Autoflight2018_21_a - 着陸スロットル０追加

航空研究会 » Code » Autoflight2018_21_a

航空研究会 / Mbed 2 deprecated Autoflight2018_21_a

着陸スロットル０追加

Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3

Fork of Autoflight2018_21 by 航空研究会

main.cpp@18:f3dcb174b563, 2018-09-17 (annotated)

Committer:: taknokolat
Date:: Mon Sep 17 10:33:13 2018 +0000
Revision:: 18:f3dcb174b563
Parent:: 17:55249ea37dff

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	13:77b13d5f4d78	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
HARUKIDELTA	17:55249ea37dff	53	/*#define rightloopRUD 1300 //1250
HARUKIDELTA	17:55249ea37dff	54	#define rightloopshortRUD 1250
HARUKIDELTA	17:55249ea37dff	55	#define leftloopRUD 1500
HARUKIDELTA	17:55249ea37dff	56	#define leftloopshortRUD 1500
HARUKIDELTA	17:55249ea37dff	57	#define glideloopRUD 1300
HARUKIDELTA	17:55249ea37dff	58	*/
TUATBM	9:f6367b7fd7be	59	#define AIL_R_correctionrightloop 0
TUATBM	9:f6367b7fd7be	60	#define AIL_L_correctionrightloop -400
HARUKIDELTA	3:206b17251f5b	61	#define AIL_L_correctionrightloopshort 0
HARUKIDELTA	3:206b17251f5b	62	#define AIL_L_correctionleftloop -0
HARUKIDELTA	3:206b17251f5b	63	#define AIL_L_correctionleftloopshort 0
HARUKIDELTA	3:206b17251f5b	64
HARUKIDELTA	8:66bba39b95a9	65	#define RIGHTLOOP_RUD 1250
HARUKIDELTA	8:66bba39b95a9	66	#define RIGHTLOOPSHORT_RUD 1250
HARUKIDELTA	8:66bba39b95a9	67	#define LEFTLOOP_RUD 1500
HARUKIDELTA	8:66bba39b95a9	68	#define LEFTLOOPSHORT_RUD 1500
HARUKIDELTA	8:66bba39b95a9	69	#define GLIDELOOP_RUD 1300
HARUKIDELTA	8:66bba39b95a9	70	#define AIL_L_CORRECTION_RIGHTLOOP 0
HARUKIDELTA	8:66bba39b95a9	71	#define AIL_L_CORRECTION_RIGHTLOOPSHORT 0
HARUKIDELTA	8:66bba39b95a9	72	#define AIL_L_CORRECTION_LEFTLOOP 0
HARUKIDELTA	8:66bba39b95a9	73	#define AIL_L_CORRECTION_LEFTLOOPSHORT 0
HARUKIDELTA	3:206b17251f5b	74
HARUKIDELTA	0:17f575135219	75	#define GLIDE_ROLL -12.0
HARUKIDELTA	0:17f575135219	76	#define GLIDE_PITCH -3.0
HARUKIDELTA	0:17f575135219	77
HARUKIDELTA	3:206b17251f5b	78
HARUKIDELTA	3:206b17251f5b	79	#define AIL_L_RatioRising 0.5
HARUKIDELTA	3:206b17251f5b	80	#define AIL_L_RatioDescent 2
HARUKIDELTA	3:206b17251f5b	81
HARUKIDELTA	0:17f575135219	82	//コンパスキャリブレーション
HARUKIDELTA	0:17f575135219	83	//SkipperS2基板
HARUKIDELTA	0:17f575135219	84	/*
HARUKIDELTA	0:17f575135219	85	#define MAGBIAS_X -35.0
HARUKIDELTA	0:17f575135219	86	#define MAGBIAS_Y 535.0
HARUKIDELTA	0:17f575135219	87	#define MAGBIAS_Z -50.0
HARUKIDELTA	0:17f575135219	88	*/
HARUKIDELTA	0:17f575135219	89	//S2v2 1番基板
HARUKIDELTA	0:17f575135219	90	#define MAGBIAS_X 395.0
HARUKIDELTA	0:17f575135219	91	#define MAGBIAS_Y 505.0
HARUKIDELTA	0:17f575135219	92	#define MAGBIAS_Z -725.0
HARUKIDELTA	0:17f575135219	93	//S2v2 2番基板
HARUKIDELTA	0:17f575135219	94	/*
HARUKIDELTA	0:17f575135219	95	#define MAGBIAS_X 185.0
HARUKIDELTA	0:17f575135219	96	#define MAGBIAS_Y 220.0
HARUKIDELTA	0:17f575135219	97	#define MAGBIAS_Z -350.0
HARUKIDELTA	0:17f575135219	98	*/
HARUKIDELTA	0:17f575135219	99
HARUKIDELTA	0:17f575135219	100	#define ELEMENT 1
HARUKIDELTA	0:17f575135219	101	#define LIMIT_STRAIGHT_YAW 5.0
HARUKIDELTA	0:17f575135219	102	#define THRESHOLD_TURNINGRADIUS_YAW 60.0
HARUKIDELTA	0:17f575135219	103	#define ALLOWHEIGHT 15
HARUKIDELTA	0:17f575135219	104
HARUKIDELTA	0:17f575135219	105	#ifndef PI
HARUKIDELTA	0:17f575135219	106	#define PI 3.14159265358979
HARUKIDELTA	0:17f575135219	107	#endif
HARUKIDELTA	0:17f575135219	108
HARUKIDELTA	0:17f575135219	109	const int16_t lengthdivpwm = 320;
HARUKIDELTA	0:17f575135219	110	const int16_t changeModeCount = 6;
HARUKIDELTA	0:17f575135219	111
HARUKIDELTA	0:17f575135219	112
HARUKIDELTA	0:17f575135219	113	SBUS sbus(PA_9, PA_10); //SBUS
HARUKIDELTA	0:17f575135219	114
HARUKIDELTA	0:17f575135219	115	PwmOut servo1(PC_6); // TIM3_CH1 //old echo
HARUKIDELTA	0:17f575135219	116	PwmOut servo2(PC_7); // TIM3_CH2 //PC_7
HARUKIDELTA	0:17f575135219	117	PwmOut servo3(PB_0); // TIM3_CH3
HARUKIDELTA	0:17f575135219	118	PwmOut servo4(PB_1); // TIM3_CH4
HARUKIDELTA	0:17f575135219	119	PwmOut servo5(PB_6); // TIM4_CH1
HARUKIDELTA	0:17f575135219	120	PwmOut servo6(PB_7); // TIM4_CH2 //old trigger
HARUKIDELTA	0:17f575135219	121	//PwmOut servo7(PB_8); // TIM4_CH3 //PB_8 new echo
HARUKIDELTA	0:17f575135219	122	//PwmOut servo8(PB_9); // TIM4_CH4 //new trigger
HARUKIDELTA	0:17f575135219	123
HARUKIDELTA	0:17f575135219	124	RawSerial pc(PA_2,PA_3, 115200); //tx,rx.baudrate pin;PA_2=UART2_TX, PA_3=UART2_RX
taknokolat	1:f383708a5a52	125	//RawSerial pc2(PB_6,PB_7, 115200); //sbus確認用
HARUKIDELTA	0:17f575135219	126	SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
HARUKIDELTA	0:17f575135219	127
HARUKIDELTA	0:17f575135219	128	DigitalOut led1(PA_0); //黄色のコネクタ
HARUKIDELTA	0:17f575135219	129	DigitalOut led2(PA_1);
HARUKIDELTA	0:17f575135219	130	DigitalOut led3(PB_4);
HARUKIDELTA	0:17f575135219	131	DigitalOut led4(PB_5);
HARUKIDELTA	0:17f575135219	132
HARUKIDELTA	0:17f575135219	133	//InterruptIn switch2(PC_14);
HARUKIDELTA	0:17f575135219	134	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	135	//HCSR04 usensor(PB_9,PB_8); //trig,echo 9,8
HARUKIDELTA	0:17f575135219	136
taknokolat	1:f383708a5a52	137	PID pid_AIL(g_kpAIL,g_kiAIL,g_kdAIL);
HARUKIDELTA	0:17f575135219	138	PID pid_ELE(g_kpELE,g_kiELE,g_kdELE);
HARUKIDELTA	0:17f575135219	139	PID pid_RUD(g_kpRUD,g_kiRUD,g_kdRUD);
HARUKIDELTA	0:17f575135219	140
HARUKIDELTA	0:17f575135219	141	enum Channel{AIL_R, ELE, THR, RUD, DROP, AIL_L, Ch7, Ch8};
HARUKIDELTA	0:17f575135219	142	enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度
HARUKIDELTA	0:17f575135219	143	enum OperationMode{StartUp, SemiAuto, RightLoop, LeftLoop, GoStraight, BombwithPC, ZERO, Moebius, Glide};
HARUKIDELTA	0:17f575135219	144	enum BombingMode{Takeoff, Chicken, Transition, Approach};
HARUKIDELTA	0:17f575135219	145	enum OutputStatus{Manual, Auto};
HARUKIDELTA	0:17f575135219	146
HARUKIDELTA	0:17f575135219	147	static OutputStatus output_status = Manual;
HARUKIDELTA	0:17f575135219	148	OperationMode operation_mode = StartUp;
HARUKIDELTA	0:17f575135219	149	BombingMode bombing_mode = Takeoff;
TUATBM	15:43427b0241d9	150
HARUKIDELTA	0:17f575135219	151	static int16_t autopwm[8] = {1500,1500,1180,1500,1392,1500};
TUATBM	15:43427b0241d9	152
TUATBM	15:43427b0241d9	153	//1号機
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};
TUATBM	15:43427b0241d9	157	const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
TUATBM	15:43427b0241d9	158
TUATBM	15:43427b0241d9	159	//2号機
TUATBM	15:43427b0241d9	160	/*
TUATBM	15:43427b0241d9	161	static int16_t trimpwm[6] = {1500,1500,1180,1500,1392,1600};
TUATBM	15:43427b0241d9	162	int16_t maxpwm[6] = {1820,1820,1820,1820,1820,1820};
TUATBM	15:43427b0241d9	163	int16_t minpwm[6] = {1180,1180,1180,1180,1180,1180};
TUATBM	15:43427b0241d9	164	const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
TUATBM	15:43427b0241d9	165	*/
TUATBM	15:43427b0241d9	166
HARUKIDELTA	0:17f575135219	167	int16_t oldTHR = 1000;
HARUKIDELTA	0:17f575135219	168
HARUKIDELTA	2:23daa5fa28b4	169	int16_t g_AIL_L_Ratio_rightloop = 0.5;
HARUKIDELTA	2:23daa5fa28b4	170
taknokolat	18:f3dcb174b563	171	int zeroTHR=0;
taknokolat	18:f3dcb174b563	172
HARUKIDELTA	2:23daa5fa28b4	173
HARUKIDELTA	0:17f575135219	174	static float nowAngle[3] = {0,0,0};
HARUKIDELTA	0:17f575135219	175	const float trimAngle[3] = {0.0, 0.0, 0.0};
HARUKIDELTA	0:17f575135219	176	const float maxAngle[2] = {90, 90};
HARUKIDELTA	0:17f575135219	177	const float minAngle[2] = {-90, -90};
HARUKIDELTA	0:17f575135219	178
HARUKIDELTA	0:17f575135219	179	float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0;
HARUKIDELTA	0:17f575135219	180
HARUKIDELTA	0:17f575135219	181	unsigned int g_distance;
taknokolat	10:652071c20bf6	182	//Ticker USsensor;
HARUKIDELTA	0:17f575135219	183	static char g_buf[16];
taknokolat	10:652071c20bf6	184	char g_landingcommand='Z';
HARUKIDELTA	0:17f575135219	185	float g_SerialTargetYAW;
HARUKIDELTA	0:17f575135219	186
HARUKIDELTA	0:17f575135219	187	Timer t;
HARUKIDELTA	0:17f575135219	188	Timeout RerurnChickenServo1;
HARUKIDELTA	0:17f575135219	189	Timeout RerurnChickenServo2;
HARUKIDELTA	0:17f575135219	190
HARUKIDELTA	0:17f575135219	191	/-----関数のプロトタイプ宣言-----/
HARUKIDELTA	0:17f575135219	192	void setup();
HARUKIDELTA	0:17f575135219	193	void loop();
HARUKIDELTA	0:17f575135219	194
HARUKIDELTA	0:17f575135219	195	void Init_PWM();
HARUKIDELTA	0:17f575135219	196	void Init_servo(); //サーボ初期化
HARUKIDELTA	0:17f575135219	197	void Init_sbus(); //SBUS初期化
HARUKIDELTA	0:17f575135219	198	void Init_sensors();
HARUKIDELTA	0:17f575135219	199	void DisplayClock(); //クロック状態確認
HARUKIDELTA	0:17f575135219	200
HARUKIDELTA	0:17f575135219	201	//センサの値取得
HARUKIDELTA	0:17f575135219	202	void SensingMPU();
HARUKIDELTA	0:17f575135219	203	void UpdateDist();
HARUKIDELTA	0:17f575135219	204
HARUKIDELTA	0:17f575135219	205	//void offsetRollPitch(float FirstROLL, float FirstPITCH);
HARUKIDELTA	0:17f575135219	206	//void TransYaw(float FirstYAW);
HARUKIDELTA	0:17f575135219	207	float TranslateNewYaw(float beforeYaw, float newzeroYaw);
HARUKIDELTA	0:17f575135219	208	void UpdateTargetAngle(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	209	void CalculateControlValue(float targetAngle[3], float controlValue[3]);
HARUKIDELTA	0:17f575135219	210	void UpdateAutoPWM(float controlValue[3]);
HARUKIDELTA	0:17f575135219	211	void ConvertPWMintoRAD(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	212	inline float CalcRatio(float value, float trim, float limit);
HARUKIDELTA	0:17f575135219	213	bool CheckSW_Up(Channel ch);
HARUKIDELTA	0:17f575135219	214	int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min);
HARUKIDELTA	0:17f575135219	215	inline int16_t SetTHRinRatio(float ratio);
HARUKIDELTA	0:17f575135219	216
HARUKIDELTA	0:17f575135219	217	//sbus割り込み
HARUKIDELTA	0:17f575135219	218	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	219	void Output_PWM(int16_t pwm[6]); //pwmをサーボへ出力
HARUKIDELTA	0:17f575135219	220
HARUKIDELTA	0:17f575135219	221	//シリアル割り込み
HARUKIDELTA	0:17f575135219	222	void getSF_Serial();
HARUKIDELTA	0:17f575135219	223	float ConvertByteintoFloat(char high, char low);
TUATBM	15:43427b0241d9	224
HARUKIDELTA	0:17f575135219	225
HARUKIDELTA	0:17f575135219	226	//SD設定
HARUKIDELTA	0:17f575135219	227	int GetParameter(FILE fp, const char paramName,char parameter[]);
HARUKIDELTA	0:17f575135219	228	int SetOptions(float g_kpELE, float g_kiELE, float *g_kdELE,
HARUKIDELTA	0:17f575135219	229	float g_kpRUD, float g_kiRUD, float *g_kdRUD,
HARUKIDELTA	0:17f575135219	230	float g_rightloopROLL, float g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	231	float g_leftloopROLL, float g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	232	float g_gostraightROLL, float g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	233	float g_takeoffTHR, float g_loopTHR,
HARUKIDELTA	0:17f575135219	234	float g_rightloopROLLshort, float g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	235	float g_leftloopROLLshort, float g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	236	float g_glideloopROLL, float g_glideloopPITCH,
HARUKIDELTA	13:77b13d5f4d78	237	float g_kpAIL, float g_kiAIL, float *g_kdAIL,
HARUKIDELTA	13:77b13d5f4d78	238	int g_rightloopRUD, int g_rightloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	239	int g_leftloopRUD, int g_leftloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	240	int *g_glideRUD,
HARUKIDELTA	13:77b13d5f4d78	241	int g_AIL_L_correctionrightloop,int g_AIL_L_correctionrightloopshort,
HARUKIDELTA	13:77b13d5f4d78	242	int g_AIL_L_correctionlefttloop,int g_AIL_L_correctionleftloopshort
HARUKIDELTA	13:77b13d5f4d78	243	);
HARUKIDELTA	0:17f575135219	244	//switch2割り込み
HARUKIDELTA	0:17f575135219	245	void ResetTrim();
HARUKIDELTA	0:17f575135219	246
HARUKIDELTA	0:17f575135219	247	//自動操縦
HARUKIDELTA	0:17f575135219	248	void UpdateTargetAngle_GoStraight(float targetAngle[3]);
taknokolat	18:f3dcb174b563	249	void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]); //着陸時にスロットルが０の時の直進
HARUKIDELTA	0:17f575135219	250	void UpdateTargetAngle_Rightloop(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	251	void UpdateTargetAngle_Rightloop_short(float targetAngle[3]);
taknokolat	18:f3dcb174b563	252	void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]); //着陸時にスロットルが０の時の右旋回
HARUKIDELTA	0:17f575135219	253	void UpdateTargetAngle_Leftloop(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	254	void UpdateTargetAngle_Leftloop_short(float targetAngle[3]);
taknokolat	18:f3dcb174b563	255	void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]); //着陸時にスロットルが０の時の左旋回
HARUKIDELTA	0:17f575135219	256	void UpdateTargetAngle_Moebius(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	257	void UpdateTargetAngle_Glide(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	258	void UpdateTargetAngle_Takeoff(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	259	void UpdateTargetAngle_Approach(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	260	void Take_off_and_landing(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	261
HARUKIDELTA	0:17f575135219	262	int Rotate(float targetAngle[3], float TargetYAW);
HARUKIDELTA	0:17f575135219	263
HARUKIDELTA	0:17f575135219	264	//投下
HARUKIDELTA	0:17f575135219	265	void Chicken_Drop();
HARUKIDELTA	0:17f575135219	266	void ReturnChickenServo1();
HARUKIDELTA	0:17f575135219	267	void ReturnChickenServo2();
HARUKIDELTA	0:17f575135219	268
HARUKIDELTA	0:17f575135219	269	//超音波による高度補正
HARUKIDELTA	0:17f575135219	270	void checkHeight(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	271	void UpdateTargetAngle_NoseUP(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	272	void UpdateTargetAngle_NoseDOWN(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	273
HARUKIDELTA	0:17f575135219	274	//デバッグ用
HARUKIDELTA	0:17f575135219	275	void DebugPrint();
HARUKIDELTA	0:17f575135219	276
HARUKIDELTA	0:17f575135219	277	/---関数のプロトタイプ宣言終わり---/
HARUKIDELTA	0:17f575135219	278
HARUKIDELTA	0:17f575135219	279	int main()
HARUKIDELTA	0:17f575135219	280	{
HARUKIDELTA	0:17f575135219	281	setup();
HARUKIDELTA	0:17f575135219	282
HARUKIDELTA	0:17f575135219	283
HARUKIDELTA	0:17f575135219	284	while(1){
HARUKIDELTA	0:17f575135219	285
HARUKIDELTA	0:17f575135219	286	loop();
HARUKIDELTA	0:17f575135219	287
taknokolat	10:652071c20bf6	288
taknokolat	10:652071c20bf6	289
HARUKIDELTA	0:17f575135219	290	if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	291	led3=0;
HARUKIDELTA	0:17f575135219	292	}else{
HARUKIDELTA	0:17f575135219	293	led3=1;
HARUKIDELTA	0:17f575135219	294	}
HARUKIDELTA	0:17f575135219	295	}
HARUKIDELTA	0:17f575135219	296
HARUKIDELTA	0:17f575135219	297	}
HARUKIDELTA	0:17f575135219	298
HARUKIDELTA	0:17f575135219	299	void setup(){
HARUKIDELTA	0:17f575135219	300	//buzzer = 0;
HARUKIDELTA	0:17f575135219	301	led1 = 1;
HARUKIDELTA	0:17f575135219	302	led2 = 1;
HARUKIDELTA	0:17f575135219	303	led3 = 1;
HARUKIDELTA	0:17f575135219	304	led4 = 1;
HARUKIDELTA	0:17f575135219	305
HARUKIDELTA	0:17f575135219	306	SetOptions(&g_kpELE, &g_kiELE, &g_kdELE,
HARUKIDELTA	0:17f575135219	307	&g_kpRUD, &g_kiRUD, &g_kdRUD,
HARUKIDELTA	0:17f575135219	308	&g_rightloopROLL, &g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	309	&g_leftloopROLL, &g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	310	&g_gostraightROLL, &g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	311	&g_takeoffTHR, &g_loopTHR,
HARUKIDELTA	0:17f575135219	312	&g_rightloopROLLshort, &g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	313	&g_leftloopROLLshort, &g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	314	&g_glideloopROLL, &g_glideloopPITCH,
HARUKIDELTA	13:77b13d5f4d78	315	&g_kpAIL, &g_kiAIL,&g_kdAIL,
HARUKIDELTA	13:77b13d5f4d78	316	&g_rightloopRUD, &g_rightloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	317	&g_leftloopRUD, &g_leftloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	318	&g_glideloopRUD,
HARUKIDELTA	13:77b13d5f4d78	319	&g_AIL_L_correctionrightloop,&g_AIL_L_correctionrightloopshort,
HARUKIDELTA	13:77b13d5f4d78	320	&g_AIL_L_correctionleftloop,&g_AIL_L_correctionleftloopshort
HARUKIDELTA	13:77b13d5f4d78	321	);
HARUKIDELTA	0:17f575135219	322
HARUKIDELTA	0:17f575135219	323
HARUKIDELTA	0:17f575135219	324	Init_PWM();
HARUKIDELTA	0:17f575135219	325	Init_servo();
HARUKIDELTA	0:17f575135219	326	Init_sbus();
HARUKIDELTA	0:17f575135219	327	Init_sensors();
HARUKIDELTA	0:17f575135219	328	//switch2.rise(ResetTrim);
HARUKIDELTA	0:17f575135219	329	pc.attach(getSF_Serial, Serial::RxIrq);
taknokolat	10:652071c20bf6	330	//USsensor.attach(&UpdateDist, 0.05);
HARUKIDELTA	0:17f575135219	331
HARUKIDELTA	0:17f575135219	332	NVIC_SetPriority(USART1_IRQn,0);
HARUKIDELTA	0:17f575135219	333	NVIC_SetPriority(EXTI0_IRQn,1);
HARUKIDELTA	0:17f575135219	334	NVIC_SetPriority(TIM5_IRQn,2);
HARUKIDELTA	0:17f575135219	335	NVIC_SetPriority(EXTI9_5_IRQn,3);
HARUKIDELTA	0:17f575135219	336	NVIC_SetPriority(USART2_IRQn,4);
HARUKIDELTA	0:17f575135219	337	DisplayClock();
HARUKIDELTA	0:17f575135219	338	t.start();
HARUKIDELTA	0:17f575135219	339
HARUKIDELTA	0:17f575135219	340
HARUKIDELTA	0:17f575135219	341	pc.printf("MPU calibration start\r\n");
HARUKIDELTA	0:17f575135219	342
HARUKIDELTA	0:17f575135219	343	float offsetstart = t.read();
HARUKIDELTA	0:17f575135219	344	while(t.read() - offsetstart < 26){
HARUKIDELTA	0:17f575135219	345	SensingMPU();
HARUKIDELTA	0:17f575135219	346	for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
HARUKIDELTA	0:17f575135219	347	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	348	led1 = !led1;
HARUKIDELTA	0:17f575135219	349	led2 = !led2;
HARUKIDELTA	0:17f575135219	350	led3 = !led3;
HARUKIDELTA	0:17f575135219	351	led4 = !led4;
HARUKIDELTA	0:17f575135219	352	}
HARUKIDELTA	0:17f575135219	353
HARUKIDELTA	0:17f575135219	354	FirstROLL = nowAngle[ROLL];
HARUKIDELTA	0:17f575135219	355	FirstPITCH = nowAngle[PITCH];
HARUKIDELTA	0:17f575135219	356	nowAngle[ROLL] -=FirstROLL;
HARUKIDELTA	0:17f575135219	357	nowAngle[PITCH] -=FirstPITCH;
HARUKIDELTA	0:17f575135219	358
HARUKIDELTA	0:17f575135219	359	led1 = 0;
HARUKIDELTA	0:17f575135219	360	led2 = 0;
HARUKIDELTA	0:17f575135219	361	led3 = 0;
HARUKIDELTA	0:17f575135219	362	led4 = 0;
HARUKIDELTA	0:17f575135219	363	wait(0.2);
HARUKIDELTA	0:17f575135219	364
HARUKIDELTA	0:17f575135219	365
HARUKIDELTA	0:17f575135219	366	pc.printf("All initialized\r\n");
HARUKIDELTA	0:17f575135219	367	}
HARUKIDELTA	0:17f575135219	368
HARUKIDELTA	0:17f575135219	369	void loop(){
HARUKIDELTA	0:17f575135219	370	static float targetAngle[3] = {0.0, 0.0, 0.0}, controlValue[2] = {0.0, 0.0};
HARUKIDELTA	0:17f575135219	371
HARUKIDELTA	0:17f575135219	372	SensingMPU();
taknokolat	10:652071c20bf6	373	NVIC_DisableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	374	UpdateTargetAngle(targetAngle);
HARUKIDELTA	0:17f575135219	375	//Rotate(targetAngle, 30.0);
HARUKIDELTA	0:17f575135219	376	CalculateControlValue(targetAngle, controlValue);
taknokolat	10:652071c20bf6	377	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	378	UpdateAutoPWM(controlValue);
taknokolat	10:652071c20bf6	379	NVIC_EnableIRQ(USART1_IRQn);
taknokolat	10:652071c20bf6	380	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	11:c0b9ad25d3db	381	wait_ms(23);
taknokolat	10:652071c20bf6	382	pc.printf("%c",g_landingcommand);
HARUKIDELTA	0:17f575135219	383	#if DEBUG_PRINT_INLOOP
HARUKIDELTA	0:17f575135219	384	DebugPrint();
HARUKIDELTA	0:17f575135219	385	#endif
HARUKIDELTA	0:17f575135219	386	}
HARUKIDELTA	0:17f575135219	387
HARUKIDELTA	0:17f575135219	388	//サーボ初期化関数
HARUKIDELTA	0:17f575135219	389	void Init_servo(){
HARUKIDELTA	0:17f575135219	390
HARUKIDELTA	0:17f575135219	391	servo1.period_ms(14);
HARUKIDELTA	0:17f575135219	392	servo1.pulsewidth_us(trimpwm[AIL_R]);
HARUKIDELTA	0:17f575135219	393
HARUKIDELTA	0:17f575135219	394	servo2.period_ms(14);
HARUKIDELTA	0:17f575135219	395	servo2.pulsewidth_us(trimpwm[ELE]);
HARUKIDELTA	0:17f575135219	396
HARUKIDELTA	0:17f575135219	397	servo3.period_ms(14);
HARUKIDELTA	0:17f575135219	398	servo3.pulsewidth_us(trimpwm[THR]);
HARUKIDELTA	0:17f575135219	399
HARUKIDELTA	0:17f575135219	400	servo4.period_ms(14);
HARUKIDELTA	0:17f575135219	401	servo4.pulsewidth_us(trimpwm[RUD]);
HARUKIDELTA	0:17f575135219	402
HARUKIDELTA	0:17f575135219	403	servo5.period_ms(14);
HARUKIDELTA	0:17f575135219	404	servo5.pulsewidth_us(1392);
HARUKIDELTA	0:17f575135219	405
HARUKIDELTA	0:17f575135219	406	servo6.period_ms(14);
HARUKIDELTA	0:17f575135219	407	servo6.pulsewidth_us(trimpwm[AIL_L]);
HARUKIDELTA	0:17f575135219	408
HARUKIDELTA	0:17f575135219	409	pc.printf("servo initialized\r\n");
HARUKIDELTA	0:17f575135219	410	}
HARUKIDELTA	0:17f575135219	411
HARUKIDELTA	0:17f575135219	412	//Sbus初期化
HARUKIDELTA	0:17f575135219	413	void Init_sbus(){
HARUKIDELTA	0:17f575135219	414	sbus.initialize();
HARUKIDELTA	0:17f575135219	415	sbus.setLastfuncPoint(Update_PWM);
HARUKIDELTA	0:17f575135219	416	sbus.startInterrupt();
HARUKIDELTA	0:17f575135219	417	}
HARUKIDELTA	0:17f575135219	418
HARUKIDELTA	0:17f575135219	419	void Init_sensors(){
HARUKIDELTA	0:17f575135219	420	if(mpu6050.setup() == -1){
HARUKIDELTA	0:17f575135219	421	pc.printf("failed initialize\r\n");
HARUKIDELTA	0:17f575135219	422	while(1){
HARUKIDELTA	0:17f575135219	423	led1 = 1; led2 = 0; led3 = 1; led4 = 0;
HARUKIDELTA	0:17f575135219	424	wait(1);
HARUKIDELTA	0:17f575135219	425	led1 = 0; led2 = 1; led3 = 0; led4 = 1;
HARUKIDELTA	0:17f575135219	426	wait(1);
HARUKIDELTA	0:17f575135219	427	}
HARUKIDELTA	0:17f575135219	428	}
HARUKIDELTA	0:17f575135219	429	}
HARUKIDELTA	0:17f575135219	430
HARUKIDELTA	0:17f575135219	431	void Init_PWM(){
HARUKIDELTA	0:17f575135219	432	pc.printf("PWM initialized\r\n");
HARUKIDELTA	0:17f575135219	433	}
HARUKIDELTA	0:17f575135219	434
HARUKIDELTA	0:17f575135219	435	void DisplayClock(){
HARUKIDELTA	0:17f575135219	436	pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000);
HARUKIDELTA	0:17f575135219	437	pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000);
HARUKIDELTA	0:17f575135219	438	pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000);
HARUKIDELTA	0:17f575135219	439	pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000);
HARUKIDELTA	0:17f575135219	440	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	441	}
HARUKIDELTA	0:17f575135219	442
HARUKIDELTA	0:17f575135219	443	void UpdateTargetAngle(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	444	static int16_t count_op = 0;
HARUKIDELTA	0:17f575135219	445	#if DEBUG_SEMIAUTO
HARUKIDELTA	0:17f575135219	446	switch(operation_mode){
HARUKIDELTA	0:17f575135219	447	case StartUp:
HARUKIDELTA	0:17f575135219	448	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	449	count_op++;
HARUKIDELTA	0:17f575135219	450	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	451	operation_mode = SemiAuto;
HARUKIDELTA	0:17f575135219	452	pc.printf("Goto SemiAuto mode\r\n");
HARUKIDELTA	0:17f575135219	453	count_op = 0;
HARUKIDELTA	0:17f575135219	454	}
HARUKIDELTA	0:17f575135219	455	}else count_op = 0;
HARUKIDELTA	0:17f575135219	456	break;
HARUKIDELTA	0:17f575135219	457
HARUKIDELTA	0:17f575135219	458	case SemiAuto:
HARUKIDELTA	0:17f575135219	459	/* 大会用では以下のif文を入れてoperation_modeを変える
HARUKIDELTA	0:17f575135219	460	if(CheckSW_Up(Ch6)){
HARUKIDELTA	0:17f575135219	461	count_op++;
HARUKIDELTA	0:17f575135219	462	if(count_op>changeModeCount){
HARUKIDELTA	0:17f575135219	463	output_status = XXX;
HARUKIDELTA	0:17f575135219	464	led2 = 0;
HARUKIDELTA	0:17f575135219	465	pc.printf("Goto XXX mode\r\n");
HARUKIDELTA	0:17f575135219	466	count_op = 0;
HARUKIDELTA	0:17f575135219	467	}else count_op = 0;
HARUKIDELTA	0:17f575135219	468	ConvertPWMintoRAD(targetAngle);
HARUKIDELTA	0:17f575135219	469	}
HARUKIDELTA	0:17f575135219	470	*/
HARUKIDELTA	0:17f575135219	471	ConvertPWMintoRAD(targetAngle);
HARUKIDELTA	0:17f575135219	472	break;
HARUKIDELTA	0:17f575135219	473
HARUKIDELTA	0:17f575135219	474	default:
HARUKIDELTA	0:17f575135219	475	operation_mode = SemiAuto;
HARUKIDELTA	0:17f575135219	476	break;
HARUKIDELTA	0:17f575135219	477	}
HARUKIDELTA	0:17f575135219	478
HARUKIDELTA	0:17f575135219	479	#else
HARUKIDELTA	0:17f575135219	480
HARUKIDELTA	0:17f575135219	481	switch(operation_mode){
HARUKIDELTA	0:17f575135219	482	case StartUp:
HARUKIDELTA	0:17f575135219	483	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	484	count_op++;
HARUKIDELTA	0:17f575135219	485	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	486	operation_mode = RightLoop;
HARUKIDELTA	0:17f575135219	487	pc.printf("Goto RightLoop mode\r\n");
HARUKIDELTA	0:17f575135219	488	count_op = 0;
HARUKIDELTA	0:17f575135219	489	}
HARUKIDELTA	0:17f575135219	490	}else count_op = 0;
HARUKIDELTA	0:17f575135219	491	break;
HARUKIDELTA	0:17f575135219	492
HARUKIDELTA	0:17f575135219	493	case RightLoop:
HARUKIDELTA	0:17f575135219	494	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	495	count_op++;
HARUKIDELTA	0:17f575135219	496	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	497	operation_mode = LeftLoop;
HARUKIDELTA	0:17f575135219	498	pc.printf("Goto LeftLoop mode\r\n");
HARUKIDELTA	0:17f575135219	499	count_op = 0;
HARUKIDELTA	0:17f575135219	500	}
HARUKIDELTA	0:17f575135219	501	}else count_op = 0;
HARUKIDELTA	0:17f575135219	502	UpdateTargetAngle_Rightloop(targetAngle);
HARUKIDELTA	0:17f575135219	503
HARUKIDELTA	0:17f575135219	504	break;
HARUKIDELTA	0:17f575135219	505
HARUKIDELTA	0:17f575135219	506	case LeftLoop:
HARUKIDELTA	0:17f575135219	507	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	508	count_op++;
HARUKIDELTA	0:17f575135219	509	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	510	operation_mode = GoStraight;
HARUKIDELTA	0:17f575135219	511	pc.printf("Goto GoStraight mode\r\n");
HARUKIDELTA	0:17f575135219	512	count_op = 0;
HARUKIDELTA	0:17f575135219	513	}
HARUKIDELTA	0:17f575135219	514	}else count_op = 0;
HARUKIDELTA	0:17f575135219	515	UpdateTargetAngle_Leftloop(targetAngle);
HARUKIDELTA	0:17f575135219	516	break;
HARUKIDELTA	0:17f575135219	517
HARUKIDELTA	0:17f575135219	518	case GoStraight:
HARUKIDELTA	0:17f575135219	519	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	520	count_op++;
HARUKIDELTA	0:17f575135219	521	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	522	operation_mode = Moebius;
HARUKIDELTA	0:17f575135219	523	pc.printf("Goto Moebius mode\r\n");
HARUKIDELTA	0:17f575135219	524	count_op = 0;
HARUKIDELTA	0:17f575135219	525	}
HARUKIDELTA	0:17f575135219	526	}else count_op = 0;
HARUKIDELTA	0:17f575135219	527	UpdateTargetAngle_GoStraight(targetAngle);
HARUKIDELTA	0:17f575135219	528	break;
HARUKIDELTA	0:17f575135219	529
HARUKIDELTA	0:17f575135219	530	case Moebius:
HARUKIDELTA	0:17f575135219	531	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	532	count_op++;
HARUKIDELTA	0:17f575135219	533	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	534	operation_mode = Glide;
HARUKIDELTA	0:17f575135219	535	pc.printf("Goto Glide mode\r\n");
HARUKIDELTA	0:17f575135219	536	count_op = 0;
HARUKIDELTA	0:17f575135219	537	}
HARUKIDELTA	0:17f575135219	538	}else count_op = 0;
HARUKIDELTA	0:17f575135219	539	UpdateTargetAngle_Moebius(targetAngle);
HARUKIDELTA	0:17f575135219	540	break;
HARUKIDELTA	0:17f575135219	541
HARUKIDELTA	0:17f575135219	542	case Glide:
HARUKIDELTA	0:17f575135219	543	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	544	count_op++;
HARUKIDELTA	0:17f575135219	545	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	546	operation_mode = BombwithPC;
HARUKIDELTA	0:17f575135219	547	pc.printf("Goto Bombing mode\r\n");
HARUKIDELTA	0:17f575135219	548	count_op = 0;
HARUKIDELTA	0:17f575135219	549	}
HARUKIDELTA	0:17f575135219	550	}else count_op = 0;
HARUKIDELTA	0:17f575135219	551	UpdateTargetAngle_Glide(targetAngle);
HARUKIDELTA	0:17f575135219	552	break;
HARUKIDELTA	0:17f575135219	553
HARUKIDELTA	0:17f575135219	554	case BombwithPC:
HARUKIDELTA	0:17f575135219	555	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	556	count_op++;
HARUKIDELTA	0:17f575135219	557	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	558	operation_mode = RightLoop;
HARUKIDELTA	0:17f575135219	559	pc.printf("Goto RightLoop mode\r\n");
HARUKIDELTA	0:17f575135219	560	count_op = 0;
HARUKIDELTA	0:17f575135219	561	}
HARUKIDELTA	0:17f575135219	562	}else count_op = 0;
HARUKIDELTA	0:17f575135219	563	Take_off_and_landing(targetAngle);
HARUKIDELTA	0:17f575135219	564	break;
HARUKIDELTA	0:17f575135219	565
HARUKIDELTA	0:17f575135219	566	default:
HARUKIDELTA	0:17f575135219	567	operation_mode = StartUp;
HARUKIDELTA	0:17f575135219	568	break;
HARUKIDELTA	0:17f575135219	569	}
HARUKIDELTA	0:17f575135219	570	#endif
HARUKIDELTA	0:17f575135219	571
HARUKIDELTA	0:17f575135219	572	if(CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	573	output_status = Auto;
HARUKIDELTA	0:17f575135219	574	led1 = 1;
HARUKIDELTA	0:17f575135219	575	}else{
HARUKIDELTA	0:17f575135219	576	output_status = Manual;
HARUKIDELTA	0:17f575135219	577	led1 = 0;
HARUKIDELTA	0:17f575135219	578	}
HARUKIDELTA	0:17f575135219	579	}
HARUKIDELTA	0:17f575135219	580
HARUKIDELTA	0:17f575135219	581	int GetParameter(FILE fp, const char paramName,char parameter[]){
HARUKIDELTA	0:17f575135219	582	int i=0, j=0;
HARUKIDELTA	0:17f575135219	583	int strmax = 200;
HARUKIDELTA	0:17f575135219	584	char str[strmax];
HARUKIDELTA	0:17f575135219	585
HARUKIDELTA	0:17f575135219	586	rewind(fp); //ファイル位置を先頭に
HARUKIDELTA	0:17f575135219	587	while(1){
HARUKIDELTA	0:17f575135219	588	if (fgets(str, strmax, fp) == NULL) {
HARUKIDELTA	0:17f575135219	589	return 0;
HARUKIDELTA	0:17f575135219	590	}
HARUKIDELTA	0:17f575135219	591	if (!strncmp(str, paramName, strlen(paramName))) {
HARUKIDELTA	0:17f575135219	592	while (str[i++] != '=') {}
HARUKIDELTA	0:17f575135219	593	while (str[i] != '\n') {
HARUKIDELTA	0:17f575135219	594	parameter[j++] = str[i++];
HARUKIDELTA	0:17f575135219	595	}
HARUKIDELTA	0:17f575135219	596	parameter[j] = '\0';
HARUKIDELTA	0:17f575135219	597	return 1;
HARUKIDELTA	0:17f575135219	598	}
HARUKIDELTA	0:17f575135219	599	}
HARUKIDELTA	0:17f575135219	600	return 0;
HARUKIDELTA	0:17f575135219	601	}
HARUKIDELTA	0:17f575135219	602
HARUKIDELTA	0:17f575135219	603
HARUKIDELTA	0:17f575135219	604	//sdによる設定
HARUKIDELTA	0:17f575135219	605	int SetOptions(float g_kpELE, float g_kiELE, float *g_kdELE,
HARUKIDELTA	0:17f575135219	606	float g_kpRUD, float g_kiRUD, float *g_kdRUD,
HARUKIDELTA	0:17f575135219	607	float g_rightloopROLL, float g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	608	float g_leftloopROLL, float g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	609	float g_gostraightROLL, float g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	610	float g_takeoffTHR, float g_loopTHR,
HARUKIDELTA	0:17f575135219	611	float g_rightloopROLLshort, float g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	612	float g_leftloopROLLshort, float g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	613	float g_glideloopROLL, float g_glideloopPITCH,
HARUKIDELTA	13:77b13d5f4d78	614	float g_kpAIL, float g_kiAIL, float *g_kdAIL,
HARUKIDELTA	13:77b13d5f4d78	615	int g_rightloopRUD, int g_rightloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	616	int g_leftloopRUD, int g_leftloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	617	int *g_glideloopRUD,
HARUKIDELTA	13:77b13d5f4d78	618	int g_AIL_L_correctionrightloop,int g_AIL_L_correctionrightloopshort,
HARUKIDELTA	13:77b13d5f4d78	619	int g_AIL_L_correctionleftloop,int g_AIL_L_correctionleftloopshort
HARUKIDELTA	0:17f575135219	620	){
HARUKIDELTA	0:17f575135219	621
HARUKIDELTA	0:17f575135219	622	pc.printf("SDsetup start.\r\n");
HARUKIDELTA	0:17f575135219	623
HARUKIDELTA	0:17f575135219	624	FILE *fp;
HARUKIDELTA	13:77b13d5f4d78	625	char parameter[40]; //文字列渡す用の配列
HARUKIDELTA	0:17f575135219	626	int SDerrorcount = 0; //取得できなかった数を返す
HARUKIDELTA	0:17f575135219	627	const char *paramNames[] = {
HARUKIDELTA	0:17f575135219	628	"KP_ELEVATOR",
HARUKIDELTA	0:17f575135219	629	"KI_ELEVATOR",
HARUKIDELTA	0:17f575135219	630	"KD_ELEVATOR",
HARUKIDELTA	0:17f575135219	631	"KP_RUDDER",
HARUKIDELTA	0:17f575135219	632	"KI_RUDDER",
HARUKIDELTA	0:17f575135219	633	"KD_RUDDER",
HARUKIDELTA	0:17f575135219	634	"RIGHTLOOP_ROLL",
HARUKIDELTA	0:17f575135219	635	"RIGHTLOOP_PITCH",
HARUKIDELTA	0:17f575135219	636	"LEFTLOOP_ROLL",
HARUKIDELTA	0:17f575135219	637	"LEFTLOOP_PITCH",
HARUKIDELTA	0:17f575135219	638	"GOSTRAIGHT_ROLL",
HARUKIDELTA	0:17f575135219	639	"GOSTRAIGHT_PITCH",
HARUKIDELTA	0:17f575135219	640	"TAKEOFF_THR_RATE",
HARUKIDELTA	0:17f575135219	641	"LOOP_THR_RATE",
HARUKIDELTA	0:17f575135219	642	"RIGHTLOOP_ROLL_SHORT",
HARUKIDELTA	0:17f575135219	643	"RIGHTLOOP_PITCH_SHORT",
HARUKIDELTA	0:17f575135219	644	"LEFTLOOP_ROLL_SHORT",
HARUKIDELTA	0:17f575135219	645	"LEFTLOOP_PITCH_SHORT",
HARUKIDELTA	0:17f575135219	646	"AUTOGLIDE_ROLL",
HARUKIDELTA	12:763bf416ba4b	647	"AUTOGLIDE PITCH",
HARUKIDELTA	12:763bf416ba4b	648	"KP_AILERON",
HARUKIDELTA	12:763bf416ba4b	649	"KI_AILERON",
HARUKIDELTA	13:77b13d5f4d78	650	"KD_AILERON",
HARUKIDELTA	13:77b13d5f4d78	651	"RIGHTLOOP_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	652	"RIGHTLOOPSHORT_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	653	"LEFTLOOP_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	654	"LEFTLOOPSHORT_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	655	"GLIDELOOP_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	656	"AILERON_LEFT_CORRECTION_RIGHTLOOP",
HARUKIDELTA	13:77b13d5f4d78	657	"AILERON_LEFT_CORRECTION_RIGHTLOOPSHORT",
HARUKIDELTA	13:77b13d5f4d78	658	"AILERON_LEFT_CORRECTION_LEFTLOOP",
HARUKIDELTA	13:77b13d5f4d78	659	"AILERON_LEFT_CORRECTION_LEFTLOOPSHORT"
HARUKIDELTA	0:17f575135219	660	};
HARUKIDELTA	0:17f575135219	661
HARUKIDELTA	0:17f575135219	662	fp = fopen("/sd/option.txt","r");
HARUKIDELTA	0:17f575135219	663
HARUKIDELTA	0:17f575135219	664	if(fp != NULL){ //開けたら
HARUKIDELTA	0:17f575135219	665	pc.printf("File was openned.\r\n");
HARUKIDELTA	0:17f575135219	666	if(GetParameter(fp,paramNames[0],parameter)) *g_kpELE = atof(parameter);
HARUKIDELTA	0:17f575135219	667	else{ *g_kpELE = KP_ELE;
HARUKIDELTA	0:17f575135219	668	SDerrorcount++;
HARUKIDELTA	0:17f575135219	669	}
HARUKIDELTA	0:17f575135219	670	if(GetParameter(fp,paramNames[1],parameter)) *g_kiELE = atof(parameter);
HARUKIDELTA	0:17f575135219	671	else{ *g_kiELE = KI_ELE;
HARUKIDELTA	0:17f575135219	672	SDerrorcount++;
HARUKIDELTA	0:17f575135219	673	}
HARUKIDELTA	0:17f575135219	674	if(GetParameter(fp,paramNames[2],parameter)) *g_kdELE = atof(parameter);
HARUKIDELTA	0:17f575135219	675	else{ *g_kdELE = KD_ELE;
HARUKIDELTA	0:17f575135219	676	SDerrorcount++;
HARUKIDELTA	0:17f575135219	677	}
HARUKIDELTA	0:17f575135219	678	if(GetParameter(fp,paramNames[3],parameter)) *g_kpRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	679	else{ *g_kpRUD = KP_RUD;
HARUKIDELTA	0:17f575135219	680	SDerrorcount++;
HARUKIDELTA	0:17f575135219	681	}
HARUKIDELTA	0:17f575135219	682	if(GetParameter(fp,paramNames[4],parameter)) *g_kiRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	683	else{ *g_kiRUD = KI_RUD;
HARUKIDELTA	0:17f575135219	684	SDerrorcount++;
HARUKIDELTA	0:17f575135219	685	}
HARUKIDELTA	0:17f575135219	686	if(GetParameter(fp,paramNames[5],parameter)) *g_kdRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	687	else{ *g_kdRUD = KD_RUD;
HARUKIDELTA	0:17f575135219	688	SDerrorcount++;
HARUKIDELTA	0:17f575135219	689	}
HARUKIDELTA	0:17f575135219	690	if(GetParameter(fp,paramNames[6],parameter)) *g_rightloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	691	else{ *g_rightloopROLL = RIGHT_ROLL;
HARUKIDELTA	0:17f575135219	692	SDerrorcount++;
HARUKIDELTA	0:17f575135219	693	}
HARUKIDELTA	0:17f575135219	694	if(GetParameter(fp,paramNames[7],parameter)) *g_rightloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	695	else{ *g_rightloopPITCH = RIGHT_PITCH;
HARUKIDELTA	0:17f575135219	696	SDerrorcount++;
HARUKIDELTA	0:17f575135219	697	}
HARUKIDELTA	0:17f575135219	698	if(GetParameter(fp,paramNames[8],parameter)) *g_leftloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	699	else{ *g_leftloopROLL = LEFT_ROLL;
HARUKIDELTA	0:17f575135219	700	SDerrorcount++;
HARUKIDELTA	0:17f575135219	701	}
HARUKIDELTA	0:17f575135219	702	if(GetParameter(fp,paramNames[9],parameter)) *g_leftloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	703	else{ *g_leftloopPITCH = LEFT_PITCH;
HARUKIDELTA	0:17f575135219	704	SDerrorcount++;
HARUKIDELTA	0:17f575135219	705	}
HARUKIDELTA	0:17f575135219	706	if(GetParameter(fp,paramNames[10],parameter)) *g_gostraightROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	707	else{ *g_gostraightROLL = STRAIGHT_ROLL;
HARUKIDELTA	0:17f575135219	708	SDerrorcount++;
HARUKIDELTA	0:17f575135219	709	}
HARUKIDELTA	0:17f575135219	710	if(GetParameter(fp,paramNames[11],parameter)) *g_gostraightPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	711	else{ *g_gostraightPITCH = STRAIGHT_PITCH;
HARUKIDELTA	0:17f575135219	712	SDerrorcount++;
HARUKIDELTA	0:17f575135219	713	}
HARUKIDELTA	0:17f575135219	714	if(GetParameter(fp,paramNames[12],parameter)) *g_takeoffTHR = atof(parameter);
HARUKIDELTA	0:17f575135219	715	else{ *g_takeoffTHR = TAKEOFF_THR;
HARUKIDELTA	0:17f575135219	716	SDerrorcount++;
HARUKIDELTA	0:17f575135219	717	}
HARUKIDELTA	0:17f575135219	718	if(GetParameter(fp,paramNames[13],parameter)) *g_loopTHR = atof(parameter);
HARUKIDELTA	0:17f575135219	719	else{ *g_loopTHR = LOOP_THR;
HARUKIDELTA	0:17f575135219	720	SDerrorcount++;
HARUKIDELTA	0:17f575135219	721	}
HARUKIDELTA	0:17f575135219	722	if(GetParameter(fp,paramNames[14],parameter)) *g_rightloopROLLshort = atof(parameter);
HARUKIDELTA	0:17f575135219	723	else{ *g_rightloopROLLshort = RIGHT_ROLL_SHORT;
HARUKIDELTA	0:17f575135219	724	SDerrorcount++;
HARUKIDELTA	0:17f575135219	725	}
HARUKIDELTA	0:17f575135219	726	if(GetParameter(fp,paramNames[15],parameter)) *g_rightloopPITCHshort = atof(parameter);
HARUKIDELTA	0:17f575135219	727	else{ *g_rightloopPITCHshort = RIGHT_PITCH_SHORT;
HARUKIDELTA	0:17f575135219	728	SDerrorcount++;
HARUKIDELTA	0:17f575135219	729	}
HARUKIDELTA	0:17f575135219	730	if(GetParameter(fp,paramNames[16],parameter)) *g_leftloopROLLshort = atof(parameter);
HARUKIDELTA	0:17f575135219	731	else{ *g_leftloopROLLshort = LEFT_ROLL_SHORT;
HARUKIDELTA	0:17f575135219	732	SDerrorcount++;
HARUKIDELTA	0:17f575135219	733	}
HARUKIDELTA	0:17f575135219	734	if(GetParameter(fp,paramNames[17],parameter)) *g_leftloopPITCHshort = atof(parameter);
HARUKIDELTA	0:17f575135219	735	else{ *g_leftloopPITCHshort = LEFT_PITCH_SHORT;
HARUKIDELTA	0:17f575135219	736	SDerrorcount++;
HARUKIDELTA	0:17f575135219	737	}
HARUKIDELTA	0:17f575135219	738	if(GetParameter(fp,paramNames[18],parameter)) *g_glideloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	739	else{ *g_glideloopROLL = GLIDE_ROLL;
HARUKIDELTA	0:17f575135219	740	SDerrorcount++;
HARUKIDELTA	0:17f575135219	741	}
HARUKIDELTA	0:17f575135219	742	if(GetParameter(fp,paramNames[19],parameter)) *g_glideloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	743	else{ *g_glideloopPITCH = GLIDE_PITCH;
HARUKIDELTA	0:17f575135219	744	SDerrorcount++;
HARUKIDELTA	0:17f575135219	745	}
HARUKIDELTA	12:763bf416ba4b	746	if(GetParameter(fp,paramNames[20],parameter)) *g_kpAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	747	else{ *g_kpAIL = KP_AIL;
HARUKIDELTA	12:763bf416ba4b	748	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	749	}
HARUKIDELTA	12:763bf416ba4b	750	if(GetParameter(fp,paramNames[21],parameter)) *g_kiAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	751	else{ *g_kiAIL = KI_AIL;
HARUKIDELTA	12:763bf416ba4b	752	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	753	}
HARUKIDELTA	12:763bf416ba4b	754	if(GetParameter(fp,paramNames[22],parameter)) *g_kdAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	755	else{ *g_kdAIL = KP_AIL;
HARUKIDELTA	12:763bf416ba4b	756	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	757	}
HARUKIDELTA	13:77b13d5f4d78	758	if(GetParameter(fp,paramNames[23],parameter)) *g_rightloopRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	759	else{ *g_rightloopRUD = RIGHTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	760	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	761	}
HARUKIDELTA	13:77b13d5f4d78	762	if(GetParameter(fp,paramNames[24],parameter)) *g_rightloopshortRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	763	else{ *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	764	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	765	}
HARUKIDELTA	13:77b13d5f4d78	766	if(GetParameter(fp,paramNames[25],parameter)) *g_leftloopRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	767	else{ *g_leftloopshortRUD = LEFTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	768	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	769	}
HARUKIDELTA	13:77b13d5f4d78	770	if(GetParameter(fp,paramNames[26],parameter)) *g_leftloopshortRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	771	else{ *g_leftloopshortRUD = LEFTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	772	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	773	}
HARUKIDELTA	13:77b13d5f4d78	774	if(GetParameter(fp,paramNames[27],parameter)) *g_glideloopRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	775	else{ *g_glideloopRUD = GLIDELOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	776	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	777	}
HARUKIDELTA	13:77b13d5f4d78	778	if(GetParameter(fp,paramNames[28],parameter)) *g_AIL_L_correctionrightloop = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	779	else{ *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP;
HARUKIDELTA	13:77b13d5f4d78	780	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	781	}
HARUKIDELTA	13:77b13d5f4d78	782	if(GetParameter(fp,paramNames[29],parameter)) *g_AIL_L_correctionrightloopshort = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	783	else{ *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	784	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	785	}
HARUKIDELTA	13:77b13d5f4d78	786	if(GetParameter(fp,paramNames[30],parameter)) *g_AIL_L_correctionleftloop = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	787	else{ *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP;
HARUKIDELTA	13:77b13d5f4d78	788	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	789	}
HARUKIDELTA	13:77b13d5f4d78	790	if(GetParameter(fp,paramNames[31],parameter)) *g_AIL_L_correctionleftloopshort = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	791	else{ *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	792	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	793	}
HARUKIDELTA	13:77b13d5f4d78	794
HARUKIDELTA	0:17f575135219	795	fclose(fp);
HARUKIDELTA	0:17f575135219	796
HARUKIDELTA	0:17f575135219	797	}else{ //ファイルがなかったら
HARUKIDELTA	0:17f575135219	798	pc.printf("fp was null.\r\n");
HARUKIDELTA	0:17f575135219	799	*g_kpELE = KP_ELE;
HARUKIDELTA	0:17f575135219	800	*g_kiELE = KI_ELE;
HARUKIDELTA	0:17f575135219	801	*g_kdELE = KD_ELE;
HARUKIDELTA	0:17f575135219	802	*g_kpRUD = KP_RUD;
HARUKIDELTA	0:17f575135219	803	*g_kiRUD = KI_RUD;
HARUKIDELTA	0:17f575135219	804	*g_kdRUD = KD_RUD;
HARUKIDELTA	0:17f575135219	805	*g_rightloopROLL = RIGHT_ROLL;
HARUKIDELTA	0:17f575135219	806	*g_rightloopPITCH = RIGHT_PITCH;
HARUKIDELTA	0:17f575135219	807	*g_leftloopROLL = LEFT_ROLL;
HARUKIDELTA	0:17f575135219	808	*g_leftloopPITCH = LEFT_PITCH;
HARUKIDELTA	0:17f575135219	809	*g_gostraightROLL = STRAIGHT_ROLL;
HARUKIDELTA	0:17f575135219	810	*g_gostraightPITCH = STRAIGHT_PITCH;
HARUKIDELTA	0:17f575135219	811	*g_takeoffTHR = TAKEOFF_THR;
HARUKIDELTA	0:17f575135219	812	*g_loopTHR = LOOP_THR;
HARUKIDELTA	12:763bf416ba4b	813	*g_kpAIL = KP_AIL; //パラメータ変えるのお忘れなく！！
HARUKIDELTA	12:763bf416ba4b	814	*g_kiAIL = KI_AIL;
HARUKIDELTA	12:763bf416ba4b	815	*g_kdAIL = KD_AIL;
HARUKIDELTA	13:77b13d5f4d78	816	*g_rightloopRUD = RIGHTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	817	*g_rightloopshortRUD = RIGHTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	818	*g_leftloopRUD = LEFTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	819	*g_leftloopshortRUD = LEFTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	820	*g_glideloopRUD = GLIDELOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	821	*g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP;
HARUKIDELTA	13:77b13d5f4d78	822	*g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	823	*g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP;
HARUKIDELTA	13:77b13d5f4d78	824	*g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	825
HARUKIDELTA	13:77b13d5f4d78	826
HARUKIDELTA	0:17f575135219	827	SDerrorcount = -1;
HARUKIDELTA	0:17f575135219	828	}
HARUKIDELTA	0:17f575135219	829	pc.printf("SDsetup finished.\r\n");
HARUKIDELTA	0:17f575135219	830	if(SDerrorcount == 0) pc.printf("setting option is success\r\n");
HARUKIDELTA	0:17f575135219	831	else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n");
HARUKIDELTA	0:17f575135219	832	else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount);
HARUKIDELTA	0:17f575135219	833
HARUKIDELTA	0:17f575135219	834	pc.printf("kpELE = %f, kiELE = %f, kdELE = %f\r\n", g_kpRUD, g_kiRUD, *g_kdRUD);
HARUKIDELTA	0:17f575135219	835	pc.printf("kpRUD = %f, kiRUD = %f, kdRUD = %f\r\n", g_kpELE, g_kiELE, *g_kdELE);
HARUKIDELTA	0:17f575135219	836	pc.printf("rightloopROLL = %f, rightloopPITCH = %f\r\n", g_rightloopROLL, g_rightloopPITCH);
HARUKIDELTA	0:17f575135219	837	pc.printf("leftloopROLL = %f, g_leftloopPITCH = %f\r\n", g_leftloopROLL, g_leftloopPITCH);
HARUKIDELTA	0:17f575135219	838	pc.printf("gostraightROLL = %f, g_gostraightPITCH = %f\r\n", g_gostraightROLL, g_gostraightPITCH);
HARUKIDELTA	0:17f575135219	839	pc.printf("g_takeoffTHR = %f, g_loopTHR = %f\r\n", g_takeoffTHR, g_loopTHR);
HARUKIDELTA	0:17f575135219	840	pc.printf("rightloopROLLshort = %f, rightloopPITCHshort = %f\r\n", g_rightloopROLLshort, g_rightloopPITCHshort);
HARUKIDELTA	0:17f575135219	841	pc.printf("leftloopROLLshort = %f, g_leftloopPITCHshort = %f\r\n", g_leftloopROLLshort, g_leftloopPITCHshort);
HARUKIDELTA	0:17f575135219	842	pc.printf("glideROLL = %f, glidePITCH = %f\r\n", g_glideloopROLL, g_glideloopPITCH);
HARUKIDELTA	16:7fca5b938da6	843	pc.printf("kpAIL = %f,kiAIL = %f,kdAIL = %f\r\n ",g_kpAIL,g_kiAIL,*g_kdAIL);
HARUKIDELTA	16:7fca5b938da6	844	pc.printf("RIGHTLOOPRUD = %d,RIGHTLOOPSHORTRUD = %d\r\n",g_rightloopRUD,g_rightloopshortRUD);
HARUKIDELTA	16:7fca5b938da6	845	pc.printf("LEFTTLOOPRUD = %d,LEFTLOOPSHORTRUD = %d\r\n",g_leftloopRUD,g_leftloopshortRUD);
HARUKIDELTA	16:7fca5b938da6	846	pc.printf("GLIDELOOPRUD = %d\r\n",*g_glideloopRUD);
HARUKIDELTA	16:7fca5b938da6	847	pc.printf("AIL_L_CORRECTION_RIGHTLOOP = %d, AIL_L_CORRECTION_RIGHTLOOPSHORT = %d\r\n",g_AIL_L_correctionrightloop,g_AIL_L_correctionrightloopshort);
HARUKIDELTA	16:7fca5b938da6	848	pc.printf("AIL_L_CORRECTION_LEFTLOOP = %d, AIL_L_CORRECTION_LEFTLOOPSHORT = %d\r\n",g_AIL_L_correctionleftloop,g_AIL_L_correctionleftloopshort);
HARUKIDELTA	0:17f575135219	849	return SDerrorcount;
HARUKIDELTA	0:17f575135219	850	}
HARUKIDELTA	0:17f575135219	851
HARUKIDELTA	0:17f575135219	852	void CalculateControlValue(float targetAngle[3], float controlValue[3]){
HARUKIDELTA	0:17f575135219	853	static int t_last;
HARUKIDELTA	0:17f575135219	854	int t_now;
HARUKIDELTA	0:17f575135219	855	float dt;
HARUKIDELTA	0:17f575135219	856
HARUKIDELTA	0:17f575135219	857	t_now = t.read_us();
HARUKIDELTA	0:17f575135219	858	dt = (float)((t_now - t_last)/1000000.0f) ;
HARUKIDELTA	0:17f575135219	859	t_last = t_now;
HARUKIDELTA	0:17f575135219	860
taknokolat	1:f383708a5a52	861
taknokolat	1:f383708a5a52	862	//controlValue[ROLL] = pid_RUD.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt);
taknokolat	1:f383708a5a52	863	controlValue[ROLL] = pid_AIL.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); //エルロンでロール制御
HARUKIDELTA	0:17f575135219	864	controlValue[PITCH] = pid_ELE.calcPID(nowAngle[PITCH], targetAngle[PITCH], dt);
HARUKIDELTA	0:17f575135219	865	}
HARUKIDELTA	0:17f575135219	866
HARUKIDELTA	0:17f575135219	867	void UpdateAutoPWM(float controlValue[3]){
HARUKIDELTA	0:17f575135219	868	int16_t addpwm[2]; //-500~500
HARUKIDELTA	0:17f575135219	869	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	870	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	871
HARUKIDELTA	2:23daa5fa28b4	872	autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH]; //rewrite
HARUKIDELTA	8:66bba39b95a9	873	autopwm[AIL_R] = trimpwm[AIL_R] - reverce[AIL_R] * addpwm[ROLL];
HARUKIDELTA	0:17f575135219	874	//autopwm[THR] = oldTHR;
HARUKIDELTA	0:17f575135219	875
HARUKIDELTA	0:17f575135219	876	autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]);
taknokolat	1:f383708a5a52	877	autopwm[AIL_R] = ThresholdMaxMin(autopwm[AIL_R], maxpwm[AIL_R], minpwm[AIL_R]);
HARUKIDELTA	2:23daa5fa28b4	878
HARUKIDELTA	0:17f575135219	879	}
HARUKIDELTA	0:17f575135219	880
HARUKIDELTA	0:17f575135219	881	inline float CalcRatio(float value, float trim, float limit){
HARUKIDELTA	0:17f575135219	882	return (value - trim) / (limit - trim);
HARUKIDELTA	0:17f575135219	883	}
HARUKIDELTA	0:17f575135219	884
HARUKIDELTA	0:17f575135219	885	bool CheckSW_Up(Channel ch){
HARUKIDELTA	0:17f575135219	886	if(SWITCH_CHECK < sbus.manualpwm[ch]){
HARUKIDELTA	0:17f575135219	887	return true;
HARUKIDELTA	0:17f575135219	888	}else{
HARUKIDELTA	0:17f575135219	889	return false;
HARUKIDELTA	0:17f575135219	890	}
HARUKIDELTA	0:17f575135219	891	}
HARUKIDELTA	0:17f575135219	892
HARUKIDELTA	0:17f575135219	893	int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min){
HARUKIDELTA	0:17f575135219	894	if(value > max) return max;
HARUKIDELTA	0:17f575135219	895	if(value < min) return min;
HARUKIDELTA	0:17f575135219	896	return value;
HARUKIDELTA	0:17f575135219	897	}
HARUKIDELTA	0:17f575135219	898
HARUKIDELTA	0:17f575135219	899	inline int16_t SetTHRinRatio(float ratio){
HARUKIDELTA	0:17f575135219	900	return minpwm[THR] + (int16_t)(2 * lengthdivpwm * ratio);
HARUKIDELTA	0:17f575135219	901	}
HARUKIDELTA	0:17f575135219	902
HARUKIDELTA	2:23daa5fa28b4	903
HARUKIDELTA	2:23daa5fa28b4	904
HARUKIDELTA	0:17f575135219	905	/---SBUS割り込み処理---/
HARUKIDELTA	0:17f575135219	906
HARUKIDELTA	0:17f575135219	907	//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	908	//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	909	void Update_PWM()
HARUKIDELTA	0:17f575135219	910	{
HARUKIDELTA	0:17f575135219	911	static int16_t pwm[6];
HARUKIDELTA	0:17f575135219	912	static int16_t temppwm[6]={trimpwm[0],trimpwm[1],trimpwm[2],trimpwm[3],trimpwm[4],trimpwm[5]};
HARUKIDELTA	0:17f575135219	913	if(sbus.flg_ch_update == true){
taknokolat	10:652071c20bf6	914	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	915	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	916	case Manual:
HARUKIDELTA	0:17f575135219	917	for(uint8_t i=0;i<6;i++){
taknokolat	1:f383708a5a52	918	pwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	919	}
HARUKIDELTA	2:23daa5fa28b4	920	/*pc.printf("%d ,",pwm[0]);//R
HARUKIDELTA	2:23daa5fa28b4	921	pc.printf("%d ,\r\n",pwm[5]);//L*/
HARUKIDELTA	0:17f575135219	922	oldTHR = sbus.manualpwm[THR];
HARUKIDELTA	0:17f575135219	923	//pc.printf("update_manual\r\n");
HARUKIDELTA	0:17f575135219	924	break;
HARUKIDELTA	0:17f575135219	925
HARUKIDELTA	0:17f575135219	926	case Auto:
HARUKIDELTA	0:17f575135219	927	pwm[AIL_R] = autopwm[AIL_R]; //sbus.manualpwm[AIL];
HARUKIDELTA	0:17f575135219	928	pwm[ELE] = autopwm[ELE];
HARUKIDELTA	0:17f575135219	929	pwm[THR] = autopwm[THR];
HARUKIDELTA	0:17f575135219	930	pwm[RUD] = autopwm[RUD];
HARUKIDELTA	0:17f575135219	931	pwm[DROP] = autopwm[DROP];
HARUKIDELTA	0:17f575135219	932	pwm[AIL_L] = autopwm[AIL_L];
taknokolat	10:652071c20bf6	933	//pc.printf("%d ,",pwm[AIL_R]);//R
taknokolat	10:652071c20bf6	934	//pc.printf("%d ,\r\n",pwm[AIL_L]);//L
HARUKIDELTA	0:17f575135219	935	//pc.printf("update_auto\r\n");
HARUKIDELTA	2:23daa5fa28b4	936
HARUKIDELTA	0:17f575135219	937	break;
HARUKIDELTA	0:17f575135219	938
HARUKIDELTA	0:17f575135219	939	default:
HARUKIDELTA	0:17f575135219	940	for(uint8_t i=0;i<6;i++){
HARUKIDELTA	0:17f575135219	941	pwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	942	} //pc.printf("update_manual\r\n");
HARUKIDELTA	0:17f575135219	943	break;
taknokolat	10:652071c20bf6	944	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	945	}
HARUKIDELTA	0:17f575135219	946	for(uint8_t i=0;i<6;i++){
HARUKIDELTA	0:17f575135219	947	if(pwm[i]<1000 \|\| pwm[i]>2000) pwm[i]=temppwm[i];
HARUKIDELTA	0:17f575135219	948	temppwm[i]=pwm[i];
HARUKIDELTA	0:17f575135219	949	}
HARUKIDELTA	0:17f575135219	950	}else{
HARUKIDELTA	0:17f575135219	951	pc.printf("0\r\n");
HARUKIDELTA	0:17f575135219	952	}
HARUKIDELTA	0:17f575135219	953	sbus.flg_ch_update = false;
HARUKIDELTA	0:17f575135219	954	Output_PWM(pwm);
HARUKIDELTA	0:17f575135219	955	}
HARUKIDELTA	0:17f575135219	956
HARUKIDELTA	0:17f575135219	957
HARUKIDELTA	0:17f575135219	958	//pwmをサーボに出力。
HARUKIDELTA	0:17f575135219	959	void Output_PWM(int16_t pwm[5])
HARUKIDELTA	0:17f575135219	960	{
taknokolat	10:652071c20bf6	961	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	962	servo1.pulsewidth_us(pwm[0]);
HARUKIDELTA	0:17f575135219	963	servo2.pulsewidth_us(pwm[1]);
HARUKIDELTA	0:17f575135219	964	servo3.pulsewidth_us(pwm[2]);
HARUKIDELTA	0:17f575135219	965	servo4.pulsewidth_us(pwm[3]);
HARUKIDELTA	0:17f575135219	966	servo5.pulsewidth_us(pwm[4]);
HARUKIDELTA	0:17f575135219	967	servo6.pulsewidth_us(pwm[5]);
taknokolat	10:652071c20bf6	968	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	969
HARUKIDELTA	0:17f575135219	970	}
HARUKIDELTA	0:17f575135219	971
HARUKIDELTA	0:17f575135219	972	void ResetTrim(){
HARUKIDELTA	0:17f575135219	973	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	974	trimpwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	975	}
HARUKIDELTA	0:17f575135219	976	pc.printf("reset PWM trim\r\n");
HARUKIDELTA	0:17f575135219	977	}
HARUKIDELTA	0:17f575135219	978
HARUKIDELTA	0:17f575135219	979
HARUKIDELTA	0:17f575135219	980	void SensingMPU(){
HARUKIDELTA	0:17f575135219	981	//static int16_t deltaT = 0, t_start = 0;
HARUKIDELTA	0:17f575135219	982	//t_start = t.read_us();
HARUKIDELTA	0:17f575135219	983
HARUKIDELTA	0:17f575135219	984	float rpy[3] = {0}, oldrpy[3] = {0};
HARUKIDELTA	0:17f575135219	985	static uint16_t count_changeRPY = 0;
HARUKIDELTA	0:17f575135219	986	static bool flg_checkoutlier = false;
HARUKIDELTA	0:17f575135219	987	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	988	NVIC_DisableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	989	NVIC_DisableIRQ(TIM5_IRQn);
taknokolat	10:652071c20bf6	990	NVIC_DisableIRQ(EXTI0_IRQn);//MPU割り込み禁止
taknokolat	10:652071c20bf6	991	NVIC_DisableIRQ(EXTI9_5_IRQn);//超音波割り込み禁止
HARUKIDELTA	0:17f575135219	992
HARUKIDELTA	0:17f575135219	993	mpu6050.getRollPitchYaw_Skipper(rpy);
HARUKIDELTA	0:17f575135219	994
HARUKIDELTA	0:17f575135219	995	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	996	NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	997	NVIC_EnableIRQ(TIM5_IRQn);
HARUKIDELTA	0:17f575135219	998	NVIC_EnableIRQ(EXTI0_IRQn);
HARUKIDELTA	0:17f575135219	999	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1000
HARUKIDELTA	0:17f575135219	1001
HARUKIDELTA	0:17f575135219	1002	//外れ値対策
HARUKIDELTA	0:17f575135219	1003	for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI;
HARUKIDELTA	0:17f575135219	1004	rpy[ROLL] -= FirstROLL;
HARUKIDELTA	0:17f575135219	1005	rpy[PITCH] -= FirstPITCH;
HARUKIDELTA	0:17f575135219	1006	rpy[YAW] -= FirstYAW;
HARUKIDELTA	0:17f575135219	1007
HARUKIDELTA	0:17f575135219	1008	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	1009	if(!flg_checkoutlier \|\| count_changeRPY >= 2){
HARUKIDELTA	0:17f575135219	1010	for(uint8_t i=0; i<3; i++){
HARUKIDELTA	0:17f575135219	1011	nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均
HARUKIDELTA	0:17f575135219	1012	}
HARUKIDELTA	0:17f575135219	1013	count_changeRPY = 0;
HARUKIDELTA	0:17f575135219	1014	}else count_changeRPY++;
HARUKIDELTA	0:17f575135219	1015	flg_checkoutlier = false;
HARUKIDELTA	0:17f575135219	1016
HARUKIDELTA	0:17f575135219	1017	}
HARUKIDELTA	0:17f575135219	1018
HARUKIDELTA	0:17f575135219	1019	float TranslateNewYaw(float beforeYaw, float newzeroYaw){
HARUKIDELTA	0:17f575135219	1020	float newYaw = beforeYaw - newzeroYaw;
HARUKIDELTA	0:17f575135219	1021
HARUKIDELTA	0:17f575135219	1022	if(newYaw<-180.0f) newYaw += 360.0f;
HARUKIDELTA	0:17f575135219	1023	else if(newYaw>180.0f) newYaw -= 360.0f;
HARUKIDELTA	0:17f575135219	1024	return newYaw;
HARUKIDELTA	0:17f575135219	1025	}
HARUKIDELTA	0:17f575135219	1026
HARUKIDELTA	0:17f575135219	1027
HARUKIDELTA	0:17f575135219	1028	void getSF_Serial(){
HARUKIDELTA	0:17f575135219	1029
HARUKIDELTA	0:17f575135219	1030	static char SFbuf[16];
HARUKIDELTA	0:17f575135219	1031	static int bufcounter=0;
HARUKIDELTA	0:17f575135219	1032
taknokolat	14:bbd5ff31fb67	1033	if(pc.readable()) { // 受信確認
taknokolat	14:bbd5ff31fb67	1034	SFbuf[bufcounter] = pc.getc(); // 1文字取り出し
taknokolat	14:bbd5ff31fb67	1035	}
taknokolat	11:c0b9ad25d3db	1036
taknokolat	11:c0b9ad25d3db	1037
taknokolat	11:c0b9ad25d3db	1038	pc.printf("%c",SFbuf[bufcounter]);
taknokolat	11:c0b9ad25d3db	1039
HARUKIDELTA	0:17f575135219	1040	if(SFbuf[0]=='S'&&bufcounter<5) bufcounter++;
HARUKIDELTA	0:17f575135219	1041
HARUKIDELTA	0:17f575135219	1042	if(bufcounter==5 && SFbuf[4]=='F'){
HARUKIDELTA	0:17f575135219	1043	g_landingcommand = SFbuf[1];
taknokolat	14:bbd5ff31fb67	1044	wait_ms(8);
HARUKIDELTA	0:17f575135219	1045	if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
HARUKIDELTA	0:17f575135219	1046	bufcounter = 0;
HARUKIDELTA	0:17f575135219	1047	memset(SFbuf, 0, strlen(SFbuf));
taknokolat	10:652071c20bf6	1048	//pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
HARUKIDELTA	0:17f575135219	1049	}
taknokolat	10:652071c20bf6	1050	else if(bufcounter>=5 ){
HARUKIDELTA	0:17f575135219	1051	pc.printf("Communication Falsed.\r\n");
HARUKIDELTA	0:17f575135219	1052	bufcounter = 0;
HARUKIDELTA	0:17f575135219	1053	}
taknokolat	11:c0b9ad25d3db	1054
HARUKIDELTA	0:17f575135219	1055	}
HARUKIDELTA	0:17f575135219	1056
HARUKIDELTA	0:17f575135219	1057	float ConvertByteintoFloat(char high, char low){
HARUKIDELTA	0:17f575135219	1058
HARUKIDELTA	0:17f575135219	1059	//int16_t intvalue = (int16_t)high*256 + (int16_t)low;
HARUKIDELTA	0:17f575135219	1060	int16_t intvalue = (int16_t)(((int16_t)high << 8) \| low); // Turn the MSB and LSB into a signed 16-bit value
HARUKIDELTA	0:17f575135219	1061	float floatvalue = (float)intvalue;
HARUKIDELTA	0:17f575135219	1062	return floatvalue;
HARUKIDELTA	0:17f575135219	1063	}
HARUKIDELTA	0:17f575135219	1064
HARUKIDELTA	0:17f575135219	1065
HARUKIDELTA	0:17f575135219	1066	//超音波割り込み
taknokolat	10:652071c20bf6	1067	/*void UpdateDist(){
HARUKIDELTA	0:17f575135219	1068	g_distance = usensor.get_dist_cm();
HARUKIDELTA	0:17f575135219	1069	usensor.start();
taknokolat	10:652071c20bf6	1070	}*/
HARUKIDELTA	0:17f575135219	1071
HARUKIDELTA	0:17f575135219	1072	//8の字旋回
HARUKIDELTA	0:17f575135219	1073	void UpdateTargetAngle_Moebius(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1074	static uint8_t RotateCounter=0;
HARUKIDELTA	0:17f575135219	1075	static bool flg_setInStartAuto = false;
HARUKIDELTA	0:17f575135219	1076	static float FirstYAW_Moebius = 0.0;
HARUKIDELTA	0:17f575135219	1077	float newYaw_Moebius;
HARUKIDELTA	0:17f575135219	1078
HARUKIDELTA	0:17f575135219	1079	if(!flg_setInStartAuto && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1080	FirstYAW_Moebius = nowAngle[YAW];
HARUKIDELTA	0:17f575135219	1081	RotateCounter = 0;
HARUKIDELTA	0:17f575135219	1082	flg_setInStartAuto = true;
HARUKIDELTA	0:17f575135219	1083	}else if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1084	flg_setInStartAuto = false;
HARUKIDELTA	0:17f575135219	1085	led2 = 0;
HARUKIDELTA	0:17f575135219	1086	}
HARUKIDELTA	6:ed61ed8b8fab	1087	autopwm[THR]=oldTHR;
HARUKIDELTA	6:ed61ed8b8fab	1088
HARUKIDELTA	0:17f575135219	1089	newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius);
HARUKIDELTA	0:17f575135219	1090
HARUKIDELTA	0:17f575135219	1091	if(RotateCounter == 0 && newYaw_Moebius >90.0 && newYaw_Moebius < 180.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n");}
HARUKIDELTA	0:17f575135219	1092	if(RotateCounter == 1 && newYaw_Moebius >-180.0 && newYaw_Moebius < -90.0) {RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n");}
HARUKIDELTA	6:ed61ed8b8fab	1093	if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius <-10.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n");}
HARUKIDELTA	6:ed61ed8b8fab	1094	if(RotateCounter == 3 && newYaw_Moebius >0.0 && newYaw_Moebius < 90.0) {RotateCounter++; led2 = 0; pc.printf("Change Rotate direction\r\n");}
HARUKIDELTA	0:17f575135219	1095
HARUKIDELTA	0:17f575135219	1096
HARUKIDELTA	0:17f575135219	1097	if(RotateCounter <= 3) UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1098	else UpdateTargetAngle_Leftloop_short(targetAngle); //左旋回
HARUKIDELTA	0:17f575135219	1099
HARUKIDELTA	0:17f575135219	1100	}
HARUKIDELTA	0:17f575135219	1101
HARUKIDELTA	0:17f575135219	1102	//自動滑空
HARUKIDELTA	0:17f575135219	1103	void UpdateTargetAngle_Glide(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1104	static int THRcount = 0;
HARUKIDELTA	0:17f575135219	1105	static int t_start = 0;
HARUKIDELTA	0:17f575135219	1106	static bool flg_tstart = false;
HARUKIDELTA	0:17f575135219	1107	int t_diff = 0;
taknokolat	1:f383708a5a52	1108	static int groundcount = 0;
HARUKIDELTA	0:17f575135219	1109
HARUKIDELTA	0:17f575135219	1110	targetAngle[ROLL] = g_glideloopROLL;
HARUKIDELTA	0:17f575135219	1111	targetAngle[PITCH] = g_glideloopPITCH;
HARUKIDELTA	0:17f575135219	1112
HARUKIDELTA	16:7fca5b938da6	1113	autopwm[RUD]=g_glideloopRUD;
HARUKIDELTA	7:53b0eb6f6bd3	1114	// autopwm[THR]=oldTHR;
taknokolat	10:652071c20bf6	1115
taknokolat	1:f383708a5a52	1116
HARUKIDELTA	7:53b0eb6f6bd3	1117
HARUKIDELTA	0:17f575135219	1118	//時間計測開始設定
HARUKIDELTA	0:17f575135219	1119	if(!flg_tstart && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1120	t_start = t.read();
HARUKIDELTA	0:17f575135219	1121	flg_tstart = true;
HARUKIDELTA	0:17f575135219	1122	pc.printf("timer start\r\n");
taknokolat	1:f383708a5a52	1123	}else if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1124	t_start = 0;
HARUKIDELTA	0:17f575135219	1125	flg_tstart = false;
HARUKIDELTA	0:17f575135219	1126	}
HARUKIDELTA	0:17f575135219	1127
taknokolat	1:f383708a5a52	1128
HARUKIDELTA	0:17f575135219	1129	//フラグが偽であれば計測は行わない
HARUKIDELTA	0:17f575135219	1130	if(flg_tstart){
HARUKIDELTA	0:17f575135219	1131	t_diff = t.read() - t_start;
HARUKIDELTA	0:17f575135219	1132	//一定高度or15秒でled点灯
taknokolat	10:652071c20bf6	1133	NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat	1:f383708a5a52	1134	if((groundcount>5 && g_distance>0) \|\| t_diff > 15){
HARUKIDELTA	0:17f575135219	1135	led2 = 1;
HARUKIDELTA	0:17f575135219	1136	//pc.printf("Call [Stop!] calling!\r\n");
HARUKIDELTA	0:17f575135219	1137	}
taknokolat	10:652071c20bf6	1138
taknokolat	1:f383708a5a52	1139	if(g_distance<180 && g_distance > 0) groundcount++;
taknokolat	10:652071c20bf6	1140	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1141	}else{
HARUKIDELTA	0:17f575135219	1142	t_diff = 0;
taknokolat	1:f383708a5a52	1143	groundcount = 0;
HARUKIDELTA	0:17f575135219	1144	led2 = 0;
HARUKIDELTA	0:17f575135219	1145	}
HARUKIDELTA	0:17f575135219	1146
taknokolat	1:f383708a5a52	1147	if(t_diff > 17){
HARUKIDELTA	0:17f575135219	1148	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	0:17f575135219	1149	}else{
taknokolat	10:652071c20bf6	1150	NVIC_DisableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1151	if(g_distance<150 && g_distance>0 ){
taknokolat	10:652071c20bf6	1152	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1153	THRcount++;
HARUKIDELTA	0:17f575135219	1154	if(THRcount>5){
taknokolat	1:f383708a5a52	1155	autopwm[THR] = SetTHRinRatio(0.6);
HARUKIDELTA	0:17f575135219	1156	//pc.printf("throttle ON\r\n");
HARUKIDELTA	0:17f575135219	1157	}
HARUKIDELTA	0:17f575135219	1158	}else{
HARUKIDELTA	0:17f575135219	1159	autopwm[THR] = 1180;
HARUKIDELTA	0:17f575135219	1160	THRcount = 0;
HARUKIDELTA	0:17f575135219	1161	}
HARUKIDELTA	7:53b0eb6f6bd3	1162	}
HARUKIDELTA	0:17f575135219	1163	}
HARUKIDELTA	0:17f575135219	1164	//離陸-投下-着陸一連
HARUKIDELTA	0:17f575135219	1165	void Take_off_and_landing(float targetAngle[3]){
taknokolat	10:652071c20bf6	1166	/*
HARUKIDELTA	0:17f575135219	1167	if(!CheckSW_Up(Ch7)) bombing_mode = Takeoff;
HARUKIDELTA	0:17f575135219	1168
HARUKIDELTA	0:17f575135219	1169	switch(bombing_mode){
HARUKIDELTA	0:17f575135219	1170	case Takeoff:
HARUKIDELTA	0:17f575135219	1171	static bool flg_setFirstYaw = false;
HARUKIDELTA	0:17f575135219	1172	static int TakeoffCount = 0;
HARUKIDELTA	0:17f575135219	1173
HARUKIDELTA	0:17f575135219	1174	if(!flg_setFirstYaw && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1175	FirstYAW = nowAngle[YAW];
HARUKIDELTA	0:17f575135219	1176	flg_setFirstYaw = true;
HARUKIDELTA	0:17f575135219	1177	}else if(flg_setFirstYaw && !CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1178	flg_setFirstYaw = false;
HARUKIDELTA	0:17f575135219	1179	}
HARUKIDELTA	0:17f575135219	1180
HARUKIDELTA	0:17f575135219	1181	UpdateTargetAngle_Takeoff(targetAngle);
HARUKIDELTA	0:17f575135219	1182
HARUKIDELTA	0:17f575135219	1183	if(g_distance>150) TakeoffCount++;
HARUKIDELTA	0:17f575135219	1184	else TakeoffCount = 0;
HARUKIDELTA	0:17f575135219	1185	if(TakeoffCount>5){
HARUKIDELTA	0:17f575135219	1186	autopwm[THR] = 1180+32020.5;
HARUKIDELTA	0:17f575135219	1187	pc.printf("Now go to Approach mode!!");
HARUKIDELTA	0:17f575135219	1188	bombing_mode = Approach;
HARUKIDELTA	0:17f575135219	1189	}
HARUKIDELTA	0:17f575135219	1190	break;
taknokolat	10:652071c20bf6	1191
taknokolat	10:652071c20bf6	1192	//case Chicken:
taknokolat	10:652071c20bf6	1193	//break;
taknokolat	10:652071c20bf6	1194
HARUKIDELTA	0:17f575135219	1195	case Transition:
HARUKIDELTA	0:17f575135219	1196	static int ApproachCount = 0;
HARUKIDELTA	0:17f575135219	1197	targetAngle[YAW]=180.0;
HARUKIDELTA	0:17f575135219	1198	int Judge = Rotate(targetAngle, g_SerialTargetYAW);
HARUKIDELTA	0:17f575135219	1199
HARUKIDELTA	0:17f575135219	1200	if(Judge==0) ApproachCount++;
HARUKIDELTA	0:17f575135219	1201	if(ApproachCount>5) bombing_mode = Approach;
HARUKIDELTA	0:17f575135219	1202	break;
HARUKIDELTA	0:17f575135219	1203
HARUKIDELTA	0:17f575135219	1204	case Approach:
taknokolat	10:652071c20bf6	1205	*/
taknokolat	10:652071c20bf6	1206	autopwm[THR] = SetTHRinRatio(g_loopTHR); //0.7;スロットルの割合
HARUKIDELTA	0:17f575135219	1207	UpdateTargetAngle_Approach(targetAngle);
taknokolat	10:652071c20bf6	1208	/*
HARUKIDELTA	0:17f575135219	1209	break;
HARUKIDELTA	0:17f575135219	1210
HARUKIDELTA	0:17f575135219	1211	default:
HARUKIDELTA	0:17f575135219	1212	bombing_mode = Takeoff;
HARUKIDELTA	0:17f575135219	1213	break;
HARUKIDELTA	0:17f575135219	1214	}
taknokolat	10:652071c20bf6	1215	*/
HARUKIDELTA	0:17f575135219	1216	}
HARUKIDELTA	0:17f575135219	1217
HARUKIDELTA	0:17f575135219	1218	//離陸モード
HARUKIDELTA	0:17f575135219	1219	void UpdateTargetAngle_Takeoff(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1220	//pc.printf("%d \r\n",g_distance);
HARUKIDELTA	0:17f575135219	1221	targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA	0:17f575135219	1222	targetAngle[PITCH] = g_loopTHR;
HARUKIDELTA	0:17f575135219	1223	autopwm[THR] = SetTHRinRatio(g_takeoffTHR); //0.7;スロットルの割合
HARUKIDELTA	0:17f575135219	1224	}
HARUKIDELTA	0:17f575135219	1225
HARUKIDELTA	0:17f575135219	1226	//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	1227	int Rotate(float targetAngle[3], float TargetYAW){
HARUKIDELTA	0:17f575135219	1228	float diffYaw = TranslateNewYaw(TargetYAW, nowAngle[YAW]);
HARUKIDELTA	0:17f575135219	1229
HARUKIDELTA	0:17f575135219	1230	if(diffYaw > LIMIT_STRAIGHT_YAW){
HARUKIDELTA	0:17f575135219	1231	/*
HARUKIDELTA	0:17f575135219	1232	if(diffYaw > THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1233	else UpdateTargetAngle_Rightloop(targetAngle);
HARUKIDELTA	0:17f575135219	1234	*/
HARUKIDELTA	0:17f575135219	1235	UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1236	return 1;
HARUKIDELTA	0:17f575135219	1237	}else if(diffYaw < -LIMIT_STRAIGHT_YAW){
HARUKIDELTA	0:17f575135219	1238	UpdateTargetAngle_Leftloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1239	/*
HARUKIDELTA	0:17f575135219	1240	if(diffYaw < -THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Leftloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1241	else UpdateTargetAngle_Leftloop(targetAngle);
HARUKIDELTA	0:17f575135219	1242	*/
HARUKIDELTA	0:17f575135219	1243	return 1;
HARUKIDELTA	0:17f575135219	1244	}else{
HARUKIDELTA	0:17f575135219	1245	UpdateTargetAngle_GoStraight(targetAngle);
HARUKIDELTA	0:17f575135219	1246	return 0;
HARUKIDELTA	0:17f575135219	1247	}
HARUKIDELTA	0:17f575135219	1248	}
HARUKIDELTA	0:17f575135219	1249
HARUKIDELTA	0:17f575135219	1250	//チキラー投下
HARUKIDELTA	0:17f575135219	1251	void Chicken_Drop(){
HARUKIDELTA	0:17f575135219	1252	if(CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1253	autopwm[DROP] = 1512;
HARUKIDELTA	0:17f575135219	1254	pc.printf("Bombed!\r\n");
HARUKIDELTA	0:17f575135219	1255	RerurnChickenServo1.attach(&ReturnChickenServo1, 3);
HARUKIDELTA	0:17f575135219	1256	//operation_mode = Approach;
HARUKIDELTA	0:17f575135219	1257	//buzzer = 0;
HARUKIDELTA	0:17f575135219	1258	pc.printf("Goto LeftLoop mode\r\n");
HARUKIDELTA	0:17f575135219	1259	}
HARUKIDELTA	0:17f575135219	1260	}
HARUKIDELTA	0:17f575135219	1261
HARUKIDELTA	0:17f575135219	1262	void ReturnChickenServo1(){
HARUKIDELTA	0:17f575135219	1263	autopwm[DROP] = 1344;
HARUKIDELTA	0:17f575135219	1264	pc.printf("first reverse\r\n");
HARUKIDELTA	0:17f575135219	1265	RerurnChickenServo2.attach(&ReturnChickenServo2, 1);
HARUKIDELTA	0:17f575135219	1266	}
HARUKIDELTA	0:17f575135219	1267
HARUKIDELTA	0:17f575135219	1268	void ReturnChickenServo2(){
HARUKIDELTA	0:17f575135219	1269	autopwm[DROP] = 1392;
HARUKIDELTA	0:17f575135219	1270	pc.printf("second reverse\r\n");
taknokolat	10:652071c20bf6	1271	}
taknokolat	10:652071c20bf6	1272
taknokolat	10:652071c20bf6	1273	//着陸モード（PCからの指令に従う）
taknokolat	10:652071c20bf6	1274	void UpdateTargetAngle_Approach(float targetAngle[3]){
taknokolat	10:652071c20bf6	1275
taknokolat	10:652071c20bf6	1276	NVIC_DisableIRQ(USART2_IRQn);
taknokolat	10:652071c20bf6	1277
taknokolat	10:652071c20bf6	1278	switch(g_landingcommand){
taknokolat	10:652071c20bf6	1279	case 'R': //右旋回セヨ
taknokolat	18:f3dcb174b563	1280	if(zeroTHR==0){
taknokolat	18:f3dcb174b563	1281	UpdateTargetAngle_Rightloop_zero(targetAngle);
taknokolat	18:f3dcb174b563	1282	}
taknokolat	18:f3dcb174b563	1283	else{
taknokolat	10:652071c20bf6	1284	targetAngle[ROLL] = g_rightloopROLL;
taknokolat	10:652071c20bf6	1285	targetAngle[PITCH] = g_rightloopPITCH ;
HARUKIDELTA	17:55249ea37dff	1286	autopwm[RUD]=g_rightloopRUD; //RUD固定
taknokolat	10:652071c20bf6	1287	if(autopwm[AIL_R]>trimpwm[AIL_R]){ //エルロン上がりやすさ調節
taknokolat	10:652071c20bf6	1288	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	10:652071c20bf6	1289	}
taknokolat	10:652071c20bf6	1290	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
taknokolat	10:652071c20bf6	1291	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
taknokolat	18:f3dcb174b563	1292	}
taknokolat	10:652071c20bf6	1293	break;
taknokolat	10:652071c20bf6	1294
taknokolat	10:652071c20bf6	1295	case 'L': //左旋回セヨ
taknokolat	18:f3dcb174b563	1296	if(zeroTHR==0){
taknokolat	18:f3dcb174b563	1297	UpdateTargetAngle_Leftloop_zero(targetAngle);
taknokolat	18:f3dcb174b563	1298	}
taknokolat	18:f3dcb174b563	1299	else{
taknokolat	10:652071c20bf6	1300	targetAngle[ROLL] = g_leftloopROLL;
taknokolat	10:652071c20bf6	1301	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	17:55249ea37dff	1302	autopwm[RUD]=g_leftloopRUD;
taknokolat	10:652071c20bf6	1303	if(autopwm[AIL_R]>trimpwm[AIL_R]){
taknokolat	10:652071c20bf6	1304	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	10:652071c20bf6	1305	}
taknokolat	10:652071c20bf6	1306	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
taknokolat	18:f3dcb174b563	1307	}
taknokolat	10:652071c20bf6	1308	break;
taknokolat	10:652071c20bf6	1309
taknokolat	10:652071c20bf6	1310	case 'G': //直進セヨ
taknokolat	18:f3dcb174b563	1311	if(zeroTHR==0){
taknokolat	18:f3dcb174b563	1312	UpdateTargetAngle_GoStraight_zero(targetAngle);
taknokolat	18:f3dcb174b563	1313	}
taknokolat	18:f3dcb174b563	1314	else{
taknokolat	18:f3dcb174b563	1315	autopwm[RUD]=1404;
taknokolat	10:652071c20bf6	1316	targetAngle[PITCH] = g_gostraightPITCH;
taknokolat	18:f3dcb174b563	1317	}
taknokolat	10:652071c20bf6	1318
taknokolat	10:652071c20bf6	1319	break;
taknokolat	10:652071c20bf6	1320
taknokolat	10:652071c20bf6	1321	case 'Y': //指定ノヨー方向ニ移動セヨ
taknokolat	10:652071c20bf6	1322	Rotate(targetAngle, g_SerialTargetYAW);
taknokolat	10:652071c20bf6	1323	break;
taknokolat	10:652071c20bf6	1324
taknokolat	10:652071c20bf6	1325	case 'B': //ブザーヲ鳴ラセ
taknokolat	10:652071c20bf6	1326	//buzzer = 1;
taknokolat	10:652071c20bf6	1327	break;
taknokolat	10:652071c20bf6	1328
taknokolat	10:652071c20bf6	1329	case 'D': //物資ヲ落トセ
taknokolat	10:652071c20bf6	1330	Chicken_Drop();
taknokolat	10:652071c20bf6	1331	break;
taknokolat	10:652071c20bf6	1332
taknokolat	10:652071c20bf6	1333	case 'C': //停止セヨ
taknokolat	18:f3dcb174b563	1334	autopwm[RUD]=1404;
taknokolat	10:652071c20bf6	1335	targetAngle[PITCH] = -3.0;
taknokolat	10:652071c20bf6	1336	autopwm[THR] = minpwm[THR];
taknokolat	18:f3dcb174b563	1337	zeroTHR=0;
taknokolat	10:652071c20bf6	1338	break;
HARUKIDELTA	0:17f575135219	1339
taknokolat	10:652071c20bf6	1340	}
taknokolat	10:652071c20bf6	1341	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	10:652071c20bf6	1342	}
taknokolat	10:652071c20bf6	1343
taknokolat	10:652071c20bf6	1344	void checkHeight(float targetAngle[3]){
taknokolat	10:652071c20bf6	1345
taknokolat	10:652071c20bf6	1346	static int targetHeight = 200;
taknokolat	10:652071c20bf6	1347	NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat	10:652071c20bf6	1348	if(g_distance < targetHeight + ALLOWHEIGHT){
taknokolat	10:652071c20bf6	1349	UpdateTargetAngle_NoseUP(targetAngle);
taknokolat	10:652071c20bf6	1350	if(CheckSW_Up(Ch7)) led2 = 1;
taknokolat	10:652071c20bf6	1351	}
taknokolat	10:652071c20bf6	1352	else if(g_distance > targetHeight - ALLOWHEIGHT){
taknokolat	10:652071c20bf6	1353	UpdateTargetAngle_NoseDOWN(targetAngle);
taknokolat	10:652071c20bf6	1354	if(CheckSW_Up(Ch7)) led2 = 1;
taknokolat	10:652071c20bf6	1355	}
taknokolat	10:652071c20bf6	1356	else led2=0;
taknokolat	10:652071c20bf6	1357	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1358	}
HARUKIDELTA	0:17f575135219	1359
taknokolat	10:652071c20bf6	1360	void UpdateTargetAngle_NoseUP(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1361
HARUKIDELTA	0:17f575135219	1362	//targetAngle[PITCH] += 2.0f;
HARUKIDELTA	0:17f575135219	1363	//if(nowAngle[PITCH]<targetAngle[PITCH]) autopwm[THR] = SetTHRinRatio(0.6);
HARUKIDELTA	0:17f575135219	1364	autopwm[THR] = SetTHRinRatio(g_loopTHR+0.05);
HARUKIDELTA	0:17f575135219	1365	//pc.printf("nose UP");
HARUKIDELTA	0:17f575135219	1366	}
HARUKIDELTA	0:17f575135219	1367
HARUKIDELTA	0:17f575135219	1368	void UpdateTargetAngle_NoseDOWN(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1369
HARUKIDELTA	0:17f575135219	1370	//targetAngle[PITCH] -= 2.0f;
HARUKIDELTA	0:17f575135219	1371	autopwm[THR] = SetTHRinRatio(g_loopTHR-0.05);
HARUKIDELTA	0:17f575135219	1372	//pc.printf("nose DOWN");
HARUKIDELTA	0:17f575135219	1373	}
HARUKIDELTA	0:17f575135219	1374
HARUKIDELTA	0:17f575135219	1375	//直進
HARUKIDELTA	0:17f575135219	1376	void UpdateTargetAngle_GoStraight(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1377
taknokolat	18:f3dcb174b563	1378	autopwm[RUD]=1404;
HARUKIDELTA	0:17f575135219	1379	targetAngle[PITCH] = g_gostraightPITCH;
HARUKIDELTA	0:17f575135219	1380	autopwm[THR] = SetTHRinRatio(g_loopTHR);
HARUKIDELTA	0:17f575135219	1381
HARUKIDELTA	0:17f575135219	1382	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1383	}
HARUKIDELTA	0:17f575135219	1384
taknokolat	18:f3dcb174b563	1385	//直進（着陸時スロットル０の時）
taknokolat	18:f3dcb174b563	1386	void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]){
taknokolat	18:f3dcb174b563	1387
taknokolat	18:f3dcb174b563	1388	autopwm[RUD]=1404;
taknokolat	18:f3dcb174b563	1389	targetAngle[PITCH] = g_gostraightPITCH;
taknokolat	18:f3dcb174b563	1390	autopwm[THR] = minpwm[THR];
taknokolat	18:f3dcb174b563	1391
taknokolat	18:f3dcb174b563	1392	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
taknokolat	18:f3dcb174b563	1393	}
taknokolat	18:f3dcb174b563	1394
HARUKIDELTA	3:206b17251f5b	1395
HARUKIDELTA	0:17f575135219	1396	//右旋回
HARUKIDELTA	0:17f575135219	1397	void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回
HARUKIDELTA	0:17f575135219	1398
HARUKIDELTA	0:17f575135219	1399	targetAngle[ROLL] = g_rightloopROLL;
HARUKIDELTA	0:17f575135219	1400	targetAngle[PITCH] = g_rightloopPITCH ;
HARUKIDELTA	16:7fca5b938da6	1401	autopwm[RUD]=g_rightloopRUD; //RUD固定
TUATBM	9:f6367b7fd7be	1402	autopwm[THR] = SetTHRinRatio(0.5); //手動スロットル記憶
HARUKIDELTA	3:206b17251f5b	1403	if(autopwm[AIL_R]>trimpwm[AIL_R]){ //エルロン上がりやすさ調節
HARUKIDELTA	3:206b17251f5b	1404	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	3:206b17251f5b	1405	}
HARUKIDELTA	3:206b17251f5b	1406	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
TUATBM	9:f6367b7fd7be	1407	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
TUATBM	9:f6367b7fd7be	1408
HARUKIDELTA	0:17f575135219	1409	//checkHeight(targetAngle);
HARUKIDELTA	0:17f575135219	1410	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1411	}
HARUKIDELTA	0:17f575135219	1412
HARUKIDELTA	4:fff1165ca50c	1413	//右旋回（着陸時スロットル０の時）
HARUKIDELTA	4:fff1165ca50c	1414	void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]){ //右旋回
HARUKIDELTA	4:fff1165ca50c	1415
HARUKIDELTA	4:fff1165ca50c	1416	targetAngle[ROLL] = g_rightloopROLL;
HARUKIDELTA	4:fff1165ca50c	1417	targetAngle[PITCH] = g_rightloopPITCH ;
HARUKIDELTA	16:7fca5b938da6	1418	autopwm[RUD]=g_rightloopRUD;
HARUKIDELTA	4:fff1165ca50c	1419	autopwm[THR] = minpwm[THR];//SetTHRinRatio(g_loopTHR);
HARUKIDELTA	4:fff1165ca50c	1420	if(autopwm[AIL_R]>trimpwm[AIL_R]){
HARUKIDELTA	4:fff1165ca50c	1421	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1422	}
HARUKIDELTA	4:fff1165ca50c	1423	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1424
HARUKIDELTA	4:fff1165ca50c	1425	//checkHeight(targetAngle);
HARUKIDELTA	4:fff1165ca50c	1426	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	4:fff1165ca50c	1427	}
HARUKIDELTA	4:fff1165ca50c	1428
HARUKIDELTA	0:17f575135219	1429	void UpdateTargetAngle_Rightloop_short(float targetAngle[3]){ //右旋回
HARUKIDELTA	0:17f575135219	1430
HARUKIDELTA	0:17f575135219	1431	targetAngle[ROLL] = g_rightloopROLLshort;
HARUKIDELTA	0:17f575135219	1432	targetAngle[PITCH] = g_rightloopPITCHshort;
HARUKIDELTA	16:7fca5b938da6	1433	autopwm[RUD]=g_rightloopshortRUD;
HARUKIDELTA	3:206b17251f5b	1434	autopwm[THR] = oldTHR;
HARUKIDELTA	3:206b17251f5b	1435	if(autopwm[AIL_R]>trimpwm[AIL_R]){
HARUKIDELTA	3:206b17251f5b	1436	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	3:206b17251f5b	1437	}
HARUKIDELTA	3:206b17251f5b	1438	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	0:17f575135219	1439
HARUKIDELTA	0:17f575135219	1440	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1441	}
HARUKIDELTA	0:17f575135219	1442
HARUKIDELTA	0:17f575135219	1443	//左旋回
HARUKIDELTA	0:17f575135219	1444	void UpdateTargetAngle_Leftloop(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1445
HARUKIDELTA	0:17f575135219	1446	targetAngle[ROLL] = g_leftloopROLL;
HARUKIDELTA	0:17f575135219	1447	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	16:7fca5b938da6	1448	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	4:fff1165ca50c	1449	autopwm[THR] = oldTHR;
HARUKIDELTA	4:fff1165ca50c	1450	if(autopwm[AIL_R]>trimpwm[AIL_R]){
HARUKIDELTA	17:55249ea37dff	1451	autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1452	}
HARUKIDELTA	17:55249ea37dff	1453	else autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1454	//checkHeight(targetAngle);
HARUKIDELTA	4:fff1165ca50c	1455
HARUKIDELTA	4:fff1165ca50c	1456	//printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	4:fff1165ca50c	1457	}
HARUKIDELTA	4:fff1165ca50c	1458
HARUKIDELTA	4:fff1165ca50c	1459	//左旋回（着陸時スロットル０のとき）
HARUKIDELTA	4:fff1165ca50c	1460	void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]){
HARUKIDELTA	4:fff1165ca50c	1461
HARUKIDELTA	4:fff1165ca50c	1462	targetAngle[ROLL] = g_leftloopROLL;
HARUKIDELTA	4:fff1165ca50c	1463	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	16:7fca5b938da6	1464	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	4:fff1165ca50c	1465	autopwm[THR] = minpwm[THR];
HARUKIDELTA	4:fff1165ca50c	1466	if(autopwm[AIL_R]>trimpwm[AIL_R]){
HARUKIDELTA	4:fff1165ca50c	1467	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1468	}
HARUKIDELTA	4:fff1165ca50c	1469	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1470	//autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_Ratio_leftloop;
HARUKIDELTA	0:17f575135219	1471	//checkHeight(targetAngle);
HARUKIDELTA	0:17f575135219	1472
HARUKIDELTA	2:23daa5fa28b4	1473	//printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1474	}
HARUKIDELTA	0:17f575135219	1475
HARUKIDELTA	0:17f575135219	1476	void UpdateTargetAngle_Leftloop_short(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1477
HARUKIDELTA	0:17f575135219	1478	targetAngle[ROLL] = g_leftloopROLLshort;
HARUKIDELTA	0:17f575135219	1479	targetAngle[PITCH] = g_leftloopPITCHshort;
HARUKIDELTA	16:7fca5b938da6	1480	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	4:fff1165ca50c	1481	autopwm[THR] = oldTHR;
HARUKIDELTA	4:fff1165ca50c	1482	if(autopwm[AIL_R]>trimpwm[AIL_R]){
HARUKIDELTA	4:fff1165ca50c	1483	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1484	}
HARUKIDELTA	4:fff1165ca50c	1485	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1486
HARUKIDELTA	0:17f575135219	1487	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1488	}
taknokolat	10:652071c20bf6	1489
HARUKIDELTA	0:17f575135219	1490
HARUKIDELTA	0:17f575135219	1491	//デバッグ用
HARUKIDELTA	0:17f575135219	1492	void DebugPrint(){
HARUKIDELTA	0:17f575135219	1493	/*
HARUKIDELTA	0:17f575135219	1494	static int16_t deltaT = 0, t_start = 0;
HARUKIDELTA	0:17f575135219	1495	deltaT = t.read_u2s() - t_start;
HARUKIDELTA	0:17f575135219	1496	pc.printf("t:%d us, ",deltaT);
HARUKIDELTA	0:17f575135219	1497	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	1498	t_start = t.read_us();
HARUKIDELTA	0:17f575135219	1499	*/
HARUKIDELTA	0:17f575135219	1500	//for(uint8_t i=0; i<8; i++) pc.printf("%d ",sbus.manualpwm[i]);
HARUKIDELTA	0:17f575135219	1501	//for(uint8_t i=1; i<4; i++) pc.printf("%d ",sbus.manualpwm[i]);
HARUKIDELTA	0:17f575135219	1502	//pc.printf("\r\n");
HARUKIDELTA	2:23daa5fa28b4	1503	//for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
HARUKIDELTA	0:17f575135219	1504	//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	1505	//pc.printf("%d\t",autopwm[AIL_L]); // pc.printf("%d\t",autopwm[RUD]);
HARUKIDELTA	0:17f575135219	1506	//pc.printf("%d",g_distance);
HARUKIDELTA	0:17f575135219	1507
HARUKIDELTA	0:17f575135219	1508	//pc.printf("Mode: %c: ",g_buf[0]);
HARUKIDELTA	0:17f575135219	1509	//if(g_buf[0] == 'Y') pc.printf(" %3.1f",g_SerialTargetYAW);
taknokolat	10:652071c20bf6	1510	//pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	1511	}

Repository toolbox

Export to desktop IDE

Build repository

Repository details

Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	17 Sep 2018
Imports:	0
Forks:	1
Commits:	19
Dependents:	0
Dependencies:	4
Followers:	23

main.cpp@18:f3dcb174b563, 2018-09-17 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning