航空研究会
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Autoflight2018_22_MODSERIAL
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Dependencies: HCSR04_2 MODSERIAL MPU6050_2 mbed SDFileSystem3
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Autoflight2018_2２
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航空研究会
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main.cpp
00001 //mbed 00002 #include "mbed.h" 00003 #include "FATFileSystem.h" 00004 #include "SDFileSystem.h" 00005 #include "MODSERIAL.h" 00006 //C 00007 #include "math.h" 00008 //sensor 00009 #include "MPU6050_DMP6.h" 00010 //#include "MPU9250.h" 00011 //#include "BMP280.h" 00012 #include "hcsr04.h" 00013 //device 00014 #include "sbus.h" 00015 //config 00016 #include "SkipperSv2.h" 00017 #include "falfalla.h" 00018 //other 00019 #include "pid.h" 00020 00021 #define DEBUG_SEMIAUTO 0 00022 #define DEBUG_PRINT_INLOOP 1 00023 00024 #define KP_ELE 15.0 //2.0 00025 #define KI_ELE 0.0 00026 #define KD_ELE 0.0 //0/0 00027 #define KP_RUD 3.0 00028 #define KI_RUD 0.0 00029 #define KD_RUD 0.0 00030 #define KP_AIL 0.1 00031 #define KI_AIL 0.2 00032 #define KD_AIL 0.2 00033 00034 //#define g_AIL_L_Ratio_rightloop 0.5 00035 00036 #define GAIN_CONTROLVALUE_TO_PWM 3.0 00037 00038 #define RIGHT_ROLL -12.0 00039 #define RIGHT_PITCH -10.0 //5.0 00040 #define LEFT_ROLL 12.0 00041 #define LEFT_PITCH -5.0 00042 #define STRAIGHT_ROLL 4.0 00043 #define STRAIGHT_PITCH 3.0 00044 #define TAKEOFF_THR 0.8 00045 #define LOOP_THR 0.6 00046 00047 //#define g_rightloopRUD 1500 00048 00049 #define RIGHT_ROLL_SHORT -12.0 00050 #define RIGHT_PITCH_SHORT -5.0 00051 #define LEFT_ROLL_SHORT 12.0 00052 #define LEFT_PITCH_SHORT -5.0 00053 00054 /*#define rightloopRUD 1300 //1250 00055 #define rightloopshortRUD 1250 00056 #define leftloopRUD 1500 00057 #define leftloopshortRUD 1500 00058 #define glideloopRUD 1300 00059 */ 00060 #define AIL_R_correctionrightloop 0 00061 #define AIL_L_correctionrightloop -400 00062 #define AIL_L_correctionrightloopshort 0 00063 #define AIL_L_correctionleftloop -0 00064 #define AIL_L_correctionleftloopshort 0 00065 00066 #define RIGHTLOOP_RUD 1250 00067 #define RIGHTLOOPSHORT_RUD 1250 00068 #define LEFTLOOP_RUD 1500 00069 #define LEFTLOOPSHORT_RUD 1500 00070 #define GLIDELOOP_RUD 1300 00071 #define AIL_L_CORRECTION_RIGHTLOOP 0 00072 #define AIL_L_CORRECTION_RIGHTLOOPSHORT 0 00073 #define AIL_L_CORRECTION_LEFTLOOP 0 00074 #define AIL_L_CORRECTION_LEFTLOOPSHORT 0 00075 00076 #define GLIDE_ROLL -12.0 00077 #define GLIDE_PITCH -3.0 00078 00079 00080 #define AIL_L_RatioRising 0.5 00081 #define AIL_L_RatioDescent 2 00082 00083 //コンパスキャリブレーション 00084 //SkipperS2基板 00085 /* 00086 #define MAGBIAS_X -35.0 00087 #define MAGBIAS_Y 535.0 00088 #define MAGBIAS_Z -50.0 00089 */ 00090 //S2v2 1番基板 00091 #define MAGBIAS_X 395.0 00092 #define MAGBIAS_Y 505.0 00093 #define MAGBIAS_Z -725.0 00094 //S2v2 2番基板 00095 /* 00096 #define MAGBIAS_X 185.0 00097 #define MAGBIAS_Y 220.0 00098 #define MAGBIAS_Z -350.0 00099 */ 00100 00101 #define ELEMENT 1 00102 #define LIMIT_STRAIGHT_YAW 5.0 00103 #define THRESHOLD_TURNINGRADIUS_YAW 60.0 00104 #define ALLOWHEIGHT 15 00105 00106 #ifndef PI 00107 #define PI 3.14159265358979 00108 #endif 00109 00110 const int16_t lengthdivpwm = 320; 00111 const int16_t changeModeCount = 6; 00112 00113 00114 SBUS sbus(PA_9, PA_10); //SBUS 00115 00116 PwmOut servo1(PC_6); // TIM3_CH1 //old echo 00117 PwmOut servo2(PC_7); // TIM3_CH2 //PC_7 00118 PwmOut servo3(PB_0); // TIM3_CH3 00119 PwmOut servo4(PB_1); // TIM3_CH4 00120 PwmOut servo5(PB_6); // TIM4_CH1 00121 PwmOut servo6(PB_7); // TIM4_CH2 //old trigger 00122 //PwmOut servo7(PB_8); // TIM4_CH3 //PB_8 new echo 00123 //PwmOut servo8(PB_9); // TIM4_CH4 //new trigger 00124 00125 MODSERIAL pc(PA_2,PA_3, 115200); //tx,rx.baudrate pin;PA_2=UART2_TX, PA_3=UART2_RX 00126 //RawSerial pc2(PB_6,PB_7, 115200); //sbus確認用 00127 SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd"); 00128 00129 DigitalOut led1(PA_0); //黄色のコネクタ 00130 DigitalOut led2(PA_1); 00131 DigitalOut led3(PB_4); 00132 DigitalOut led4(PB_5); 00133 00134 //InterruptIn switch2(PC_14); 00135 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 00136 //HCSR04 usensor(PB_9,PB_8); //trig,echo 9,8 00137 00138 PID pid_AIL(g_kpAIL,g_kiAIL,g_kdAIL); 00139 PID pid_ELE(g_kpELE,g_kiELE,g_kdELE); 00140 PID pid_RUD(g_kpRUD,g_kiRUD,g_kdRUD); 00141 00142 enum Channel{AIL_R, ELE, THR, RUD, DROP, AIL_L, Ch7, Ch8}; 00143 enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度 00144 enum OperationMode{StartUp, SemiAuto, RightLoop, LeftLoop, GoStraight, BombwithPC, ZERO, Moebius, Glide}; 00145 enum BombingMode{Takeoff, Chicken, Transition, Approach}; 00146 enum OutputStatus{Manual, Auto}; 00147 00148 static OutputStatus output_status = Manual; 00149 OperationMode operation_mode = StartUp; 00150 BombingMode bombing_mode = Takeoff; 00151 00152 static int16_t autopwm[8] = {1500,1500,1180,1500,1392,1500}; 00153 00154 //1号機 00155 static int16_t trimpwm[6] = {1500,1500,1180,1500,1392,1600}; 00156 int16_t maxpwm[6] = {1820,1820,1820,1820,1820,1820}; 00157 int16_t minpwm[6] = {1180,1180,1180,1180,1180,1180}; 00158 const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]}; 00159 00160 //2号機 00161 /* 00162 static int16_t trimpwm[6] = {1500,1500,1180,1500,1392,1600}; 00163 int16_t maxpwm[6] = {1820,1820,1820,1820,1820,1820}; 00164 int16_t minpwm[6] = {1180,1180,1180,1180,1180,1180}; 00165 const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]}; 00166 */ 00167 00168 int16_t oldTHR = 1000; 00169 00170 int16_t g_AIL_L_Ratio_rightloop = 0.5; 00171 00172 int zeroTHR=0; 00173 00174 00175 static float nowAngle[3] = {0,0,0}; 00176 const float trimAngle[3] = {0.0, 0.0, 0.0}; 00177 const float maxAngle[2] = {90, 90}; 00178 const float minAngle[2] = {-90, -90}; 00179 00180 float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0; 00181 00182 unsigned int g_distance; 00183 //Ticker USsensor; 00184 char g_landingcommand='Z'; 00185 float g_SerialTargetYAW; 00186 00187 Timer t; 00188 Timeout RerurnChickenServo1; 00189 Timeout RerurnChickenServo2; 00190 00191 /*-----関数のプロトタイプ宣言-----*/ 00192 void setup(); 00193 void loop(); 00194 00195 void Init_PWM(); 00196 void Init_servo(); //サーボ初期化 00197 void Init_sbus(); //SBUS初期化 00198 void Init_sensors(); 00199 void DisplayClock(); //クロック状態確認 00200 00201 //センサの値取得 00202 void SensingMPU(); 00203 void UpdateDist(); 00204 00205 //void offsetRollPitch(float FirstROLL, float FirstPITCH); 00206 //void TransYaw(float FirstYAW); 00207 float TranslateNewYaw(float beforeYaw, float newzeroYaw); 00208 void UpdateTargetAngle(float targetAngle[3]); 00209 void CalculateControlValue(float targetAngle[3], float controlValue[3]); 00210 void UpdateAutoPWM(float controlValue[3]); 00211 void ConvertPWMintoRAD(float targetAngle[3]); 00212 inline float CalcRatio(float value, float trim, float limit); 00213 bool CheckSW_Up(Channel ch); 00214 int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min); 00215 inline int16_t SetTHRinRatio(float ratio); 00216 00217 //sbus割り込み 00218 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 00219 void Output_PWM(int16_t pwm[6]); //pwmをサーボへ出力 00220 00221 //シリアル割り込み 00222 void getSF_Serial(MODSERIAL_IRQ_INFO *info); 00223 float ConvertByteintoFloat(char high, char low); 00224 00225 00226 //SD設定 00227 int GetParameter(FILE *fp, const char *paramName,char parameter[]); 00228 int SetOptions(float *g_kpELE, float *g_kiELE, float *g_kdELE, 00229 float *g_kpRUD, float *g_kiRUD, float *g_kdRUD, 00230 float *g_rightloopROLL, float *g_rightloopPITCH, 00231 float *g_leftloopROLL, float *g_leftloopPITCH, 00232 float *g_gostraightROLL, float *g_gostraightPITCH, 00233 float *g_takeoffTHR, float *g_loopTHR, 00234 float *g_rightloopROLLshort, float *g_rightloopPITCHshort, 00235 float *g_leftloopROLLshort, float *g_leftloopPITCHshort, 00236 float *g_glideloopROLL, float *g_glideloopPITCH, 00237 float *g_kpAIL, float *g_kiAIL, float *g_kdAIL, 00238 int *g_rightloopRUD, int *g_rightloopshortRUD, 00239 int *g_leftloopRUD, int *g_leftloopshortRUD, 00240 int *g_glideRUD, 00241 int *g_AIL_L_correctionrightloop,int *g_AIL_L_correctionrightloopshort, 00242 int *g_AIL_L_correctionlefttloop,int *g_AIL_L_correctionleftloopshort 00243 ); 00244 //switch2割り込み 00245 void ResetTrim(); 00246 00247 //自動操縦 00248 void UpdateTargetAngle_GoStraight(float targetAngle[3]); 00249 void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]); //着陸時にスロットルが０の時の直進 00250 void UpdateTargetAngle_Rightloop(float targetAngle[3]); 00251 void UpdateTargetAngle_Rightloop_short(float targetAngle[3]); 00252 void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]); //着陸時にスロットルが０の時の右旋回 00253 void UpdateTargetAngle_Leftloop(float targetAngle[3]); 00254 void UpdateTargetAngle_Leftloop_short(float targetAngle[3]); 00255 void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]); //着陸時にスロットルが０の時の左旋回 00256 void UpdateTargetAngle_Moebius(float targetAngle[3]); 00257 void UpdateTargetAngle_Glide(float targetAngle[3]); 00258 void UpdateTargetAngle_Takeoff(float targetAngle[3]); 00259 void UpdateTargetAngle_Approach(float targetAngle[3]); 00260 void Take_off_and_landing(float targetAngle[3]); 00261 00262 int Rotate(float targetAngle[3], float TargetYAW); 00263 00264 //投下 00265 void Chicken_Drop(); 00266 void ReturnChickenServo1(); 00267 void ReturnChickenServo2(); 00268 00269 //超音波による高度補正 00270 void checkHeight(float targetAngle[3]); 00271 void UpdateTargetAngle_NoseUP(float targetAngle[3]); 00272 void UpdateTargetAngle_NoseDOWN(float targetAngle[3]); 00273 00274 //デバッグ用 00275 void DebugPrint(); 00276 00277 /*---関数のプロトタイプ宣言終わり---*/ 00278 00279 int main() 00280 { 00281 setup(); 00282 00283 00284 while(1){ 00285 00286 loop(); 00287 00288 00289 NVIC_DisableIRQ(USART1_IRQn); 00290 if(!CheckSW_Up(Ch7)){ 00291 led3=0; 00292 }else{ 00293 led3=1; 00294 } 00295 NVIC_EnableIRQ(USART1_IRQn); 00296 } 00297 00298 } 00299 00300 void setup(){ 00301 //buzzer = 0; 00302 led1 = 1; 00303 led2 = 1; 00304 led3 = 1; 00305 led4 = 1; 00306 00307 SetOptions(&g_kpELE, &g_kiELE, &g_kdELE, 00308 &g_kpRUD, &g_kiRUD, &g_kdRUD, 00309 &g_rightloopROLL, &g_rightloopPITCH, 00310 &g_leftloopROLL, &g_leftloopPITCH, 00311 &g_gostraightROLL, &g_gostraightPITCH, 00312 &g_takeoffTHR, &g_loopTHR, 00313 &g_rightloopROLLshort, &g_rightloopPITCHshort, 00314 &g_leftloopROLLshort, &g_leftloopPITCHshort, 00315 &g_glideloopROLL, &g_glideloopPITCH, 00316 &g_kpAIL, &g_kiAIL,&g_kdAIL, 00317 &g_rightloopRUD, &g_rightloopshortRUD, 00318 &g_leftloopRUD, &g_leftloopshortRUD, 00319 &g_glideloopRUD, 00320 &g_AIL_L_correctionrightloop,&g_AIL_L_correctionrightloopshort, 00321 &g_AIL_L_correctionleftloop,&g_AIL_L_correctionleftloopshort 00322 ); 00323 00324 00325 Init_PWM(); 00326 Init_servo(); 00327 Init_sbus(); 00328 Init_sensors(); 00329 //switch2.rise(ResetTrim); 00330 pc.attach(&getSF_Serial, MODSERIAL::RxIrq); 00331 //USsensor.attach(&UpdateDist, 0.05); 00332 00333 NVIC_SetPriority(USART1_IRQn,0); 00334 NVIC_SetPriority(EXTI0_IRQn,1); 00335 NVIC_SetPriority(TIM5_IRQn,2); 00336 NVIC_SetPriority(EXTI9_5_IRQn,3); 00337 NVIC_SetPriority(USART2_IRQn,4); 00338 DisplayClock(); 00339 t.start(); 00340 00341 00342 pc.printf("MPU calibration start\r\n"); 00343 00344 float offsetstart = t.read(); 00345 while(t.read() - offsetstart < 26){ 00346 SensingMPU(); 00347 for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]); 00348 pc.printf("\r\n"); 00349 led1 = !led1; 00350 led2 = !led2; 00351 led3 = !led3; 00352 led4 = !led4; 00353 } 00354 00355 FirstROLL = nowAngle[ROLL]; 00356 FirstPITCH = nowAngle[PITCH]; 00357 nowAngle[ROLL] -=FirstROLL; 00358 nowAngle[PITCH] -=FirstPITCH; 00359 00360 led1 = 0; 00361 led2 = 0; 00362 led3 = 0; 00363 led4 = 0; 00364 wait(0.2); 00365 00366 pc.printf("All initialized\r\n"); 00367 } 00368 00369 void loop(){ 00370 static float targetAngle[3] = {0.0, 0.0, 0.0}, controlValue[2] = {0.0, 0.0}; 00371 00372 SensingMPU(); 00373 NVIC_DisableIRQ(USART2_IRQn); 00374 UpdateTargetAngle(targetAngle); 00375 //Rotate(targetAngle, 30.0); 00376 CalculateControlValue(targetAngle, controlValue); 00377 NVIC_DisableIRQ(USART1_IRQn); 00378 UpdateAutoPWM(controlValue); 00379 NVIC_EnableIRQ(USART1_IRQn); 00380 NVIC_EnableIRQ(USART2_IRQn); 00381 wait_ms(23); 00382 pc.printf("%c",g_landingcommand); 00383 #if DEBUG_PRINT_INLOOP 00384 DebugPrint(); 00385 #endif 00386 } 00387 00388 //サーボ初期化関数 00389 void Init_servo(){ 00390 00391 servo1.period_ms(14); 00392 servo1.pulsewidth_us(trimpwm[AIL_R]); 00393 00394 servo2.period_ms(14); 00395 servo2.pulsewidth_us(trimpwm[ELE]); 00396 00397 servo3.period_ms(14); 00398 servo3.pulsewidth_us(trimpwm[THR]); 00399 00400 servo4.period_ms(14); 00401 servo4.pulsewidth_us(trimpwm[RUD]); 00402 00403 servo5.period_ms(14); 00404 servo5.pulsewidth_us(1392); 00405 00406 servo6.period_ms(14); 00407 servo6.pulsewidth_us(trimpwm[AIL_L]); 00408 00409 pc.printf("servo initialized\r\n"); 00410 } 00411 00412 //Sbus初期化 00413 void Init_sbus(){ 00414 sbus.initialize(); 00415 sbus.setLastfuncPoint(Update_PWM); 00416 sbus.startInterrupt(); 00417 } 00418 00419 void Init_sensors(){ 00420 if(mpu6050.setup() == -1){ 00421 pc.printf("failed initialize\r\n"); 00422 while(1){ 00423 led1 = 1; led2 = 0; led3 = 1; led4 = 0; 00424 wait(1); 00425 led1 = 0; led2 = 1; led3 = 0; led4 = 1; 00426 wait(1); 00427 } 00428 } 00429 } 00430 00431 void Init_PWM(){ 00432 pc.printf("PWM initialized\r\n"); 00433 } 00434 00435 void DisplayClock(){ 00436 pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000); 00437 pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000); 00438 pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000); 00439 pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000); 00440 pc.printf("\r\n"); 00441 } 00442 00443 void UpdateTargetAngle(float targetAngle[3]){ 00444 static int16_t count_op = 0; 00445 #if DEBUG_SEMIAUTO 00446 switch(operation_mode){ 00447 case StartUp: 00448 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ 00449 count_op++; 00450 if(count_op > changeModeCount){ 00451 operation_mode = SemiAuto; 00452 pc->printf("Goto SemiAuto mode\r\n"); 00453 count_op = 0; 00454 } 00455 }else count_op = 0; 00456 break; 00457 00458 case SemiAuto: 00459 /* 大会用では以下のif文を入れてoperation_modeを変える 00460 if(CheckSW_Up(Ch6)){ 00461 count_op++; 00462 if(count_op>changeModeCount){ 00463 output_status = XXX; 00464 led2 = 0; 00465 pc->printf("Goto XXX mode\r\n"); 00466 count_op = 0; 00467 }else count_op = 0; 00468 ConvertPWMintoRAD(targetAngle); 00469 } 00470 */ 00471 ConvertPWMintoRAD(targetAngle); 00472 break; 00473 00474 default: 00475 operation_mode = SemiAuto; 00476 break; 00477 } 00478 00479 #else 00480 00481 switch(operation_mode){ 00482 case StartUp: 00483 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 00484 count_op++; 00485 if(count_op > changeModeCount){ 00486 operation_mode = RightLoop; 00487 pc.printf("Goto RightLoop mode\r\n"); 00488 count_op = 0; 00489 } 00490 }else count_op = 0; 00491 break; 00492 00493 case RightLoop: 00494 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ 00495 count_op++; 00496 if(count_op > changeModeCount){ 00497 operation_mode = LeftLoop; 00498 pc.printf("Goto LeftLoop mode\r\n"); 00499 count_op = 0; 00500 } 00501 }else count_op = 0; 00502 UpdateTargetAngle_Rightloop(targetAngle); 00503 00504 break; 00505 00506 case LeftLoop: 00507 if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ 00508 count_op++; 00509 if(count_op > changeModeCount){ 00510 operation_mode = GoStraight; 00511 pc.printf("Goto GoStraight mode\r\n"); 00512 count_op = 0; 00513 } 00514 }else count_op = 0; 00515 UpdateTargetAngle_Leftloop(targetAngle); 00516 break; 00517 00518 case GoStraight: 00519 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ 00520 count_op++; 00521 if(count_op > changeModeCount){ 00522 operation_mode = Moebius; 00523 pc.printf("Goto Moebius mode\r\n"); 00524 count_op = 0; 00525 } 00526 }else count_op = 0; 00527 UpdateTargetAngle_GoStraight(targetAngle); 00528 break; 00529 00530 case Moebius: 00531 if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ 00532 count_op++; 00533 if(count_op > changeModeCount){ 00534 operation_mode = Glide; 00535 pc.printf("Goto Glide mode\r\n"); 00536 count_op = 0; 00537 } 00538 }else count_op = 0; 00539 UpdateTargetAngle_Moebius(targetAngle); 00540 break; 00541 00542 case Glide: 00543 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ 00544 count_op++; 00545 if(count_op > changeModeCount){ 00546 operation_mode = BombwithPC; 00547 pc.printf("Goto Bombing mode\r\n"); 00548 count_op = 0; 00549 } 00550 }else count_op = 0; 00551 UpdateTargetAngle_Glide(targetAngle); 00552 break; 00553 00554 case BombwithPC: 00555 if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ 00556 count_op++; 00557 if(count_op > changeModeCount){ 00558 operation_mode = RightLoop; 00559 pc.printf("Goto RightLoop mode\r\n"); 00560 count_op = 0; 00561 } 00562 }else count_op = 0; 00563 Take_off_and_landing(targetAngle); 00564 break; 00565 00566 default: 00567 operation_mode = StartUp; 00568 break; 00569 } 00570 #endif 00571 00572 if(CheckSW_Up(Ch7)){ 00573 output_status = Auto; 00574 led1 = 1; 00575 }else{ 00576 output_status = Manual; 00577 led1 = 0; 00578 } 00579 } 00580 00581 int GetParameter(FILE *fp, const char *paramName,char parameter[]){ 00582 int i=0, j=0; 00583 int strmax = 200; 00584 char str[strmax]; 00585 00586 rewind(fp); //ファイル位置を先頭に 00587 while(1){ 00588 if (fgets(str, strmax, fp) == NULL) { 00589 return 0; 00590 } 00591 if (!strncmp(str, paramName, strlen(paramName))) { 00592 while (str[i++] != '=') {} 00593 while (str[i] != '\n') { 00594 parameter[j++] = str[i++]; 00595 } 00596 parameter[j] = '\0'; 00597 return 1; 00598 } 00599 } 00600 return 0; 00601 } 00602 00603 00604 //sdによる設定 00605 int SetOptions(float *g_kpELE, float *g_kiELE, float *g_kdELE, 00606 float *g_kpRUD, float *g_kiRUD, float *g_kdRUD, 00607 float *g_rightloopROLL, float *g_rightloopPITCH, 00608 float *g_leftloopROLL, float *g_leftloopPITCH, 00609 float *g_gostraightROLL, float *g_gostraightPITCH, 00610 float *g_takeoffTHR, float *g_loopTHR, 00611 float *g_rightloopROLLshort, float *g_rightloopPITCHshort, 00612 float *g_leftloopROLLshort, float *g_leftloopPITCHshort, 00613 float *g_glideloopROLL, float *g_glideloopPITCH, 00614 float *g_kpAIL, float *g_kiAIL, float *g_kdAIL, 00615 int *g_rightloopRUD, int *g_rightloopshortRUD, 00616 int *g_leftloopRUD, int *g_leftloopshortRUD, 00617 int *g_glideloopRUD, 00618 int *g_AIL_L_correctionrightloop,int *g_AIL_L_correctionrightloopshort, 00619 int *g_AIL_L_correctionleftloop,int *g_AIL_L_correctionleftloopshort 00620 ){ 00621 00622 pc.printf("SDsetup start.\r\n"); 00623 00624 FILE *fp; 00625 char parameter[40]; //文字列渡す用の配列 00626 int SDerrorcount = 0; //取得できなかった数を返す 00627 const char *paramNames[] = { 00628 "KP_ELEVATOR", 00629 "KI_ELEVATOR", 00630 "KD_ELEVATOR", 00631 "KP_RUDDER", 00632 "KI_RUDDER", 00633 "KD_RUDDER", 00634 "RIGHTLOOP_ROLL", 00635 "RIGHTLOOP_PITCH", 00636 "LEFTLOOP_ROLL", 00637 "LEFTLOOP_PITCH", 00638 "GOSTRAIGHT_ROLL", 00639 "GOSTRAIGHT_PITCH", 00640 "TAKEOFF_THR_RATE", 00641 "LOOP_THR_RATE", 00642 "RIGHTLOOP_ROLL_SHORT", 00643 "RIGHTLOOP_PITCH_SHORT", 00644 "LEFTLOOP_ROLL_SHORT", 00645 "LEFTLOOP_PITCH_SHORT", 00646 "AUTOGLIDE_ROLL", 00647 "AUTOGLIDE PITCH", 00648 "KP_AILERON", 00649 "KI_AILERON", 00650 "KD_AILERON", 00651 "RIGHTLOOP_RUDDER", 00652 "RIGHTLOOPSHORT_RUDDER", 00653 "LEFTLOOP_RUDDER", 00654 "LEFTLOOPSHORT_RUDDER", 00655 "GLIDELOOP_RUDDER", 00656 "AILERON_LEFT_CORRECTION_RIGHTLOOP", 00657 "AILERON_LEFT_CORRECTION_RIGHTLOOPSHORT", 00658 "AILERON_LEFT_CORRECTION_LEFTLOOP", 00659 "AILERON_LEFT_CORRECTION_LEFTLOOPSHORT" 00660 }; 00661 00662 fp = fopen("/sd/option.txt","r"); 00663 00664 if(fp != NULL){ //開けたら 00665 pc.printf("File was openned.\r\n"); 00666 if(GetParameter(fp,paramNames[0],parameter)) *g_kpELE = atof(parameter); 00667 else{ *g_kpELE = KP_ELE; 00668 SDerrorcount++; 00669 } 00670 if(GetParameter(fp,paramNames[1],parameter)) *g_kiELE = atof(parameter); 00671 else{ *g_kiELE = KI_ELE; 00672 SDerrorcount++; 00673 } 00674 if(GetParameter(fp,paramNames[2],parameter)) *g_kdELE = atof(parameter); 00675 else{ *g_kdELE = KD_ELE; 00676 SDerrorcount++; 00677 } 00678 if(GetParameter(fp,paramNames[3],parameter)) *g_kpRUD = atof(parameter); 00679 else{ *g_kpRUD = KP_RUD; 00680 SDerrorcount++; 00681 } 00682 if(GetParameter(fp,paramNames[4],parameter)) *g_kiRUD = atof(parameter); 00683 else{ *g_kiRUD = KI_RUD; 00684 SDerrorcount++; 00685 } 00686 if(GetParameter(fp,paramNames[5],parameter)) *g_kdRUD = atof(parameter); 00687 else{ *g_kdRUD = KD_RUD; 00688 SDerrorcount++; 00689 } 00690 if(GetParameter(fp,paramNames[6],parameter)) *g_rightloopROLL = atof(parameter); 00691 else{ *g_rightloopROLL = RIGHT_ROLL; 00692 SDerrorcount++; 00693 } 00694 if(GetParameter(fp,paramNames[7],parameter)) *g_rightloopPITCH = atof(parameter); 00695 else{ *g_rightloopPITCH = RIGHT_PITCH; 00696 SDerrorcount++; 00697 } 00698 if(GetParameter(fp,paramNames[8],parameter)) *g_leftloopROLL = atof(parameter); 00699 else{ *g_leftloopROLL = LEFT_ROLL; 00700 SDerrorcount++; 00701 } 00702 if(GetParameter(fp,paramNames[9],parameter)) *g_leftloopPITCH = atof(parameter); 00703 else{ *g_leftloopPITCH = LEFT_PITCH; 00704 SDerrorcount++; 00705 } 00706 if(GetParameter(fp,paramNames[10],parameter)) *g_gostraightROLL = atof(parameter); 00707 else{ *g_gostraightROLL = STRAIGHT_ROLL; 00708 SDerrorcount++; 00709 } 00710 if(GetParameter(fp,paramNames[11],parameter)) *g_gostraightPITCH = atof(parameter); 00711 else{ *g_gostraightPITCH = STRAIGHT_PITCH; 00712 SDerrorcount++; 00713 } 00714 if(GetParameter(fp,paramNames[12],parameter)) *g_takeoffTHR = atof(parameter); 00715 else{ *g_takeoffTHR = TAKEOFF_THR; 00716 SDerrorcount++; 00717 } 00718 if(GetParameter(fp,paramNames[13],parameter)) *g_loopTHR = atof(parameter); 00719 else{ *g_loopTHR = LOOP_THR; 00720 SDerrorcount++; 00721 } 00722 if(GetParameter(fp,paramNames[14],parameter)) *g_rightloopROLLshort = atof(parameter); 00723 else{ *g_rightloopROLLshort = RIGHT_ROLL_SHORT; 00724 SDerrorcount++; 00725 } 00726 if(GetParameter(fp,paramNames[15],parameter)) *g_rightloopPITCHshort = atof(parameter); 00727 else{ *g_rightloopPITCHshort = RIGHT_PITCH_SHORT; 00728 SDerrorcount++; 00729 } 00730 if(GetParameter(fp,paramNames[16],parameter)) *g_leftloopROLLshort = atof(parameter); 00731 else{ *g_leftloopROLLshort = LEFT_ROLL_SHORT; 00732 SDerrorcount++; 00733 } 00734 if(GetParameter(fp,paramNames[17],parameter)) *g_leftloopPITCHshort = atof(parameter); 00735 else{ *g_leftloopPITCHshort = LEFT_PITCH_SHORT; 00736 SDerrorcount++; 00737 } 00738 if(GetParameter(fp,paramNames[18],parameter)) *g_glideloopROLL = atof(parameter); 00739 else{ *g_glideloopROLL = GLIDE_ROLL; 00740 SDerrorcount++; 00741 } 00742 if(GetParameter(fp,paramNames[19],parameter)) *g_glideloopPITCH = atof(parameter); 00743 else{ *g_glideloopPITCH = GLIDE_PITCH; 00744 SDerrorcount++; 00745 } 00746 if(GetParameter(fp,paramNames[20],parameter)) *g_kpAIL = atof(parameter); 00747 else{ *g_kpAIL = KP_AIL; 00748 SDerrorcount++; 00749 } 00750 if(GetParameter(fp,paramNames[21],parameter)) *g_kiAIL = atof(parameter); 00751 else{ *g_kiAIL = KI_AIL; 00752 SDerrorcount++; 00753 } 00754 if(GetParameter(fp,paramNames[22],parameter)) *g_kdAIL = atof(parameter); 00755 else{ *g_kdAIL = KP_AIL; 00756 SDerrorcount++; 00757 } 00758 if(GetParameter(fp,paramNames[23],parameter)) *g_rightloopRUD = atof(parameter); 00759 else{ *g_rightloopRUD = RIGHTLOOP_RUD; 00760 SDerrorcount++; 00761 } 00762 if(GetParameter(fp,paramNames[24],parameter)) *g_rightloopshortRUD = atof(parameter); 00763 else{ *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD; 00764 SDerrorcount++; 00765 } 00766 if(GetParameter(fp,paramNames[25],parameter)) *g_leftloopRUD = atof(parameter); 00767 else{ *g_leftloopshortRUD = LEFTLOOP_RUD; 00768 SDerrorcount++; 00769 } 00770 if(GetParameter(fp,paramNames[26],parameter)) *g_leftloopshortRUD = atof(parameter); 00771 else{ *g_leftloopshortRUD = LEFTLOOPSHORT_RUD; 00772 SDerrorcount++; 00773 } 00774 if(GetParameter(fp,paramNames[27],parameter)) *g_glideloopRUD = atof(parameter); 00775 else{ *g_glideloopRUD = GLIDELOOP_RUD; 00776 SDerrorcount++; 00777 } 00778 if(GetParameter(fp,paramNames[28],parameter)) *g_AIL_L_correctionrightloop = atof(parameter); 00779 else{ *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP; 00780 SDerrorcount++; 00781 } 00782 if(GetParameter(fp,paramNames[29],parameter)) *g_AIL_L_correctionrightloopshort = atof(parameter); 00783 else{ *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT; 00784 SDerrorcount++; 00785 } 00786 if(GetParameter(fp,paramNames[30],parameter)) *g_AIL_L_correctionleftloop = atof(parameter); 00787 else{ *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP; 00788 SDerrorcount++; 00789 } 00790 if(GetParameter(fp,paramNames[31],parameter)) *g_AIL_L_correctionleftloopshort = atof(parameter); 00791 else{ *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT; 00792 SDerrorcount++; 00793 } 00794 00795 fclose(fp); 00796 00797 }else{ //ファイルがなかったら 00798 pc.printf("fp was null.\r\n"); 00799 *g_kpELE = KP_ELE; 00800 *g_kiELE = KI_ELE; 00801 *g_kdELE = KD_ELE; 00802 *g_kpRUD = KP_RUD; 00803 *g_kiRUD = KI_RUD; 00804 *g_kdRUD = KD_RUD; 00805 *g_rightloopROLL = RIGHT_ROLL; 00806 *g_rightloopPITCH = RIGHT_PITCH; 00807 *g_leftloopROLL = LEFT_ROLL; 00808 *g_leftloopPITCH = LEFT_PITCH; 00809 *g_gostraightROLL = STRAIGHT_ROLL; 00810 *g_gostraightPITCH = STRAIGHT_PITCH; 00811 *g_takeoffTHR = TAKEOFF_THR; 00812 *g_loopTHR = LOOP_THR; 00813 *g_kpAIL = KP_AIL; //パラメータ変えるのお忘れなく！！ 00814 *g_kiAIL = KI_AIL; 00815 *g_kdAIL = KD_AIL; 00816 *g_rightloopRUD = RIGHTLOOP_RUD; 00817 *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD; 00818 *g_leftloopRUD = LEFTLOOP_RUD; 00819 *g_leftloopshortRUD = LEFTLOOPSHORT_RUD; 00820 *g_glideloopRUD = GLIDELOOP_RUD; 00821 *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP; 00822 *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT; 00823 *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP; 00824 *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT; 00825 00826 00827 SDerrorcount = -1; 00828 } 00829 pc.printf("SDsetup finished.\r\n"); 00830 if(SDerrorcount == 0) pc.printf("setting option is success\r\n"); 00831 else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n"); 00832 else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount); 00833 00834 pc.printf("kpELE = %f, kiELE = %f, kdELE = %f\r\n", *g_kpRUD, *g_kiRUD, *g_kdRUD); 00835 pc.printf("kpRUD = %f, kiRUD = %f, kdRUD = %f\r\n", *g_kpELE, *g_kiELE, *g_kdELE); 00836 pc.printf("rightloopROLL = %f, rightloopPITCH = %f\r\n", *g_rightloopROLL, *g_rightloopPITCH); 00837 pc.printf("leftloopROLL = %f, g_leftloopPITCH = %f\r\n", *g_leftloopROLL, *g_leftloopPITCH); 00838 pc.printf("gostraightROLL = %f, g_gostraightPITCH = %f\r\n", *g_gostraightROLL, *g_gostraightPITCH); 00839 pc.printf("g_takeoffTHR = %f, g_loopTHR = %f\r\n", *g_takeoffTHR, *g_loopTHR); 00840 pc.printf("rightloopROLLshort = %f, rightloopPITCHshort = %f\r\n", *g_rightloopROLLshort, *g_rightloopPITCHshort); 00841 pc.printf("leftloopROLLshort = %f, g_leftloopPITCHshort = %f\r\n", *g_leftloopROLLshort, *g_leftloopPITCHshort); 00842 pc.printf("glideROLL = %f, glidePITCH = %f\r\n", *g_glideloopROLL, *g_glideloopPITCH); 00843 pc.printf("kpAIL = %f,kiAIL = %f,kdAIL = %f\r\n ",*g_kpAIL,*g_kiAIL,*g_kdAIL); 00844 pc.printf("RIGHTLOOPRUD = %d,RIGHTLOOPSHORTRUD = %d\r\n",*g_rightloopRUD,*g_rightloopshortRUD); 00845 pc.printf("LEFTTLOOPRUD = %d,LEFTLOOPSHORTRUD = %d\r\n",*g_leftloopRUD,*g_leftloopshortRUD); 00846 pc.printf("GLIDELOOPRUD = %d\r\n",*g_glideloopRUD); 00847 pc.printf("AIL_L_CORRECTION_RIGHTLOOP = %d, AIL_L_CORRECTION_RIGHTLOOPSHORT = %d\r\n",*g_AIL_L_correctionrightloop,*g_AIL_L_correctionrightloopshort); 00848 pc.printf("AIL_L_CORRECTION_LEFTLOOP = %d, AIL_L_CORRECTION_LEFTLOOPSHORT = %d\r\n",*g_AIL_L_correctionleftloop,*g_AIL_L_correctionleftloopshort); 00849 return SDerrorcount; 00850 } 00851 00852 void CalculateControlValue(float targetAngle[3], float controlValue[3]){ 00853 static int t_last; 00854 int t_now; 00855 float dt; 00856 00857 t_now = t.read_us(); 00858 dt = (float)((t_now - t_last)/1000000.0f) ; 00859 t_last = t_now; 00860 00861 00862 //controlValue[ROLL] = pid_RUD.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); 00863 controlValue[ROLL] = pid_AIL.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); //エルロンでロール制御 00864 controlValue[PITCH] = pid_ELE.calcPID(nowAngle[PITCH], targetAngle[PITCH], dt); 00865 } 00866 00867 void UpdateAutoPWM(float controlValue[3]){ 00868 int16_t addpwm[2]; //-500~500 00869 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 00870 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 00871 00872 autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH]; //rewrite 00873 autopwm[AIL_R] = trimpwm[AIL_R] - reverce[AIL_R] * addpwm[ROLL]; 00874 //autopwm[THR] = oldTHR; 00875 00876 autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]); 00877 autopwm[AIL_R] = ThresholdMaxMin(autopwm[AIL_R], maxpwm[AIL_R], minpwm[AIL_R]); 00878 00879 } 00880 00881 inline float CalcRatio(float value, float trim, float limit){ 00882 return (value - trim) / (limit - trim); 00883 } 00884 00885 bool CheckSW_Up(Channel ch){ 00886 if(SWITCH_CHECK < sbus.manualpwm[ch]){ 00887 return true; 00888 }else{ 00889 return false; 00890 } 00891 } 00892 00893 int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min){ 00894 if(value > max) return max; 00895 if(value < min) return min; 00896 return value; 00897 } 00898 00899 inline int16_t SetTHRinRatio(float ratio){ 00900 return minpwm[THR] + (int16_t)(2 * lengthdivpwm * ratio); 00901 } 00902 00903 00904 00905 /*---SBUS割り込み処理---*/ 00906 00907 //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) 00908 //各stabiGylo関数で算出したpwmを各変数に代入する(自動モード) 00909 void Update_PWM() 00910 { 00911 static int16_t pwm[6]; 00912 static int16_t temppwm[6]={trimpwm[0],trimpwm[1],trimpwm[2],trimpwm[3],trimpwm[4],trimpwm[5]}; 00913 if(sbus.flg_ch_update == true){ 00914 NVIC_DisableIRQ(USART1_IRQn); 00915 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 00916 case Manual: 00917 for(uint8_t i=0;i<6;i++){ 00918 pwm[i] = sbus.manualpwm[i]; 00919 } 00920 /*pc.printf("%d ,",pwm[0]);//R 00921 pc.printf("%d ,\r\n",pwm[5]);//L*/ 00922 oldTHR = sbus.manualpwm[THR]; 00923 //pc.printf("update_manual\r\n"); 00924 break; 00925 00926 case Auto: 00927 pwm[AIL_R] = autopwm[AIL_R]; //sbus.manualpwm[AIL]; 00928 pwm[ELE] = autopwm[ELE]; 00929 pwm[THR] = autopwm[THR]; 00930 pwm[RUD] = autopwm[RUD]; 00931 pwm[DROP] = autopwm[DROP]; 00932 pwm[AIL_L] = autopwm[AIL_L]; 00933 //pc.printf("%d ,",pwm[AIL_R]);//R 00934 //pc.printf("%d ,\r\n",pwm[AIL_L]);//L 00935 //pc.printf("update_auto\r\n"); 00936 00937 break; 00938 00939 default: 00940 for(uint8_t i=0;i<6;i++){ 00941 pwm[i] = sbus.manualpwm[i]; 00942 } //pc.printf("update_manual\r\n"); 00943 break; 00944 NVIC_EnableIRQ(USART1_IRQn); 00945 } 00946 for(uint8_t i=0;i<6;i++){ 00947 if(pwm[i]<1000 || pwm[i]>2000) pwm[i]=temppwm[i]; 00948 temppwm[i]=pwm[i]; 00949 } 00950 }else{ 00951 pc.printf("0\r\n"); 00952 } 00953 sbus.flg_ch_update = false; 00954 Output_PWM(pwm); 00955 } 00956 00957 00958 //pwmをサーボに出力。 00959 void Output_PWM(int16_t pwm[5]) 00960 { 00961 NVIC_DisableIRQ(USART1_IRQn); 00962 servo1.pulsewidth_us(pwm[0]); 00963 servo2.pulsewidth_us(pwm[1]); 00964 servo3.pulsewidth_us(pwm[2]); 00965 servo4.pulsewidth_us(pwm[3]); 00966 servo5.pulsewidth_us(pwm[4]); 00967 servo6.pulsewidth_us(pwm[5]); 00968 NVIC_EnableIRQ(USART1_IRQn); 00969 00970 } 00971 00972 void ResetTrim(){ 00973 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 00974 trimpwm[i] = sbus.manualpwm[i]; 00975 } 00976 pc.printf("reset PWM trim\r\n"); 00977 } 00978 00979 00980 void SensingMPU(){ 00981 //static int16_t deltaT = 0, t_start = 0; 00982 //t_start = t.read_us(); 00983 00984 float rpy[3] = {0}, oldrpy[3] = {0}; 00985 static uint16_t count_changeRPY = 0; 00986 static bool flg_checkoutlier = false; 00987 NVIC_DisableIRQ(USART1_IRQn); 00988 NVIC_DisableIRQ(USART2_IRQn); 00989 NVIC_DisableIRQ(TIM5_IRQn); 00990 NVIC_DisableIRQ(EXTI0_IRQn);//MPU割り込み禁止 00991 NVIC_DisableIRQ(EXTI9_5_IRQn);//超音波割り込み禁止 00992 00993 mpu6050.getRollPitchYaw_Skipper(rpy); 00994 00995 NVIC_EnableIRQ(USART1_IRQn); 00996 NVIC_EnableIRQ(USART2_IRQn); 00997 NVIC_EnableIRQ(TIM5_IRQn); 00998 NVIC_EnableIRQ(EXTI0_IRQn); 00999 NVIC_EnableIRQ(EXTI9_5_IRQn); 01000 01001 01002 //外れ値対策 01003 for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI; 01004 rpy[ROLL] -= FirstROLL; 01005 rpy[PITCH] -= FirstPITCH; 01006 rpy[YAW] -= FirstYAW; 01007 01008 for(uint8_t i=0; i<3; i++) {if(rpy[i] < nowAngle[i]-10 || rpy[i] > nowAngle[i]+10) {flg_checkoutlier = true;}} 01009 if(!flg_checkoutlier || count_changeRPY >= 2){ 01010 for(uint8_t i=0; i<3; i++){ 01011 nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均 01012 } 01013 count_changeRPY = 0; 01014 }else count_changeRPY++; 01015 flg_checkoutlier = false; 01016 01017 } 01018 01019 float TranslateNewYaw(float beforeYaw, float newzeroYaw){ 01020 float newYaw = beforeYaw - newzeroYaw; 01021 01022 if(newYaw<-180.0f) newYaw += 360.0f; 01023 else if(newYaw>180.0f) newYaw -= 360.0f; 01024 return newYaw; 01025 } 01026 01027 01028 void getSF_Serial(MODSERIAL_IRQ_INFO *info){ 01029 01030 static char SFbuf[16]; 01031 static int bufcounter=0; 01032 01033 if(pc.readable()) { // 受信確認 01034 SFbuf[bufcounter] = pc.getc(); // 1文字取り出し 01035 } 01036 01037 01038 pc.printf("%c",SFbuf[bufcounter]); 01039 01040 if(SFbuf[0]=='S'&&bufcounter<5) bufcounter++; 01041 01042 if(bufcounter==5 && SFbuf[4]=='F'){ 01043 g_landingcommand = SFbuf[1]; 01044 wait_ms(8); 01045 if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]); 01046 bufcounter = 0; 01047 memset(SFbuf, 0, strlen(SFbuf)); 01048 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW); 01049 } 01050 else if(bufcounter>=5 ){ 01051 pc.printf("Communication Falsed.\r\n"); 01052 bufcounter = 0; 01053 } 01054 01055 } 01056 01057 float ConvertByteintoFloat(char high, char low){ 01058 01059 //int16_t intvalue = (int16_t)high*256 + (int16_t)low; 01060 int16_t intvalue = (int16_t)(((int16_t)high << 8) | low); // Turn the MSB and LSB into a signed 16-bit value 01061 float floatvalue = (float)intvalue; 01062 return floatvalue; 01063 } 01064 01065 01066 //超音波割り込み 01067 /*void UpdateDist(){ 01068 g_distance = usensor.get_dist_cm(); 01069 usensor.start(); 01070 }*/ 01071 01072 //8の字旋回 01073 void UpdateTargetAngle_Moebius(float targetAngle[3]){ 01074 static uint8_t RotateCounter=0; 01075 static bool flg_setInStartAuto = false; 01076 static float FirstYAW_Moebius = 0.0; 01077 float newYaw_Moebius; 01078 01079 if(!flg_setInStartAuto && CheckSW_Up(Ch7)){ 01080 FirstYAW_Moebius = nowAngle[YAW]; 01081 RotateCounter = 0; 01082 flg_setInStartAuto = true; 01083 }else if(!CheckSW_Up(Ch7)){ 01084 flg_setInStartAuto = false; 01085 led2 = 0; 01086 } 01087 autopwm[THR]=oldTHR; 01088 01089 newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius); 01090 01091 if(RotateCounter == 0 && newYaw_Moebius >90.0 && newYaw_Moebius < 180.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n");} 01092 if(RotateCounter == 1 && newYaw_Moebius >-180.0 && newYaw_Moebius < -90.0) {RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n");} 01093 if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius <-10.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n");} 01094 if(RotateCounter == 3 && newYaw_Moebius >0.0 && newYaw_Moebius < 90.0) {RotateCounter++; led2 = 0; pc.printf("Change Rotate direction\r\n");} 01095 01096 01097 if(RotateCounter <= 3) UpdateTargetAngle_Rightloop_short(targetAngle); 01098 else UpdateTargetAngle_Leftloop_short(targetAngle); //左旋回 01099 01100 } 01101 01102 //自動滑空 01103 void UpdateTargetAngle_Glide(float targetAngle[3]){ 01104 static int THRcount = 0; 01105 static int t_start = 0; 01106 static bool flg_tstart = false; 01107 int t_diff = 0; 01108 static int groundcount = 0; 01109 01110 targetAngle[ROLL] = g_glideloopROLL; 01111 targetAngle[PITCH] = g_glideloopPITCH; 01112 01113 autopwm[RUD]=g_glideloopRUD; 01114 // autopwm[THR]=oldTHR; 01115 01116 01117 01118 //時間計測開始設定 01119 if(!flg_tstart && CheckSW_Up(Ch7)){ 01120 t_start = t.read(); 01121 flg_tstart = true; 01122 pc.printf("timer start\r\n"); 01123 }else if(!CheckSW_Up(Ch7)){ 01124 t_start = 0; 01125 flg_tstart = false; 01126 } 01127 01128 01129 //フラグが偽であれば計測は行わない 01130 if(flg_tstart){ 01131 t_diff = t.read() - t_start; 01132 //一定高度or15秒でled点灯 01133 NVIC_DisableIRQ(EXTI9_5_IRQn); 01134 if((groundcount>5 && g_distance>0) || t_diff > 15){ 01135 led2 = 1; 01136 //pc.printf("Call [Stop!] calling!\r\n"); 01137 } 01138 01139 if(g_distance<180 && g_distance > 0) groundcount++; 01140 NVIC_EnableIRQ(EXTI9_5_IRQn); 01141 }else{ 01142 t_diff = 0; 01143 groundcount = 0; 01144 led2 = 0; 01145 } 01146 01147 if(t_diff > 17){ 01148 autopwm[THR] = SetTHRinRatio(0.5); 01149 }else{ 01150 NVIC_DisableIRQ(EXTI9_5_IRQn); 01151 if(g_distance<150 && g_distance>0 ){ 01152 NVIC_EnableIRQ(EXTI9_5_IRQn); 01153 THRcount++; 01154 if(THRcount>5){ 01155 autopwm[THR] = SetTHRinRatio(0.6); 01156 //pc.printf("throttle ON\r\n"); 01157 } 01158 }else{ 01159 autopwm[THR] = 1180; 01160 THRcount = 0; 01161 } 01162 } 01163 } 01164 //離陸-投下-着陸一連 01165 void Take_off_and_landing(float targetAngle[3]){ 01166 /* 01167 if(!CheckSW_Up(Ch7)) bombing_mode = Takeoff; 01168 01169 switch(bombing_mode){ 01170 case Takeoff: 01171 static bool flg_setFirstYaw = false; 01172 static int TakeoffCount = 0; 01173 01174 if(!flg_setFirstYaw && CheckSW_Up(Ch7)){ 01175 FirstYAW = nowAngle[YAW]; 01176 flg_setFirstYaw = true; 01177 }else if(flg_setFirstYaw && !CheckSW_Up(Ch7)){ 01178 flg_setFirstYaw = false; 01179 } 01180 01181 UpdateTargetAngle_Takeoff(targetAngle); 01182 01183 if(g_distance>150) TakeoffCount++; 01184 else TakeoffCount = 0; 01185 if(TakeoffCount>5){ 01186 autopwm[THR] = 1180+320*2*0.5; 01187 pc.printf("Now go to Approach mode!!"); 01188 bombing_mode = Approach; 01189 } 01190 break; 01191 01192 //case Chicken: 01193 //break; 01194 01195 case Transition: 01196 static int ApproachCount = 0; 01197 targetAngle[YAW]=180.0; 01198 int Judge = Rotate(targetAngle, g_SerialTargetYAW); 01199 01200 if(Judge==0) ApproachCount++; 01201 if(ApproachCount>5) bombing_mode = Approach; 01202 break; 01203 01204 case Approach: 01205 */ 01206 autopwm[THR] = SetTHRinRatio(g_loopTHR); //0.7;スロットルの割合 01207 UpdateTargetAngle_Approach(targetAngle); 01208 /* 01209 break; 01210 01211 default: 01212 bombing_mode = Takeoff; 01213 break; 01214 } 01215 */ 01216 } 01217 01218 //離陸モード 01219 void UpdateTargetAngle_Takeoff(float targetAngle[3]){ 01220 //pc.printf("%d \r\n",g_distance); 01221 targetAngle[ROLL] = g_gostraightROLL; 01222 targetAngle[PITCH] = g_loopTHR; 01223 autopwm[THR] = SetTHRinRatio(g_takeoffTHR); //0.7;スロットルの割合 01224 } 01225 01226 //ヨーを目標値にして許容角度になるまで水平旋回 01227 int Rotate(float targetAngle[3], float TargetYAW){ 01228 float diffYaw = TranslateNewYaw(TargetYAW, nowAngle[YAW]); 01229 01230 if(diffYaw > LIMIT_STRAIGHT_YAW){ 01231 /* 01232 if(diffYaw > THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Rightloop_short(targetAngle); 01233 else UpdateTargetAngle_Rightloop(targetAngle); 01234 */ 01235 UpdateTargetAngle_Rightloop_short(targetAngle); 01236 return 1; 01237 }else if(diffYaw < -LIMIT_STRAIGHT_YAW){ 01238 UpdateTargetAngle_Leftloop_short(targetAngle); 01239 /* 01240 if(diffYaw < -THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Leftloop_short(targetAngle); 01241 else UpdateTargetAngle_Leftloop(targetAngle); 01242 */ 01243 return 1; 01244 }else{ 01245 UpdateTargetAngle_GoStraight(targetAngle); 01246 return 0; 01247 } 01248 } 01249 01250 //チキラー投下 01251 void Chicken_Drop(){ 01252 if(CheckSW_Up(Ch7)){ 01253 autopwm[DROP] = 1512; 01254 pc.printf("Bombed!\r\n"); 01255 RerurnChickenServo1.attach(&ReturnChickenServo1, 3); 01256 //operation_mode = Approach; 01257 //buzzer = 0; 01258 pc.printf("Goto LeftLoop mode\r\n"); 01259 } 01260 } 01261 01262 void ReturnChickenServo1(){ 01263 autopwm[DROP] = 1344; 01264 pc.printf("first reverse\r\n"); 01265 RerurnChickenServo2.attach(&ReturnChickenServo2, 1); 01266 } 01267 01268 void ReturnChickenServo2(){ 01269 autopwm[DROP] = 1392; 01270 pc.printf("second reverse\r\n"); 01271 } 01272 01273 //着陸モード（PCからの指令に従う） 01274 void UpdateTargetAngle_Approach(float targetAngle[3]){ 01275 01276 NVIC_DisableIRQ(USART2_IRQn); 01277 01278 switch(g_landingcommand){ 01279 case 'R': //右旋回セヨ 01280 if(zeroTHR==0){ 01281 UpdateTargetAngle_Rightloop_zero(targetAngle); 01282 } 01283 else{ 01284 targetAngle[ROLL] = g_rightloopROLL; 01285 targetAngle[PITCH] = g_rightloopPITCH ; 01286 autopwm[RUD]=g_rightloopRUD; //RUD固定 01287 if(autopwm[AIL_R]>trimpwm[AIL_R]){ //エルロン上がりやすさ調節 01288 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01289 } 01290 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01291 autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop; 01292 } 01293 break; 01294 01295 case 'L': //左旋回セヨ 01296 if(zeroTHR==0){ 01297 UpdateTargetAngle_Leftloop_zero(targetAngle); 01298 } 01299 else{ 01300 targetAngle[ROLL] = g_leftloopROLL; 01301 targetAngle[PITCH] = g_leftloopPITCH; 01302 autopwm[RUD]=g_leftloopRUD; 01303 if(autopwm[AIL_R]>trimpwm[AIL_R]){ 01304 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01305 } 01306 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01307 } 01308 break; 01309 01310 case 'G': //直進セヨ 01311 if(zeroTHR==0){ 01312 UpdateTargetAngle_GoStraight_zero(targetAngle); 01313 } 01314 else{ 01315 autopwm[RUD]=1404; 01316 targetAngle[PITCH] = g_gostraightPITCH; 01317 } 01318 01319 break; 01320 01321 case 'Y': //指定ノヨー方向ニ移動セヨ 01322 Rotate(targetAngle, g_SerialTargetYAW); 01323 break; 01324 01325 case 'B': //ブザーヲ鳴ラセ 01326 //buzzer = 1; 01327 break; 01328 01329 case 'D': //物資ヲ落トセ 01330 Chicken_Drop(); 01331 break; 01332 01333 case 'C': //停止セヨ 01334 autopwm[RUD]=1404; 01335 targetAngle[PITCH] = -3.0; 01336 autopwm[THR] = minpwm[THR]; 01337 zeroTHR=0; 01338 break; 01339 01340 } 01341 NVIC_EnableIRQ(USART2_IRQn); 01342 } 01343 01344 void checkHeight(float targetAngle[3]){ 01345 01346 static int targetHeight = 200; 01347 NVIC_DisableIRQ(EXTI9_5_IRQn); 01348 if(g_distance < targetHeight + ALLOWHEIGHT){ 01349 UpdateTargetAngle_NoseUP(targetAngle); 01350 if(CheckSW_Up(Ch7)) led2 = 1; 01351 } 01352 else if(g_distance > targetHeight - ALLOWHEIGHT){ 01353 UpdateTargetAngle_NoseDOWN(targetAngle); 01354 if(CheckSW_Up(Ch7)) led2 = 1; 01355 } 01356 else led2=0; 01357 NVIC_EnableIRQ(EXTI9_5_IRQn); 01358 } 01359 01360 void UpdateTargetAngle_NoseUP(float targetAngle[3]){ 01361 01362 //targetAngle[PITCH] += 2.0f; 01363 //if(nowAngle[PITCH]<targetAngle[PITCH]) autopwm[THR] = SetTHRinRatio(0.6); 01364 autopwm[THR] = SetTHRinRatio(g_loopTHR+0.05); 01365 //pc.printf("nose UP"); 01366 } 01367 01368 void UpdateTargetAngle_NoseDOWN(float targetAngle[3]){ 01369 01370 //targetAngle[PITCH] -= 2.0f; 01371 autopwm[THR] = SetTHRinRatio(g_loopTHR-0.05); 01372 //pc.printf("nose DOWN"); 01373 } 01374 01375 //直進 01376 void UpdateTargetAngle_GoStraight(float targetAngle[3]){ 01377 01378 autopwm[RUD]=1404; 01379 targetAngle[PITCH] = g_gostraightPITCH; 01380 autopwm[THR] = SetTHRinRatio(g_loopTHR); 01381 01382 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01383 } 01384 01385 //直進（着陸時スロットル０の時） 01386 void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]){ 01387 01388 autopwm[RUD]=1404; 01389 targetAngle[PITCH] = g_gostraightPITCH; 01390 autopwm[THR] = minpwm[THR]; 01391 01392 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01393 } 01394 01395 01396 //右旋回 01397 void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回 01398 01399 targetAngle[ROLL] = g_rightloopROLL; 01400 targetAngle[PITCH] = g_rightloopPITCH ; 01401 autopwm[RUD]=g_rightloopRUD; //RUD固定 01402 autopwm[THR] = SetTHRinRatio(0.5); //手動スロットル記憶 01403 if(autopwm[AIL_R]>trimpwm[AIL_R]){ //エルロン上がりやすさ調節 01404 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01405 } 01406 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01407 autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop; 01408 01409 //checkHeight(targetAngle); 01410 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01411 } 01412 01413 //右旋回（着陸時スロットル０の時） 01414 void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]){ //右旋回 01415 01416 targetAngle[ROLL] = g_rightloopROLL; 01417 targetAngle[PITCH] = g_rightloopPITCH ; 01418 autopwm[RUD]=g_rightloopRUD; 01419 autopwm[THR] = minpwm[THR];//SetTHRinRatio(g_loopTHR); 01420 if(autopwm[AIL_R]>trimpwm[AIL_R]){ 01421 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01422 } 01423 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01424 01425 //checkHeight(targetAngle); 01426 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01427 } 01428 01429 void UpdateTargetAngle_Rightloop_short(float targetAngle[3]){ //右旋回 01430 01431 targetAngle[ROLL] = g_rightloopROLLshort; 01432 targetAngle[PITCH] = g_rightloopPITCHshort; 01433 autopwm[RUD]=g_rightloopshortRUD; 01434 autopwm[THR] = oldTHR; 01435 if(autopwm[AIL_R]>trimpwm[AIL_R]){ 01436 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01437 } 01438 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01439 01440 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01441 } 01442 01443 //左旋回 01444 void UpdateTargetAngle_Leftloop(float targetAngle[3]){ 01445 01446 targetAngle[ROLL] = g_leftloopROLL; 01447 targetAngle[PITCH] = g_leftloopPITCH; 01448 autopwm[RUD]=g_leftloopRUD; 01449 autopwm[THR] = oldTHR; 01450 if(autopwm[AIL_R]>trimpwm[AIL_R]){ 01451 autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01452 } 01453 else autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01454 //checkHeight(targetAngle); 01455 01456 //printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]); 01457 } 01458 01459 //左旋回（着陸時スロットル０のとき） 01460 void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]){ 01461 01462 targetAngle[ROLL] = g_leftloopROLL; 01463 targetAngle[PITCH] = g_leftloopPITCH; 01464 autopwm[RUD]=g_leftloopRUD; 01465 autopwm[THR] = minpwm[THR]; 01466 if(autopwm[AIL_R]>trimpwm[AIL_R]){ 01467 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01468 } 01469 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01470 //autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_Ratio_leftloop; 01471 //checkHeight(targetAngle); 01472 01473 //printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]); 01474 } 01475 01476 void UpdateTargetAngle_Leftloop_short(float targetAngle[3]){ 01477 01478 targetAngle[ROLL] = g_leftloopROLLshort; 01479 targetAngle[PITCH] = g_leftloopPITCHshort; 01480 autopwm[RUD]=g_leftloopRUD; 01481 autopwm[THR] = oldTHR; 01482 if(autopwm[AIL_R]>trimpwm[AIL_R]){ 01483 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01484 } 01485 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01486 01487 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01488 } 01489 01490 01491 //デバッグ用 01492 void DebugPrint(){ 01493 /* 01494 static int16_t deltaT = 0, t_start = 0; 01495 deltaT = t.read_u2s() - t_start; 01496 pc.printf("t:%d us, ",deltaT); 01497 pc.printf("\r\n"); 01498 t_start = t.read_us(); 01499 */ 01500 //for(uint8_t i=0; i<8; i++) pc.printf("%d ",sbus.manualpwm[i]); 01501 //for(uint8_t i=1; i<4; i++) pc.printf("%d ",sbus.manualpwm[i]); 01502 //pc.printf("\r\n"); 01503 //for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]); 01504 //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 01505 //pc.printf("%d\t",autopwm[AIL_L]); // pc.printf("%d\t",autopwm[RUD]); 01506 //pc.printf("%d",g_distance); 01507 01508 //pc.printf("Mode: %c: ",g_buf[0]); 01509 //if(g_buf[0] == 'Y') pc.printf(" %3.1f",g_SerialTargetYAW); 01510 //pc.printf("\r\n"); 01511 }
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