航空研究会
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Autoflight2018_24
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Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
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Autoflight2018_23
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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 //C 00006 #include "math.h" 00007 //sensor 00008 #include "MPU6050_DMP6.h" 00009 //#include "MPU9250.h" 00010 //#include "BMP280.h" 00011 #include "hcsr04.h" 00012 //device 00013 #include "sbus.h" 00014 //config 00015 #include "SkipperSv2.h" 00016 #include "falfalla.h" 00017 //other 00018 #include "pid.h" 00019 00020 #define DEBUG_SEMIAUTO 0 00021 #define DEBUG_PRINT_INLOOP 1 00022 00023 #define KP_ELE 15.0 //2.0 00024 #define KI_ELE 0.0 00025 #define KD_ELE 0.0 //0/0 00026 #define KP_RUD 3.0 00027 #define KI_RUD 0.0 00028 #define KD_RUD 0.0 00029 #define KP_AIL 0.1 00030 #define KI_AIL 0.2 00031 #define KD_AIL 0.2 00032 00033 //#define g_AIL_L_Ratio_rightloop 0.5 00034 00035 #define GAIN_CONTROLVALUE_TO_PWM 3.0 00036 00037 #define RIGHT_ROLL -12.0 00038 #define RIGHT_PITCH -10.0 //5.0 00039 #define LEFT_ROLL 12.0 00040 #define LEFT_PITCH -5.0 00041 #define STRAIGHT_ROLL 4.0 00042 #define STRAIGHT_PITCH 3.0 00043 #define TAKEOFF_THR 0.8 00044 #define LOOP_THR 0.6 00045 00046 //#define g_rightloopRUD 1500 00047 00048 #define RIGHT_ROLL_SHORT -12.0 00049 #define RIGHT_PITCH_SHORT -5.0 00050 #define LEFT_ROLL_SHORT 12.0 00051 #define LEFT_PITCH_SHORT -5.0 00052 00053 /*#define rightloopRUD 1300 //1250 00054 #define rightloopshortRUD 1250 00055 #define leftloopRUD 1500 00056 #define leftloopshortRUD 1500 00057 #define glideloopRUD 1300 00058 */ 00059 #define AIL_R_correctionrightloop 0 00060 #define AIL_L_correctionrightloop 0 00061 #define AIL_L_correctionrightloopshort 0 00062 #define AIL_L_correctionleftloop -0 00063 #define AIL_L_correctionleftloopshort 0 00064 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 RawSerial 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] = {1580,1600,1176,1404,1512,1448}; 00156 int16_t maxpwm[6] = {1796,1936,1848,1740,1820,1856}; 00157 int16_t minpwm[6] = {1182,1265,1176,1068,1180,1176}; 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=1;//着陸時のスロットルが０かの判断用 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 static char g_buf[16]; 00185 char g_landingcommand='Z'; 00186 float g_SerialTargetYAW; 00187 00188 Timer t; 00189 Timeout RerurnChickenServo1; 00190 Timeout RerurnChickenServo2; 00191 00192 /*-----関数のプロトタイプ宣言-----*/ 00193 void setup(); 00194 void loop(); 00195 00196 void Init_PWM(); 00197 void Init_servo(); //サーボ初期化 00198 void Init_sbus(); //SBUS初期化 00199 void Init_sensors(); 00200 void DisplayClock(); //クロック状態確認 00201 00202 //センサの値取得 00203 void SensingMPU(); 00204 void UpdateDist(); 00205 00206 //void offsetRollPitch(float FirstROLL, float FirstPITCH); 00207 //void TransYaw(float FirstYAW); 00208 float TranslateNewYaw(float beforeYaw, float newzeroYaw); 00209 void UpdateTargetAngle(float targetAngle[3]); 00210 void CalculateControlValue(float targetAngle[3], float controlValue[3]); 00211 void UpdateAutoPWM(float controlValue[3]); 00212 void ConvertPWMintoRAD(float targetAngle[3]); 00213 inline float CalcRatio(float value, float trim, float limit); 00214 bool CheckSW_Up(Channel ch); 00215 int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min); 00216 inline int16_t SetTHRinRatio(float ratio); 00217 00218 //sbus割り込み 00219 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 00220 void Output_PWM(int16_t pwm[6]); //pwmをサーボへ出力 00221 00222 //シリアル割り込み 00223 void getSF_Serial(); 00224 float ConvertByteintoFloat(char high, char low); 00225 00226 00227 //SD設定 00228 int GetParameter(FILE *fp, const char *paramName,char parameter[]); 00229 int SetOptions(float *g_kpELE, float *g_kiELE, float *g_kdELE, 00230 float *g_kpRUD, float *g_kiRUD, float *g_kdRUD, 00231 float *g_rightloopROLL, float *g_rightloopPITCH, 00232 float *g_leftloopROLL, float *g_leftloopPITCH, 00233 float *g_gostraightROLL, float *g_gostraightPITCH, 00234 float *g_takeoffTHR, float *g_loopTHR, 00235 float *g_rightloopROLLshort, float *g_rightloopPITCHshort, 00236 float *g_leftloopROLLshort, float *g_leftloopPITCHshort, 00237 float *g_glideloopROLL, float *g_glideloopPITCH, 00238 float *g_kpAIL, float *g_kiAIL, float *g_kdAIL, 00239 int *g_rightloopRUD, int *g_rightloopshortRUD, 00240 int *g_leftloopRUD, int *g_leftloopshortRUD, 00241 int *g_glideRUD, 00242 int *g_AIL_L_correctionrightloop,int *g_AIL_L_correctionrightloopshort, 00243 int *g_AIL_L_correctionlefttloop,int *g_AIL_L_correctionleftloopshort 00244 ); 00245 //switch2割り込み 00246 void ResetTrim(); 00247 00248 //自動操縦 00249 void UpdateTargetAngle_GoStraight(float targetAngle[3]); 00250 void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]); //着陸時にスロットルが０の時の直進 00251 void UpdateTargetAngle_Rightloop(float targetAngle[3]); 00252 void UpdateTargetAngle_Rightloop_short(float targetAngle[3]); 00253 void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]); //着陸時にスロットルが０の時の右旋回 00254 void UpdateTargetAngle_Leftloop(float targetAngle[3]); 00255 void UpdateTargetAngle_Leftloop_short(float targetAngle[3]); 00256 void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]); //着陸時にスロットルが０の時の左旋回 00257 void UpdateTargetAngle_Moebius(float targetAngle[3]); 00258 void UpdateTargetAngle_Glide(float targetAngle[3]); 00259 void UpdateTargetAngle_Takeoff(float targetAngle[3]); 00260 void UpdateTargetAngle_Approach(float targetAngle[3]); 00261 void Take_off_and_landing(float targetAngle[3]); 00262 00263 int Rotate(float targetAngle[3], float TargetYAW); 00264 00265 //投下 00266 void Chicken_Drop(); 00267 void ReturnChickenServo1(); 00268 void ReturnChickenServo2(); 00269 00270 //超音波による高度補正 00271 void checkHeight(float targetAngle[3]); 00272 void UpdateTargetAngle_NoseUP(float targetAngle[3]); 00273 void UpdateTargetAngle_NoseDOWN(float targetAngle[3]); 00274 00275 //デバッグ用 00276 void Sbusprintf(); 00277 void DebugPrint(); 00278 00279 /*---関数のプロトタイプ宣言終わり---*/ 00280 00281 int main() 00282 { 00283 setup(); 00284 00285 00286 while(1){ 00287 00288 loop(); 00289 00290 00291 NVIC_DisableIRQ(USART1_IRQn); 00292 if(!CheckSW_Up(Ch7)){ 00293 led3=0; 00294 }else{ 00295 led3=1; 00296 } 00297 NVIC_EnableIRQ(USART1_IRQn); 00298 } 00299 00300 } 00301 00302 void setup(){ 00303 //buzzer = 0; 00304 led1 = 1; 00305 led2 = 1; 00306 led3 = 1; 00307 led4 = 1; 00308 00309 SetOptions(&g_kpELE, &g_kiELE, &g_kdELE, 00310 &g_kpRUD, &g_kiRUD, &g_kdRUD, 00311 &g_rightloopROLL, &g_rightloopPITCH, 00312 &g_leftloopROLL, &g_leftloopPITCH, 00313 &g_gostraightROLL, &g_gostraightPITCH, 00314 &g_takeoffTHR, &g_loopTHR, 00315 &g_rightloopROLLshort, &g_rightloopPITCHshort, 00316 &g_leftloopROLLshort, &g_leftloopPITCHshort, 00317 &g_glideloopROLL, &g_glideloopPITCH, 00318 &g_kpAIL, &g_kiAIL,&g_kdAIL, 00319 &g_rightloopRUD, &g_rightloopshortRUD, 00320 &g_leftloopRUD, &g_leftloopshortRUD, 00321 &g_glideloopRUD, 00322 &g_AIL_L_correctionrightloop,&g_AIL_L_correctionrightloopshort, 00323 &g_AIL_L_correctionleftloop,&g_AIL_L_correctionleftloopshort 00324 ); 00325 00326 00327 Init_PWM(); 00328 Init_servo(); 00329 Init_sbus(); 00330 Init_sensors(); 00331 //switch2.rise(ResetTrim); 00332 pc.attach(getSF_Serial, Serial::RxIrq); 00333 //USsensor.attach(&UpdateDist, 0.05); 00334 00335 NVIC_SetPriority(USART1_IRQn,0); 00336 NVIC_SetPriority(EXTI0_IRQn,1); 00337 NVIC_SetPriority(TIM5_IRQn,2); 00338 NVIC_SetPriority(EXTI9_5_IRQn,3); 00339 NVIC_SetPriority(USART2_IRQn,4); 00340 DisplayClock(); 00341 t.start(); 00342 00343 00344 pc.printf("MPU calibration start\r\n"); 00345 00346 float offsetstart = t.read(); 00347 while(t.read() - offsetstart < 26){ 00348 SensingMPU(); 00349 for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]); 00350 pc.printf("\r\n"); 00351 led1 = !led1; 00352 led2 = !led2; 00353 led3 = !led3; 00354 led4 = !led4; 00355 } 00356 00357 FirstROLL = nowAngle[ROLL]; 00358 FirstPITCH = nowAngle[PITCH]; 00359 nowAngle[ROLL] -=FirstROLL; 00360 nowAngle[PITCH] -=FirstPITCH; 00361 00362 led1 = 0; 00363 led2 = 0; 00364 led3 = 0; 00365 led4 = 0; 00366 wait(0.2); 00367 00368 00369 pc.printf("All initialized\r\n"); 00370 } 00371 00372 void loop(){ 00373 static float targetAngle[3] = {0.0, 0.0, 0.0}, controlValue[2] = {0.0, 0.0}; 00374 00375 SensingMPU(); 00376 NVIC_DisableIRQ(USART2_IRQn); 00377 UpdateTargetAngle(targetAngle); 00378 //Rotate(targetAngle, 30.0); 00379 CalculateControlValue(targetAngle, controlValue); 00380 NVIC_DisableIRQ(USART1_IRQn); 00381 UpdateAutoPWM(controlValue); 00382 NVIC_EnableIRQ(USART1_IRQn); 00383 NVIC_EnableIRQ(USART2_IRQn); 00384 wait_ms(23); 00385 pc.printf("%c",g_landingcommand); 00386 #if DEBUG_PRINT_INLOOP 00387 //Sbusprintf(); 00388 DebugPrint(); 00389 #endif 00390 } 00391 00392 //サーボ初期化関数 00393 void Init_servo(){ 00394 00395 servo1.period_ms(14); 00396 servo1.pulsewidth_us(trimpwm[AIL_R]); 00397 00398 servo2.period_ms(14); 00399 servo2.pulsewidth_us(trimpwm[ELE]); 00400 00401 servo3.period_ms(14); 00402 servo3.pulsewidth_us(trimpwm[THR]); 00403 00404 servo4.period_ms(14); 00405 servo4.pulsewidth_us(trimpwm[RUD]); 00406 00407 servo5.period_ms(14); 00408 servo5.pulsewidth_us(1392); 00409 00410 servo6.period_ms(14); 00411 servo6.pulsewidth_us(trimpwm[AIL_L]); 00412 00413 pc.printf("servo initialized\r\n"); 00414 } 00415 00416 //Sbus初期化 00417 void Init_sbus(){ 00418 sbus.initialize(); 00419 sbus.setLastfuncPoint(Update_PWM); 00420 sbus.startInterrupt(); 00421 } 00422 00423 void Init_sensors(){ 00424 if(mpu6050.setup() == -1){ 00425 pc.printf("failed initialize\r\n"); 00426 while(1){ 00427 led1 = 1; led2 = 0; led3 = 1; led4 = 0; 00428 wait(1); 00429 led1 = 0; led2 = 1; led3 = 0; led4 = 1; 00430 wait(1); 00431 } 00432 } 00433 } 00434 00435 void Init_PWM(){ 00436 pc.printf("PWM initialized\r\n"); 00437 } 00438 00439 void DisplayClock(){ 00440 pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000); 00441 pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000); 00442 pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000); 00443 pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000); 00444 pc.printf("\r\n"); 00445 } 00446 00447 void UpdateTargetAngle(float targetAngle[3]){ 00448 static int16_t count_op = 0; 00449 #if DEBUG_SEMIAUTO 00450 switch(operation_mode){ 00451 case StartUp: 00452 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ 00453 count_op++; 00454 if(count_op > changeModeCount){ 00455 operation_mode = SemiAuto; 00456 pc.printf("Goto SemiAuto mode\r\n"); 00457 count_op = 0; 00458 } 00459 }else count_op = 0; 00460 break; 00461 00462 case SemiAuto: 00463 /* 大会用では以下のif文を入れてoperation_modeを変える 00464 if(CheckSW_Up(Ch6)){ 00465 count_op++; 00466 if(count_op>changeModeCount){ 00467 output_status = XXX; 00468 led2 = 0; 00469 pc.printf("Goto XXX mode\r\n"); 00470 count_op = 0; 00471 }else count_op = 0; 00472 ConvertPWMintoRAD(targetAngle); 00473 } 00474 */ 00475 ConvertPWMintoRAD(targetAngle); 00476 break; 00477 00478 default: 00479 operation_mode = SemiAuto; 00480 break; 00481 } 00482 00483 #else 00484 00485 switch(operation_mode){ 00486 case StartUp: 00487 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 00488 count_op++; 00489 if(count_op > changeModeCount){ 00490 operation_mode = RightLoop; 00491 pc.printf("Goto RightLoop mode\r\n"); 00492 count_op = 0; 00493 } 00494 }else count_op = 0; 00495 break; 00496 00497 case RightLoop: 00498 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ 00499 count_op++; 00500 if(count_op > changeModeCount){ 00501 operation_mode = LeftLoop; 00502 pc.printf("Goto LeftLoop mode\r\n"); 00503 count_op = 0; 00504 } 00505 }else count_op = 0; 00506 UpdateTargetAngle_Rightloop(targetAngle); 00507 00508 break; 00509 00510 case LeftLoop: 00511 if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ 00512 count_op++; 00513 if(count_op > changeModeCount){ 00514 operation_mode = GoStraight; 00515 pc.printf("Goto GoStraight mode\r\n"); 00516 count_op = 0; 00517 } 00518 }else count_op = 0; 00519 UpdateTargetAngle_Leftloop(targetAngle); 00520 break; 00521 00522 case GoStraight: 00523 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ 00524 count_op++; 00525 if(count_op > changeModeCount){ 00526 operation_mode = Moebius; 00527 pc.printf("Goto Moebius mode\r\n"); 00528 count_op = 0; 00529 } 00530 }else count_op = 0; 00531 UpdateTargetAngle_GoStraight(targetAngle); 00532 break; 00533 00534 case Moebius: 00535 if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ 00536 count_op++; 00537 if(count_op > changeModeCount){ 00538 operation_mode = Glide; 00539 pc.printf("Goto Glide mode\r\n"); 00540 count_op = 0; 00541 } 00542 }else count_op = 0; 00543 UpdateTargetAngle_Moebius(targetAngle); 00544 break; 00545 00546 case Glide: 00547 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ 00548 count_op++; 00549 if(count_op > changeModeCount){ 00550 operation_mode = BombwithPC; 00551 pc.printf("Goto Bombing mode\r\n"); 00552 count_op = 0; 00553 } 00554 }else count_op = 0; 00555 UpdateTargetAngle_Glide(targetAngle); 00556 break; 00557 00558 case BombwithPC: 00559 if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ 00560 count_op++; 00561 if(count_op > changeModeCount){ 00562 operation_mode = RightLoop; 00563 pc.printf("Goto RightLoop mode\r\n"); 00564 count_op = 0; 00565 } 00566 }else count_op = 0; 00567 Take_off_and_landing(targetAngle); 00568 break; 00569 00570 default: 00571 operation_mode = StartUp; 00572 break; 00573 } 00574 #endif 00575 00576 if(CheckSW_Up(Ch7)){ 00577 output_status = Auto; 00578 led1 = 1; 00579 }else{ 00580 output_status = Manual; 00581 led1 = 0; 00582 } 00583 } 00584 00585 int GetParameter(FILE *fp, const char *paramName,char parameter[]){ 00586 int i=0, j=0; 00587 int strmax = 200; 00588 char str[strmax]; 00589 00590 rewind(fp); //ファイル位置を先頭に 00591 while(1){ 00592 if (fgets(str, strmax, fp) == NULL) { 00593 return 0; 00594 } 00595 if (!strncmp(str, paramName, strlen(paramName))) { 00596 while (str[i++] != '=') {} 00597 while (str[i] != '\n') { 00598 parameter[j++] = str[i++]; 00599 } 00600 parameter[j] = '\0'; 00601 return 1; 00602 } 00603 } 00604 return 0; 00605 } 00606 00607 00608 //sdによる設定 00609 int SetOptions(float *g_kpELE, float *g_kiELE, float *g_kdELE, 00610 float *g_kpRUD, float *g_kiRUD, float *g_kdRUD, 00611 float *g_rightloopROLL, float *g_rightloopPITCH, 00612 float *g_leftloopROLL, float *g_leftloopPITCH, 00613 float *g_gostraightROLL, float *g_gostraightPITCH, 00614 float *g_takeoffTHR, float *g_loopTHR, 00615 float *g_rightloopROLLshort, float *g_rightloopPITCHshort, 00616 float *g_leftloopROLLshort, float *g_leftloopPITCHshort, 00617 float *g_glideloopROLL, float *g_glideloopPITCH, 00618 float *g_kpAIL, float *g_kiAIL, float *g_kdAIL, 00619 int *g_rightloopRUD, int *g_rightloopshortRUD, 00620 int *g_leftloopRUD, int *g_leftloopshortRUD, 00621 int *g_glideloopRUD, 00622 int *g_AIL_L_correctionrightloop,int *g_AIL_L_correctionrightloopshort, 00623 int *g_AIL_L_correctionleftloop,int *g_AIL_L_correctionleftloopshort 00624 ){ 00625 00626 pc.printf("SDsetup start.\r\n"); 00627 00628 FILE *fp; 00629 char parameter[40]; //文字列渡す用の配列 00630 int SDerrorcount = 0; //取得できなかった数を返す 00631 const char *paramNames[] = { 00632 "KP_ELEVATOR", 00633 "KI_ELEVATOR", 00634 "KD_ELEVATOR", 00635 "KP_RUDDER", 00636 "KI_RUDDER", 00637 "KD_RUDDER", 00638 "RIGHTLOOP_ROLL", 00639 "RIGHTLOOP_PITCH", 00640 "LEFTLOOP_ROLL", 00641 "LEFTLOOP_PITCH", 00642 "GOSTRAIGHT_ROLL", 00643 "GOSTRAIGHT_PITCH", 00644 "TAKEOFF_THR_RATE", 00645 "LOOP_THR_RATE", 00646 "RIGHTLOOP_ROLL_SHORT", 00647 "RIGHTLOOP_PITCH_SHORT", 00648 "LEFTLOOP_ROLL_SHORT", 00649 "LEFTLOOP_PITCH_SHORT", 00650 "AUTOGLIDE_ROLL", 00651 "AUTOGLIDE PITCH", 00652 "KP_AILERON", 00653 "KI_AILERON", 00654 "KD_AILERON", 00655 "RIGHTLOOP_RUDDER", 00656 "RIGHTLOOPSHORT_RUDDER", 00657 "LEFTLOOP_RUDDER", 00658 "LEFTLOOPSHORT_RUDDER", 00659 "GLIDELOOP_RUDDER", 00660 "AILERON_LEFT_CORRECTION_RIGHTLOOP", 00661 "AILERON_LEFT_CORRECTION_RIGHTLOOPSHORT", 00662 "AILERON_LEFT_CORRECTION_LEFTLOOP", 00663 "AILERON_LEFT_CORRECTION_LEFTLOOPSHORT" 00664 }; 00665 00666 fp = fopen("/sd/option.txt","r"); 00667 00668 if(fp != NULL){ //開けたら 00669 pc.printf("File was openned.\r\n"); 00670 if(GetParameter(fp,paramNames[0],parameter)) *g_kpELE = atof(parameter); 00671 else{ *g_kpELE = KP_ELE; 00672 SDerrorcount++; 00673 } 00674 if(GetParameter(fp,paramNames[1],parameter)) *g_kiELE = atof(parameter); 00675 else{ *g_kiELE = KI_ELE; 00676 SDerrorcount++; 00677 } 00678 if(GetParameter(fp,paramNames[2],parameter)) *g_kdELE = atof(parameter); 00679 else{ *g_kdELE = KD_ELE; 00680 SDerrorcount++; 00681 } 00682 if(GetParameter(fp,paramNames[3],parameter)) *g_kpRUD = atof(parameter); 00683 else{ *g_kpRUD = KP_RUD; 00684 SDerrorcount++; 00685 } 00686 if(GetParameter(fp,paramNames[4],parameter)) *g_kiRUD = atof(parameter); 00687 else{ *g_kiRUD = KI_RUD; 00688 SDerrorcount++; 00689 } 00690 if(GetParameter(fp,paramNames[5],parameter)) *g_kdRUD = atof(parameter); 00691 else{ *g_kdRUD = KD_RUD; 00692 SDerrorcount++; 00693 } 00694 if(GetParameter(fp,paramNames[6],parameter)) *g_rightloopROLL = atof(parameter); 00695 else{ *g_rightloopROLL = RIGHT_ROLL; 00696 SDerrorcount++; 00697 } 00698 if(GetParameter(fp,paramNames[7],parameter)) *g_rightloopPITCH = atof(parameter); 00699 else{ *g_rightloopPITCH = RIGHT_PITCH; 00700 SDerrorcount++; 00701 } 00702 if(GetParameter(fp,paramNames[8],parameter)) *g_leftloopROLL = atof(parameter); 00703 else{ *g_leftloopROLL = LEFT_ROLL; 00704 SDerrorcount++; 00705 } 00706 if(GetParameter(fp,paramNames[9],parameter)) *g_leftloopPITCH = atof(parameter); 00707 else{ *g_leftloopPITCH = LEFT_PITCH; 00708 SDerrorcount++; 00709 } 00710 if(GetParameter(fp,paramNames[10],parameter)) *g_gostraightROLL = atof(parameter); 00711 else{ *g_gostraightROLL = STRAIGHT_ROLL; 00712 SDerrorcount++; 00713 } 00714 if(GetParameter(fp,paramNames[11],parameter)) *g_gostraightPITCH = atof(parameter); 00715 else{ *g_gostraightPITCH = STRAIGHT_PITCH; 00716 SDerrorcount++; 00717 } 00718 if(GetParameter(fp,paramNames[12],parameter)) *g_takeoffTHR = atof(parameter); 00719 else{ *g_takeoffTHR = TAKEOFF_THR; 00720 SDerrorcount++; 00721 } 00722 if(GetParameter(fp,paramNames[13],parameter)) *g_loopTHR = atof(parameter); 00723 else{ *g_loopTHR = LOOP_THR; 00724 SDerrorcount++; 00725 } 00726 if(GetParameter(fp,paramNames[14],parameter)) *g_rightloopROLLshort = atof(parameter); 00727 else{ *g_rightloopROLLshort = RIGHT_ROLL_SHORT; 00728 SDerrorcount++; 00729 } 00730 if(GetParameter(fp,paramNames[15],parameter)) *g_rightloopPITCHshort = atof(parameter); 00731 else{ *g_rightloopPITCHshort = RIGHT_PITCH_SHORT; 00732 SDerrorcount++; 00733 } 00734 if(GetParameter(fp,paramNames[16],parameter)) *g_leftloopROLLshort = atof(parameter); 00735 else{ *g_leftloopROLLshort = LEFT_ROLL_SHORT; 00736 SDerrorcount++; 00737 } 00738 if(GetParameter(fp,paramNames[17],parameter)) *g_leftloopPITCHshort = atof(parameter); 00739 else{ *g_leftloopPITCHshort = LEFT_PITCH_SHORT; 00740 SDerrorcount++; 00741 } 00742 if(GetParameter(fp,paramNames[18],parameter)) *g_glideloopROLL = atof(parameter); 00743 else{ *g_glideloopROLL = GLIDE_ROLL; 00744 SDerrorcount++; 00745 } 00746 if(GetParameter(fp,paramNames[19],parameter)) *g_glideloopPITCH = atof(parameter); 00747 else{ *g_glideloopPITCH = GLIDE_PITCH; 00748 SDerrorcount++; 00749 } 00750 if(GetParameter(fp,paramNames[20],parameter)) *g_kpAIL = atof(parameter); 00751 else{ *g_kpAIL = KP_AIL; 00752 SDerrorcount++; 00753 } 00754 if(GetParameter(fp,paramNames[21],parameter)) *g_kiAIL = atof(parameter); 00755 else{ *g_kiAIL = KI_AIL; 00756 SDerrorcount++; 00757 } 00758 if(GetParameter(fp,paramNames[22],parameter)) *g_kdAIL = atof(parameter); 00759 else{ *g_kdAIL = KP_AIL; 00760 SDerrorcount++; 00761 } 00762 if(GetParameter(fp,paramNames[23],parameter)) *g_rightloopRUD = atof(parameter); 00763 else{ *g_rightloopRUD = RIGHTLOOP_RUD; 00764 SDerrorcount++; 00765 } 00766 if(GetParameter(fp,paramNames[24],parameter)) *g_rightloopshortRUD = atof(parameter); 00767 else{ *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD; 00768 SDerrorcount++; 00769 } 00770 if(GetParameter(fp,paramNames[25],parameter)) *g_leftloopRUD = atof(parameter); 00771 else{ *g_leftloopshortRUD = LEFTLOOP_RUD; 00772 SDerrorcount++; 00773 } 00774 if(GetParameter(fp,paramNames[26],parameter)) *g_leftloopshortRUD = atof(parameter); 00775 else{ *g_leftloopshortRUD = LEFTLOOPSHORT_RUD; 00776 SDerrorcount++; 00777 } 00778 if(GetParameter(fp,paramNames[27],parameter)) *g_glideloopRUD = atof(parameter); 00779 else{ *g_glideloopRUD = GLIDELOOP_RUD; 00780 SDerrorcount++; 00781 } 00782 if(GetParameter(fp,paramNames[28],parameter)) *g_AIL_L_correctionrightloop = atof(parameter); 00783 else{ *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP; 00784 SDerrorcount++; 00785 } 00786 if(GetParameter(fp,paramNames[29],parameter)) *g_AIL_L_correctionrightloopshort = atof(parameter); 00787 else{ *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT; 00788 SDerrorcount++; 00789 } 00790 if(GetParameter(fp,paramNames[30],parameter)) *g_AIL_L_correctionleftloop = atof(parameter); 00791 else{ *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP; 00792 SDerrorcount++; 00793 } 00794 if(GetParameter(fp,paramNames[31],parameter)) *g_AIL_L_correctionleftloopshort = atof(parameter); 00795 else{ *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT; 00796 SDerrorcount++; 00797 } 00798 00799 fclose(fp); 00800 00801 }else{ //ファイルがなかったら 00802 pc.printf("fp was null.\r\n"); 00803 *g_kpELE = KP_ELE; 00804 *g_kiELE = KI_ELE; 00805 *g_kdELE = KD_ELE; 00806 *g_kpRUD = KP_RUD; 00807 *g_kiRUD = KI_RUD; 00808 *g_kdRUD = KD_RUD; 00809 *g_rightloopROLL = RIGHT_ROLL; 00810 *g_rightloopPITCH = RIGHT_PITCH; 00811 *g_leftloopROLL = LEFT_ROLL; 00812 *g_leftloopPITCH = LEFT_PITCH; 00813 *g_gostraightROLL = STRAIGHT_ROLL; 00814 *g_gostraightPITCH = STRAIGHT_PITCH; 00815 *g_takeoffTHR = TAKEOFF_THR; 00816 *g_loopTHR = LOOP_THR; 00817 *g_kpAIL = KP_AIL; //パラメータ変えるのお忘れなく！！ 00818 *g_kiAIL = KI_AIL; 00819 *g_kdAIL = KD_AIL; 00820 *g_rightloopRUD = RIGHTLOOP_RUD; 00821 *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD; 00822 *g_leftloopRUD = LEFTLOOP_RUD; 00823 *g_leftloopshortRUD = LEFTLOOPSHORT_RUD; 00824 *g_glideloopRUD = GLIDELOOP_RUD; 00825 *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP; 00826 *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT; 00827 *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP; 00828 *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT; 00829 00830 00831 SDerrorcount = -1; 00832 } 00833 pc.printf("SDsetup finished.\r\n"); 00834 if(SDerrorcount == 0) pc.printf("setting option is success\r\n"); 00835 else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n"); 00836 else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount); 00837 00838 pc.printf("kpELE = %f, kiELE = %f, kdELE = %f\r\n", *g_kpRUD, *g_kiRUD, *g_kdRUD); 00839 pc.printf("kpRUD = %f, kiRUD = %f, kdRUD = %f\r\n", *g_kpELE, *g_kiELE, *g_kdELE); 00840 pc.printf("rightloopROLL = %f, rightloopPITCH = %f\r\n", *g_rightloopROLL, *g_rightloopPITCH); 00841 pc.printf("leftloopROLL = %f, g_leftloopPITCH = %f\r\n", *g_leftloopROLL, *g_leftloopPITCH); 00842 pc.printf("gostraightROLL = %f, g_gostraightPITCH = %f\r\n", *g_gostraightROLL, *g_gostraightPITCH); 00843 pc.printf("g_takeoffTHR = %f, g_loopTHR = %f\r\n", *g_takeoffTHR, *g_loopTHR); 00844 pc.printf("rightloopROLLshort = %f, rightloopPITCHshort = %f\r\n", *g_rightloopROLLshort, *g_rightloopPITCHshort); 00845 pc.printf("leftloopROLLshort = %f, g_leftloopPITCHshort = %f\r\n", *g_leftloopROLLshort, *g_leftloopPITCHshort); 00846 pc.printf("glideROLL = %f, glidePITCH = %f\r\n", *g_glideloopROLL, *g_glideloopPITCH); 00847 pc.printf("kpAIL = %f,kiAIL = %f,kdAIL = %f\r\n ",*g_kpAIL,*g_kiAIL,*g_kdAIL); 00848 pc.printf("RIGHTLOOPRUD = %d,RIGHTLOOPSHORTRUD = %d\r\n",*g_rightloopRUD,*g_rightloopshortRUD); 00849 pc.printf("LEFTTLOOPRUD = %d,LEFTLOOPSHORTRUD = %d\r\n",*g_leftloopRUD,*g_leftloopshortRUD); 00850 pc.printf("GLIDELOOPRUD = %d\r\n",*g_glideloopRUD); 00851 pc.printf("AIL_L_CORRECTION_RIGHTLOOP = %d, AIL_L_CORRECTION_RIGHTLOOPSHORT = %d\r\n",*g_AIL_L_correctionrightloop,*g_AIL_L_correctionrightloopshort); 00852 pc.printf("AIL_L_CORRECTION_LEFTLOOP = %d, AIL_L_CORRECTION_LEFTLOOPSHORT = %d\r\n",*g_AIL_L_correctionleftloop,*g_AIL_L_correctionleftloopshort); 00853 return SDerrorcount; 00854 } 00855 00856 void CalculateControlValue(float targetAngle[3], float controlValue[3]){ 00857 static int t_last; 00858 int t_now; 00859 float dt; 00860 00861 t_now = t.read_us(); 00862 dt = (float)((t_now - t_last)/1000000.0f) ; 00863 t_last = t_now; 00864 00865 00866 //controlValue[ROLL] = pid_RUD.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); 00867 controlValue[ROLL] = pid_AIL.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); //エルロンでロール制御 00868 controlValue[PITCH] = pid_ELE.calcPID(nowAngle[PITCH], targetAngle[PITCH], dt); 00869 } 00870 00871 void UpdateAutoPWM(float controlValue[3]){ 00872 int16_t addpwm[2]; //-500~500 00873 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 00874 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 00875 00876 autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH]; //rewrite 00877 autopwm[AIL_R] = trimpwm[AIL_R] - reverce[AIL_R] * addpwm[ROLL]; 00878 //autopwm[THR] = oldTHR; 00879 00880 autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]); 00881 autopwm[AIL_R] = ThresholdMaxMin(autopwm[AIL_R], maxpwm[AIL_R], minpwm[AIL_R]); 00882 00883 } 00884 00885 inline float CalcRatio(float value, float trim, float limit){ 00886 return (value - trim) / (limit - trim); 00887 } 00888 00889 bool CheckSW_Up(Channel ch){ 00890 if(SWITCH_CHECK < sbus.manualpwm[ch]){ 00891 return true; 00892 }else{ 00893 return false; 00894 } 00895 } 00896 00897 int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min){ 00898 if(value > max) return max; 00899 if(value < min) return min; 00900 return value; 00901 } 00902 00903 inline int16_t SetTHRinRatio(float ratio){ 00904 return minpwm[THR] + (int16_t)(2 * lengthdivpwm * ratio); 00905 } 00906 00907 00908 00909 /*---SBUS割り込み処理---*/ 00910 00911 //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) 00912 //各stabiGylo関数で算出したpwmを各変数に代入する(自動モード) 00913 void Update_PWM() 00914 { 00915 static int16_t pwm[6]; 00916 static int16_t temppwm[6]={trimpwm[0],trimpwm[1],trimpwm[2],trimpwm[3],trimpwm[4],trimpwm[5]}; 00917 if(sbus.flg_ch_update == true){ 00918 NVIC_DisableIRQ(USART1_IRQn); 00919 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 00920 case Manual: 00921 for(uint8_t i=0;i<6;i++){ 00922 pwm[i] = sbus.manualpwm[i]; 00923 } 00924 /*pc.printf("%d ,",pwm[0]);//R 00925 pc.printf("%d ,\r\n",pwm[5]);//L*/ 00926 oldTHR = sbus.manualpwm[THR]; 00927 //pc.printf("update_manual\r\n"); 00928 break; 00929 00930 case Auto: 00931 pwm[AIL_R] = autopwm[AIL_R]; //sbus.manualpwm[AIL]; 00932 pwm[ELE] = autopwm[ELE]; 00933 pwm[THR] = autopwm[THR]; 00934 pwm[RUD] = autopwm[RUD]; 00935 pwm[DROP] = autopwm[DROP]; 00936 pwm[AIL_L] = autopwm[AIL_L]; 00937 //pc.printf("%d ,",pwm[AIL_R]);//R 00938 //pc.printf("%d ,\r\n",pwm[AIL_L]);//L 00939 //pc.printf("update_auto\r\n"); 00940 00941 break; 00942 00943 default: 00944 for(uint8_t i=0;i<6;i++){ 00945 pwm[i] = sbus.manualpwm[i]; 00946 } //pc.printf("update_manual\r\n"); 00947 break; 00948 NVIC_EnableIRQ(USART1_IRQn); 00949 } 00950 for(uint8_t i=0;i<6;i++){ 00951 if(pwm[i]<1000 || pwm[i]>2000) pwm[i]=temppwm[i]; 00952 temppwm[i]=pwm[i]; 00953 } 00954 }else{ 00955 pc.printf("0\r\n"); 00956 } 00957 sbus.flg_ch_update = false; 00958 Output_PWM(pwm); 00959 } 00960 00961 00962 //pwmをサーボに出力。 00963 void Output_PWM(int16_t pwm[5]) 00964 { 00965 NVIC_DisableIRQ(USART1_IRQn); 00966 servo1.pulsewidth_us(pwm[0]); 00967 servo2.pulsewidth_us(pwm[1]); 00968 servo3.pulsewidth_us(pwm[2]); 00969 servo4.pulsewidth_us(pwm[3]); 00970 servo5.pulsewidth_us(pwm[4]); 00971 servo6.pulsewidth_us(pwm[5]); 00972 NVIC_EnableIRQ(USART1_IRQn); 00973 00974 } 00975 00976 void ResetTrim(){ 00977 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 00978 trimpwm[i] = sbus.manualpwm[i]; 00979 } 00980 pc.printf("reset PWM trim\r\n"); 00981 } 00982 00983 00984 void SensingMPU(){ 00985 //static int16_t deltaT = 0, t_start = 0; 00986 //t_start = t.read_us(); 00987 00988 float rpy[3] = {0}, oldrpy[3] = {0}; 00989 static uint16_t count_changeRPY = 0; 00990 static bool flg_checkoutlier = false; 00991 NVIC_DisableIRQ(USART1_IRQn); 00992 NVIC_DisableIRQ(USART2_IRQn); 00993 NVIC_DisableIRQ(TIM5_IRQn); 00994 NVIC_DisableIRQ(EXTI0_IRQn);//MPU割り込み禁止 00995 NVIC_DisableIRQ(EXTI9_5_IRQn);//超音波割り込み禁止 00996 00997 mpu6050.getRollPitchYaw_Skipper(rpy); 00998 00999 NVIC_EnableIRQ(USART1_IRQn); 01000 NVIC_EnableIRQ(USART2_IRQn); 01001 NVIC_EnableIRQ(TIM5_IRQn); 01002 NVIC_EnableIRQ(EXTI0_IRQn); 01003 NVIC_EnableIRQ(EXTI9_5_IRQn); 01004 01005 01006 //外れ値対策 01007 for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI; 01008 rpy[ROLL] -= FirstROLL; 01009 rpy[PITCH] -= FirstPITCH; 01010 rpy[YAW] -= FirstYAW; 01011 01012 for(uint8_t i=0; i<3; i++) {if(rpy[i] < nowAngle[i]-10 || rpy[i] > nowAngle[i]+10) {flg_checkoutlier = true;}} 01013 if(!flg_checkoutlier || count_changeRPY >= 2){ 01014 for(uint8_t i=0; i<3; i++){ 01015 nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均 01016 } 01017 count_changeRPY = 0; 01018 }else count_changeRPY++; 01019 flg_checkoutlier = false; 01020 01021 } 01022 01023 float TranslateNewYaw(float beforeYaw, float newzeroYaw){ 01024 float newYaw = beforeYaw - newzeroYaw; 01025 01026 if(newYaw<-180.0f) newYaw += 360.0f; 01027 else if(newYaw>180.0f) newYaw -= 360.0f; 01028 return newYaw; 01029 } 01030 01031 01032 void getSF_Serial(){ 01033 01034 static char SFbuf[16]; 01035 static int bufcounter=0; 01036 01037 if(pc.readable()) { // 受信確認 01038 SFbuf[bufcounter] = pc.getc(); // 1文字取り出し 01039 } 01040 01041 01042 pc.printf("%c",SFbuf[bufcounter]); 01043 01044 if(SFbuf[0]=='S'&&bufcounter<5) bufcounter++; 01045 01046 if(bufcounter==5 && SFbuf[4]=='F'){ 01047 g_landingcommand = SFbuf[1]; 01048 wait_ms(8); 01049 if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]); 01050 bufcounter = 0; 01051 memset(SFbuf, 0, strlen(SFbuf)); 01052 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW); 01053 } 01054 else if(bufcounter>=5 ){ 01055 pc.printf("Communication Falsed.\r\n"); 01056 bufcounter = 0; 01057 } 01058 01059 } 01060 01061 float ConvertByteintoFloat(char high, char low){ 01062 01063 //int16_t intvalue = (int16_t)high*256 + (int16_t)low; 01064 int16_t intvalue = (int16_t)(((int16_t)high << 8) | low); // Turn the MSB and LSB into a signed 16-bit value 01065 float floatvalue = (float)intvalue; 01066 return floatvalue; 01067 } 01068 01069 01070 //超音波割り込み 01071 /*void UpdateDist(){ 01072 g_distance = usensor.get_dist_cm(); 01073 usensor.start(); 01074 }*/ 01075 01076 //8の字旋回 01077 void UpdateTargetAngle_Moebius(float targetAngle[3]){ 01078 static uint8_t RotateCounter=0; 01079 static bool flg_setInStartAuto = false; 01080 static float FirstYAW_Moebius = 0.0; 01081 float newYaw_Moebius; 01082 01083 if(!flg_setInStartAuto && CheckSW_Up(Ch7)){ 01084 FirstYAW_Moebius = nowAngle[YAW]; 01085 RotateCounter = 0; 01086 flg_setInStartAuto = true; 01087 }else if(!CheckSW_Up(Ch7)){ 01088 flg_setInStartAuto = false; 01089 led2 = 0; 01090 } 01091 autopwm[THR]=oldTHR; 01092 01093 newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius); 01094 01095 if(RotateCounter == 0 && newYaw_Moebius >90.0 && newYaw_Moebius < 180.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n");} 01096 if(RotateCounter == 1 && newYaw_Moebius >-180.0 && newYaw_Moebius < -90.0) {RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n");} 01097 if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius <-10.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n");} 01098 if(RotateCounter == 3 && newYaw_Moebius >0.0 && newYaw_Moebius < 90.0) {RotateCounter++; led2 = 0; pc.printf("Change Rotate direction\r\n");} 01099 01100 01101 if(RotateCounter <= 3) UpdateTargetAngle_Rightloop_short(targetAngle); 01102 else UpdateTargetAngle_Leftloop_short(targetAngle); //左旋回 01103 01104 } 01105 01106 //自動滑空 01107 void UpdateTargetAngle_Glide(float targetAngle[3]){ 01108 static int THRcount = 0; 01109 static int t_start = 0; 01110 static bool flg_tstart = false; 01111 int t_diff = 0; 01112 static int groundcount = 0; 01113 01114 targetAngle[ROLL] = g_glideloopROLL; 01115 targetAngle[PITCH] = g_glideloopPITCH; 01116 01117 autopwm[RUD]=g_glideloopRUD; 01118 // autopwm[THR]=oldTHR; 01119 01120 01121 01122 //時間計測開始設定 01123 if(!flg_tstart && CheckSW_Up(Ch7)){ 01124 t_start = t.read(); 01125 flg_tstart = true; 01126 pc.printf("timer start\r\n"); 01127 }else if(!CheckSW_Up(Ch7)){ 01128 t_start = 0; 01129 flg_tstart = false; 01130 } 01131 01132 01133 //フラグが偽であれば計測は行わない 01134 if(flg_tstart){ 01135 t_diff = t.read() - t_start; 01136 //一定高度or15秒でled点灯 01137 NVIC_DisableIRQ(EXTI9_5_IRQn); 01138 if((groundcount>5 && g_distance>0) || t_diff > 15){ 01139 led2 = 1; 01140 //pc.printf("Call [Stop!] calling!\r\n"); 01141 } 01142 01143 if(g_distance<180 && g_distance > 0) groundcount++; 01144 NVIC_EnableIRQ(EXTI9_5_IRQn); 01145 }else{ 01146 t_diff = 0; 01147 groundcount = 0; 01148 led2 = 0; 01149 } 01150 01151 if(t_diff > 17){ 01152 autopwm[THR] = SetTHRinRatio(0.5); 01153 }else{ 01154 NVIC_DisableIRQ(EXTI9_5_IRQn); 01155 if(g_distance<150 && g_distance>0 ){ 01156 NVIC_EnableIRQ(EXTI9_5_IRQn); 01157 THRcount++; 01158 if(THRcount>5){ 01159 autopwm[THR] = SetTHRinRatio(0.6); 01160 //pc.printf("throttle ON\r\n"); 01161 } 01162 }else{ 01163 autopwm[THR] = 1180; 01164 THRcount = 0; 01165 } 01166 } 01167 } 01168 //離陸-投下-着陸一連 01169 void Take_off_and_landing(float targetAngle[3]){ 01170 /* 01171 if(!CheckSW_Up(Ch7)) bombing_mode = Takeoff; 01172 01173 switch(bombing_mode){ 01174 case Takeoff: 01175 static bool flg_setFirstYaw = false; 01176 static int TakeoffCount = 0; 01177 01178 if(!flg_setFirstYaw && CheckSW_Up(Ch7)){ 01179 FirstYAW = nowAngle[YAW]; 01180 flg_setFirstYaw = true; 01181 }else if(flg_setFirstYaw && !CheckSW_Up(Ch7)){ 01182 flg_setFirstYaw = false; 01183 } 01184 01185 UpdateTargetAngle_Takeoff(targetAngle); 01186 01187 if(g_distance>150) TakeoffCount++; 01188 else TakeoffCount = 0; 01189 if(TakeoffCount>5){ 01190 autopwm[THR] = 1180+320*2*0.5; 01191 pc.printf("Now go to Approach mode!!"); 01192 bombing_mode = Approach; 01193 } 01194 break; 01195 01196 //case Chicken: 01197 //break; 01198 01199 case Transition: 01200 static int ApproachCount = 0; 01201 targetAngle[YAW]=180.0; 01202 int Judge = Rotate(targetAngle, g_SerialTargetYAW); 01203 01204 if(Judge==0) ApproachCount++; 01205 if(ApproachCount>5) bombing_mode = Approach; 01206 break; 01207 01208 case Approach: 01209 */ 01210 autopwm[THR] = SetTHRinRatio(g_loopTHR); //0.7;スロットルの割合 01211 UpdateTargetAngle_Approach(targetAngle); 01212 /* 01213 break; 01214 01215 default: 01216 bombing_mode = Takeoff; 01217 break; 01218 } 01219 */ 01220 } 01221 01222 //離陸モード 01223 void UpdateTargetAngle_Takeoff(float targetAngle[3]){ 01224 //pc.printf("%d \r\n",g_distance); 01225 targetAngle[ROLL] = g_gostraightROLL; 01226 targetAngle[PITCH] = g_loopTHR; 01227 autopwm[THR] = SetTHRinRatio(g_takeoffTHR); //0.7;スロットルの割合 01228 } 01229 01230 //ヨーを目標値にして許容角度になるまで水平旋回 01231 int Rotate(float targetAngle[3], float TargetYAW){ 01232 float diffYaw = TranslateNewYaw(TargetYAW, nowAngle[YAW]); 01233 01234 if(diffYaw > LIMIT_STRAIGHT_YAW){ 01235 /* 01236 if(diffYaw > THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Rightloop_short(targetAngle); 01237 else UpdateTargetAngle_Rightloop(targetAngle); 01238 */ 01239 UpdateTargetAngle_Rightloop_short(targetAngle); 01240 return 1; 01241 }else if(diffYaw < -LIMIT_STRAIGHT_YAW){ 01242 UpdateTargetAngle_Leftloop_short(targetAngle); 01243 /* 01244 if(diffYaw < -THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Leftloop_short(targetAngle); 01245 else UpdateTargetAngle_Leftloop(targetAngle); 01246 */ 01247 return 1; 01248 }else{ 01249 UpdateTargetAngle_GoStraight(targetAngle); 01250 return 0; 01251 } 01252 } 01253 01254 //チキラー投下 01255 void Chicken_Drop(){ 01256 if(CheckSW_Up(Ch7)){ 01257 autopwm[DROP] = 1512; 01258 pc.printf("Bombed!\r\n"); 01259 RerurnChickenServo1.attach(&ReturnChickenServo1, 3); 01260 //operation_mode = Approach; 01261 //buzzer = 0; 01262 pc.printf("Goto LeftLoop mode\r\n"); 01263 } 01264 } 01265 01266 void ReturnChickenServo1(){ 01267 autopwm[DROP] = 1344; 01268 pc.printf("first reverse\r\n"); 01269 RerurnChickenServo2.attach(&ReturnChickenServo2, 1); 01270 } 01271 01272 void ReturnChickenServo2(){ 01273 autopwm[DROP] = 1392; 01274 pc.printf("second reverse\r\n"); 01275 } 01276 01277 //着陸モード（PCからの指令に従う） 01278 void UpdateTargetAngle_Approach(float targetAngle[3]){ 01279 01280 NVIC_DisableIRQ(USART2_IRQn); 01281 01282 switch(g_landingcommand){ 01283 case 'R': //右旋回セヨ 01284 if(zeroTHR==0){ 01285 UpdateTargetAngle_Rightloop_zero(targetAngle); 01286 } 01287 else{ 01288 targetAngle[ROLL] = g_rightloopROLL; 01289 targetAngle[PITCH] = g_rightloopPITCH ; 01290 autopwm[RUD]=g_rightloopRUD; //RUD固定 01291 if(autopwm[AIL_R]>trimpwm[AIL_R]){ //エルロン上がりやすさ調節 01292 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01293 } 01294 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01295 autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop; 01296 01297 break; 01298 } 01299 case 'L': //左旋回セヨ 01300 if(zeroTHR==0){ 01301 UpdateTargetAngle_Leftloop_zero(targetAngle); 01302 } 01303 else{ 01304 targetAngle[ROLL] = g_leftloopROLL; 01305 targetAngle[PITCH] = g_leftloopPITCH; 01306 autopwm[RUD]=g_leftloopRUD; 01307 if(autopwm[AIL_R]>trimpwm[AIL_R]){ 01308 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01309 } 01310 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01311 } 01312 break; 01313 01314 case 'G': //直進セヨ 01315 if(zeroTHR==0){ 01316 UpdateTargetAngle_GoStraight_zero(targetAngle); 01317 } 01318 else{ 01319 targetAngle[ROLL] = g_gostraightROLL; 01320 targetAngle[PITCH] = g_gostraightPITCH; 01321 } 01322 01323 break; 01324 01325 case 'Y': //指定ノヨー方向ニ移動セヨ 01326 Rotate(targetAngle, g_SerialTargetYAW); 01327 break; 01328 01329 case 'B': //ブザーヲ鳴ラセ 01330 //buzzer = 1; 01331 break; 01332 01333 case 'D': //物資ヲ落トセ 01334 Chicken_Drop(); 01335 break; 01336 01337 case 'C': //停止セヨ 01338 targetAngle[ROLL] = 0.0; 01339 targetAngle[PITCH] = -3.0; 01340 autopwm[THR] = minpwm[THR]; 01341 zeroTHR=0; 01342 break; 01343 01344 } 01345 NVIC_EnableIRQ(USART2_IRQn); 01346 } 01347 01348 void checkHeight(float targetAngle[3]){ 01349 01350 static int targetHeight = 200; 01351 NVIC_DisableIRQ(EXTI9_5_IRQn); 01352 if(g_distance < targetHeight + ALLOWHEIGHT){ 01353 UpdateTargetAngle_NoseUP(targetAngle); 01354 if(CheckSW_Up(Ch7)) led2 = 1; 01355 } 01356 else if(g_distance > targetHeight - ALLOWHEIGHT){ 01357 UpdateTargetAngle_NoseDOWN(targetAngle); 01358 if(CheckSW_Up(Ch7)) led2 = 1; 01359 } 01360 else led2=0; 01361 NVIC_EnableIRQ(EXTI9_5_IRQn); 01362 } 01363 01364 void UpdateTargetAngle_NoseUP(float targetAngle[3]){ 01365 01366 //targetAngle[PITCH] += 2.0f; 01367 //if(nowAngle[PITCH]<targetAngle[PITCH]) autopwm[THR] = SetTHRinRatio(0.6); 01368 autopwm[THR] = SetTHRinRatio(g_loopTHR+0.05); 01369 //pc.printf("nose UP"); 01370 } 01371 01372 void UpdateTargetAngle_NoseDOWN(float targetAngle[3]){ 01373 01374 //targetAngle[PITCH] -= 2.0f; 01375 autopwm[THR] = SetTHRinRatio(g_loopTHR-0.05); 01376 //pc.printf("nose DOWN"); 01377 } 01378 01379 //直進 01380 void UpdateTargetAngle_GoStraight(float targetAngle[3]){ 01381 01382 autopwm[RUD] = trimpwm[RUD]; 01383 targetAngle[ROLL] = g_gostraightROLL; 01384 targetAngle[PITCH] = g_gostraightPITCH; 01385 autopwm[THR] = SetTHRinRatio(g_loopTHR); 01386 01387 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01388 } 01389 01390 //直進(着陸時スロットル０のとき） 01391 void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]){ 01392 01393 autopwm[RUD] = trimpwm[RUD]; 01394 targetAngle[ROLL] = g_gostraightROLL; 01395 targetAngle[PITCH] = g_gostraightPITCH; 01396 autopwm[THR] = minpwm[THR]; 01397 01398 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01399 } 01400 01401 //右旋回 01402 void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回 01403 01404 targetAngle[ROLL] = g_rightloopROLL; 01405 targetAngle[PITCH] = g_rightloopPITCH ; 01406 autopwm[RUD]=g_rightloopRUD; //RUD固定 01407 autopwm[THR] = SetTHRinRatio(0.5); //手動スロットル記憶 01408 if(autopwm[AIL_R]>trimpwm[AIL_R]){ //エルロン上がりやすさ調節 01409 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01410 } 01411 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01412 autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop; 01413 01414 //checkHeight(targetAngle); 01415 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01416 } 01417 01418 //右旋回（着陸時スロットル０の時） 01419 void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]){ //右旋回 01420 01421 targetAngle[ROLL] = g_rightloopROLL; 01422 targetAngle[PITCH] = g_rightloopPITCH ; 01423 autopwm[RUD]=g_rightloopRUD; 01424 autopwm[THR] = minpwm[THR];//SetTHRinRatio(g_loopTHR); 01425 if(autopwm[AIL_R]>trimpwm[AIL_R]){ 01426 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01427 } 01428 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01429 01430 //checkHeight(targetAngle); 01431 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01432 } 01433 01434 void UpdateTargetAngle_Rightloop_short(float targetAngle[3]){ //右旋回 01435 01436 targetAngle[ROLL] = g_rightloopROLLshort; 01437 targetAngle[PITCH] = g_rightloopPITCHshort; 01438 autopwm[RUD]=g_rightloopshortRUD; 01439 autopwm[THR] = SetTHRinRatio(0.5); 01440 if(autopwm[AIL_R]>trimpwm[AIL_R]){ 01441 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01442 } 01443 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01444 01445 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01446 } 01447 01448 //左旋回 01449 void UpdateTargetAngle_Leftloop(float targetAngle[3]){ 01450 01451 targetAngle[ROLL] = g_leftloopROLL; 01452 targetAngle[PITCH] = g_leftloopPITCH; 01453 autopwm[RUD]=g_leftloopRUD; 01454 autopwm[THR] = SetTHRinRatio(0.5); 01455 if(autopwm[AIL_R]>trimpwm[AIL_R]){ 01456 autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01457 } 01458 else autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01459 //checkHeight(targetAngle); 01460 01461 //printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]); 01462 } 01463 01464 //左旋回（着陸時スロットル０のとき） 01465 void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]){ 01466 01467 targetAngle[ROLL] = g_leftloopROLL; 01468 targetAngle[PITCH] = g_leftloopPITCH; 01469 autopwm[RUD]=g_leftloopRUD; 01470 autopwm[THR] = minpwm[THR]; 01471 if(autopwm[AIL_R]>trimpwm[AIL_R]){ 01472 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01473 } 01474 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01475 //autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_Ratio_leftloop; 01476 //checkHeight(targetAngle); 01477 01478 //printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]); 01479 } 01480 01481 void UpdateTargetAngle_Leftloop_short(float targetAngle[3]){ 01482 01483 targetAngle[ROLL] = g_leftloopROLLshort; 01484 targetAngle[PITCH] = g_leftloopPITCHshort; 01485 autopwm[RUD]=g_leftloopRUD; 01486 autopwm[THR] = SetTHRinRatio(0.5); 01487 if(autopwm[AIL_R]>trimpwm[AIL_R]){ 01488 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01489 } 01490 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01491 01492 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01493 } 01494 01495 void Sbusprintf(){ 01496 01497 for(uint8_t i=0; i<8; i++) pc.printf("ch.%d = %d ",i+1,sbus.manualpwm[i]); 01498 pc.printf("\r\n"); 01499 01500 } 01501 01502 01503 //デバッグ用 01504 void DebugPrint(){ 01505 /* 01506 static int16_t deltaT = 0, t_start = 0; 01507 deltaT = t.read_u2s() - t_start; 01508 pc.printf("t:%d us, ",deltaT); 01509 pc.printf("\r\n"); 01510 t_start = t.read_us(); 01511 */ 01512 //for(uint8_t i=0; i<8; i++) pc.printf("%d ",sbus.manualpwm[i]); 01513 //for(uint8_t i=1; i<4; i++) pc.printf("%d ",sbus.manualpwm[i]); 01514 //pc.printf("\r\n"); 01515 //for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]); 01516 //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 01517 //pc.printf("%d\t",autopwm[AIL_L]); // pc.printf("%d\t",autopwm[RUD]); 01518 //pc.printf("%d",g_distance); 01519 01520 //pc.printf("Mode: %c: ",g_buf[0]); 01521 //if(g_buf[0] == 'Y') pc.printf(" %3.1f",g_SerialTargetYAW); 01522 //pc.printf("\r\n"); 01523 }
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