17f575135219	423	void UpdateTargetAngle(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	424	static int16_t count_op = 0;
HARUKIDELTA	0:17f575135219	425	#if DEBUG_SEMIAUTO
HARUKIDELTA	0:17f575135219	426	switch(operation_mode){
HARUKIDELTA	0:17f575135219	427	case StartUp:
HARUKIDELTA	0:17f575135219	428	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	429	count_op++;
HARUKIDELTA	0:17f575135219	430	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	431	operation_mode = SemiAuto;
HARUKIDELTA	0:17f575135219	432	pc.printf("Goto SemiAuto mode\r\n");
HARUKIDELTA	0:17f575135219	433	count_op = 0;
HARUKIDELTA	0:17f575135219	434	}
HARUKIDELTA	0:17f575135219	435	}else count_op = 0;
HARUKIDELTA	0:17f575135219	436	break;
HARUKIDELTA	0:17f575135219	437
HARUKIDELTA	0:17f575135219	438	case SemiAuto:
HARUKIDELTA	0:17f575135219	439	/* 大会用では以下のif文を入れてoperation_modeを変える
HARUKIDELTA	0:17f575135219	440	if(CheckSW_Up(Ch6)){
HARUKIDELTA	0:17f575135219	441	count_op++;
HARUKIDELTA	0:17f575135219	442	if(count_op>changeModeCount){
HARUKIDELTA	0:17f575135219	443	output_status = XXX;
HARUKIDELTA	0:17f575135219	444	led2 = 0;
HARUKIDELTA	0:17f575135219	445	pc.printf("Goto XXX mode\r\n");
HARUKIDELTA	0:17f575135219	446	count_op = 0;
HARUKIDELTA	0:17f575135219	447	}else count_op = 0;
HARUKIDELTA	0:17f575135219	448	ConvertPWMintoRAD(targetAngle);
HARUKIDELTA	0:17f575135219	449	}
HARUKIDELTA	0:17f575135219	450	*/
HARUKIDELTA	0:17f575135219	451	ConvertPWMintoRAD(targetAngle);
HARUKIDELTA	0:17f575135219	452	break;
HARUKIDELTA	0:17f575135219	453
HARUKIDELTA	0:17f575135219	454	default:
HARUKIDELTA	0:17f575135219	455	operation_mode = SemiAuto;
HARUKIDELTA	0:17f575135219	456	break;
HARUKIDELTA	0:17f575135219	457	}
HARUKIDELTA	0:17f575135219	458
HARUKIDELTA	0:17f575135219	459	#else
HARUKIDELTA	0:17f575135219	460
HARUKIDELTA	0:17f575135219	461	switch(operation_mode){
HARUKIDELTA	0:17f575135219	462	case StartUp:
HARUKIDELTA	0:17f575135219	463	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
HARUKIDELTA	0:17f575135219	464	count_op++;
HARUKIDELTA	0:17f575135219	465	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	466	operation_mode = RightLoop;
HARUKIDELTA	0:17f575135219	467	pc.printf("Goto RightLoop mode\r\n");
HARUKIDELTA	0:17f575135219	468	count_op = 0;
HARUKIDELTA	0:17f575135219	469	}
HARUKIDELTA	0:17f575135219	470	}else count_op = 0;
HARUKIDELTA	0:17f575135219	471	break;
HARUKIDELTA	0:17f575135219	472
HARUKIDELTA	0:17f575135219	473	case RightLoop:
HARUKIDELTA	0:17f575135219	474	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	475	count_op++;
HARUKIDELTA	0:17f575135219	476	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	477	operation_mode = LeftLoop;
HARUKIDELTA	0:17f575135219	478	pc.printf("Goto LeftLoop mode\r\n");
HARUKIDELTA	0:17f575135219	479	count_op = 0;
HARUKIDELTA	0:17f575135219	480	}
HARUKIDELTA	0:17f575135219	481	}else count_op = 0;
HARUKIDELTA	0:17f575135219	482	UpdateTargetAngle_Rightloop(targetAngle);
HARUKIDELTA	0:17f575135219	483
HARUKIDELTA	0:17f575135219	484	break;
HARUKIDELTA	0:17f575135219	485
HARUKIDELTA	0:17f575135219	486	case LeftLoop:
HARUKIDELTA	0:17f575135219	487	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	488	count_op++;
HARUKIDELTA	0:17f575135219	489	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	490	operation_mode = GoStraight;
HARUKIDELTA	0:17f575135219	491	pc.printf("Goto GoStraight mode\r\n");
HARUKIDELTA	0:17f575135219	492	count_op = 0;
HARUKIDELTA	0:17f575135219	493	}
HARUKIDELTA	0:17f575135219	494	}else count_op = 0;
HARUKIDELTA	0:17f575135219	495	UpdateTargetAngle_Leftloop(targetAngle);
HARUKIDELTA	0:17f575135219	496	break;
HARUKIDELTA	0:17f575135219	497
HARUKIDELTA	0:17f575135219	498	case GoStraight:
HARUKIDELTA	0:17f575135219	499	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	500	count_op++;
HARUKIDELTA	0:17f575135219	501	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	502	operation_mode = Moebius;
HARUKIDELTA	0:17f575135219	503	pc.printf("Goto Moebius mode\r\n");
HARUKIDELTA	0:17f575135219	504	count_op = 0;
HARUKIDELTA	0:17f575135219	505	}
HARUKIDELTA	0:17f575135219	506	}else count_op = 0;
HARUKIDELTA	0:17f575135219	507	UpdateTargetAngle_GoStraight(targetAngle);
HARUKIDELTA	0:17f575135219	508	break;
HARUKIDELTA	0:17f575135219	509
HARUKIDELTA	0:17f575135219	510	case Moebius:
HARUKIDELTA	0:17f575135219	511	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	512	count_op++;
HARUKIDELTA	0:17f575135219	513	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	514	operation_mode = Glide;
HARUKIDELTA	0:17f575135219	515	pc.printf("Goto Glide mode\r\n");
HARUKIDELTA	0:17f575135219	516	count_op = 0;
HARUKIDELTA	0:17f575135219	517	}
HARUKIDELTA	0:17f575135219	518	}else count_op = 0;
HARUKIDELTA	0:17f575135219	519	UpdateTargetAngle_Moebius(targetAngle);
HARUKIDELTA	0:17f575135219	520	break;
HARUKIDELTA	0:17f575135219	521
HARUKIDELTA	0:17f575135219	522	case Glide:
HARUKIDELTA	0:17f575135219	523	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	524	count_op++;
HARUKIDELTA	0:17f575135219	525	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	526	operation_mode = BombwithPC;
HARUKIDELTA	0:17f575135219	527	pc.printf("Goto Bombing mode\r\n");
HARUKIDELTA	0:17f575135219	528	count_op = 0;
HARUKIDELTA	0:17f575135219	529	}
HARUKIDELTA	0:17f575135219	530	}else count_op = 0;
HARUKIDELTA	0:17f575135219	531	UpdateTargetAngle_Glide(targetAngle);
HARUKIDELTA	0:17f575135219	532	break;
HARUKIDELTA	0:17f575135219	533
HARUKIDELTA	0:17f575135219	534	case BombwithPC:
HARUKIDELTA	0:17f575135219	535	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	536	count_op++;
HARUKIDELTA	0:17f575135219	537	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	538	operation_mode = RightLoop;
HARUKIDELTA	0:17f575135219	539	pc.printf("Goto RightLoop mode\r\n");
HARUKIDELTA	0:17f575135219	540	count_op = 0;
HARUKIDELTA	0:17f575135219	541	}
HARUKIDELTA	0:17f575135219	542	}else count_op = 0;
HARUKIDELTA	0:17f575135219	543	Take_off_and_landing(targetAngle);
HARUKIDELTA	0:17f575135219	544	break;
HARUKIDELTA	0:17f575135219	545
HARUKIDELTA	0:17f575135219	546	default:
HARUKIDELTA	0:17f575135219	547	operation_mode = StartUp;
HARUKIDELTA	0:17f575135219	548	break;
HARUKIDELTA	0:17f575135219	549	}
HARUKIDELTA	0:17f575135219	550	#endif
HARUKIDELTA	0:17f575135219	551
HARUKIDELTA	0:17f575135219	552	if(CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	553	output_status = Auto;
HARUKIDELTA	0:17f575135219	554	led1 = 1;
HARUKIDELTA	0:17f575135219	555	}else{
HARUKIDELTA	0:17f575135219	556	output_status = Manual;
HARUKIDELTA	0:17f575135219	557	led1 = 0;
HARUKIDELTA	0:17f575135219	558	}
HARUKIDELTA	0:17f575135219	559	}
HARUKIDELTA	0:17f575135219	560
HARUKIDELTA	0:17f575135219	561	int GetParameter(FILE fp, const char paramName,char parameter[]){
HARUKIDELTA	0:17f575135219	562	int i=0, j=0;
HARUKIDELTA	0:17f575135219	563	int strmax = 200;
HARUKIDELTA	0:17f575135219	564	char str[strmax];
HARUKIDELTA	0:17f575135219	565
HARUKIDELTA	0:17f575135219	566	rewind(fp); //ファイル位置を先頭に
HARUKIDELTA	0:17f575135219	567	while(1){
HARUKIDELTA	0:17f575135219	568	if (fgets(str, strmax, fp) == NULL) {
HARUKIDELTA	0:17f575135219	569	return 0;
HARUKIDELTA	0:17f575135219	570	}
HARUKIDELTA	0:17f575135219	571	if (!strncmp(str, paramName, strlen(paramName))) {
HARUKIDELTA	0:17f575135219	572	while (str[i++] != '=') {}
HARUKIDELTA	0:17f575135219	573	while (str[i] != '\n') {
HARUKIDELTA	0:17f575135219	574	parameter[j++] = str[i++];
HARUKIDELTA	0:17f575135219	575	}
HARUKIDELTA	0:17f575135219	576	parameter[j] = '\0';
HARUKIDELTA	0:17f575135219	577	return 1;
HARUKIDELTA	0:17f575135219	578	}
HARUKIDELTA	0:17f575135219	579	}
HARUKIDELTA	0:17f575135219	580	return 0;
HARUKIDELTA	0:17f575135219	581	}
HARUKIDELTA	0:17f575135219	582
HARUKIDELTA	0:17f575135219	583
HARUKIDELTA	0:17f575135219	584	//sdによる設定
HARUKIDELTA	0:17f575135219	585	int SetOptions(float g_kpELE, float g_kiELE, float *g_kdELE,
HARUKIDELTA	0:17f575135219	586	float g_kpRUD, float g_kiRUD, float *g_kdRUD,
HARUKIDELTA	0:17f575135219	587	float g_rightloopROLL, float g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	588	float g_leftloopROLL, float g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	589	float g_gostraightROLL, float g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	590	float g_takeoffTHR, float g_loopTHR,
HARUKIDELTA	0:17f575135219	591	float g_rightloopROLLshort, float g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	592	float g_leftloopROLLshort, float g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	593	float g_glideloopROLL, float g_glideloopPITCH,
HARUKIDELTA	12:763bf416ba4b	594	float g_kpAIL, float g_kiAIL, float *g_kdAIL
HARUKIDELTA	0:17f575135219	595	){
HARUKIDELTA	0:17f575135219	596
HARUKIDELTA	0:17f575135219	597	pc.printf("SDsetup start.\r\n");
HARUKIDELTA	0:17f575135219	598
HARUKIDELTA	0:17f575135219	599	FILE *fp;
HARUKIDELTA	0:17f575135219	600	char parameter[30]; //文字列渡す用の配列
HARUKIDELTA	0:17f575135219	601	int SDerrorcount = 0; //取得できなかった数を返す
HARUKIDELTA	0:17f575135219	602	const char *paramNames[] = {
HARUKIDELTA	0:17f575135219	603	"KP_ELEVATOR",
HARUKIDELTA	0:17f575135219	604	"KI_ELEVATOR",
HARUKIDELTA	0:17f575135219	605	"KD_ELEVATOR",
HARUKIDELTA	0:17f575135219	606	"KP_RUDDER",
HARUKIDELTA	0:17f575135219	607	"KI_RUDDER",
HARUKIDELTA	0:17f575135219	608	"KD_RUDDER",
HARUKIDELTA	0:17f575135219	609	"RIGHTLOOP_ROLL",
HARUKIDELTA	0:17f575135219	610	"RIGHTLOOP_PITCH",
HARUKIDELTA	0:17f575135219	611	"LEFTLOOP_ROLL",
HARUKIDELTA	0:17f575135219	612	"LEFTLOOP_PITCH",
HARUKIDELTA	0:17f575135219	613	"GOSTRAIGHT_ROLL",
HARUKIDELTA	0:17f575135219	614	"GOSTRAIGHT_PITCH",
HARUKIDELTA	0:17f575135219	615	"TAKEOFF_THR_RATE",
HARUKIDELTA	0:17f575135219	616	"LOOP_THR_RATE",
HARUKIDELTA	0:17f575135219	617	"RIGHTLOOP_ROLL_SHORT",
HARUKIDELTA	0:17f575135219	618	"RIGHTLOOP_PITCH_SHORT",
HARUKIDELTA	0:17f575135219	619	"LEFTLOOP_ROLL_SHORT",
HARUKIDELTA	0:17f575135219	620	"LEFTLOOP_PITCH_SHORT",
HARUKIDELTA	0:17f575135219	621	"AUTOGLIDE_ROLL",
HARUKIDELTA	12:763bf416ba4b	622	"AUTOGLIDE PITCH",
HARUKIDELTA	12:763bf416ba4b	623	"KP_AILERON",
HARUKIDELTA	12:763bf416ba4b	624	"KI_AILERON",
HARUKIDELTA	12:763bf416ba4b	625	"KD_AILERON"
HARUKIDELTA	0:17f575135219	626	};
HARUKIDELTA	0:17f575135219	627
HARUKIDELTA	0:17f575135219	628	fp = fopen("/sd/option.txt","r");
HARUKIDELTA	0:17f575135219	629
HARUKIDELTA	0:17f575135219	630	if(fp != NULL){ //開けたら
HARUKIDELTA	0:17f575135219	631	pc.printf("File was openned.\r\n");
HARUKIDELTA	0:17f575135219	632	if(GetParameter(fp,paramNames[0],parameter)) *g_kpELE = atof(parameter);
HARUKIDELTA	0:17f575135219	633	else{ *g_kpELE = KP_ELE;
HARUKIDELTA	0:17f575135219	634	SDerrorcount++;
HARUKIDELTA	0:17f575135219	635	}
HARUKIDELTA	0:17f575135219	636	if(GetParameter(fp,paramNames[1],parameter)) *g_kiELE = atof(parameter);
HARUKIDELTA	0:17f575135219	637	else{ *g_kiELE = KI_ELE;
HARUKIDELTA	0:17f575135219	638	SDerrorcount++;
HARUKIDELTA	0:17f575135219	639	}
HARUKIDELTA	0:17f575135219	640	if(GetParameter(fp,paramNames[2],parameter)) *g_kdELE = atof(parameter);
HARUKIDELTA	0:17f575135219	641	else{ *g_kdELE = KD_ELE;
HARUKIDELTA	0:17f575135219	642	SDerrorcount++;
HARUKIDELTA	0:17f575135219	643	}
HARUKIDELTA	0:17f575135219	644	if(GetParameter(fp,paramNames[3],parameter)) *g_kpRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	645	else{ *g_kpRUD = KP_RUD;
HARUKIDELTA	0:17f575135219	646	SDerrorcount++;
HARUKIDELTA	0:17f575135219	647	}
HARUKIDELTA	0:17f575135219	648	if(GetParameter(fp,paramNames[4],parameter)) *g_kiRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	649	else{ *g_kiRUD = KI_RUD;
HARUKIDELTA	0:17f575135219	650	SDerrorcount++;
HARUKIDELTA	0:17f575135219	651	}
HARUKIDELTA	0:17f575135219	652	if(GetParameter(fp,paramNames[5],parameter)) *g_kdRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	653	else{ *g_kdRUD = KD_RUD;
HARUKIDELTA	0:17f575135219	654	SDerrorcount++;
HARUKIDELTA	0:17f575135219	655	}
HARUKIDELTA	0:17f575135219	656	if(GetParameter(fp,paramNames[6],parameter)) *g_rightloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	657	else{ *g_rightloopROLL = RIGHT_ROLL;
HARUKIDELTA	0:17f575135219	658	SDerrorcount++;
HARUKIDELTA	0:17f575135219	659	}
HARUKIDELTA	0:17f575135219	660	if(GetParameter(fp,paramNames[7],parameter)) *g_rightloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	661	else{ *g_rightloopPITCH = RIGHT_PITCH;
HARUKIDELTA	0:17f575135219	662	SDerrorcount++;
HARUKIDELTA	0:17f575135219	663	}
HARUKIDELTA	0:17f575135219	664	if(GetParameter(fp,paramNames[8],parameter)) *g_leftloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	665	else{ *g_leftloopROLL = LEFT_ROLL;
HARUKIDELTA	0:17f575135219	666	SDerrorcount++;
HARUKIDELTA	0:17f575135219	667	}
HARUKIDELTA	0:17f575135219	668	if(GetParameter(fp,paramNames[9],parameter)) *g_leftloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	669	else{ *g_leftloopPITCH = LEFT_PITCH;
HARUKIDELTA	0:17f575135219	670	SDerrorcount++;
HARUKIDELTA	0:17f575135219	671	}
HARUKIDELTA	0:17f575135219	672	if(GetParameter(fp,paramNames[10],parameter)) *g_gostraightROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	673	else{ *g_gostraightROLL = STRAIGHT_ROLL;
HARUKIDELTA	0:17f575135219	674	SDerrorcount++;
HARUKIDELTA	0:17f575135219	675	}
HARUKIDELTA	0:17f575135219	676	if(GetParameter(fp,paramNames[11],parameter)) *g_gostraightPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	677	else{ *g_gostraightPITCH = STRAIGHT_PITCH;
HARUKIDELTA	0:17f575135219	678	SDerrorcount++;
HARUKIDELTA	0:17f575135219	679	}
HARUKIDELTA	0:17f575135219	680	if(GetParameter(fp,paramNames[12],parameter)) *g_takeoffTHR = atof(parameter);
HARUKIDELTA	0:17f575135219	681	else{ *g_takeoffTHR = TAKEOFF_THR;
HARUKIDELTA	0:17f575135219	682	SDerrorcount++;
HARUKIDELTA	0:17f575135219	683	}
HARUKIDELTA	0:17f575135219	684	if(GetParameter(fp,paramNames[13],parameter)) *g_loopTHR = atof(parameter);
HARUKIDELTA	0:17f575135219	685	else{ *g_loopTHR = LOOP_THR;
HARUKIDELTA	0:17f575135219	686	SDerrorcount++;
HARUKIDELTA	0:17f575135219	687	}
HARUKIDELTA	0:17f575135219	688	if(GetParameter(fp,paramNames[14],parameter)) *g_rightloopROLLshort = atof(parameter);
HARUKIDELTA	0:17f575135219	689	else{ *g_rightloopROLLshort = RIGHT_ROLL_SHORT;
HARUKIDELTA	0:17f575135219	690	SDerrorcount++;
HARUKIDELTA	0:17f575135219	691	}
HARUKIDELTA	0:17f575135219	692	if(GetParameter(fp,paramNames[15],parameter)) *g_rightloopPITCHshort = atof(parameter);
HARUKIDELTA	0:17f575135219	693	else{ *g_rightloopPITCHshort = RIGHT_PITCH_SHORT;
HARUKIDELTA	0:17f575135219	694	SDerrorcount++;
HARUKIDELTA	0:17f575135219	695	}
HARUKIDELTA	0:17f575135219	696	if(GetParameter(fp,paramNames[16],parameter)) *g_leftloopROLLshort = atof(parameter);
HARUKIDELTA	0:17f575135219	697	else{ *g_leftloopROLLshort = LEFT_ROLL_SHORT;
HARUKIDELTA	0:17f575135219	698	SDerrorcount++;
HARUKIDELTA	0:17f575135219	699	}
HARUKIDELTA	0:17f575135219	700	if(GetParameter(fp,paramNames[17],parameter)) *g_leftloopPITCHshort = atof(parameter);
HARUKIDELTA	0:17f575135219	701	else{ *g_leftloopPITCHshort = LEFT_PITCH_SHORT;
HARUKIDELTA	0:17f575135219	702	SDerrorcount++;
HARUKIDELTA	0:17f575135219	703	}
HARUKIDELTA	0:17f575135219	704	if(GetParameter(fp,paramNames[18],parameter)) *g_glideloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	705	else{ *g_glideloopROLL = GLIDE_ROLL;
HARUKIDELTA	0:17f575135219	706	SDerrorcount++;
HARUKIDELTA	0:17f575135219	707	}
HARUKIDELTA	0:17f575135219	708	if(GetParameter(fp,paramNames[19],parameter)) *g_glideloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	709	else{ *g_glideloopPITCH = GLIDE_PITCH;
HARUKIDELTA	0:17f575135219	710	SDerrorcount++;
HARUKIDELTA	0:17f575135219	711	}
HARUKIDELTA	12:763bf416ba4b	712	if(GetParameter(fp,paramNames[20],parameter)) *g_kpAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	713	else{ *g_kpAIL = KP_AIL;
HARUKIDELTA	12:763bf416ba4b	714	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	715	}
HARUKIDELTA	12:763bf416ba4b	716	if(GetParameter(fp,paramNames[21],parameter)) *g_kiAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	717	else{ *g_kiAIL = KI_AIL;
HARUKIDELTA	12:763bf416ba4b	718	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	719	}
HARUKIDELTA	12:763bf416ba4b	720	if(GetParameter(fp,paramNames[22],parameter)) *g_kdAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	721	else{ *g_kdAIL = KP_AIL;
HARUKIDELTA	12:763bf416ba4b	722	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	723	}
HARUKIDELTA	0:17f575135219	724	fclose(fp);
HARUKIDELTA	0:17f575135219	725
HARUKIDELTA	0:17f575135219	726	}else{ //ファイルがなかったら
HARUKIDELTA	0:17f575135219	727	pc.printf("fp was null.\r\n");
HARUKIDELTA	0:17f575135219	728	*g_kpELE = KP_ELE;
HARUKIDELTA	0:17f575135219	729	*g_kiELE = KI_ELE;
HARUKIDELTA	0:17f575135219	730	*g_kdELE = KD_ELE;
HARUKIDELTA	0:17f575135219	731	*g_kpRUD = KP_RUD;
HARUKIDELTA	0:17f575135219	732	*g_kiRUD = KI_RUD;
HARUKIDELTA	0:17f575135219	733	*g_kdRUD = KD_RUD;
HARUKIDELTA	0:17f575135219	734	*g_rightloopROLL = RIGHT_ROLL;
HARUKIDELTA	0:17f575135219	735	*g_rightloopPITCH = RIGHT_PITCH;
HARUKIDELTA	0:17f575135219	736	*g_leftloopROLL = LEFT_ROLL;
HARUKIDELTA	0:17f575135219	737	*g_leftloopPITCH = LEFT_PITCH;
HARUKIDELTA	0:17f575135219	738	*g_gostraightROLL = STRAIGHT_ROLL;
HARUKIDELTA	0:17f575135219	739	*g_gostraightPITCH = STRAIGHT_PITCH;
HARUKIDELTA	0:17f575135219	740	*g_takeoffTHR = TAKEOFF_THR;
HARUKIDELTA	0:17f575135219	741	*g_loopTHR = LOOP_THR;
HARUKIDELTA	12:763bf416ba4b	742	*g_kpAIL = KP_AIL; //パラメータ変えるのお忘れなく！！
HARUKIDELTA	12:763bf416ba4b	743	*g_kiAIL = KI_AIL;
HARUKIDELTA	12:763bf416ba4b	744	*g_kdAIL = KD_AIL;
HARUKIDELTA	12:763bf416ba4b	745
HARUKIDELTA	0:17f575135219	746	SDerrorcount = -1;
HARUKIDELTA	0:17f575135219	747	}
HARUKIDELTA	0:17f575135219	748	pc.printf("SDsetup finished.\r\n");
HARUKIDELTA	0:17f575135219	749	if(SDerrorcount == 0) pc.printf("setting option is success\r\n");
HARUKIDELTA	0:17f575135219	750	else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n");
HARUKIDELTA	0:17f575135219	751	else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount);
HARUKIDELTA	0:17f575135219	752
HARUKIDELTA	0:17f575135219	753	pc.printf("kpELE = %f, kiELE = %f, kdELE = %f\r\n", g_kpRUD, g_kiRUD, *g_kdRUD);
HARUKIDELTA	0:17f575135219	754	pc.printf("kpRUD = %f, kiRUD = %f, kdRUD = %f\r\n", g_kpELE, g_kiELE, *g_kdELE);
HARUKIDELTA	0:17f575135219	755	pc.printf("rightloopROLL = %f, rightloopPITCH = %f\r\n", g_rightloopROLL, g_rightloopPITCH);
HARUKIDELTA	0:17f575135219	756	pc.printf("leftloopROLL = %f, g_leftloopPITCH = %f\r\n", g_leftloopROLL, g_leftloopPITCH);
HARUKIDELTA	0:17f575135219	757	pc.printf("gostraightROLL = %f, g_gostraightPITCH = %f\r\n", g_gostraightROLL, g_gostraightPITCH);
HARUKIDELTA	0:17f575135219	758	pc.printf("g_takeoffTHR = %f, g_loopTHR = %f\r\n", g_takeoffTHR, g_loopTHR);
HARUKIDELTA	0:17f575135219	759	pc.printf("rightloopROLLshort = %f, rightloopPITCHshort = %f\r\n", g_rightloopROLLshort, g_rightloopPITCHshort);
HARUKIDELTA	0:17f575135219	760	pc.printf("leftloopROLLshort = %f, g_leftloopPITCHshort = %f\r\n", g_leftloopROLLshort, g_leftloopPITCHshort);
HARUKIDELTA	0:17f575135219	761	pc.printf("glideROLL = %f, glidePITCH = %f\r\n", g_glideloopROLL, g_glideloopPITCH);
HARUKIDELTA	0:17f575135219	762
HARUKIDELTA	0:17f575135219	763	return SDerrorcount;
HARUKIDELTA	0:17f575135219	764	}
HARUKIDELTA	0:17f575135219	765
HARUKIDELTA	0:17f575135219	766	void CalculateControlValue(float targetAngle[3], float controlValue[3]){
HARUKIDELTA	0:17f575135219	767	static int t_last;
HARUKIDELTA	0:17f575135219	768	int t_now;
HARUKIDELTA	0:17f575135219	769	float dt;
HARUKIDELTA	0:17f575135219	770
HARUKIDELTA	0:17f575135219	771	t_now = t.read_us();
HARUKIDELTA	0:17f575135219	772	dt = (float)((t_now - t_last)/1000000.0f) ;
HARUKIDELTA	0:17f575135219	773	t_last = t_now;
HARUKIDELTA	0:17f575135219	774
taknokolat	1:f383708a5a52	775
taknokolat	1:f383708a5a52	776	//controlValue[ROLL] = pid_RUD.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt);
taknokolat	1:f383708a5a52	777	controlValue[ROLL] = pid_AIL.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); //エルロンでロール制御
HARUKIDELTA	0:17f575135219	778	controlValue[PITCH] = pid_ELE.calcPID(nowAngle[PITCH], targetAngle[PITCH], dt);
HARUKIDELTA	0:17f575135219	779	}
HARUKIDELTA	0:17f575135219	780
HARUKIDELTA	0:17f575135219	781	void UpdateAutoPWM(float controlValue[3]){
HARUKIDELTA	0:17f575135219	782	int16_t addpwm[2]; //-500~500
HARUKIDELTA	0:17f575135219	783	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
HARUKIDELTA	0:17f575135219	784	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
HARUKIDELTA	0:17f575135219	785
HARUKIDELTA	2:23daa5fa28b4	786	autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH]; //rewrite
HARUKIDELTA	8:66bba39b95a9	787	autopwm[AIL_R] = trimpwm[AIL_R] - reverce[AIL_R] * addpwm[ROLL];
HARUKIDELTA	0:17f575135219	788	//autopwm[THR] = oldTHR;
HARUKIDELTA	0:17f575135219	789
HARUKIDELTA	0:17f575135219	790	autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]);
taknokolat	1:f383708a5a52	791	autopwm[AIL_R] = ThresholdMaxMin(autopwm[AIL_R], maxpwm[AIL_R], minpwm[AIL_R]);
HARUKIDELTA	2:23daa5fa28b4	792
HARUKIDELTA	0:17f575135219	793	}
HARUKIDELTA	0:17f575135219	794
HARUKIDELTA	0:17f575135219	795	inline float CalcRatio(float value, float trim, float limit){
HARUKIDELTA	0:17f575135219	796	return (value - trim) / (limit - trim);
HARUKIDELTA	0:17f575135219	797	}
HARUKIDELTA	0:17f575135219	798
HARUKIDELTA	0:17f575135219	799	bool CheckSW_Up(Channel ch){
HARUKIDELTA	0:17f575135219	800	if(SWITCH_CHECK < sbus.manualpwm[ch]){
HARUKIDELTA	0:17f575135219	801	return true;
HARUKIDELTA	0:17f575135219	802	}else{
HARUKIDELTA	0:17f575135219	803	return false;
HARUKIDELTA	0:17f575135219	804	}
HARUKIDELTA	0:17f575135219	805	}
HARUKIDELTA	0:17f575135219	806
HARUKIDELTA	0:17f575135219	807	int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min){
HARUKIDELTA	0:17f575135219	808	if(value > max) return max;
HARUKIDELTA	0:17f575135219	809	if(value < min) return min;
HARUKIDELTA	0:17f575135219	810	return value;
HARUKIDELTA	0:17f575135219	811	}
HARUKIDELTA	0:17f575135219	812
HARUKIDELTA	0:17f575135219	813	inline int16_t SetTHRinRatio(float ratio){
HARUKIDELTA	0:17f575135219	814	return minpwm[THR] + (int16_t)(2 * lengthdivpwm * ratio);
HARUKIDELTA	0:17f575135219	815	}
HARUKIDELTA	0:17f575135219	816
HARUKIDELTA	2:23daa5fa28b4	817
HARUKIDELTA	2:23daa5fa28b4	818
HARUKIDELTA	0:17f575135219	819	/---SBUS割り込み処理---/
HARUKIDELTA	0:17f575135219	820
HARUKIDELTA	0:17f575135219	821	//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)
HARUKIDELTA	0:17f575135219	822	//各stabiGylo関数で算出したpwmを各変数に代入する(自動モード)
HARUKIDELTA	0:17f575135219	823	void Update_PWM()
HARUKIDELTA	0:17f575135219	824	{
HARUKIDELTA	0:17f575135219	825	static int16_t pwm[6];
HARUKIDELTA	0:17f575135219	826	static int16_t temppwm[6]={trimpwm[0],trimpwm[1],trimpwm[2],trimpwm[3],trimpwm[4],trimpwm[5]};
HARUKIDELTA	0:17f575135219	827	if(sbus.flg_ch_update == true){
taknokolat	10:652071c20bf6	828	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	829	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
HARUKIDELTA	0:17f575135219	830	case Manual:
HARUKIDELTA	0:17f575135219	831	for(uint8_t i=0;i<6;i++){
taknokolat	1:f383708a5a52	832	pwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	833	}
HARUKIDELTA	2:23daa5fa28b4	834	/*pc.printf("%d ,",pwm[0]);//R
HARUKIDELTA	2:23daa5fa28b4	835	pc.printf("%d ,\r\n",pwm[5]);//L*/
HARUKIDELTA	0:17f575135219	836	oldTHR = sbus.manualpwm[THR];
HARUKIDELTA	0:17f575135219	837	//pc.printf("update_manual\r\n");
HARUKIDELTA	0:17f575135219	838	break;
HARUKIDELTA	0:17f575135219	839
HARUKIDELTA	0:17f575135219	840	case Auto:
HARUKIDELTA	0:17f575135219	841	pwm[AIL_R] = autopwm[AIL_R]; //sbus.manualpwm[AIL];
HARUKIDELTA	0:17f575135219	842	pwm[ELE] = autopwm[ELE];
HARUKIDELTA	0:17f575135219	843	pwm[THR] = autopwm[THR];
HARUKIDELTA	0:17f575135219	844	pwm[RUD] = autopwm[RUD];
HARUKIDELTA	0:17f575135219	845	pwm[DROP] = autopwm[DROP];
HARUKIDELTA	0:17f575135219	846	pwm[AIL_L] = autopwm[AIL_L];
taknokolat	10:652071c20bf6	847	//pc.printf("%d ,",pwm[AIL_R]);//R
taknokolat	10:652071c20bf6	848	//pc.printf("%d ,\r\n",pwm[AIL_L]);//L
HARUKIDELTA	0:17f575135219	849	//pc.printf("update_auto\r\n");
HARUKIDELTA	2:23daa5fa28b4	850
HARUKIDELTA	0:17f575135219	851	break;
HARUKIDELTA	0:17f575135219	852
HARUKIDELTA	0:17f575135219	853	default:
HARUKIDELTA	0:17f575135219	854	for(uint8_t i=0;i<6;i++){
HARUKIDELTA	0:17f575135219	855	pwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	856	} //pc.printf("update_manual\r\n");
HARUKIDELTA	0:17f575135219	857	break;
taknokolat	10:652071c20bf6	858	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	859	}
HARUKIDELTA	0:17f575135219	860	for(uint8_t i=0;i<6;i++){
HARUKIDELTA	0:17f575135219	861	if(pwm[i]<1000 \|\| pwm[i]>2000) pwm[i]=temppwm[i];
HARUKIDELTA	0:17f575135219	862	temppwm[i]=pwm[i];
HARUKIDELTA	0:17f575135219	863	}
HARUKIDELTA	0:17f575135219	864	}else{
HARUKIDELTA	0:17f575135219	865	pc.printf("0\r\n");
HARUKIDELTA	0:17f575135219	866	}
HARUKIDELTA	0:17f575135219	867	sbus.flg_ch_update = false;
HARUKIDELTA	0:17f575135219	868	Output_PWM(pwm);
HARUKIDELTA	0:17f575135219	869	}
HARUKIDELTA	0:17f575135219	870
HARUKIDELTA	0:17f575135219	871
HARUKIDELTA	0:17f575135219	872	//pwmをサーボに出力。
HARUKIDELTA	0:17f575135219	873	void Output_PWM(int16_t pwm[5])
HARUKIDELTA	0:17f575135219	874	{
taknokolat	10:652071c20bf6	875	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	876	servo1.pulsewidth_us(pwm[0]);
HARUKIDELTA	0:17f575135219	877	servo2.pulsewidth_us(pwm[1]);
HARUKIDELTA	0:17f575135219	878	servo3.pulsewidth_us(pwm[2]);
HARUKIDELTA	0:17f575135219	879	servo4.pulsewidth_us(pwm[3]);
HARUKIDELTA	0:17f575135219	880	servo5.pulsewidth_us(pwm[4]);
HARUKIDELTA	0:17f575135219	881	servo6.pulsewidth_us(pwm[5]);
taknokolat	10:652071c20bf6	882	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	883
HARUKIDELTA	0:17f575135219	884	}
HARUKIDELTA	0:17f575135219	885
HARUKIDELTA	0:17f575135219	886	void ResetTrim(){
HARUKIDELTA	0:17f575135219	887	for(uint8_t i=0; i<6; i++){ //i=4から書き換え＿投下サーボは入ってない模様
HARUKIDELTA	0:17f575135219	888	trimpwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	889	}
HARUKIDELTA	0:17f575135219	890	pc.printf("reset PWM trim\r\n");
HARUKIDELTA	0:17f575135219	891	}
HARUKIDELTA	0:17f575135219	892
HARUKIDELTA	0:17f575135219	893
HARUKIDELTA	0:17f575135219	894	void SensingMPU(){
HARUKIDELTA	0:17f575135219	895	//static int16_t deltaT = 0, t_start = 0;
HARUKIDELTA	0:17f575135219	896	//t_start = t.read_us();
HARUKIDELTA	0:17f575135219	897
HARUKIDELTA	0:17f575135219	898	float rpy[3] = {0}, oldrpy[3] = {0};
HARUKIDELTA	0:17f575135219	899	static uint16_t count_changeRPY = 0;
HARUKIDELTA	0:17f575135219	900	static bool flg_checkoutlier = false;
HARUKIDELTA	0:17f575135219	901	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	902	NVIC_DisableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	903	NVIC_DisableIRQ(TIM5_IRQn);
taknokolat	10:652071c20bf6	904	NVIC_DisableIRQ(EXTI0_IRQn);//MPU割り込み禁止
taknokolat	10:652071c20bf6	905	NVIC_DisableIRQ(EXTI9_5_IRQn);//超音波割り込み禁止
HARUKIDELTA	0:17f575135219	906
HARUKIDELTA	0:17f575135219	907	mpu6050.getRollPitchYaw_Skipper(rpy);
HARUKIDELTA	0:17f575135219	908
HARUKIDELTA	0:17f575135219	909	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	910	NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	911	NVIC_EnableIRQ(TIM5_IRQn);
HARUKIDELTA	0:17f575135219	912	NVIC_EnableIRQ(EXTI0_IRQn);
HARUKIDELTA	0:17f575135219	913	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	914
HARUKIDELTA	0:17f575135219	915
HARUKIDELTA	0:17f575135219	916	//外れ値対策
HARUKIDELTA	0:17f575135219	917	for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI;
HARUKIDELTA	0:17f575135219	918	rpy[ROLL] -= FirstROLL;
HARUKIDELTA	0:17f575135219	919	rpy[PITCH] -= FirstPITCH;
HARUKIDELTA	0:17f575135219	920	rpy[YAW] -= FirstYAW;
HARUKIDELTA	0:17f575135219	921
HARUKIDELTA	0:17f575135219	922	for(uint8_t i=0; i<3; i++) {if(rpy[i] < nowAngle[i]-10 \|\| rpy[i] > nowAngle[i]+10) {flg_checkoutlier = true;}}
HARUKIDELTA	0:17f575135219	923	if(!flg_checkoutlier \|\| count_changeRPY >= 2){
HARUKIDELTA	0:17f575135219	924	for(uint8_t i=0; i<3; i++){
HARUKIDELTA	0:17f575135219	925	nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均
HARUKIDELTA	0:17f575135219	926	}
HARUKIDELTA	0:17f575135219	927	count_changeRPY = 0;
HARUKIDELTA	0:17f575135219	928	}else count_changeRPY++;
HARUKIDELTA	0:17f575135219	929	flg_checkoutlier = false;
HARUKIDELTA	0:17f575135219	930
HARUKIDELTA	0:17f575135219	931	}
HARUKIDELTA	0:17f575135219	932
HARUKIDELTA	0:17f575135219	933	float TranslateNewYaw(float beforeYaw, float newzeroYaw){
HARUKIDELTA	0:17f575135219	934	float newYaw = beforeYaw - newzeroYaw;
HARUKIDELTA	0:17f575135219	935
HARUKIDELTA	0:17f575135219	936	if(newYaw<-180.0f) newYaw += 360.0f;
HARUKIDELTA	0:17f575135219	937	else if(newYaw>180.0f) newYaw -= 360.0f;
HARUKIDELTA	0:17f575135219	938	return newYaw;
HARUKIDELTA	0:17f575135219	939	}
HARUKIDELTA	0:17f575135219	940
HARUKIDELTA	0:17f575135219	941
HARUKIDELTA	0:17f575135219	942	void getSF_Serial(){
HARUKIDELTA	0:17f575135219	943
HARUKIDELTA	0:17f575135219	944	static char SFbuf[16];
HARUKIDELTA	0:17f575135219	945	static int bufcounter=0;
HARUKIDELTA	0:17f575135219	946
taknokolat	11:c0b9ad25d3db	947
taknokolat	10:652071c20bf6	948
HARUKIDELTA	0:17f575135219	949	SFbuf[bufcounter]=pc.getc();
taknokolat	11:c0b9ad25d3db	950
taknokolat	11:c0b9ad25d3db	951
taknokolat	11:c0b9ad25d3db	952	pc.printf("%c",SFbuf[bufcounter]);
taknokolat	11:c0b9ad25d3db	953
HARUKIDELTA	0:17f575135219	954	if(SFbuf[0]=='S'&&bufcounter<5) bufcounter++;
HARUKIDELTA	0:17f575135219	955
HARUKIDELTA	0:17f575135219	956	if(bufcounter==5 && SFbuf[4]=='F'){
HARUKIDELTA	0:17f575135219	957	g_landingcommand = SFbuf[1];
taknokolat	11:c0b9ad25d3db	958	wait_ms(5);
HARUKIDELTA	0:17f575135219	959	if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
HARUKIDELTA	0:17f575135219	960	bufcounter = 0;
HARUKIDELTA	0:17f575135219	961	memset(SFbuf, 0, strlen(SFbuf));
taknokolat	10:652071c20bf6	962	//pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
HARUKIDELTA	0:17f575135219	963	}
taknokolat	10:652071c20bf6	964	else if(bufcounter>=5 ){
HARUKIDELTA	0:17f575135219	965	pc.printf("Communication Falsed.\r\n");
HARUKIDELTA	0:17f575135219	966	bufcounter = 0;
HARUKIDELTA	0:17f575135219	967	}
taknokolat	11:c0b9ad25d3db	968
HARUKIDELTA	0:17f575135219	969	}
HARUKIDELTA	0:17f575135219	970
HARUKIDELTA	0:17f575135219	971	float ConvertByteintoFloat(char high, char low){
HARUKIDELTA	0:17f575135219	972
HARUKIDELTA	0:17f575135219	973	//int16_t intvalue = (int16_t)high*256 + (int16_t)low;
HARUKIDELTA	0:17f575135219	974	int16_t intvalue = (int16_t)(((int16_t)high << 8) \| low); // Turn the MSB and LSB into a signed 16-bit value
HARUKIDELTA	0:17f575135219	975	float floatvalue = (float)intvalue;
HARUKIDELTA	0:17f575135219	976	return floatvalue;
HARUKIDELTA	0:17f575135219	977	}
HARUKIDELTA	0:17f575135219	978
HARUKIDELTA	0:17f575135219	979
HARUKIDELTA	0:17f575135219	980	//超音波割り込み
taknokolat	10:652071c20bf6	981	/*void UpdateDist(){
HARUKIDELTA	0:17f575135219	982	g_distance = usensor.get_dist_cm();
HARUKIDELTA	0:17f575135219	983	usensor.start();
taknokolat	10:652071c20bf6	984	}*/
HARUKIDELTA	0:17f575135219	985
HARUKIDELTA	0:17f575135219	986	//8の字旋回
HARUKIDELTA	0:17f575135219	987	void UpdateTargetAngle_Moebius(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	988	static uint8_t RotateCounter=0;
HARUKIDELTA	0:17f575135219	989	static bool flg_setInStartAuto = false;
HARUKIDELTA	0:17f575135219	990	static float FirstYAW_Moebius = 0.0;
HARUKIDELTA	0:17f575135219	991	float newYaw_Moebius;
HARUKIDELTA	0:17f575135219	992
HARUKIDELTA	0:17f575135219	993	if(!flg_setInStartAuto && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	994	FirstYAW_Moebius = nowAngle[YAW];
HARUKIDELTA	0:17f575135219	995	RotateCounter = 0;
HARUKIDELTA	0:17f575135219	996	flg_setInStartAuto = true;
HARUKIDELTA	0:17f575135219	997	}else if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	998	flg_setInStartAuto = false;
HARUKIDELTA	0:17f575135219	999	led2 = 0;
HARUKIDELTA	0:17f575135219	1000	}
HARUKIDELTA	6:ed61ed8b8fab	1001	autopwm[THR]=oldTHR;
HARUKIDELTA	6:ed61ed8b8fab	1002
HARUKIDELTA	0:17f575135219	1003	newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius);
HARUKIDELTA	0:17f575135219	1004
HARUKIDELTA	0:17f575135219	1005	if(RotateCounter == 0 && newYaw_Moebius >90.0 && newYaw_Moebius < 180.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n");}
HARUKIDELTA	0:17f575135219	1006	if(RotateCounter == 1 && newYaw_Moebius >-180.0 && newYaw_Moebius < -90.0) {RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n");}
HARUKIDELTA	6:ed61ed8b8fab	1007	if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius <-10.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n");}
HARUKIDELTA	6:ed61ed8b8fab	1008	if(RotateCounter == 3 && newYaw_Moebius >0.0 && newYaw_Moebius < 90.0) {RotateCounter++; led2 = 0; pc.printf("Change Rotate direction\r\n");}
HARUKIDELTA	0:17f575135219	1009
HARUKIDELTA	0:17f575135219	1010
HARUKIDELTA	0:17f575135219	1011	if(RotateCounter <= 3) UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1012	else UpdateTargetAngle_Leftloop_short(targetAngle); //左旋回
HARUKIDELTA	0:17f575135219	1013
HARUKIDELTA	0:17f575135219	1014	}
HARUKIDELTA	0:17f575135219	1015
HARUKIDELTA	0:17f575135219	1016	//自動滑空
HARUKIDELTA	0:17f575135219	1017	void UpdateTargetAngle_Glide(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1018	static int THRcount = 0;
HARUKIDELTA	0:17f575135219	1019	static int t_start = 0;
HARUKIDELTA	0:17f575135219	1020	static bool flg_tstart = false;
HARUKIDELTA	0:17f575135219	1021	int t_diff = 0;
taknokolat	1:f383708a5a52	1022	static int groundcount = 0;
HARUKIDELTA	0:17f575135219	1023
HARUKIDELTA	0:17f575135219	1024	targetAngle[ROLL] = g_glideloopROLL;
HARUKIDELTA	0:17f575135219	1025	targetAngle[PITCH] = g_glideloopPITCH;
HARUKIDELTA	0:17f575135219	1026
HARUKIDELTA	7:53b0eb6f6bd3	1027	// autopwm[THR]=oldTHR;
taknokolat	10:652071c20bf6	1028
taknokolat	1:f383708a5a52	1029
HARUKIDELTA	7:53b0eb6f6bd3	1030
HARUKIDELTA	0:17f575135219	1031	//時間計測開始設定
HARUKIDELTA	0:17f575135219	1032	if(!flg_tstart && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1033	t_start = t.read();
HARUKIDELTA	0:17f575135219	1034	flg_tstart = true;
HARUKIDELTA	0:17f575135219	1035	pc.printf("timer start\r\n");
taknokolat	1:f383708a5a52	1036	}else if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1037	t_start = 0;
HARUKIDELTA	0:17f575135219	1038	flg_tstart = false;
HARUKIDELTA	0:17f575135219	1039	}
HARUKIDELTA	0:17f575135219	1040
taknokolat	1:f383708a5a52	1041
HARUKIDELTA	0:17f575135219	1042	//フラグが偽であれば計測は行わない
HARUKIDELTA	0:17f575135219	1043	if(flg_tstart){
HARUKIDELTA	0:17f575135219	1044	t_diff = t.read() - t_start;
HARUKIDELTA	0:17f575135219	1045	//一定高度or15秒でled点灯
taknokolat	10:652071c20bf6	1046	NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat	1:f383708a5a52	1047	if((groundcount>5 && g_distance>0) \|\| t_diff > 15){
HARUKIDELTA	0:17f575135219	1048	led2 = 1;
HARUKIDELTA	0:17f575135219	1049	//pc.printf("Call [Stop!] calling!\r\n");
HARUKIDELTA	0:17f575135219	1050	}
taknokolat	10:652071c20bf6	1051
taknokolat	1:f383708a5a52	1052	if(g_distance<180 && g_distance > 0) groundcount++;
taknokolat	10:652071c20bf6	1053	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1054	}else{
HARUKIDELTA	0:17f575135219	1055	t_diff = 0;
taknokolat	1:f383708a5a52	1056	groundcount = 0;
HARUKIDELTA	0:17f575135219	1057	led2 = 0;
HARUKIDELTA	0:17f575135219	1058	}
HARUKIDELTA	0:17f575135219	1059
taknokolat	1:f383708a5a52	1060	if(t_diff > 17){
HARUKIDELTA	0:17f575135219	1061	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	0:17f575135219	1062	}else{
taknokolat	10:652071c20bf6	1063	NVIC_DisableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1064	if(g_distance<150 && g_distance>0 ){
taknokolat	10:652071c20bf6	1065	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1066	THRcount++;
HARUKIDELTA	0:17f575135219	1067	if(THRcount>5){
taknokolat	1:f383708a5a52	1068	autopwm[THR] = SetTHRinRatio(0.6);
HARUKIDELTA	0:17f575135219	1069	//pc.printf("throttle ON\r\n");
HARUKIDELTA	0:17f575135219	1070	}
HARUKIDELTA	0:17f575135219	1071	}else{
HARUKIDELTA	0:17f575135219	1072	autopwm[THR] = 1180;
HARUKIDELTA	0:17f575135219	1073	THRcount = 0;
HARUKIDELTA	0:17f575135219	1074	}
HARUKIDELTA	7:53b0eb6f6bd3	1075	}
HARUKIDELTA	0:17f575135219	1076	}
HARUKIDELTA	0:17f575135219	1077	//離陸-投下-着陸一連
HARUKIDELTA	0:17f575135219	1078	void Take_off_and_landing(float targetAngle[3]){
taknokolat	10:652071c20bf6	1079	/*
HARUKIDELTA	0:17f575135219	1080	if(!CheckSW_Up(Ch7)) bombing_mode = Takeoff;
HARUKIDELTA	0:17f575135219	1081
HARUKIDELTA	0:17f575135219	1082	switch(bombing_mode){
HARUKIDELTA	0:17f575135219	1083	case Takeoff:
HARUKIDELTA	0:17f575135219	1084	static bool flg_setFirstYaw = false;
HARUKIDELTA	0:17f575135219	1085	static int TakeoffCount = 0;
HARUKIDELTA	0:17f575135219	1086
HARUKIDELTA	0:17f575135219	1087	if(!flg_setFirstYaw && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1088	FirstYAW = nowAngle[YAW];
HARUKIDELTA	0:17f575135219	1089	flg_setFirstYaw = true;
HARUKIDELTA	0:17f575135219	1090	}else if(flg_setFirstYaw && !CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1091	flg_setFirstYaw = false;
HARUKIDELTA	0:17f575135219	1092	}
HARUKIDELTA	0:17f575135219	1093
HARUKIDELTA	0:17f575135219	1094	UpdateTargetAngle_Takeoff(targetAngle);
HARUKIDELTA	0:17f575135219	1095
HARUKIDELTA	0:17f575135219	1096	if(g_distance>150) TakeoffCount++;
HARUKIDELTA	0:17f575135219	1097	else TakeoffCount = 0;
HARUKIDELTA	0:17f575135219	1098	if(TakeoffCount>5){
HARUKIDELTA	0:17f575135219	1099	autopwm[THR] = 1180+32020.5;
HARUKIDELTA	0:17f575135219	1100	pc.printf("Now go to Approach mode!!");
HARUKIDELTA	0:17f575135219	1101	bombing_mode = Approach;
HARUKIDELTA	0:17f575135219	1102	}
HARUKIDELTA	0:17f575135219	1103	break;
taknokolat	10:652071c20bf6	1104
taknokolat	10:652071c20bf6	1105	//case Chicken:
taknokolat	10:652071c20bf6	1106	//break;
taknokolat	10:652071c20bf6	1107
HARUKIDELTA	0:17f575135219	1108	case Transition:
HARUKIDELTA	0:17f575135219	1109	static int ApproachCount = 0;
HARUKIDELTA	0:17f575135219	1110	targetAngle[YAW]=180.0;
HARUKIDELTA	0:17f575135219	1111	int Judge = Rotate(targetAngle, g_SerialTargetYAW);
HARUKIDELTA	0:17f575135219	1112
HARUKIDELTA	0:17f575135219	1113	if(Judge==0) ApproachCount++;
HARUKIDELTA	0:17f575135219	1114	if(ApproachCount>5) bombing_mode = Approach;
HARUKIDELTA	0:17f575135219	1115	break;
HARUKIDELTA	0:17f575135219	1116
HARUKIDELTA	0:17f575135219	1117	case Approach:
taknokolat	10:652071c20bf6	1118	*/
taknokolat	10:652071c20bf6	1119	autopwm[THR] = SetTHRinRatio(g_loopTHR); //0.7;スロットルの割合
HARUKIDELTA	0:17f575135219	1120	UpdateTargetAngle_Approach(targetAngle);
taknokolat	10:652071c20bf6	1121	/*
HARUKIDELTA	0:17f575135219	1122	break;
HARUKIDELTA	0:17f575135219	1123
HARUKIDELTA	0:17f575135219	1124	default:
HARUKIDELTA	0:17f575135219	1125	bombing_mode = Takeoff;
HARUKIDELTA	0:17f575135219	1126	break;
HARUKIDELTA	0:17f575135219	1127	}
taknokolat	10:652071c20bf6	1128	*/
HARUKIDELTA	0:17f575135219	1129	}
HARUKIDELTA	0:17f575135219	1130
HARUKIDELTA	0:17f575135219	1131	//離陸モード
HARUKIDELTA	0:17f575135219	1132	void UpdateTargetAngle_Takeoff(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1133	//pc.printf("%d \r\n",g_distance);
HARUKIDELTA	0:17f575135219	1134	targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA	0:17f575135219	1135	targetAngle[PITCH] = g_loopTHR;
HARUKIDELTA	0:17f575135219	1136	autopwm[THR] = SetTHRinRatio(g_takeoffTHR); //0.7;スロットルの割合
HARUKIDELTA	0:17f575135219	1137	}
HARUKIDELTA	0:17f575135219	1138
HARUKIDELTA	0:17f575135219	1139	//ヨーを目標値にして許容角度になるまで水平旋回
HARUKIDELTA	0:17f575135219	1140	int Rotate(float targetAngle[3], float TargetYAW){
HARUKIDELTA	0:17f575135219	1141	float diffYaw = TranslateNewYaw(TargetYAW, nowAngle[YAW]);
HARUKIDELTA	0:17f575135219	1142
HARUKIDELTA	0:17f575135219	1143	if(diffYaw > LIMIT_STRAIGHT_YAW){
HARUKIDELTA	0:17f575135219	1144	/*
HARUKIDELTA	0:17f575135219	1145	if(diffYaw > THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1146	else UpdateTargetAngle_Rightloop(targetAngle);
HARUKIDELTA	0:17f575135219	1147	*/
HARUKIDELTA	0:17f575135219	1148	UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1149	return 1;
HARUKIDELTA	0:17f575135219	1150	}else if(diffYaw < -LIMIT_STRAIGHT_YAW){
HARUKIDELTA	0:17f575135219	1151	UpdateTargetAngle_Leftloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1152	/*
HARUKIDELTA	0:17f575135219	1153	if(diffYaw < -THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Leftloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1154	else UpdateTargetAngle_Leftloop(targetAngle);
HARUKIDELTA	0:17f575135219	1155	*/
HARUKIDELTA	0:17f575135219	1156	return 1;
HARUKIDELTA	0:17f575135219	1157	}else{
HARUKIDELTA	0:17f575135219	1158	UpdateTargetAngle_GoStraight(targetAngle);
HARUKIDELTA	0:17f575135219	1159	return 0;
HARUKIDELTA	0:17f575135219	1160	}
HARUKIDELTA	0:17f575135219	1161	}
HARUKIDELTA	0:17f575135219	1162
HARUKIDELTA	0:17f575135219	1163	//チキラー投下
HARUKIDELTA	0:17f575135219	1164	void Chicken_Drop(){
HARUKIDELTA	0:17f575135219	1165	if(CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1166	autopwm[DROP] = 1512;
HARUKIDELTA	0:17f575135219	1167	pc.printf("Bombed!\r\n");
HARUKIDELTA	0:17f575135219	1168	RerurnChickenServo1.attach(&ReturnChickenServo1, 3);
HARUKIDELTA	0:17f575135219	1169	//operation_mode = Approach;
HARUKIDELTA	0:17f575135219	1170	//buzzer = 0;
HARUKIDELTA	0:17f575135219	1171	pc.printf("Goto LeftLoop mode\r\n");
HARUKIDELTA	0:17f575135219	1172	}
HARUKIDELTA	0:17f575135219	1173	}
HARUKIDELTA	0:17f575135219	1174
HARUKIDELTA	0:17f575135219	1175	void ReturnChickenServo1(){
HARUKIDELTA	0:17f575135219	1176	autopwm[DROP] = 1344;
HARUKIDELTA	0:17f575135219	1177	pc.printf("first reverse\r\n");
HARUKIDELTA	0:17f575135219	1178	RerurnChickenServo2.attach(&ReturnChickenServo2, 1);
HARUKIDELTA	0:17f575135219	1179	}
HARUKIDELTA	0:17f575135219	1180
HARUKIDELTA	0:17f575135219	1181	void ReturnChickenServo2(){
HARUKIDELTA	0:17f575135219	1182	autopwm[DROP] = 1392;
HARUKIDELTA	0:17f575135219	1183	pc.printf("second reverse\r\n");
taknokolat	10:652071c20bf6	1184	}
taknokolat	10:652071c20bf6	1185
taknokolat	10:652071c20bf6	1186	//着陸モード（PCからの指令に従う）
taknokolat	10:652071c20bf6	1187	void UpdateTargetAngle_Approach(float targetAngle[3]){
taknokolat	10:652071c20bf6	1188
taknokolat	10:652071c20bf6	1189	NVIC_DisableIRQ(USART2_IRQn);
taknokolat	10:652071c20bf6	1190
taknokolat	10:652071c20bf6	1191	switch(g_landingcommand){
taknokolat	10:652071c20bf6	1192	case 'R': //右旋回セヨ
taknokolat	10:652071c20bf6	1193	targetAngle[ROLL] = g_rightloopROLL;
taknokolat	10:652071c20bf6	1194	targetAngle[PITCH] = g_rightloopPITCH ;
taknokolat	10:652071c20bf6	1195	autopwm[RUD]=rightloopRUD; //RUD固定
taknokolat	10:652071c20bf6	1196	if(autopwm[AIL_R]>trimpwm[AIL_R]){ //エルロン上がりやすさ調節
taknokolat	10:652071c20bf6	1197	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	10:652071c20bf6	1198	}
taknokolat	10:652071c20bf6	1199	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
taknokolat	10:652071c20bf6	1200	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
HARUKIDELTA	0:17f575135219	1201
taknokolat	10:652071c20bf6	1202	break;
taknokolat	10:652071c20bf6	1203
taknokolat	10:652071c20bf6	1204	case 'L': //左旋回セヨ
taknokolat	10:652071c20bf6	1205	targetAngle[ROLL] = g_leftloopROLL;
taknokolat	10:652071c20bf6	1206	targetAngle[PITCH] = g_leftloopPITCH;
taknokolat	10:652071c20bf6	1207	autopwm[RUD]=leftloopRUD;
taknokolat	10:652071c20bf6	1208	if(autopwm[AIL_R]>trimpwm[AIL_R]){
taknokolat	10:652071c20bf6	1209	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	10:652071c20bf6	1210	}
taknokolat	10:652071c20bf6	1211	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	0:17f575135219	1212
taknokolat	10:652071c20bf6	1213	break;
taknokolat	10:652071c20bf6	1214
taknokolat	10:652071c20bf6	1215	case 'G': //直進セヨ
taknokolat	10:652071c20bf6	1216	targetAngle[ROLL] = g_gostraightROLL;
taknokolat	10:652071c20bf6	1217	targetAngle[PITCH] = g_gostraightPITCH;
taknokolat	10:652071c20bf6	1218
taknokolat	10:652071c20bf6	1219
taknokolat	10:652071c20bf6	1220	break;
taknokolat	10:652071c20bf6	1221
taknokolat	10:652071c20bf6	1222	case 'Y': //指定ノヨー方向ニ移動セヨ
taknokolat	10:652071c20bf6	1223	Rotate(targetAngle, g_SerialTargetYAW);
taknokolat	10:652071c20bf6	1224	break;
taknokolat	10:652071c20bf6	1225
taknokolat	10:652071c20bf6	1226	case 'B': //ブザーヲ鳴ラセ
taknokolat	10:652071c20bf6	1227	//buzzer = 1;
taknokolat	10:652071c20bf6	1228	break;
taknokolat	10:652071c20bf6	1229
taknokolat	10:652071c20bf6	1230	case 'D': //物資ヲ落トセ
taknokolat	10:652071c20bf6	1231	Chicken_Drop();
taknokolat	10:652071c20bf6	1232	break;
taknokolat	10:652071c20bf6	1233
taknokolat	10:652071c20bf6	1234	case 'C': //停止セヨ
taknokolat	10:652071c20bf6	1235	targetAngle[ROLL] = 0.0;
taknokolat	10:652071c20bf6	1236	targetAngle[PITCH] = -3.0;
taknokolat	10:652071c20bf6	1237	autopwm[THR] = minpwm[THR];
taknokolat	10:652071c20bf6	1238	break;
HARUKIDELTA	0:17f575135219	1239
taknokolat	10:652071c20bf6	1240	}
taknokolat	10:652071c20bf6	1241	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	10:652071c20bf6	1242	}
taknokolat	10:652071c20bf6	1243
taknokolat	10:652071c20bf6	1244	void checkHeight(float targetAngle[3]){
taknokolat	10:652071c20bf6	1245
taknokolat	10:652071c20bf6	1246	static int targetHeight = 200;
taknokolat	10:652071c20bf6	1247	NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat	10:652071c20bf6	1248	if(g_distance < targetHeight + ALLOWHEIGHT){
taknokolat	10:652071c20bf6	1249	UpdateTargetAngle_NoseUP(targetAngle);
taknokolat	10:652071c20bf6	1250	if(CheckSW_Up(Ch7)) led2 = 1;
taknokolat	10:652071c20bf6	1251	}
taknokolat	10:652071c20bf6	1252	else if(g_distance > targetHeight - ALLOWHEIGHT){
taknokolat	10:652071c20bf6	1253	UpdateTargetAngle_NoseDOWN(targetAngle);
taknokolat	10:652071c20bf6	1254	if(CheckSW_Up(Ch7)) led2 = 1;
taknokolat	10:652071c20bf6	1255	}
taknokolat	10:652071c20bf6	1256	else led2=0;
taknokolat	10:652071c20bf6	1257	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1258	}
HARUKIDELTA	0:17f575135219	1259
taknokolat	10:652071c20bf6	1260	void UpdateTargetAngle_NoseUP(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1261
HARUKIDELTA	0:17f575135219	1262	//targetAngle[PITCH] += 2.0f;
HARUKIDELTA	0:17f575135219	1263	//if(nowAngle[PITCH]<targetAngle[PITCH]) autopwm[THR] = SetTHRinRatio(0.6);
HARUKIDELTA	0:17f575135219	1264	autopwm[THR] = SetTHRinRatio(g_loopTHR+0.05);
HARUKIDELTA	0:17f575135219	1265	//pc.printf("nose UP");
HARUKIDELTA	0:17f575135219	1266	}
HARUKIDELTA	0:17f575135219	1267
HARUKIDELTA	0:17f575135219	1268	void UpdateTargetAngle_NoseDOWN(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1269
HARUKIDELTA	0:17f575135219	1270	//targetAngle[PITCH] -= 2.0f;
HARUKIDELTA	0:17f575135219	1271	autopwm[THR] = SetTHRinRatio(g_loopTHR-0.05);
HARUKIDELTA	0:17f575135219	1272	//pc.printf("nose DOWN");
HARUKIDELTA	0:17f575135219	1273	}
HARUKIDELTA	0:17f575135219	1274
HARUKIDELTA	0:17f575135219	1275	//直進
HARUKIDELTA	0:17f575135219	1276	void UpdateTargetAngle_GoStraight(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1277
HARUKIDELTA	0:17f575135219	1278	targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA	0:17f575135219	1279	targetAngle[PITCH] = g_gostraightPITCH;
HARUKIDELTA	0:17f575135219	1280	autopwm[THR] = SetTHRinRatio(g_loopTHR);
HARUKIDELTA	0:17f575135219	1281
HARUKIDELTA	0:17f575135219	1282	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1283	}
HARUKIDELTA	0:17f575135219	1284
HARUKIDELTA	3:206b17251f5b	1285
HARUKIDELTA	0:17f575135219	1286	//右旋回
HARUKIDELTA	0:17f575135219	1287	void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回
HARUKIDELTA	0:17f575135219	1288
HARUKIDELTA	0:17f575135219	1289	targetAngle[ROLL] = g_rightloopROLL;
HARUKIDELTA	0:17f575135219	1290	targetAngle[PITCH] = g_rightloopPITCH ;
HARUKIDELTA	3:206b17251f5b	1291	autopwm[RUD]=rightloopRUD; //RUD固定
TUATBM	9:f6367b7fd7be	1292	autopwm[THR] = SetTHRinRatio(0.5); //手動スロットル記憶
HARUKIDELTA	3:206b17251f5b	1293	if(autopwm[AIL_R]>trimpwm[AIL_R]){ //エルロン上がりやすさ調節
HARUKIDELTA	3:206b17251f5b	1294	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	3:206b17251f5b	1295	}
HARUKIDELTA	3:206b17251f5b	1296	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
TUATBM	9:f6367b7fd7be	1297	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
TUATBM	9:f6367b7fd7be	1298
HARUKIDELTA	0:17f575135219	1299	//checkHeight(targetAngle);
HARUKIDELTA	0:17f575135219	1300	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1301	}
HARUKIDELTA	0:17f575135219	1302
HARUKIDELTA	4:fff1165ca50c	1303	//右旋回（着陸時スロットル０の時）
HARUKIDELTA	4:fff1165ca50c	1304	void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]){ //右旋回
HARUKIDELTA	4:fff1165ca50c	1305
HARUKIDELTA	4:fff1165ca50c	1306	targetAngle[ROLL] = g_rightloopROLL;
HARUKIDELTA	4:fff1165ca50c	1307	targetAngle[PITCH] = g_rightloopPITCH ;
HARUKIDELTA	4:fff1165ca50c	1308	autopwm[RUD]=rightloopRUD;
HARUKIDELTA	4:fff1165ca50c	1309	autopwm[THR] = minpwm[THR];//SetTHRinRatio(g_loopTHR);
HARUKIDELTA	4:fff1165ca50c	1310	if(autopwm[AIL_R]>trimpwm[AIL_R]){
HARUKIDELTA	4:fff1165ca50c	1311	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1312	}
HARUKIDELTA	4:fff1165ca50c	1313	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1314
HARUKIDELTA	4:fff1165ca50c	1315	//checkHeight(targetAngle);
HARUKIDELTA	4:fff1165ca50c	1316	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	4:fff1165ca50c	1317	}
HARUKIDELTA	4:fff1165ca50c	1318
HARUKIDELTA	0:17f575135219	1319	void UpdateTargetAngle_Rightloop_short(float targetAngle[3]){ //右旋回
HARUKIDELTA	0:17f575135219	1320
HARUKIDELTA	0:17f575135219	1321	targetAngle[ROLL] = g_rightloopROLLshort;
HARUKIDELTA	0:17f575135219	1322	targetAngle[PITCH] = g_rightloopPITCHshort;
HARUKIDELTA	3:206b17251f5b	1323	autopwm[RUD]=rightloopshortRUD;
HARUKIDELTA	3:206b17251f5b	1324	autopwm[THR] = oldTHR;
HARUKIDELTA	3:206b17251f5b	1325	if(autopwm[AIL_R]>trimpwm[AIL_R]){
HARUKIDELTA	3:206b17251f5b	1326	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	3:206b17251f5b	1327	}
HARUKIDELTA	3:206b17251f5b	1328	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	0:17f575135219	1329
HARUKIDELTA	0:17f575135219	1330	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1331	}
HARUKIDELTA	0:17f575135219	1332
HARUKIDELTA	0:17f575135219	1333	//左旋回
HARUKIDELTA	0:17f575135219	1334	void UpdateTargetAngle_Leftloop(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1335
HARUKIDELTA	0:17f575135219	1336	targetAngle[ROLL] = g_leftloopROLL;
HARUKIDELTA	0:17f575135219	1337	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	4:fff1165ca50c	1338	autopwm[RUD]=leftloopRUD;
HARUKIDELTA	4:fff1165ca50c	1339	autopwm[THR] = oldTHR;
HARUKIDELTA	4:fff1165ca50c	1340	if(autopwm[AIL_R]>trimpwm[AIL_R]){
HARUKIDELTA	4:fff1165ca50c	1341	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1342	}
HARUKIDELTA	4:fff1165ca50c	1343	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1344	//checkHeight(targetAngle);
HARUKIDELTA	4:fff1165ca50c	1345
HARUKIDELTA	4:fff1165ca50c	1346	//printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	4:fff1165ca50c	1347	}
HARUKIDELTA	4:fff1165ca50c	1348
HARUKIDELTA	4:fff1165ca50c	1349	//左旋回（着陸時スロットル０のとき）
HARUKIDELTA	4:fff1165ca50c	1350	void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]){
HARUKIDELTA	4:fff1165ca50c	1351
HARUKIDELTA	4:fff1165ca50c	1352	targetAngle[ROLL] = g_leftloopROLL;
HARUKIDELTA	4:fff1165ca50c	1353	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	4:fff1165ca50c	1354	autopwm[RUD]=leftloopRUD;
HARUKIDELTA	4:fff1165ca50c	1355	autopwm[THR] = minpwm[THR];
HARUKIDELTA	4:fff1165ca50c	1356	if(autopwm[AIL_R]>trimpwm[AIL_R]){
HARUKIDELTA	4:fff1165ca50c	1357	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1358	}
HARUKIDELTA	4:fff1165ca50c	1359	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1360	//autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_Ratio_leftloop;
HARUKIDELTA	0:17f575135219	1361	//checkHeight(targetAngle);
HARUKIDELTA	0:17f575135219	1362
HARUKIDELTA	2:23daa5fa28b4	1363	//printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1364	}
HARUKIDELTA	0:17f575135219	1365
HARUKIDELTA	0:17f575135219	1366	void UpdateTargetAngle_Leftloop_short(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1367
HARUKIDELTA	0:17f575135219	1368	targetAngle[ROLL] = g_leftloopROLLshort;
HARUKIDELTA	0:17f575135219	1369	targetAngle[PITCH] = g_leftloopPITCHshort;
HARUKIDELTA	4:fff1165ca50c	1370	autopwm[RUD]=leftloopRUD;
HARUKIDELTA	4:fff1165ca50c	1371	autopwm[THR] = oldTHR;
HARUKIDELTA	4:fff1165ca50c	1372	if(autopwm[AIL_R]>trimpwm[AIL_R]){
HARUKIDELTA	4:fff1165ca50c	1373	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1374	}
HARUKIDELTA	4:fff1165ca50c	1375	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1376
HARUKIDELTA	0:17f575135219	1377	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1378	}
taknokolat	10:652071c20bf6	1379
HARUKIDELTA	0:17f575135219	1380
HARUKIDELTA	0:17f575135219	1381	//デバッグ用
HARUKIDELTA	0:17f575135219	1382	void DebugPrint(){
HARUKIDELTA	0:17f575135219	1383	/*
HARUKIDELTA	0:17f575135219	1384	static int16_t deltaT = 0, t_start = 0;
HARUKIDELTA	0:17f575135219	1385	deltaT = t.read_u2s() - t_start;
HARUKIDELTA	0:17f575135219	1386	pc.printf("t:%d us, ",deltaT);
HARUKIDELTA	0:17f575135219	1387	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	1388	t_start = t.read_us();
HARUKIDELTA	0:17f575135219	1389	*/
HARUKIDELTA	0:17f575135219	1390	//for(uint8_t i=0; i<8; i++) pc.printf("%d ",sbus.manualpwm[i]);
HARUKIDELTA	0:17f575135219	1391	//for(uint8_t i=1; i<4; i++) pc.printf("%d ",sbus.manualpwm[i]);
HARUKIDELTA	0:17f575135219	1392	//pc.printf("\r\n");
HARUKIDELTA	2:23daa5fa28b4	1393	//for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
HARUKIDELTA	0:17f575135219	1394	//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
taknokolat	10:652071c20bf6	1395	//pc.printf("%d\t",autopwm[AIL_L]); // pc.printf("%d\t",autopwm[RUD]);
HARUKIDELTA	0:17f575135219	1396	//pc.printf("%d",g_distance);
HARUKIDELTA	0:17f575135219	1397
HARUKIDELTA	0:17f575135219	1398	//pc.printf("Mode: %c: ",g_buf[0]);
HARUKIDELTA	0:17f575135219	1399	//if(g_buf[0] == 'Y') pc.printf(" %3.1f",g_SerialTargetYAW);
taknokolat	10:652071c20bf6	1400	//pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	1401	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	16 Sep 2018
Imports:	3
Forks:	0
Commits:	16
Dependents:	0
Dependencies:	4
Followers:	23

main.cpp@12:763bf416ba4b, 2018-09-16 (annotated)

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