Autoflight2018_27_plot - 割り込みテスト用（28は間違い）

航空研究会 » Code » Autoflight2018_27_plot

航空研究会 / Mbed 2 deprecated Autoflight2018_27_plot

割り込みテスト用（28は間違い）

Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3

Fork of Autoflight2018_27_test by 航空研究会

main.cpp@24:3e7dcf16a6a7, 2018-09-20 (annotated)

Committer:: taknokolat
Date:: Thu Sep 20 07:12:24 2018 +0000
Revision:: 24:3e7dcf16a6a7
Parent:: 23:0f3b1441b08c

Who changed what in which revision?

User	Revision	Line number	New contents of line
HARUKIDELTA	0:17f575135219	1	//mbed
HARUKIDELTA	0:17f575135219	2	#include "mbed.h"
HARUKIDELTA	0:17f575135219	3	#include "FATFileSystem.h"
HARUKIDELTA	0:17f575135219	4	#include "SDFileSystem.h"
HARUKIDELTA	0:17f575135219	5	//C
HARUKIDELTA	0:17f575135219	6	#include "math.h"
HARUKIDELTA	0:17f575135219	7	//sensor
HARUKIDELTA	0:17f575135219	8	#include "MPU6050_DMP6.h"
HARUKIDELTA	0:17f575135219	9	//#include "MPU9250.h"
HARUKIDELTA	0:17f575135219	10	//#include "BMP280.h"
HARUKIDELTA	0:17f575135219	11	#include "hcsr04.h"
HARUKIDELTA	0:17f575135219	12	//device
HARUKIDELTA	0:17f575135219	13	#include "sbus.h"
HARUKIDELTA	0:17f575135219	14	//config
HARUKIDELTA	0:17f575135219	15	#include "SkipperSv2.h"
HARUKIDELTA	0:17f575135219	16	#include "falfalla.h"
HARUKIDELTA	0:17f575135219	17	//other
HARUKIDELTA	0:17f575135219	18	#include "pid.h"
HARUKIDELTA	0:17f575135219	19
HARUKIDELTA	0:17f575135219	20	#define DEBUG_SEMIAUTO 0
taknokolat	23:0f3b1441b08c	21	#define DEBUG_PRINT_INLOOP 0
HARUKIDELTA	0:17f575135219	22
TUATBM	9:f6367b7fd7be	23	#define KP_ELE 15.0 //2.0
HARUKIDELTA	0:17f575135219	24	#define KI_ELE 0.0
TUATBM	9:f6367b7fd7be	25	#define KD_ELE 0.0 //0/0
HARUKIDELTA	0:17f575135219	26	#define KP_RUD 3.0
HARUKIDELTA	0:17f575135219	27	#define KI_RUD 0.0
HARUKIDELTA	0:17f575135219	28	#define KD_RUD 0.0
HARUKIDELTA	2:23daa5fa28b4	29	#define KP_AIL 0.1
HARUKIDELTA	2:23daa5fa28b4	30	#define KI_AIL 0.2
HARUKIDELTA	2:23daa5fa28b4	31	#define KD_AIL 0.2
taknokolat	1:f383708a5a52	32
HARUKIDELTA	2:23daa5fa28b4	33	//#define g_AIL_L_Ratio_rightloop 0.5
HARUKIDELTA	0:17f575135219	34
HARUKIDELTA	0:17f575135219	35	#define GAIN_CONTROLVALUE_TO_PWM 3.0
HARUKIDELTA	0:17f575135219	36
HARUKIDELTA	0:17f575135219	37	#define RIGHT_ROLL -12.0
TUATBM	9:f6367b7fd7be	38	#define RIGHT_PITCH -10.0 //5.0
HARUKIDELTA	0:17f575135219	39	#define LEFT_ROLL 12.0
HARUKIDELTA	0:17f575135219	40	#define LEFT_PITCH -5.0
HARUKIDELTA	0:17f575135219	41	#define STRAIGHT_ROLL 4.0
HARUKIDELTA	0:17f575135219	42	#define STRAIGHT_PITCH 3.0
HARUKIDELTA	0:17f575135219	43	#define TAKEOFF_THR 0.8
HARUKIDELTA	0:17f575135219	44	#define LOOP_THR 0.6
HARUKIDELTA	0:17f575135219	45
HARUKIDELTA	13:77b13d5f4d78	46	//#define g_rightloopRUD 1500
HARUKIDELTA	2:23daa5fa28b4	47
HARUKIDELTA	0:17f575135219	48	#define RIGHT_ROLL_SHORT -12.0
HARUKIDELTA	0:17f575135219	49	#define RIGHT_PITCH_SHORT -5.0
HARUKIDELTA	0:17f575135219	50	#define LEFT_ROLL_SHORT 12.0
HARUKIDELTA	0:17f575135219	51	#define LEFT_PITCH_SHORT -5.0
HARUKIDELTA	0:17f575135219	52
HARUKIDELTA	17:55249ea37dff	53	/*#define rightloopRUD 1300 //1250
HARUKIDELTA	17:55249ea37dff	54	#define rightloopshortRUD 1250
HARUKIDELTA	17:55249ea37dff	55	#define leftloopRUD 1500
HARUKIDELTA	17:55249ea37dff	56	#define leftloopshortRUD 1500
HARUKIDELTA	17:55249ea37dff	57	#define glideloopRUD 1300
HARUKIDELTA	17:55249ea37dff	58	*/
TUATBM	9:f6367b7fd7be	59	#define AIL_R_correctionrightloop 0
HARUKIDELTA	18:cce82f3374fc	60	#define AIL_L_correctionrightloop 0
HARUKIDELTA	3:206b17251f5b	61	#define AIL_L_correctionrightloopshort 0
HARUKIDELTA	3:206b17251f5b	62	#define AIL_L_correctionleftloop -0
HARUKIDELTA	3:206b17251f5b	63	#define AIL_L_correctionleftloopshort 0
HARUKIDELTA	3:206b17251f5b	64
HARUKIDELTA	19:0955311b0db6	65
HARUKIDELTA	8:66bba39b95a9	66	#define RIGHTLOOP_RUD 1250
HARUKIDELTA	8:66bba39b95a9	67	#define RIGHTLOOPSHORT_RUD 1250
HARUKIDELTA	8:66bba39b95a9	68	#define LEFTLOOP_RUD 1500
HARUKIDELTA	8:66bba39b95a9	69	#define LEFTLOOPSHORT_RUD 1500
HARUKIDELTA	8:66bba39b95a9	70	#define GLIDELOOP_RUD 1300
HARUKIDELTA	8:66bba39b95a9	71	#define AIL_L_CORRECTION_RIGHTLOOP 0
HARUKIDELTA	8:66bba39b95a9	72	#define AIL_L_CORRECTION_RIGHTLOOPSHORT 0
HARUKIDELTA	8:66bba39b95a9	73	#define AIL_L_CORRECTION_LEFTLOOP 0
HARUKIDELTA	8:66bba39b95a9	74	#define AIL_L_CORRECTION_LEFTLOOPSHORT 0
HARUKIDELTA	3:206b17251f5b	75
HARUKIDELTA	0:17f575135219	76	#define GLIDE_ROLL -12.0
HARUKIDELTA	0:17f575135219	77	#define GLIDE_PITCH -3.0
HARUKIDELTA	0:17f575135219	78
HARUKIDELTA	3:206b17251f5b	79
HARUKIDELTA	3:206b17251f5b	80	#define AIL_L_RatioRising 0.5
HARUKIDELTA	3:206b17251f5b	81	#define AIL_L_RatioDescent 2
HARUKIDELTA	3:206b17251f5b	82
HARUKIDELTA	0:17f575135219	83	//コンパスキャリブレーション
HARUKIDELTA	0:17f575135219	84	//SkipperS2基板
HARUKIDELTA	0:17f575135219	85	/*
HARUKIDELTA	0:17f575135219	86	#define MAGBIAS_X -35.0
HARUKIDELTA	0:17f575135219	87	#define MAGBIAS_Y 535.0
HARUKIDELTA	0:17f575135219	88	#define MAGBIAS_Z -50.0
HARUKIDELTA	0:17f575135219	89	*/
HARUKIDELTA	0:17f575135219	90	//S2v2 1番基板
HARUKIDELTA	0:17f575135219	91	#define MAGBIAS_X 395.0
HARUKIDELTA	0:17f575135219	92	#define MAGBIAS_Y 505.0
HARUKIDELTA	0:17f575135219	93	#define MAGBIAS_Z -725.0
HARUKIDELTA	0:17f575135219	94	//S2v2 2番基板
HARUKIDELTA	0:17f575135219	95	/*
HARUKIDELTA	0:17f575135219	96	#define MAGBIAS_X 185.0
HARUKIDELTA	0:17f575135219	97	#define MAGBIAS_Y 220.0
HARUKIDELTA	0:17f575135219	98	#define MAGBIAS_Z -350.0
HARUKIDELTA	0:17f575135219	99	*/
HARUKIDELTA	0:17f575135219	100
HARUKIDELTA	0:17f575135219	101	#define ELEMENT 1
HARUKIDELTA	0:17f575135219	102	#define LIMIT_STRAIGHT_YAW 5.0
HARUKIDELTA	0:17f575135219	103	#define THRESHOLD_TURNINGRADIUS_YAW 60.0
HARUKIDELTA	0:17f575135219	104	#define ALLOWHEIGHT 15
HARUKIDELTA	0:17f575135219	105
HARUKIDELTA	0:17f575135219	106	#ifndef PI
HARUKIDELTA	0:17f575135219	107	#define PI 3.14159265358979
HARUKIDELTA	0:17f575135219	108	#endif
HARUKIDELTA	0:17f575135219	109
HARUKIDELTA	0:17f575135219	110	const int16_t lengthdivpwm = 320;
HARUKIDELTA	0:17f575135219	111	const int16_t changeModeCount = 6;
HARUKIDELTA	0:17f575135219	112
HARUKIDELTA	0:17f575135219	113
HARUKIDELTA	0:17f575135219	114	SBUS sbus(PA_9, PA_10); //SBUS
HARUKIDELTA	0:17f575135219	115
HARUKIDELTA	0:17f575135219	116	PwmOut servo1(PC_6); // TIM3_CH1 //old echo
HARUKIDELTA	0:17f575135219	117	PwmOut servo2(PC_7); // TIM3_CH2 //PC_7
HARUKIDELTA	0:17f575135219	118	PwmOut servo3(PB_0); // TIM3_CH3
HARUKIDELTA	0:17f575135219	119	PwmOut servo4(PB_1); // TIM3_CH4
HARUKIDELTA	0:17f575135219	120	PwmOut servo5(PB_6); // TIM4_CH1
HARUKIDELTA	0:17f575135219	121	PwmOut servo6(PB_7); // TIM4_CH2 //old trigger
HARUKIDELTA	0:17f575135219	122	//PwmOut servo7(PB_8); // TIM4_CH3 //PB_8 new echo
HARUKIDELTA	0:17f575135219	123	//PwmOut servo8(PB_9); // TIM4_CH4 //new trigger
HARUKIDELTA	0:17f575135219	124
HARUKIDELTA	0:17f575135219	125	RawSerial pc(PA_2,PA_3, 115200); //tx,rx.baudrate pin;PA_2=UART2_TX, PA_3=UART2_RX
taknokolat	1:f383708a5a52	126	//RawSerial pc2(PB_6,PB_7, 115200); //sbus確認用
HARUKIDELTA	0:17f575135219	127	SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
HARUKIDELTA	0:17f575135219	128
HARUKIDELTA	0:17f575135219	129	DigitalOut led1(PA_0); //黄色のコネクタ
HARUKIDELTA	0:17f575135219	130	DigitalOut led2(PA_1);
HARUKIDELTA	0:17f575135219	131	DigitalOut led3(PB_4);
HARUKIDELTA	0:17f575135219	132	DigitalOut led4(PB_5);
HARUKIDELTA	0:17f575135219	133
HARUKIDELTA	0:17f575135219	134	//InterruptIn switch2(PC_14);
HARUKIDELTA	0:17f575135219	135	MPU6050DMP6 mpu6050(PC_0,&pc); //割り込みピン，シリアルポインタ i2cのピン指定は MPU6050>>I2Cdev.h 内のdefine
taknokolat	10:652071c20bf6	136	//HCSR04 usensor(PB_9,PB_8); //trig,echo 9,8
HARUKIDELTA	0:17f575135219	137
taknokolat	1:f383708a5a52	138	PID pid_AIL(g_kpAIL,g_kiAIL,g_kdAIL);
HARUKIDELTA	0:17f575135219	139	PID pid_ELE(g_kpELE,g_kiELE,g_kdELE);
HARUKIDELTA	0:17f575135219	140	PID pid_RUD(g_kpRUD,g_kiRUD,g_kdRUD);
HARUKIDELTA	0:17f575135219	141
HARUKIDELTA	0:17f575135219	142	enum Channel{AIL_R, ELE, THR, RUD, DROP, AIL_L, Ch7, Ch8};
HARUKIDELTA	0:17f575135219	143	enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度
HARUKIDELTA	0:17f575135219	144	enum OperationMode{StartUp, SemiAuto, RightLoop, LeftLoop, GoStraight, BombwithPC, ZERO, Moebius, Glide};
HARUKIDELTA	0:17f575135219	145	enum BombingMode{Takeoff, Chicken, Transition, Approach};
HARUKIDELTA	0:17f575135219	146	enum OutputStatus{Manual, Auto};
HARUKIDELTA	0:17f575135219	147
HARUKIDELTA	0:17f575135219	148	static OutputStatus output_status = Manual;
HARUKIDELTA	0:17f575135219	149	OperationMode operation_mode = StartUp;
HARUKIDELTA	0:17f575135219	150	BombingMode bombing_mode = Takeoff;
TUATBM	15:43427b0241d9	151
HARUKIDELTA	0:17f575135219	152	static int16_t autopwm[8] = {1500,1500,1180,1500,1392,1500};
TUATBM	15:43427b0241d9	153
TUATBM	15:43427b0241d9	154	//1号機
HARUKIDELTA	18:cce82f3374fc	155	static int16_t trimpwm[6] = {1580,1600,1176,1404,1512,1448};
HARUKIDELTA	18:cce82f3374fc	156	int16_t maxpwm[6] = {1796,1936,1848,1740,1820,1856};
HARUKIDELTA	18:cce82f3374fc	157	int16_t minpwm[6] = {1182,1265,1176,1068,1180,1176};
TUATBM	15:43427b0241d9	158	const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
TUATBM	15:43427b0241d9	159
TUATBM	15:43427b0241d9	160	//2号機
TUATBM	15:43427b0241d9	161	/*
TUATBM	15:43427b0241d9	162	static int16_t trimpwm[6] = {1500,1500,1180,1500,1392,1600};
TUATBM	15:43427b0241d9	163	int16_t maxpwm[6] = {1820,1820,1820,1820,1820,1820};
TUATBM	15:43427b0241d9	164	int16_t minpwm[6] = {1180,1180,1180,1180,1180,1180};
TUATBM	15:43427b0241d9	165	const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
TUATBM	15:43427b0241d9	166	*/
TUATBM	15:43427b0241d9	167
HARUKIDELTA	0:17f575135219	168	int16_t oldTHR = 1000;
HARUKIDELTA	0:17f575135219	169
HARUKIDELTA	2:23daa5fa28b4	170	int16_t g_AIL_L_Ratio_rightloop = 0.5;
HARUKIDELTA	2:23daa5fa28b4	171
HARUKIDELTA	19:0955311b0db6	172	int zeroTHR=1;//着陸時のスロットルが０かの判断用
HARUKIDELTA	19:0955311b0db6	173
HARUKIDELTA	2:23daa5fa28b4	174
HARUKIDELTA	0:17f575135219	175	static float nowAngle[3] = {0,0,0};
HARUKIDELTA	0:17f575135219	176	const float trimAngle[3] = {0.0, 0.0, 0.0};
HARUKIDELTA	0:17f575135219	177	const float maxAngle[2] = {90, 90};
HARUKIDELTA	0:17f575135219	178	const float minAngle[2] = {-90, -90};
HARUKIDELTA	0:17f575135219	179
HARUKIDELTA	0:17f575135219	180	float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0;
HARUKIDELTA	0:17f575135219	181
HARUKIDELTA	0:17f575135219	182	unsigned int g_distance;
taknokolat	10:652071c20bf6	183	//Ticker USsensor;
HARUKIDELTA	0:17f575135219	184	static char g_buf[16];
taknokolat	10:652071c20bf6	185	char g_landingcommand='Z';
HARUKIDELTA	0:17f575135219	186	float g_SerialTargetYAW;
HARUKIDELTA	0:17f575135219	187
HARUKIDELTA	0:17f575135219	188	Timer t;
HARUKIDELTA	0:17f575135219	189	Timeout RerurnChickenServo1;
HARUKIDELTA	0:17f575135219	190	Timeout RerurnChickenServo2;
HARUKIDELTA	0:17f575135219	191
HARUKIDELTA	0:17f575135219	192	/-----関数のプロトタイプ宣言-----/
HARUKIDELTA	0:17f575135219	193	void setup();
HARUKIDELTA	0:17f575135219	194	void loop();
HARUKIDELTA	0:17f575135219	195
HARUKIDELTA	0:17f575135219	196	void Init_PWM();
HARUKIDELTA	0:17f575135219	197	void Init_servo(); //サーボ初期化
HARUKIDELTA	0:17f575135219	198	void Init_sbus(); //SBUS初期化
HARUKIDELTA	0:17f575135219	199	void Init_sensors();
HARUKIDELTA	0:17f575135219	200	void DisplayClock(); //クロック状態確認
HARUKIDELTA	0:17f575135219	201
HARUKIDELTA	0:17f575135219	202	//センサの値取得
HARUKIDELTA	0:17f575135219	203	void SensingMPU();
HARUKIDELTA	0:17f575135219	204	void UpdateDist();
HARUKIDELTA	0:17f575135219	205
HARUKIDELTA	0:17f575135219	206	//void offsetRollPitch(float FirstROLL, float FirstPITCH);
HARUKIDELTA	0:17f575135219	207	//void TransYaw(float FirstYAW);
HARUKIDELTA	0:17f575135219	208	float TranslateNewYaw(float beforeYaw, float newzeroYaw);
HARUKIDELTA	0:17f575135219	209	void UpdateTargetAngle(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	210	void CalculateControlValue(float targetAngle[3], float controlValue[3]);
HARUKIDELTA	0:17f575135219	211	void UpdateAutoPWM(float controlValue[3]);
HARUKIDELTA	0:17f575135219	212	void ConvertPWMintoRAD(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	213	inline float CalcRatio(float value, float trim, float limit);
HARUKIDELTA	0:17f575135219	214	bool CheckSW_Up(Channel ch);
HARUKIDELTA	0:17f575135219	215	int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min);
HARUKIDELTA	0:17f575135219	216	inline int16_t SetTHRinRatio(float ratio);
HARUKIDELTA	0:17f575135219	217
HARUKIDELTA	0:17f575135219	218	//sbus割り込み
HARUKIDELTA	0:17f575135219	219	void Update_PWM(); //マニュアル・自動モードのpwmデータを整形しpwm変数に入力
HARUKIDELTA	0:17f575135219	220	void Output_PWM(int16_t pwm[6]); //pwmをサーボへ出力
HARUKIDELTA	0:17f575135219	221
HARUKIDELTA	0:17f575135219	222	//シリアル割り込み
HARUKIDELTA	0:17f575135219	223	void getSF_Serial();
HARUKIDELTA	0:17f575135219	224	float ConvertByteintoFloat(char high, char low);
TUATBM	15:43427b0241d9	225
HARUKIDELTA	0:17f575135219	226
HARUKIDELTA	0:17f575135219	227	//SD設定
HARUKIDELTA	0:17f575135219	228	int GetParameter(FILE fp, const char paramName,char parameter[]);
HARUKIDELTA	0:17f575135219	229	int SetOptions(float g_kpELE, float g_kiELE, float *g_kdELE,
HARUKIDELTA	0:17f575135219	230	float g_kpRUD, float g_kiRUD, float *g_kdRUD,
HARUKIDELTA	0:17f575135219	231	float g_rightloopROLL, float g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	232	float g_leftloopROLL, float g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	233	float g_gostraightROLL, float g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	234	float g_takeoffTHR, float g_loopTHR,
HARUKIDELTA	0:17f575135219	235	float g_rightloopROLLshort, float g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	236	float g_leftloopROLLshort, float g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	237	float g_glideloopROLL, float g_glideloopPITCH,
HARUKIDELTA	13:77b13d5f4d78	238	float g_kpAIL, float g_kiAIL, float *g_kdAIL,
HARUKIDELTA	13:77b13d5f4d78	239	int g_rightloopRUD, int g_rightloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	240	int g_leftloopRUD, int g_leftloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	241	int *g_glideRUD,
HARUKIDELTA	13:77b13d5f4d78	242	int g_AIL_L_correctionrightloop,int g_AIL_L_correctionrightloopshort,
HARUKIDELTA	13:77b13d5f4d78	243	int g_AIL_L_correctionlefttloop,int g_AIL_L_correctionleftloopshort
HARUKIDELTA	13:77b13d5f4d78	244	);
HARUKIDELTA	0:17f575135219	245	//switch2割り込み
HARUKIDELTA	0:17f575135219	246	void ResetTrim();
HARUKIDELTA	0:17f575135219	247
HARUKIDELTA	0:17f575135219	248	//自動操縦
HARUKIDELTA	0:17f575135219	249	void UpdateTargetAngle_GoStraight(float targetAngle[3]);
HARUKIDELTA	19:0955311b0db6	250	void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]); //着陸時にスロットルが０の時の直進
HARUKIDELTA	0:17f575135219	251	void UpdateTargetAngle_Rightloop(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	252	void UpdateTargetAngle_Rightloop_short(float targetAngle[3]);
HARUKIDELTA	19:0955311b0db6	253	void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]); //着陸時にスロットルが０の時の右旋回
HARUKIDELTA	0:17f575135219	254	void UpdateTargetAngle_Leftloop(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	255	void UpdateTargetAngle_Leftloop_short(float targetAngle[3]);
HARUKIDELTA	19:0955311b0db6	256	void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]); //着陸時にスロットルが０の時の左旋回
HARUKIDELTA	0:17f575135219	257	void UpdateTargetAngle_Moebius(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	258	void UpdateTargetAngle_Glide(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	259	void UpdateTargetAngle_Takeoff(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	260	void UpdateTargetAngle_Approach(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	261	void Take_off_and_landing(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	262
HARUKIDELTA	0:17f575135219	263	int Rotate(float targetAngle[3], float TargetYAW);
HARUKIDELTA	0:17f575135219	264
HARUKIDELTA	0:17f575135219	265	//投下
HARUKIDELTA	0:17f575135219	266	void Chicken_Drop();
HARUKIDELTA	0:17f575135219	267	void ReturnChickenServo1();
HARUKIDELTA	0:17f575135219	268	void ReturnChickenServo2();
HARUKIDELTA	0:17f575135219	269
HARUKIDELTA	0:17f575135219	270	//超音波による高度補正
HARUKIDELTA	0:17f575135219	271	void checkHeight(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	272	void UpdateTargetAngle_NoseUP(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	273	void UpdateTargetAngle_NoseDOWN(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	274
HARUKIDELTA	0:17f575135219	275	//デバッグ用
HARUKIDELTA	18:cce82f3374fc	276	void Sbusprintf();
HARUKIDELTA	0:17f575135219	277	void DebugPrint();
HARUKIDELTA	0:17f575135219	278
HARUKIDELTA	0:17f575135219	279	/---関数のプロトタイプ宣言終わり---/
HARUKIDELTA	0:17f575135219	280
HARUKIDELTA	0:17f575135219	281	int main()
HARUKIDELTA	0:17f575135219	282	{
HARUKIDELTA	0:17f575135219	283	setup();
HARUKIDELTA	0:17f575135219	284
HARUKIDELTA	0:17f575135219	285
HARUKIDELTA	0:17f575135219	286	while(1){
HARUKIDELTA	0:17f575135219	287
HARUKIDELTA	0:17f575135219	288	loop();
HARUKIDELTA	0:17f575135219	289
taknokolat	10:652071c20bf6	290
HARUKIDELTA	18:cce82f3374fc	291	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	292	if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	293	led3=0;
HARUKIDELTA	0:17f575135219	294	}else{
HARUKIDELTA	0:17f575135219	295	led3=1;
HARUKIDELTA	0:17f575135219	296	}
HARUKIDELTA	18:cce82f3374fc	297	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	298	}
HARUKIDELTA	0:17f575135219	299
HARUKIDELTA	0:17f575135219	300	}
HARUKIDELTA	0:17f575135219	301
HARUKIDELTA	0:17f575135219	302	void setup(){
HARUKIDELTA	0:17f575135219	303	//buzzer = 0;
HARUKIDELTA	0:17f575135219	304	led1 = 1;
HARUKIDELTA	0:17f575135219	305	led2 = 1;
HARUKIDELTA	0:17f575135219	306	led3 = 1;
HARUKIDELTA	0:17f575135219	307	led4 = 1;
HARUKIDELTA	0:17f575135219	308
HARUKIDELTA	0:17f575135219	309	SetOptions(&g_kpELE, &g_kiELE, &g_kdELE,
HARUKIDELTA	0:17f575135219	310	&g_kpRUD, &g_kiRUD, &g_kdRUD,
HARUKIDELTA	0:17f575135219	311	&g_rightloopROLL, &g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	312	&g_leftloopROLL, &g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	313	&g_gostraightROLL, &g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	314	&g_takeoffTHR, &g_loopTHR,
HARUKIDELTA	0:17f575135219	315	&g_rightloopROLLshort, &g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	316	&g_leftloopROLLshort, &g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	317	&g_glideloopROLL, &g_glideloopPITCH,
HARUKIDELTA	13:77b13d5f4d78	318	&g_kpAIL, &g_kiAIL,&g_kdAIL,
HARUKIDELTA	13:77b13d5f4d78	319	&g_rightloopRUD, &g_rightloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	320	&g_leftloopRUD, &g_leftloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	321	&g_glideloopRUD,
HARUKIDELTA	13:77b13d5f4d78	322	&g_AIL_L_correctionrightloop,&g_AIL_L_correctionrightloopshort,
HARUKIDELTA	13:77b13d5f4d78	323	&g_AIL_L_correctionleftloop,&g_AIL_L_correctionleftloopshort
HARUKIDELTA	13:77b13d5f4d78	324	);
HARUKIDELTA	0:17f575135219	325
HARUKIDELTA	0:17f575135219	326
HARUKIDELTA	0:17f575135219	327	Init_PWM();
HARUKIDELTA	0:17f575135219	328	Init_servo();
HARUKIDELTA	0:17f575135219	329	Init_sbus();
HARUKIDELTA	0:17f575135219	330	Init_sensors();
HARUKIDELTA	0:17f575135219	331	//switch2.rise(ResetTrim);
taknokolat	21:18fe7bf9e187	332
taknokolat	10:652071c20bf6	333	//USsensor.attach(&UpdateDist, 0.05);
HARUKIDELTA	0:17f575135219	334
HARUKIDELTA	0:17f575135219	335	NVIC_SetPriority(USART1_IRQn,0);
HARUKIDELTA	0:17f575135219	336	NVIC_SetPriority(EXTI0_IRQn,1);
taknokolat	24:3e7dcf16a6a7	337	NVIC_SetPriority(TIM5_IRQn,2);
taknokolat	24:3e7dcf16a6a7	338	NVIC_SetPriority(EXTI9_5_IRQn,3);
HARUKIDELTA	0:17f575135219	339	DisplayClock();
HARUKIDELTA	0:17f575135219	340	t.start();
HARUKIDELTA	0:17f575135219	341
HARUKIDELTA	0:17f575135219	342
HARUKIDELTA	0:17f575135219	343	pc.printf("MPU calibration start\r\n");
HARUKIDELTA	0:17f575135219	344
HARUKIDELTA	0:17f575135219	345	float offsetstart = t.read();
HARUKIDELTA	0:17f575135219	346	while(t.read() - offsetstart < 26){
HARUKIDELTA	0:17f575135219	347	SensingMPU();
HARUKIDELTA	0:17f575135219	348	for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
HARUKIDELTA	0:17f575135219	349	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	350	led1 = !led1;
HARUKIDELTA	0:17f575135219	351	led2 = !led2;
HARUKIDELTA	0:17f575135219	352	led3 = !led3;
HARUKIDELTA	0:17f575135219	353	led4 = !led4;
HARUKIDELTA	0:17f575135219	354	}
HARUKIDELTA	0:17f575135219	355
taknokolat	21:18fe7bf9e187	356	pc.attach(getSF_Serial, Serial::RxIrq);
taknokolat	24:3e7dcf16a6a7	357	NVIC_SetPriority(USART2_IRQn,4);
taknokolat	21:18fe7bf9e187	358
HARUKIDELTA	0:17f575135219	359	FirstROLL = nowAngle[ROLL];
HARUKIDELTA	0:17f575135219	360	FirstPITCH = nowAngle[PITCH];
HARUKIDELTA	0:17f575135219	361	nowAngle[ROLL] -=FirstROLL;
HARUKIDELTA	0:17f575135219	362	nowAngle[PITCH] -=FirstPITCH;
HARUKIDELTA	0:17f575135219	363
HARUKIDELTA	0:17f575135219	364	led1 = 0;
HARUKIDELTA	0:17f575135219	365	led2 = 0;
HARUKIDELTA	0:17f575135219	366	led3 = 0;
HARUKIDELTA	0:17f575135219	367	led4 = 0;
HARUKIDELTA	0:17f575135219	368	wait(0.2);
HARUKIDELTA	0:17f575135219	369
HARUKIDELTA	0:17f575135219	370
HARUKIDELTA	0:17f575135219	371	pc.printf("All initialized\r\n");
HARUKIDELTA	0:17f575135219	372	}
HARUKIDELTA	0:17f575135219	373
HARUKIDELTA	0:17f575135219	374	void loop(){
HARUKIDELTA	0:17f575135219	375	static float targetAngle[3] = {0.0, 0.0, 0.0}, controlValue[2] = {0.0, 0.0};
taknokolat	23:0f3b1441b08c	376	pc.printf("0\r\n");
HARUKIDELTA	0:17f575135219	377	SensingMPU();
taknokolat	23:0f3b1441b08c	378	pc.printf("1\r\n");
taknokolat	10:652071c20bf6	379	NVIC_DisableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	380	UpdateTargetAngle(targetAngle);
taknokolat	23:0f3b1441b08c	381	pc.printf("2\r\n ");
HARUKIDELTA	0:17f575135219	382	//Rotate(targetAngle, 30.0);
HARUKIDELTA	0:17f575135219	383	CalculateControlValue(targetAngle, controlValue);
taknokolat	23:0f3b1441b08c	384	pc.printf("3\r\n");
taknokolat	10:652071c20bf6	385	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	386	UpdateAutoPWM(controlValue);
taknokolat	23:0f3b1441b08c	387	pc.printf("4\r\n");
taknokolat	10:652071c20bf6	388	NVIC_EnableIRQ(USART1_IRQn);
taknokolat	10:652071c20bf6	389	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	23:0f3b1441b08c	390	pc.printf("5\r\n");
taknokolat	24:3e7dcf16a6a7	391
taknokolat	24:3e7dcf16a6a7	392	NVIC_SetPriority(TIM5_IRQn,4);
taknokolat	24:3e7dcf16a6a7	393	NVIC_SetPriority(USART2_IRQn,2);
taknokolat	24:3e7dcf16a6a7	394
taknokolat	11:c0b9ad25d3db	395	wait_ms(23);
taknokolat	24:3e7dcf16a6a7	396
taknokolat	24:3e7dcf16a6a7	397	NVIC_SetPriority(TIM5_IRQn,2);
taknokolat	24:3e7dcf16a6a7	398	NVIC_SetPriority(USART2_IRQn,4);
taknokolat	24:3e7dcf16a6a7	399
taknokolat	24:3e7dcf16a6a7	400
taknokolat	23:0f3b1441b08c	401	pc.printf("6\r\n");
taknokolat	23:0f3b1441b08c	402	//NVIC_DisableIRQ(USART2_IRQn);
taknokolat	23:0f3b1441b08c	403	//pc.printf("%c",g_landingcommand);
taknokolat	23:0f3b1441b08c	404	//NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	405	#if DEBUG_PRINT_INLOOP
HARUKIDELTA	18:cce82f3374fc	406	//Sbusprintf();
HARUKIDELTA	0:17f575135219	407	DebugPrint();
HARUKIDELTA	0:17f575135219	408	#endif
HARUKIDELTA	0:17f575135219	409	}
HARUKIDELTA	0:17f575135219	410
HARUKIDELTA	0:17f575135219	411	//サーボ初期化関数
HARUKIDELTA	0:17f575135219	412	void Init_servo(){
HARUKIDELTA	0:17f575135219	413
HARUKIDELTA	0:17f575135219	414	servo1.period_ms(14);
HARUKIDELTA	0:17f575135219	415	servo1.pulsewidth_us(trimpwm[AIL_R]);
HARUKIDELTA	0:17f575135219	416
HARUKIDELTA	0:17f575135219	417	servo2.period_ms(14);
HARUKIDELTA	0:17f575135219	418	servo2.pulsewidth_us(trimpwm[ELE]);
HARUKIDELTA	0:17f575135219	419
HARUKIDELTA	0:17f575135219	420	servo3.period_ms(14);
HARUKIDELTA	0:17f575135219	421	servo3.pulsewidth_us(trimpwm[THR]);
HARUKIDELTA	0:17f575135219	422
HARUKIDELTA	0:17f575135219	423	servo4.period_ms(14);
HARUKIDELTA	0:17f575135219	424	servo4.pulsewidth_us(trimpwm[RUD]);
HARUKIDELTA	0:17f575135219	425
HARUKIDELTA	0:17f575135219	426	servo5.period_ms(14);
HARUKIDELTA	0:17f575135219	427	servo5.pulsewidth_us(1392);
HARUKIDELTA	0:17f575135219	428
HARUKIDELTA	0:17f575135219	429	servo6.period_ms(14);
HARUKIDELTA	0:17f575135219	430	servo6.pulsewidth_us(trimpwm[AIL_L]);
HARUKIDELTA	0:17f575135219	431
HARUKIDELTA	0:17f575135219	432	pc.printf("servo initialized\r\n");
HARUKIDELTA	0:17f575135219	433	}
HARUKIDELTA	0:17f575135219	434
HARUKIDELTA	0:17f575135219	435	//Sbus初期化
HARUKIDELTA	0:17f575135219	436	void Init_sbus(){
HARUKIDELTA	0:17f575135219	437	sbus.initialize();
HARUKIDELTA	0:17f575135219	438	sbus.setLastfuncPoint(Update_PWM);
HARUKIDELTA	0:17f575135219	439	sbus.startInterrupt();
HARUKIDELTA	0:17f575135219	440	}
HARUKIDELTA	0:17f575135219	441
HARUKIDELTA	0:17f575135219	442	void Init_sensors(){
HARUKIDELTA	0:17f575135219	443	if(mpu6050.setup() == -1){
HARUKIDELTA	0:17f575135219	444	pc.printf("failed initialize\r\n");
HARUKIDELTA	0:17f575135219	445	while(1){
HARUKIDELTA	0:17f575135219	446	led1 = 1; led2 = 0; led3 = 1; led4 = 0;
HARUKIDELTA	0:17f575135219	447	wait(1);
HARUKIDELTA	0:17f575135219	448	led1 = 0; led2 = 1; led3 = 0; led4 = 1;
HARUKIDELTA	0:17f575135219	449	wait(1);
HARUKIDELTA	0:17f575135219	450	}
HARUKIDELTA	0:17f575135219	451	}
HARUKIDELTA	0:17f575135219	452	}
HARUKIDELTA	0:17f575135219	453
HARUKIDELTA	0:17f575135219	454	void Init_PWM(){
HARUKIDELTA	0:17f575135219	455	pc.printf("PWM initialized\r\n");
HARUKIDELTA	0:17f575135219	456	}
HARUKIDELTA	0:17f575135219	457
HARUKIDELTA	0:17f575135219	458	void DisplayClock(){
HARUKIDELTA	0:17f575135219	459	pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000);
HARUKIDELTA	0:17f575135219	460	pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000);
HARUKIDELTA	0:17f575135219	461	pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000);
HARUKIDELTA	0:17f575135219	462	pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000);
HARUKIDELTA	0:17f575135219	463	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	464	}
HARUKIDELTA	0:17f575135219	465
HARUKIDELTA	0:17f575135219	466	void UpdateTargetAngle(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	467	static int16_t count_op = 0;
HARUKIDELTA	0:17f575135219	468	#if DEBUG_SEMIAUTO
HARUKIDELTA	0:17f575135219	469	switch(operation_mode){
HARUKIDELTA	0:17f575135219	470	case StartUp:
HARUKIDELTA	0:17f575135219	471	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	472	count_op++;
HARUKIDELTA	0:17f575135219	473	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	474	operation_mode = SemiAuto;
HARUKIDELTA	0:17f575135219	475	pc.printf("Goto SemiAuto mode\r\n");
HARUKIDELTA	0:17f575135219	476	count_op = 0;
HARUKIDELTA	0:17f575135219	477	}
HARUKIDELTA	0:17f575135219	478	}else count_op = 0;
HARUKIDELTA	0:17f575135219	479	break;
HARUKIDELTA	0:17f575135219	480
HARUKIDELTA	0:17f575135219	481	case SemiAuto:
HARUKIDELTA	0:17f575135219	482	/* 大会用では以下のif文を入れてoperation_modeを変える
HARUKIDELTA	0:17f575135219	483	if(CheckSW_Up(Ch6)){
HARUKIDELTA	0:17f575135219	484	count_op++;
HARUKIDELTA	0:17f575135219	485	if(count_op>changeModeCount){
HARUKIDELTA	0:17f575135219	486	output_status = XXX;
HARUKIDELTA	0:17f575135219	487	led2 = 0;
HARUKIDELTA	0:17f575135219	488	pc.printf("Goto XXX mode\r\n");
HARUKIDELTA	0:17f575135219	489	count_op = 0;
HARUKIDELTA	0:17f575135219	490	}else count_op = 0;
HARUKIDELTA	0:17f575135219	491	ConvertPWMintoRAD(targetAngle);
HARUKIDELTA	0:17f575135219	492	}
HARUKIDELTA	0:17f575135219	493	*/
HARUKIDELTA	0:17f575135219	494	ConvertPWMintoRAD(targetAngle);
HARUKIDELTA	0:17f575135219	495	break;
HARUKIDELTA	0:17f575135219	496
HARUKIDELTA	0:17f575135219	497	default:
HARUKIDELTA	0:17f575135219	498	operation_mode = SemiAuto;
HARUKIDELTA	0:17f575135219	499	break;
HARUKIDELTA	0:17f575135219	500	}
HARUKIDELTA	0:17f575135219	501
HARUKIDELTA	0:17f575135219	502	#else
HARUKIDELTA	0:17f575135219	503
HARUKIDELTA	0:17f575135219	504	switch(operation_mode){
HARUKIDELTA	0:17f575135219	505	case StartUp:
HARUKIDELTA	0:17f575135219	506	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ //ch7;自動・手動切り替え　ch8;自動操縦モード切替
HARUKIDELTA	0:17f575135219	507	count_op++;
HARUKIDELTA	0:17f575135219	508	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	509	operation_mode = RightLoop;
HARUKIDELTA	0:17f575135219	510	pc.printf("Goto RightLoop mode\r\n");
HARUKIDELTA	0:17f575135219	511	count_op = 0;
HARUKIDELTA	0:17f575135219	512	}
HARUKIDELTA	0:17f575135219	513	}else count_op = 0;
HARUKIDELTA	0:17f575135219	514	break;
HARUKIDELTA	0:17f575135219	515
HARUKIDELTA	0:17f575135219	516	case RightLoop:
HARUKIDELTA	0:17f575135219	517	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	518	count_op++;
HARUKIDELTA	0:17f575135219	519	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	520	operation_mode = LeftLoop;
HARUKIDELTA	0:17f575135219	521	pc.printf("Goto LeftLoop mode\r\n");
HARUKIDELTA	0:17f575135219	522	count_op = 0;
HARUKIDELTA	0:17f575135219	523	}
HARUKIDELTA	0:17f575135219	524	}else count_op = 0;
HARUKIDELTA	0:17f575135219	525	UpdateTargetAngle_Rightloop(targetAngle);
HARUKIDELTA	0:17f575135219	526
HARUKIDELTA	0:17f575135219	527	break;
HARUKIDELTA	0:17f575135219	528
HARUKIDELTA	0:17f575135219	529	case LeftLoop:
HARUKIDELTA	0:17f575135219	530	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	531	count_op++;
HARUKIDELTA	0:17f575135219	532	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	533	operation_mode = GoStraight;
HARUKIDELTA	0:17f575135219	534	pc.printf("Goto GoStraight mode\r\n");
HARUKIDELTA	0:17f575135219	535	count_op = 0;
HARUKIDELTA	0:17f575135219	536	}
HARUKIDELTA	0:17f575135219	537	}else count_op = 0;
HARUKIDELTA	0:17f575135219	538	UpdateTargetAngle_Leftloop(targetAngle);
HARUKIDELTA	0:17f575135219	539	break;
HARUKIDELTA	0:17f575135219	540
HARUKIDELTA	0:17f575135219	541	case GoStraight:
HARUKIDELTA	0:17f575135219	542	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	543	count_op++;
HARUKIDELTA	0:17f575135219	544	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	545	operation_mode = Moebius;
HARUKIDELTA	0:17f575135219	546	pc.printf("Goto Moebius mode\r\n");
HARUKIDELTA	0:17f575135219	547	count_op = 0;
HARUKIDELTA	0:17f575135219	548	}
HARUKIDELTA	0:17f575135219	549	}else count_op = 0;
HARUKIDELTA	0:17f575135219	550	UpdateTargetAngle_GoStraight(targetAngle);
HARUKIDELTA	0:17f575135219	551	break;
HARUKIDELTA	0:17f575135219	552
HARUKIDELTA	0:17f575135219	553	case Moebius:
HARUKIDELTA	0:17f575135219	554	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	555	count_op++;
HARUKIDELTA	0:17f575135219	556	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	557	operation_mode = Glide;
HARUKIDELTA	0:17f575135219	558	pc.printf("Goto Glide mode\r\n");
HARUKIDELTA	0:17f575135219	559	count_op = 0;
HARUKIDELTA	0:17f575135219	560	}
HARUKIDELTA	0:17f575135219	561	}else count_op = 0;
HARUKIDELTA	0:17f575135219	562	UpdateTargetAngle_Moebius(targetAngle);
HARUKIDELTA	0:17f575135219	563	break;
HARUKIDELTA	0:17f575135219	564
HARUKIDELTA	0:17f575135219	565	case Glide:
HARUKIDELTA	0:17f575135219	566	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	567	count_op++;
HARUKIDELTA	0:17f575135219	568	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	569	operation_mode = BombwithPC;
HARUKIDELTA	0:17f575135219	570	pc.printf("Goto Bombing mode\r\n");
HARUKIDELTA	0:17f575135219	571	count_op = 0;
HARUKIDELTA	0:17f575135219	572	}
HARUKIDELTA	0:17f575135219	573	}else count_op = 0;
HARUKIDELTA	0:17f575135219	574	UpdateTargetAngle_Glide(targetAngle);
HARUKIDELTA	0:17f575135219	575	break;
HARUKIDELTA	0:17f575135219	576
HARUKIDELTA	0:17f575135219	577	case BombwithPC:
HARUKIDELTA	0:17f575135219	578	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	579	count_op++;
HARUKIDELTA	0:17f575135219	580	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	581	operation_mode = RightLoop;
HARUKIDELTA	0:17f575135219	582	pc.printf("Goto RightLoop mode\r\n");
HARUKIDELTA	0:17f575135219	583	count_op = 0;
HARUKIDELTA	0:17f575135219	584	}
HARUKIDELTA	0:17f575135219	585	}else count_op = 0;
HARUKIDELTA	0:17f575135219	586	Take_off_and_landing(targetAngle);
HARUKIDELTA	0:17f575135219	587	break;
HARUKIDELTA	0:17f575135219	588
HARUKIDELTA	0:17f575135219	589	default:
HARUKIDELTA	0:17f575135219	590	operation_mode = StartUp;
HARUKIDELTA	0:17f575135219	591	break;
HARUKIDELTA	0:17f575135219	592	}
HARUKIDELTA	0:17f575135219	593	#endif
HARUKIDELTA	0:17f575135219	594
HARUKIDELTA	0:17f575135219	595	if(CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	596	output_status = Auto;
HARUKIDELTA	0:17f575135219	597	led1 = 1;
HARUKIDELTA	0:17f575135219	598	}else{
HARUKIDELTA	0:17f575135219	599	output_status = Manual;
HARUKIDELTA	0:17f575135219	600	led1 = 0;
HARUKIDELTA	22:438bedf24707	601	zeroTHR=1;
HARUKIDELTA	0:17f575135219	602	}
HARUKIDELTA	0:17f575135219	603	}
HARUKIDELTA	0:17f575135219	604
HARUKIDELTA	0:17f575135219	605	int GetParameter(FILE fp, const char paramName,char parameter[]){
HARUKIDELTA	0:17f575135219	606	int i=0, j=0;
HARUKIDELTA	0:17f575135219	607	int strmax = 200;
HARUKIDELTA	0:17f575135219	608	char str[strmax];
HARUKIDELTA	0:17f575135219	609
HARUKIDELTA	0:17f575135219	610	rewind(fp); //ファイル位置を先頭に
HARUKIDELTA	0:17f575135219	611	while(1){
HARUKIDELTA	0:17f575135219	612	if (fgets(str, strmax, fp) == NULL) {
HARUKIDELTA	0:17f575135219	613	return 0;
HARUKIDELTA	0:17f575135219	614	}
HARUKIDELTA	0:17f575135219	615	if (!strncmp(str, paramName, strlen(paramName))) {
HARUKIDELTA	0:17f575135219	616	while (str[i++] != '=') {}
HARUKIDELTA	0:17f575135219	617	while (str[i] != '\n') {
HARUKIDELTA	0:17f575135219	618	parameter[j++] = str[i++];
HARUKIDELTA	0:17f575135219	619	}
HARUKIDELTA	0:17f575135219	620	parameter[j] = '\0';
HARUKIDELTA	0:17f575135219	621	return 1;
HARUKIDELTA	0:17f575135219	622	}
HARUKIDELTA	0:17f575135219	623	}
HARUKIDELTA	0:17f575135219	624	return 0;
HARUKIDELTA	0:17f575135219	625	}
HARUKIDELTA	0:17f575135219	626
HARUKIDELTA	0:17f575135219	627
HARUKIDELTA	0:17f575135219	628	//sdによる設定
HARUKIDELTA	0:17f575135219	629	int SetOptions(float g_kpELE, float g_kiELE, float *g_kdELE,
HARUKIDELTA	0:17f575135219	630	float g_kpRUD, float g_kiRUD, float *g_kdRUD,
HARUKIDELTA	0:17f575135219	631	float g_rightloopROLL, float g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	632	float g_leftloopROLL, float g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	633	float g_gostraightROLL, float g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	634	float g_takeoffTHR, float g_loopTHR,
HARUKIDELTA	0:17f575135219	635	float g_rightloopROLLshort, float g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	636	float g_leftloopROLLshort, float g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	637	float g_glideloopROLL, float g_glideloopPITCH,
HARUKIDELTA	13:77b13d5f4d78	638	float g_kpAIL, float g_kiAIL, float *g_kdAIL,
HARUKIDELTA	13:77b13d5f4d78	639	int g_rightloopRUD, int g_rightloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	640	int g_leftloopRUD, int g_leftloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	641	int *g_glideloopRUD,
HARUKIDELTA	13:77b13d5f4d78	642	int g_AIL_L_correctionrightloop,int g_AIL_L_correctionrightloopshort,
HARUKIDELTA	13:77b13d5f4d78	643	int g_AIL_L_correctionleftloop,int g_AIL_L_correctionleftloopshort
HARUKIDELTA	0:17f575135219	644	){
HARUKIDELTA	0:17f575135219	645
HARUKIDELTA	0:17f575135219	646	pc.printf("SDsetup start.\r\n");
HARUKIDELTA	0:17f575135219	647
HARUKIDELTA	0:17f575135219	648	FILE *fp;
HARUKIDELTA	13:77b13d5f4d78	649	char parameter[40]; //文字列渡す用の配列
HARUKIDELTA	0:17f575135219	650	int SDerrorcount = 0; //取得できなかった数を返す
HARUKIDELTA	0:17f575135219	651	const char *paramNames[] = {
HARUKIDELTA	0:17f575135219	652	"KP_ELEVATOR",
HARUKIDELTA	0:17f575135219	653	"KI_ELEVATOR",
HARUKIDELTA	0:17f575135219	654	"KD_ELEVATOR",
HARUKIDELTA	0:17f575135219	655	"KP_RUDDER",
HARUKIDELTA	0:17f575135219	656	"KI_RUDDER",
HARUKIDELTA	0:17f575135219	657	"KD_RUDDER",
HARUKIDELTA	0:17f575135219	658	"RIGHTLOOP_ROLL",
HARUKIDELTA	0:17f575135219	659	"RIGHTLOOP_PITCH",
HARUKIDELTA	0:17f575135219	660	"LEFTLOOP_ROLL",
HARUKIDELTA	0:17f575135219	661	"LEFTLOOP_PITCH",
HARUKIDELTA	0:17f575135219	662	"GOSTRAIGHT_ROLL",
HARUKIDELTA	0:17f575135219	663	"GOSTRAIGHT_PITCH",
HARUKIDELTA	0:17f575135219	664	"TAKEOFF_THR_RATE",
HARUKIDELTA	0:17f575135219	665	"LOOP_THR_RATE",
HARUKIDELTA	0:17f575135219	666	"RIGHTLOOP_ROLL_SHORT",
HARUKIDELTA	0:17f575135219	667	"RIGHTLOOP_PITCH_SHORT",
HARUKIDELTA	0:17f575135219	668	"LEFTLOOP_ROLL_SHORT",
HARUKIDELTA	0:17f575135219	669	"LEFTLOOP_PITCH_SHORT",
HARUKIDELTA	0:17f575135219	670	"AUTOGLIDE_ROLL",
HARUKIDELTA	12:763bf416ba4b	671	"AUTOGLIDE PITCH",
HARUKIDELTA	12:763bf416ba4b	672	"KP_AILERON",
HARUKIDELTA	12:763bf416ba4b	673	"KI_AILERON",
HARUKIDELTA	13:77b13d5f4d78	674	"KD_AILERON",
HARUKIDELTA	13:77b13d5f4d78	675	"RIGHTLOOP_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	676	"RIGHTLOOPSHORT_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	677	"LEFTLOOP_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	678	"LEFTLOOPSHORT_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	679	"GLIDELOOP_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	680	"AILERON_LEFT_CORRECTION_RIGHTLOOP",
HARUKIDELTA	13:77b13d5f4d78	681	"AILERON_LEFT_CORRECTION_RIGHTLOOPSHORT",
HARUKIDELTA	13:77b13d5f4d78	682	"AILERON_LEFT_CORRECTION_LEFTLOOP",
HARUKIDELTA	13:77b13d5f4d78	683	"AILERON_LEFT_CORRECTION_LEFTLOOPSHORT"
HARUKIDELTA	0:17f575135219	684	};
HARUKIDELTA	0:17f575135219	685
HARUKIDELTA	0:17f575135219	686	fp = fopen("/sd/option.txt","r");
HARUKIDELTA	0:17f575135219	687
HARUKIDELTA	0:17f575135219	688	if(fp != NULL){ //開けたら
HARUKIDELTA	0:17f575135219	689	pc.printf("File was openned.\r\n");
HARUKIDELTA	0:17f575135219	690	if(GetParameter(fp,paramNames[0],parameter)) *g_kpELE = atof(parameter);
HARUKIDELTA	0:17f575135219	691	else{ *g_kpELE = KP_ELE;
HARUKIDELTA	0:17f575135219	692	SDerrorcount++;
HARUKIDELTA	0:17f575135219	693	}
HARUKIDELTA	0:17f575135219	694	if(GetParameter(fp,paramNames[1],parameter)) *g_kiELE = atof(parameter);
HARUKIDELTA	0:17f575135219	695	else{ *g_kiELE = KI_ELE;
HARUKIDELTA	0:17f575135219	696	SDerrorcount++;
HARUKIDELTA	0:17f575135219	697	}
HARUKIDELTA	0:17f575135219	698	if(GetParameter(fp,paramNames[2],parameter)) *g_kdELE = atof(parameter);
HARUKIDELTA	0:17f575135219	699	else{ *g_kdELE = KD_ELE;
HARUKIDELTA	0:17f575135219	700	SDerrorcount++;
HARUKIDELTA	0:17f575135219	701	}
HARUKIDELTA	0:17f575135219	702	if(GetParameter(fp,paramNames[3],parameter)) *g_kpRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	703	else{ *g_kpRUD = KP_RUD;
HARUKIDELTA	0:17f575135219	704	SDerrorcount++;
HARUKIDELTA	0:17f575135219	705	}
HARUKIDELTA	0:17f575135219	706	if(GetParameter(fp,paramNames[4],parameter)) *g_kiRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	707	else{ *g_kiRUD = KI_RUD;
HARUKIDELTA	0:17f575135219	708	SDerrorcount++;
HARUKIDELTA	0:17f575135219	709	}
HARUKIDELTA	0:17f575135219	710	if(GetParameter(fp,paramNames[5],parameter)) *g_kdRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	711	else{ *g_kdRUD = KD_RUD;
HARUKIDELTA	0:17f575135219	712	SDerrorcount++;
HARUKIDELTA	0:17f575135219	713	}
HARUKIDELTA	0:17f575135219	714	if(GetParameter(fp,paramNames[6],parameter)) *g_rightloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	715	else{ *g_rightloopROLL = RIGHT_ROLL;
HARUKIDELTA	0:17f575135219	716	SDerrorcount++;
HARUKIDELTA	0:17f575135219	717	}
HARUKIDELTA	0:17f575135219	718	if(GetParameter(fp,paramNames[7],parameter)) *g_rightloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	719	else{ *g_rightloopPITCH = RIGHT_PITCH;
HARUKIDELTA	0:17f575135219	720	SDerrorcount++;
HARUKIDELTA	0:17f575135219	721	}
HARUKIDELTA	0:17f575135219	722	if(GetParameter(fp,paramNames[8],parameter)) *g_leftloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	723	else{ *g_leftloopROLL = LEFT_ROLL;
HARUKIDELTA	0:17f575135219	724	SDerrorcount++;
HARUKIDELTA	0:17f575135219	725	}
HARUKIDELTA	0:17f575135219	726	if(GetParameter(fp,paramNames[9],parameter)) *g_leftloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	727	else{ *g_leftloopPITCH = LEFT_PITCH;
HARUKIDELTA	0:17f575135219	728	SDerrorcount++;
HARUKIDELTA	0:17f575135219	729	}
HARUKIDELTA	0:17f575135219	730	if(GetParameter(fp,paramNames[10],parameter)) *g_gostraightROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	731	else{ *g_gostraightROLL = STRAIGHT_ROLL;
HARUKIDELTA	0:17f575135219	732	SDerrorcount++;
HARUKIDELTA	0:17f575135219	733	}
HARUKIDELTA	0:17f575135219	734	if(GetParameter(fp,paramNames[11],parameter)) *g_gostraightPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	735	else{ *g_gostraightPITCH = STRAIGHT_PITCH;
HARUKIDELTA	0:17f575135219	736	SDerrorcount++;
HARUKIDELTA	0:17f575135219	737	}
HARUKIDELTA	0:17f575135219	738	if(GetParameter(fp,paramNames[12],parameter)) *g_takeoffTHR = atof(parameter);
HARUKIDELTA	0:17f575135219	739	else{ *g_takeoffTHR = TAKEOFF_THR;
HARUKIDELTA	0:17f575135219	740	SDerrorcount++;
HARUKIDELTA	0:17f575135219	741	}
HARUKIDELTA	0:17f575135219	742	if(GetParameter(fp,paramNames[13],parameter)) *g_loopTHR = atof(parameter);
HARUKIDELTA	0:17f575135219	743	else{ *g_loopTHR = LOOP_THR;
HARUKIDELTA	0:17f575135219	744	SDerrorcount++;
HARUKIDELTA	0:17f575135219	745	}
HARUKIDELTA	0:17f575135219	746	if(GetParameter(fp,paramNames[14],parameter)) *g_rightloopROLLshort = atof(parameter);
HARUKIDELTA	0:17f575135219	747	else{ *g_rightloopROLLshort = RIGHT_ROLL_SHORT;
HARUKIDELTA	0:17f575135219	748	SDerrorcount++;
HARUKIDELTA	0:17f575135219	749	}
HARUKIDELTA	0:17f575135219	750	if(GetParameter(fp,paramNames[15],parameter)) *g_rightloopPITCHshort = atof(parameter);
HARUKIDELTA	0:17f575135219	751	else{ *g_rightloopPITCHshort = RIGHT_PITCH_SHORT;
HARUKIDELTA	0:17f575135219	752	SDerrorcount++;
HARUKIDELTA	0:17f575135219	753	}
HARUKIDELTA	0:17f575135219	754	if(GetParameter(fp,paramNames[16],parameter)) *g_leftloopROLLshort = atof(parameter);
HARUKIDELTA	0:17f575135219	755	else{ *g_leftloopROLLshort = LEFT_ROLL_SHORT;
HARUKIDELTA	0:17f575135219	756	SDerrorcount++;
HARUKIDELTA	0:17f575135219	757	}
HARUKIDELTA	0:17f575135219	758	if(GetParameter(fp,paramNames[17],parameter)) *g_leftloopPITCHshort = atof(parameter);
HARUKIDELTA	0:17f575135219	759	else{ *g_leftloopPITCHshort = LEFT_PITCH_SHORT;
HARUKIDELTA	0:17f575135219	760	SDerrorcount++;
HARUKIDELTA	0:17f575135219	761	}
HARUKIDELTA	0:17f575135219	762	if(GetParameter(fp,paramNames[18],parameter)) *g_glideloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	763	else{ *g_glideloopROLL = GLIDE_ROLL;
HARUKIDELTA	0:17f575135219	764	SDerrorcount++;
HARUKIDELTA	0:17f575135219	765	}
HARUKIDELTA	0:17f575135219	766	if(GetParameter(fp,paramNames[19],parameter)) *g_glideloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	767	else{ *g_glideloopPITCH = GLIDE_PITCH;
HARUKIDELTA	0:17f575135219	768	SDerrorcount++;
HARUKIDELTA	0:17f575135219	769	}
HARUKIDELTA	18:cce82f3374fc	770	if(GetParameter(fp,paramNames[20],parameter)) *g_kpAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	771	else{ *g_kpAIL = KP_AIL;
HARUKIDELTA	12:763bf416ba4b	772	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	773	}
HARUKIDELTA	12:763bf416ba4b	774	if(GetParameter(fp,paramNames[21],parameter)) *g_kiAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	775	else{ *g_kiAIL = KI_AIL;
HARUKIDELTA	12:763bf416ba4b	776	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	777	}
HARUKIDELTA	12:763bf416ba4b	778	if(GetParameter(fp,paramNames[22],parameter)) *g_kdAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	779	else{ *g_kdAIL = KP_AIL;
HARUKIDELTA	12:763bf416ba4b	780	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	781	}
HARUKIDELTA	13:77b13d5f4d78	782	if(GetParameter(fp,paramNames[23],parameter)) *g_rightloopRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	783	else{ *g_rightloopRUD = RIGHTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	784	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	785	}
HARUKIDELTA	13:77b13d5f4d78	786	if(GetParameter(fp,paramNames[24],parameter)) *g_rightloopshortRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	787	else{ *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	788	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	789	}
HARUKIDELTA	13:77b13d5f4d78	790	if(GetParameter(fp,paramNames[25],parameter)) *g_leftloopRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	791	else{ *g_leftloopshortRUD = LEFTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	792	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	793	}
HARUKIDELTA	13:77b13d5f4d78	794	if(GetParameter(fp,paramNames[26],parameter)) *g_leftloopshortRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	795	else{ *g_leftloopshortRUD = LEFTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	796	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	797	}
HARUKIDELTA	13:77b13d5f4d78	798	if(GetParameter(fp,paramNames[27],parameter)) *g_glideloopRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	799	else{ *g_glideloopRUD = GLIDELOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	800	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	801	}
HARUKIDELTA	13:77b13d5f4d78	802	if(GetParameter(fp,paramNames[28],parameter)) *g_AIL_L_correctionrightloop = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	803	else{ *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP;
HARUKIDELTA	13:77b13d5f4d78	804	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	805	}
HARUKIDELTA	13:77b13d5f4d78	806	if(GetParameter(fp,paramNames[29],parameter)) *g_AIL_L_correctionrightloopshort = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	807	else{ *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	808	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	809	}
HARUKIDELTA	13:77b13d5f4d78	810	if(GetParameter(fp,paramNames[30],parameter)) *g_AIL_L_correctionleftloop = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	811	else{ *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP;
HARUKIDELTA	13:77b13d5f4d78	812	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	813	}
HARUKIDELTA	13:77b13d5f4d78	814	if(GetParameter(fp,paramNames[31],parameter)) *g_AIL_L_correctionleftloopshort = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	815	else{ *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	816	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	817	}
HARUKIDELTA	13:77b13d5f4d78	818
HARUKIDELTA	0:17f575135219	819	fclose(fp);
HARUKIDELTA	0:17f575135219	820
HARUKIDELTA	0:17f575135219	821	}else{ //ファイルがなかったら
HARUKIDELTA	0:17f575135219	822	pc.printf("fp was null.\r\n");
HARUKIDELTA	0:17f575135219	823	*g_kpELE = KP_ELE;
HARUKIDELTA	0:17f575135219	824	*g_kiELE = KI_ELE;
HARUKIDELTA	0:17f575135219	825	*g_kdELE = KD_ELE;
HARUKIDELTA	0:17f575135219	826	*g_kpRUD = KP_RUD;
HARUKIDELTA	0:17f575135219	827	*g_kiRUD = KI_RUD;
HARUKIDELTA	0:17f575135219	828	*g_kdRUD = KD_RUD;
HARUKIDELTA	0:17f575135219	829	*g_rightloopROLL = RIGHT_ROLL;
HARUKIDELTA	0:17f575135219	830	*g_rightloopPITCH = RIGHT_PITCH;
HARUKIDELTA	0:17f575135219	831	*g_leftloopROLL = LEFT_ROLL;
HARUKIDELTA	0:17f575135219	832	*g_leftloopPITCH = LEFT_PITCH;
HARUKIDELTA	0:17f575135219	833	*g_gostraightROLL = STRAIGHT_ROLL;
HARUKIDELTA	0:17f575135219	834	*g_gostraightPITCH = STRAIGHT_PITCH;
HARUKIDELTA	0:17f575135219	835	*g_takeoffTHR = TAKEOFF_THR;
HARUKIDELTA	0:17f575135219	836	*g_loopTHR = LOOP_THR;
HARUKIDELTA	12:763bf416ba4b	837	*g_kpAIL = KP_AIL; //パラメータ変えるのお忘れなく！！
HARUKIDELTA	12:763bf416ba4b	838	*g_kiAIL = KI_AIL;
HARUKIDELTA	12:763bf416ba4b	839	*g_kdAIL = KD_AIL;
HARUKIDELTA	13:77b13d5f4d78	840	*g_rightloopRUD = RIGHTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	841	*g_rightloopshortRUD = RIGHTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	842	*g_leftloopRUD = LEFTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	843	*g_leftloopshortRUD = LEFTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	844	*g_glideloopRUD = GLIDELOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	845	*g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP;
HARUKIDELTA	13:77b13d5f4d78	846	*g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	847	*g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP;
HARUKIDELTA	13:77b13d5f4d78	848	*g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	849
HARUKIDELTA	13:77b13d5f4d78	850
HARUKIDELTA	0:17f575135219	851	SDerrorcount = -1;
HARUKIDELTA	0:17f575135219	852	}
HARUKIDELTA	0:17f575135219	853	pc.printf("SDsetup finished.\r\n");
HARUKIDELTA	0:17f575135219	854	if(SDerrorcount == 0) pc.printf("setting option is success\r\n");
HARUKIDELTA	0:17f575135219	855	else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n");
HARUKIDELTA	0:17f575135219	856	else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount);
HARUKIDELTA	0:17f575135219	857
HARUKIDELTA	0:17f575135219	858	pc.printf("kpELE = %f, kiELE = %f, kdELE = %f\r\n", g_kpRUD, g_kiRUD, *g_kdRUD);
HARUKIDELTA	0:17f575135219	859	pc.printf("kpRUD = %f, kiRUD = %f, kdRUD = %f\r\n", g_kpELE, g_kiELE, *g_kdELE);
HARUKIDELTA	0:17f575135219	860	pc.printf("rightloopROLL = %f, rightloopPITCH = %f\r\n", g_rightloopROLL, g_rightloopPITCH);
HARUKIDELTA	0:17f575135219	861	pc.printf("leftloopROLL = %f, g_leftloopPITCH = %f\r\n", g_leftloopROLL, g_leftloopPITCH);
HARUKIDELTA	0:17f575135219	862	pc.printf("gostraightROLL = %f, g_gostraightPITCH = %f\r\n", g_gostraightROLL, g_gostraightPITCH);
HARUKIDELTA	0:17f575135219	863	pc.printf("g_takeoffTHR = %f, g_loopTHR = %f\r\n", g_takeoffTHR, g_loopTHR);
HARUKIDELTA	0:17f575135219	864	pc.printf("rightloopROLLshort = %f, rightloopPITCHshort = %f\r\n", g_rightloopROLLshort, g_rightloopPITCHshort);
HARUKIDELTA	0:17f575135219	865	pc.printf("leftloopROLLshort = %f, g_leftloopPITCHshort = %f\r\n", g_leftloopROLLshort, g_leftloopPITCHshort);
HARUKIDELTA	0:17f575135219	866	pc.printf("glideROLL = %f, glidePITCH = %f\r\n", g_glideloopROLL, g_glideloopPITCH);
HARUKIDELTA	16:7fca5b938da6	867	pc.printf("kpAIL = %f,kiAIL = %f,kdAIL = %f\r\n ",g_kpAIL,g_kiAIL,*g_kdAIL);
HARUKIDELTA	16:7fca5b938da6	868	pc.printf("RIGHTLOOPRUD = %d,RIGHTLOOPSHORTRUD = %d\r\n",g_rightloopRUD,g_rightloopshortRUD);
HARUKIDELTA	16:7fca5b938da6	869	pc.printf("LEFTTLOOPRUD = %d,LEFTLOOPSHORTRUD = %d\r\n",g_leftloopRUD,g_leftloopshortRUD);
HARUKIDELTA	16:7fca5b938da6	870	pc.printf("GLIDELOOPRUD = %d\r\n",*g_glideloopRUD);
HARUKIDELTA	16:7fca5b938da6	871	pc.printf("AIL_L_CORRECTION_RIGHTLOOP = %d, AIL_L_CORRECTION_RIGHTLOOPSHORT = %d\r\n",g_AIL_L_correctionrightloop,g_AIL_L_correctionrightloopshort);
HARUKIDELTA	16:7fca5b938da6	872	pc.printf("AIL_L_CORRECTION_LEFTLOOP = %d, AIL_L_CORRECTION_LEFTLOOPSHORT = %d\r\n",g_AIL_L_correctionleftloop,g_AIL_L_correctionleftloopshort);
HARUKIDELTA	0:17f575135219	873	return SDerrorcount;
HARUKIDELTA	0:17f575135219	874	}
HARUKIDELTA	0:17f575135219	875
HARUKIDELTA	0:17f575135219	876	void CalculateControlValue(float targetAngle[3], float controlValue[3]){
HARUKIDELTA	0:17f575135219	877	static int t_last;
HARUKIDELTA	0:17f575135219	878	int t_now;
HARUKIDELTA	0:17f575135219	879	float dt;
HARUKIDELTA	0:17f575135219	880
HARUKIDELTA	0:17f575135219	881	t_now = t.read_us();
HARUKIDELTA	0:17f575135219	882	dt = (float)((t_now - t_last)/1000000.0f) ;
HARUKIDELTA	0:17f575135219	883	t_last = t_now;
HARUKIDELTA	0:17f575135219	884
taknokolat	1:f383708a5a52	885
taknokolat	1:f383708a5a52	886	//controlValue[ROLL] = pid_RUD.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt);
taknokolat	1:f383708a5a52	887	controlValue[ROLL] = pid_AIL.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); //エルロンでロール制御
HARUKIDELTA	0:17f575135219	888	controlValue[PITCH] = pid_ELE.calcPID(nowAngle[PITCH], targetAngle[PITCH], dt);
HARUKIDELTA	0:17f575135219	889	}
HARUKIDELTA	0:17f575135219	890
HARUKIDELTA	0:17f575135219	891	void UpdateAutoPWM(float controlValue[3]){
HARUKIDELTA	0:17f575135219	892	int16_t addpwm[2]; //-500~500
HARUKIDELTA	0:17f575135219	893	addpwm[PITCH] = (float)GAIN_CONTROLVALUE_TO_PWM * controlValue[PITCH]; //センサ：機首下げ正レバー:機首上げ正
HARUKIDELTA	0:17f575135219	894	addpwm[ROLL] = (float)GAIN_CONTROLVALUE_TO_PWM * controlValue[ROLL]; //センサ：右回転正（8月13日時点；左回転が正！）レバー:右回転正
HARUKIDELTA	0:17f575135219	895
HARUKIDELTA	2:23daa5fa28b4	896	autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH]; //rewrite
HARUKIDELTA	8:66bba39b95a9	897	autopwm[AIL_R] = trimpwm[AIL_R] - reverce[AIL_R] * addpwm[ROLL];
HARUKIDELTA	0:17f575135219	898	//autopwm[THR] = oldTHR;
HARUKIDELTA	0:17f575135219	899
HARUKIDELTA	0:17f575135219	900	autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]);
taknokolat	1:f383708a5a52	901	autopwm[AIL_R] = ThresholdMaxMin(autopwm[AIL_R], maxpwm[AIL_R], minpwm[AIL_R]);
HARUKIDELTA	2:23daa5fa28b4	902
HARUKIDELTA	0:17f575135219	903	}
HARUKIDELTA	0:17f575135219	904
HARUKIDELTA	0:17f575135219	905	inline float CalcRatio(float value, float trim, float limit){
HARUKIDELTA	0:17f575135219	906	return (value - trim) / (limit - trim);
HARUKIDELTA	0:17f575135219	907	}
HARUKIDELTA	0:17f575135219	908
HARUKIDELTA	0:17f575135219	909	bool CheckSW_Up(Channel ch){
HARUKIDELTA	0:17f575135219	910	if(SWITCH_CHECK < sbus.manualpwm[ch]){
HARUKIDELTA	0:17f575135219	911	return true;
HARUKIDELTA	0:17f575135219	912	}else{
HARUKIDELTA	0:17f575135219	913	return false;
HARUKIDELTA	0:17f575135219	914	}
HARUKIDELTA	0:17f575135219	915	}
HARUKIDELTA	0:17f575135219	916
HARUKIDELTA	0:17f575135219	917	int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min){
HARUKIDELTA	0:17f575135219	918	if(value > max) return max;
HARUKIDELTA	0:17f575135219	919	if(value < min) return min;
HARUKIDELTA	0:17f575135219	920	return value;
HARUKIDELTA	0:17f575135219	921	}
HARUKIDELTA	0:17f575135219	922
HARUKIDELTA	0:17f575135219	923	inline int16_t SetTHRinRatio(float ratio){
HARUKIDELTA	0:17f575135219	924	return minpwm[THR] + (int16_t)(2 * lengthdivpwm * ratio);
HARUKIDELTA	0:17f575135219	925	}
HARUKIDELTA	0:17f575135219	926
HARUKIDELTA	2:23daa5fa28b4	927
HARUKIDELTA	2:23daa5fa28b4	928
HARUKIDELTA	0:17f575135219	929	/---SBUS割り込み処理---/
HARUKIDELTA	0:17f575135219	930
HARUKIDELTA	0:17f575135219	931	//udate_Inputで抽出したpwmデータを整形して各変数に代入する。(マニュアルモード)
HARUKIDELTA	0:17f575135219	932	//各stabiGylo関数で算出したpwmを各変数に代入する(自動モード)
HARUKIDELTA	0:17f575135219	933	void Update_PWM()
HARUKIDELTA	0:17f575135219	934	{
HARUKIDELTA	0:17f575135219	935	static int16_t pwm[6];
HARUKIDELTA	0:17f575135219	936	static int16_t temppwm[6]={trimpwm[0],trimpwm[1],trimpwm[2],trimpwm[3],trimpwm[4],trimpwm[5]};
HARUKIDELTA	0:17f575135219	937	if(sbus.flg_ch_update == true){
taknokolat	10:652071c20bf6	938	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	939	switch(output_status){ //マニュアルモード,自動モード,自動着陸もモードを切替
HARUKIDELTA	0:17f575135219	940	case Manual:
HARUKIDELTA	0:17f575135219	941	for(uint8_t i=0;i<6;i++){
taknokolat	1:f383708a5a52	942	pwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	943	}
HARUKIDELTA	2:23daa5fa28b4	944	/*pc.printf("%d ,",pwm[0]);//R
HARUKIDELTA	2:23daa5fa28b4	945	pc.printf("%d ,\r\n",pwm[5]);//L*/
HARUKIDELTA	0:17f575135219	946	oldTHR = sbus.manualpwm[THR];
HARUKIDELTA	0:17f575135219	947	//pc.printf("update_manual\r\n");
HARUKIDELTA	0:17f575135219	948	break;
HARUKIDELTA	0:17f575135219	949
HARUKIDELTA	0:17f575135219	950	case Auto:
HARUKIDELTA	0:17f575135219	951	pwm[AIL_R] = autopwm[AIL_R]; //sbus.manualpwm[AIL];
HARUKIDELTA	0:17f575135219	952	pwm[ELE] = autopwm[ELE];
HARUKIDELTA	0:17f575135219	953	pwm[THR] = autopwm[THR];
HARUKIDELTA	0:17f575135219	954	pwm[RUD] = autopwm[RUD];
HARUKIDELTA	0:17f575135219	955	pwm[DROP] = autopwm[DROP];
HARUKIDELTA	0:17f575135219	956	pwm[AIL_L] = autopwm[AIL_L];
taknokolat	10:652071c20bf6	957	//pc.printf("%d ,",pwm[AIL_R]);//R
taknokolat	10:652071c20bf6	958	//pc.printf("%d ,\r\n",pwm[AIL_L]);//L
HARUKIDELTA	0:17f575135219	959	//pc.printf("update_auto\r\n");
HARUKIDELTA	2:23daa5fa28b4	960
HARUKIDELTA	0:17f575135219	961	break;
HARUKIDELTA	0:17f575135219	962
HARUKIDELTA	0:17f575135219	963	default:
HARUKIDELTA	0:17f575135219	964	for(uint8_t i=0;i<6;i++){
HARUKIDELTA	0:17f575135219	965	pwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	966	} //pc.printf("update_manual\r\n");
HARUKIDELTA	0:17f575135219	967	break;
taknokolat	10:652071c20bf6	968	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	969	}
HARUKIDELTA	0:17f575135219	970	for(uint8_t i=0;i<6;i++){
HARUKIDELTA	0:17f575135219	971	if(pwm[i]<1000 \|\| pwm[i]>2000) pwm[i]=temppwm[i];
HARUKIDELTA	0:17f575135219	972	temppwm[i]=pwm[i];
HARUKIDELTA	0:17f575135219	973	}
HARUKIDELTA	0:17f575135219	974	}else{
HARUKIDELTA	0:17f575135219	975	pc.printf("0\r\n");
HARUKIDELTA	0:17f575135219	976	}
HARUKIDELTA	0:17f575135219	977	sbus.flg_ch_update = false;
HARUKIDELTA	0:17f575135219	978	Output_PWM(pwm);
HARUKIDELTA	0:17f575135219	979	}
HARUKIDELTA	0:17f575135219	980
HARUKIDELTA	0:17f575135219	981
HARUKIDELTA	0:17f575135219	982	//pwmをサーボに出力。
HARUKIDELTA	0:17f575135219	983	void Output_PWM(int16_t pwm[5])
HARUKIDELTA	0:17f575135219	984	{
taknokolat	10:652071c20bf6	985	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	986	servo1.pulsewidth_us(pwm[0]);
HARUKIDELTA	0:17f575135219	987	servo2.pulsewidth_us(pwm[1]);
HARUKIDELTA	0:17f575135219	988	servo3.pulsewidth_us(pwm[2]);
HARUKIDELTA	0:17f575135219	989	servo4.pulsewidth_us(pwm[3]);
HARUKIDELTA	0:17f575135219	990	servo5.pulsewidth_us(pwm[4]);
HARUKIDELTA	0:17f575135219	991	servo6.pulsewidth_us(pwm[5]);
taknokolat	10:652071c20bf6	992	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	993
HARUKIDELTA	0:17f575135219	994	}
HARUKIDELTA	0:17f575135219	995
HARUKIDELTA	0:17f575135219	996	void ResetTrim(){
HARUKIDELTA	0:17f575135219	997	for(uint8_t i=0; i<6; i++){ //i=4から書き換え＿投下サーボは入ってない模様
HARUKIDELTA	0:17f575135219	998	trimpwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	999	}
HARUKIDELTA	0:17f575135219	1000	pc.printf("reset PWM trim\r\n");
HARUKIDELTA	0:17f575135219	1001	}
HARUKIDELTA	0:17f575135219	1002
HARUKIDELTA	0:17f575135219	1003
HARUKIDELTA	0:17f575135219	1004	void SensingMPU(){
HARUKIDELTA	0:17f575135219	1005	//static int16_t deltaT = 0, t_start = 0;
HARUKIDELTA	0:17f575135219	1006	//t_start = t.read_us();
HARUKIDELTA	0:17f575135219	1007
HARUKIDELTA	0:17f575135219	1008	float rpy[3] = {0}, oldrpy[3] = {0};
HARUKIDELTA	0:17f575135219	1009	static uint16_t count_changeRPY = 0;
HARUKIDELTA	0:17f575135219	1010	static bool flg_checkoutlier = false;
HARUKIDELTA	0:17f575135219	1011	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	1012	NVIC_DisableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	1013	NVIC_DisableIRQ(TIM5_IRQn);
taknokolat	10:652071c20bf6	1014	NVIC_DisableIRQ(EXTI0_IRQn);//MPU割り込み禁止
taknokolat	10:652071c20bf6	1015	NVIC_DisableIRQ(EXTI9_5_IRQn);//超音波割り込み禁止
HARUKIDELTA	0:17f575135219	1016
HARUKIDELTA	0:17f575135219	1017	mpu6050.getRollPitchYaw_Skipper(rpy);
HARUKIDELTA	0:17f575135219	1018
HARUKIDELTA	0:17f575135219	1019	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	1020	NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	1021	NVIC_EnableIRQ(TIM5_IRQn);
HARUKIDELTA	0:17f575135219	1022	NVIC_EnableIRQ(EXTI0_IRQn);
HARUKIDELTA	0:17f575135219	1023	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1024
HARUKIDELTA	0:17f575135219	1025
HARUKIDELTA	0:17f575135219	1026	//外れ値対策
HARUKIDELTA	0:17f575135219	1027	for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI;
HARUKIDELTA	0:17f575135219	1028	rpy[ROLL] -= FirstROLL;
HARUKIDELTA	0:17f575135219	1029	rpy[PITCH] -= FirstPITCH;
HARUKIDELTA	0:17f575135219	1030	rpy[YAW] -= FirstYAW;
HARUKIDELTA	0:17f575135219	1031
HARUKIDELTA	0:17f575135219	1032	for(uint8_t i=0; i<3; i++) {if(rpy[i] < nowAngle[i]-10 \|\| rpy[i] > nowAngle[i]+10) {flg_checkoutlier = true;}}
HARUKIDELTA	0:17f575135219	1033	if(!flg_checkoutlier \|\| count_changeRPY >= 2){
HARUKIDELTA	0:17f575135219	1034	for(uint8_t i=0; i<3; i++){
HARUKIDELTA	0:17f575135219	1035	nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均
HARUKIDELTA	0:17f575135219	1036	}
HARUKIDELTA	0:17f575135219	1037	count_changeRPY = 0;
HARUKIDELTA	0:17f575135219	1038	}else count_changeRPY++;
HARUKIDELTA	0:17f575135219	1039	flg_checkoutlier = false;
HARUKIDELTA	0:17f575135219	1040
HARUKIDELTA	0:17f575135219	1041	}
HARUKIDELTA	0:17f575135219	1042
HARUKIDELTA	0:17f575135219	1043	float TranslateNewYaw(float beforeYaw, float newzeroYaw){
HARUKIDELTA	0:17f575135219	1044	float newYaw = beforeYaw - newzeroYaw;
HARUKIDELTA	0:17f575135219	1045
HARUKIDELTA	0:17f575135219	1046	if(newYaw<-180.0f) newYaw += 360.0f;
HARUKIDELTA	0:17f575135219	1047	else if(newYaw>180.0f) newYaw -= 360.0f;
HARUKIDELTA	0:17f575135219	1048	return newYaw;
HARUKIDELTA	0:17f575135219	1049	}
HARUKIDELTA	0:17f575135219	1050
HARUKIDELTA	0:17f575135219	1051
HARUKIDELTA	0:17f575135219	1052	void getSF_Serial(){
taknokolat	23:0f3b1441b08c	1053	NVIC_DisableIRQ(USART1_IRQn);
taknokolat	23:0f3b1441b08c	1054	NVIC_DisableIRQ(EXTI0_IRQn);
taknokolat	24:3e7dcf16a6a7	1055	//NVIC_DisableIRQ(TIM5_IRQn);
HARUKIDELTA	0:17f575135219	1056
HARUKIDELTA	0:17f575135219	1057	static char SFbuf[16];
HARUKIDELTA	0:17f575135219	1058	static int bufcounter=0;
HARUKIDELTA	0:17f575135219	1059
taknokolat	14:bbd5ff31fb67	1060	if(pc.readable()) { // 受信確認
taknokolat	14:bbd5ff31fb67	1061	SFbuf[bufcounter] = pc.getc(); // 1文字取り出し
taknokolat	14:bbd5ff31fb67	1062	}
taknokolat	11:c0b9ad25d3db	1063
taknokolat	11:c0b9ad25d3db	1064
taknokolat	11:c0b9ad25d3db	1065	pc.printf("%c",SFbuf[bufcounter]);
taknokolat	11:c0b9ad25d3db	1066
HARUKIDELTA	0:17f575135219	1067	if(SFbuf[0]=='S'&&bufcounter<5) bufcounter++;
HARUKIDELTA	0:17f575135219	1068
HARUKIDELTA	0:17f575135219	1069	if(bufcounter==5 && SFbuf[4]=='F'){
HARUKIDELTA	0:17f575135219	1070	g_landingcommand = SFbuf[1];
taknokolat	23:0f3b1441b08c	1071	//wait_ms(20);
HARUKIDELTA	0:17f575135219	1072	if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
HARUKIDELTA	0:17f575135219	1073	bufcounter = 0;
HARUKIDELTA	0:17f575135219	1074	memset(SFbuf, 0, strlen(SFbuf));
taknokolat	10:652071c20bf6	1075	//pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
HARUKIDELTA	0:17f575135219	1076	}
taknokolat	10:652071c20bf6	1077	else if(bufcounter>=5 ){
HARUKIDELTA	0:17f575135219	1078	pc.printf("Communication Falsed.\r\n");
HARUKIDELTA	0:17f575135219	1079	bufcounter = 0;
HARUKIDELTA	0:17f575135219	1080	}
taknokolat	24:3e7dcf16a6a7	1081	//NVIC_EnableIRQ(TIM5_IRQn);
taknokolat	23:0f3b1441b08c	1082	NVIC_EnableIRQ(EXTI0_IRQn);
taknokolat	24:3e7dcf16a6a7	1083	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	1084	}
HARUKIDELTA	0:17f575135219	1085
HARUKIDELTA	0:17f575135219	1086	float ConvertByteintoFloat(char high, char low){
HARUKIDELTA	0:17f575135219	1087
HARUKIDELTA	0:17f575135219	1088	//int16_t intvalue = (int16_t)high*256 + (int16_t)low;
HARUKIDELTA	0:17f575135219	1089	int16_t intvalue = (int16_t)(((int16_t)high << 8) \| low); // Turn the MSB and LSB into a signed 16-bit value
HARUKIDELTA	0:17f575135219	1090	float floatvalue = (float)intvalue;
HARUKIDELTA	0:17f575135219	1091	return floatvalue;
HARUKIDELTA	0:17f575135219	1092	}
HARUKIDELTA	0:17f575135219	1093
HARUKIDELTA	0:17f575135219	1094
HARUKIDELTA	0:17f575135219	1095	//超音波割り込み
taknokolat	10:652071c20bf6	1096	/*void UpdateDist(){
HARUKIDELTA	0:17f575135219	1097	g_distance = usensor.get_dist_cm();
HARUKIDELTA	0:17f575135219	1098	usensor.start();
taknokolat	10:652071c20bf6	1099	}*/
HARUKIDELTA	0:17f575135219	1100
HARUKIDELTA	0:17f575135219	1101	//8の字旋回
HARUKIDELTA	0:17f575135219	1102	void UpdateTargetAngle_Moebius(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1103	static uint8_t RotateCounter=0;
HARUKIDELTA	0:17f575135219	1104	static bool flg_setInStartAuto = false;
HARUKIDELTA	0:17f575135219	1105	static float FirstYAW_Moebius = 0.0;
HARUKIDELTA	0:17f575135219	1106	float newYaw_Moebius;
HARUKIDELTA	0:17f575135219	1107
HARUKIDELTA	0:17f575135219	1108	if(!flg_setInStartAuto && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1109	FirstYAW_Moebius = nowAngle[YAW];
HARUKIDELTA	0:17f575135219	1110	RotateCounter = 0;
HARUKIDELTA	0:17f575135219	1111	flg_setInStartAuto = true;
HARUKIDELTA	0:17f575135219	1112	}else if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1113	flg_setInStartAuto = false;
HARUKIDELTA	0:17f575135219	1114	led2 = 0;
HARUKIDELTA	0:17f575135219	1115	}
HARUKIDELTA	6:ed61ed8b8fab	1116	autopwm[THR]=oldTHR;
HARUKIDELTA	6:ed61ed8b8fab	1117
HARUKIDELTA	0:17f575135219	1118	newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius);
HARUKIDELTA	0:17f575135219	1119
HARUKIDELTA	0:17f575135219	1120	if(RotateCounter == 0 && newYaw_Moebius >90.0 && newYaw_Moebius < 180.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n");}
HARUKIDELTA	0:17f575135219	1121	if(RotateCounter == 1 && newYaw_Moebius >-180.0 && newYaw_Moebius < -90.0) {RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n");}
HARUKIDELTA	6:ed61ed8b8fab	1122	if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius <-10.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n");}
HARUKIDELTA	6:ed61ed8b8fab	1123	if(RotateCounter == 3 && newYaw_Moebius >0.0 && newYaw_Moebius < 90.0) {RotateCounter++; led2 = 0; pc.printf("Change Rotate direction\r\n");}
HARUKIDELTA	0:17f575135219	1124
HARUKIDELTA	0:17f575135219	1125
HARUKIDELTA	0:17f575135219	1126	if(RotateCounter <= 3) UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1127	else UpdateTargetAngle_Leftloop_short(targetAngle); //左旋回
HARUKIDELTA	0:17f575135219	1128
HARUKIDELTA	0:17f575135219	1129	}
HARUKIDELTA	0:17f575135219	1130
HARUKIDELTA	0:17f575135219	1131	//自動滑空
HARUKIDELTA	0:17f575135219	1132	void UpdateTargetAngle_Glide(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1133	static int THRcount = 0;
HARUKIDELTA	0:17f575135219	1134	static int t_start = 0;
HARUKIDELTA	0:17f575135219	1135	static bool flg_tstart = false;
HARUKIDELTA	0:17f575135219	1136	int t_diff = 0;
taknokolat	1:f383708a5a52	1137	static int groundcount = 0;
HARUKIDELTA	0:17f575135219	1138
HARUKIDELTA	0:17f575135219	1139	targetAngle[ROLL] = g_glideloopROLL;
HARUKIDELTA	0:17f575135219	1140	targetAngle[PITCH] = g_glideloopPITCH;
HARUKIDELTA	0:17f575135219	1141
HARUKIDELTA	16:7fca5b938da6	1142	autopwm[RUD]=g_glideloopRUD;
HARUKIDELTA	7:53b0eb6f6bd3	1143	// autopwm[THR]=oldTHR;
taknokolat	10:652071c20bf6	1144
taknokolat	1:f383708a5a52	1145
HARUKIDELTA	7:53b0eb6f6bd3	1146
HARUKIDELTA	0:17f575135219	1147	//時間計測開始設定
HARUKIDELTA	0:17f575135219	1148	if(!flg_tstart && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1149	t_start = t.read();
HARUKIDELTA	0:17f575135219	1150	flg_tstart = true;
HARUKIDELTA	0:17f575135219	1151	pc.printf("timer start\r\n");
taknokolat	1:f383708a5a52	1152	}else if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1153	t_start = 0;
HARUKIDELTA	0:17f575135219	1154	flg_tstart = false;
HARUKIDELTA	0:17f575135219	1155	}
HARUKIDELTA	0:17f575135219	1156
taknokolat	1:f383708a5a52	1157
HARUKIDELTA	0:17f575135219	1158	//フラグが偽であれば計測は行わない
HARUKIDELTA	0:17f575135219	1159	if(flg_tstart){
HARUKIDELTA	0:17f575135219	1160	t_diff = t.read() - t_start;
HARUKIDELTA	0:17f575135219	1161	//一定高度or15秒でled点灯
taknokolat	10:652071c20bf6	1162	NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat	1:f383708a5a52	1163	if((groundcount>5 && g_distance>0) \|\| t_diff > 15){
HARUKIDELTA	0:17f575135219	1164	led2 = 1;
HARUKIDELTA	0:17f575135219	1165	//pc.printf("Call [Stop!] calling!\r\n");
HARUKIDELTA	0:17f575135219	1166	}
taknokolat	10:652071c20bf6	1167
taknokolat	1:f383708a5a52	1168	if(g_distance<180 && g_distance > 0) groundcount++;
taknokolat	10:652071c20bf6	1169	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1170	}else{
HARUKIDELTA	0:17f575135219	1171	t_diff = 0;
taknokolat	1:f383708a5a52	1172	groundcount = 0;
HARUKIDELTA	0:17f575135219	1173	led2 = 0;
HARUKIDELTA	0:17f575135219	1174	}
HARUKIDELTA	0:17f575135219	1175
taknokolat	1:f383708a5a52	1176	if(t_diff > 17){
HARUKIDELTA	0:17f575135219	1177	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	0:17f575135219	1178	}else{
taknokolat	10:652071c20bf6	1179	NVIC_DisableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1180	if(g_distance<150 && g_distance>0 ){
taknokolat	10:652071c20bf6	1181	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1182	THRcount++;
HARUKIDELTA	0:17f575135219	1183	if(THRcount>5){
taknokolat	1:f383708a5a52	1184	autopwm[THR] = SetTHRinRatio(0.6);
HARUKIDELTA	0:17f575135219	1185	//pc.printf("throttle ON\r\n");
HARUKIDELTA	0:17f575135219	1186	}
HARUKIDELTA	0:17f575135219	1187	}else{
HARUKIDELTA	0:17f575135219	1188	autopwm[THR] = 1180;
HARUKIDELTA	0:17f575135219	1189	THRcount = 0;
HARUKIDELTA	0:17f575135219	1190	}
HARUKIDELTA	7:53b0eb6f6bd3	1191	}
HARUKIDELTA	0:17f575135219	1192	}
HARUKIDELTA	0:17f575135219	1193	//離陸-投下-着陸一連
HARUKIDELTA	0:17f575135219	1194	void Take_off_and_landing(float targetAngle[3]){
taknokolat	10:652071c20bf6	1195	/*
HARUKIDELTA	0:17f575135219	1196	if(!CheckSW_Up(Ch7)) bombing_mode = Takeoff;
HARUKIDELTA	0:17f575135219	1197
HARUKIDELTA	0:17f575135219	1198	switch(bombing_mode){
HARUKIDELTA	0:17f575135219	1199	case Takeoff:
HARUKIDELTA	0:17f575135219	1200	static bool flg_setFirstYaw = false;
HARUKIDELTA	0:17f575135219	1201	static int TakeoffCount = 0;
HARUKIDELTA	0:17f575135219	1202
HARUKIDELTA	0:17f575135219	1203	if(!flg_setFirstYaw && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1204	FirstYAW = nowAngle[YAW];
HARUKIDELTA	0:17f575135219	1205	flg_setFirstYaw = true;
HARUKIDELTA	0:17f575135219	1206	}else if(flg_setFirstYaw && !CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1207	flg_setFirstYaw = false;
HARUKIDELTA	0:17f575135219	1208	}
HARUKIDELTA	0:17f575135219	1209
HARUKIDELTA	0:17f575135219	1210	UpdateTargetAngle_Takeoff(targetAngle);
HARUKIDELTA	0:17f575135219	1211
HARUKIDELTA	0:17f575135219	1212	if(g_distance>150) TakeoffCount++;
HARUKIDELTA	0:17f575135219	1213	else TakeoffCount = 0;
HARUKIDELTA	0:17f575135219	1214	if(TakeoffCount>5){
HARUKIDELTA	0:17f575135219	1215	autopwm[THR] = 1180+32020.5;
HARUKIDELTA	0:17f575135219	1216	pc.printf("Now go to Approach mode!!");
HARUKIDELTA	0:17f575135219	1217	bombing_mode = Approach;
HARUKIDELTA	0:17f575135219	1218	}
HARUKIDELTA	0:17f575135219	1219	break;
taknokolat	10:652071c20bf6	1220
taknokolat	10:652071c20bf6	1221	//case Chicken:
taknokolat	10:652071c20bf6	1222	//break;
taknokolat	10:652071c20bf6	1223
HARUKIDELTA	0:17f575135219	1224	case Transition:
HARUKIDELTA	0:17f575135219	1225	static int ApproachCount = 0;
HARUKIDELTA	0:17f575135219	1226	targetAngle[YAW]=180.0;
HARUKIDELTA	0:17f575135219	1227	int Judge = Rotate(targetAngle, g_SerialTargetYAW);
HARUKIDELTA	0:17f575135219	1228
HARUKIDELTA	0:17f575135219	1229	if(Judge==0) ApproachCount++;
HARUKIDELTA	0:17f575135219	1230	if(ApproachCount>5) bombing_mode = Approach;
HARUKIDELTA	0:17f575135219	1231	break;
HARUKIDELTA	0:17f575135219	1232
HARUKIDELTA	0:17f575135219	1233	case Approach:
taknokolat	10:652071c20bf6	1234	*/
taknokolat	10:652071c20bf6	1235	autopwm[THR] = SetTHRinRatio(g_loopTHR); //0.7;スロットルの割合
HARUKIDELTA	0:17f575135219	1236	UpdateTargetAngle_Approach(targetAngle);
taknokolat	10:652071c20bf6	1237	/*
HARUKIDELTA	0:17f575135219	1238	break;
HARUKIDELTA	0:17f575135219	1239
HARUKIDELTA	0:17f575135219	1240	default:
HARUKIDELTA	0:17f575135219	1241	bombing_mode = Takeoff;
HARUKIDELTA	0:17f575135219	1242	break;
HARUKIDELTA	0:17f575135219	1243	}
taknokolat	10:652071c20bf6	1244	*/
HARUKIDELTA	0:17f575135219	1245	}
HARUKIDELTA	0:17f575135219	1246
HARUKIDELTA	0:17f575135219	1247	//離陸モード
HARUKIDELTA	0:17f575135219	1248	void UpdateTargetAngle_Takeoff(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1249	//pc.printf("%d \r\n",g_distance);
HARUKIDELTA	0:17f575135219	1250	targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA	0:17f575135219	1251	targetAngle[PITCH] = g_loopTHR;
HARUKIDELTA	0:17f575135219	1252	autopwm[THR] = SetTHRinRatio(g_takeoffTHR); //0.7;スロットルの割合
HARUKIDELTA	0:17f575135219	1253	}
HARUKIDELTA	0:17f575135219	1254
HARUKIDELTA	0:17f575135219	1255	//ヨーを目標値にして許容角度になるまで水平旋回
HARUKIDELTA	0:17f575135219	1256	int Rotate(float targetAngle[3], float TargetYAW){
HARUKIDELTA	0:17f575135219	1257	float diffYaw = TranslateNewYaw(TargetYAW, nowAngle[YAW]);
HARUKIDELTA	0:17f575135219	1258
HARUKIDELTA	0:17f575135219	1259	if(diffYaw > LIMIT_STRAIGHT_YAW){
HARUKIDELTA	0:17f575135219	1260	/*
HARUKIDELTA	0:17f575135219	1261	if(diffYaw > THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1262	else UpdateTargetAngle_Rightloop(targetAngle);
HARUKIDELTA	0:17f575135219	1263	*/
HARUKIDELTA	0:17f575135219	1264	UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1265	return 1;
HARUKIDELTA	0:17f575135219	1266	}else if(diffYaw < -LIMIT_STRAIGHT_YAW){
HARUKIDELTA	0:17f575135219	1267	UpdateTargetAngle_Leftloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1268	/*
HARUKIDELTA	0:17f575135219	1269	if(diffYaw < -THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Leftloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1270	else UpdateTargetAngle_Leftloop(targetAngle);
HARUKIDELTA	0:17f575135219	1271	*/
HARUKIDELTA	0:17f575135219	1272	return 1;
HARUKIDELTA	0:17f575135219	1273	}else{
HARUKIDELTA	0:17f575135219	1274	UpdateTargetAngle_GoStraight(targetAngle);
HARUKIDELTA	0:17f575135219	1275	return 0;
HARUKIDELTA	0:17f575135219	1276	}
HARUKIDELTA	0:17f575135219	1277	}
HARUKIDELTA	0:17f575135219	1278
HARUKIDELTA	0:17f575135219	1279	//チキラー投下
HARUKIDELTA	0:17f575135219	1280	void Chicken_Drop(){
HARUKIDELTA	0:17f575135219	1281	if(CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1282	autopwm[DROP] = 1512;
HARUKIDELTA	0:17f575135219	1283	pc.printf("Bombed!\r\n");
HARUKIDELTA	0:17f575135219	1284	RerurnChickenServo1.attach(&ReturnChickenServo1, 3);
HARUKIDELTA	0:17f575135219	1285	//operation_mode = Approach;
HARUKIDELTA	0:17f575135219	1286	//buzzer = 0;
HARUKIDELTA	0:17f575135219	1287	pc.printf("Goto LeftLoop mode\r\n");
HARUKIDELTA	0:17f575135219	1288	}
HARUKIDELTA	0:17f575135219	1289	}
HARUKIDELTA	0:17f575135219	1290
HARUKIDELTA	0:17f575135219	1291	void ReturnChickenServo1(){
HARUKIDELTA	0:17f575135219	1292	autopwm[DROP] = 1344;
HARUKIDELTA	0:17f575135219	1293	pc.printf("first reverse\r\n");
HARUKIDELTA	0:17f575135219	1294	RerurnChickenServo2.attach(&ReturnChickenServo2, 1);
HARUKIDELTA	0:17f575135219	1295	}
HARUKIDELTA	0:17f575135219	1296
HARUKIDELTA	0:17f575135219	1297	void ReturnChickenServo2(){
HARUKIDELTA	0:17f575135219	1298	autopwm[DROP] = 1392;
HARUKIDELTA	0:17f575135219	1299	pc.printf("second reverse\r\n");
taknokolat	10:652071c20bf6	1300	}
taknokolat	10:652071c20bf6	1301
taknokolat	10:652071c20bf6	1302	//着陸モード（PCからの指令に従う）
taknokolat	10:652071c20bf6	1303	void UpdateTargetAngle_Approach(float targetAngle[3]){
taknokolat	10:652071c20bf6	1304
taknokolat	10:652071c20bf6	1305	NVIC_DisableIRQ(USART2_IRQn);
taknokolat	10:652071c20bf6	1306
taknokolat	10:652071c20bf6	1307	switch(g_landingcommand){
taknokolat	10:652071c20bf6	1308	case 'R': //右旋回セヨ
HARUKIDELTA	19:0955311b0db6	1309	if(zeroTHR==0){
HARUKIDELTA	19:0955311b0db6	1310	UpdateTargetAngle_Rightloop_zero(targetAngle);
HARUKIDELTA	19:0955311b0db6	1311	}
HARUKIDELTA	19:0955311b0db6	1312	else{
taknokolat	10:652071c20bf6	1313	targetAngle[ROLL] = g_rightloopROLL;
taknokolat	10:652071c20bf6	1314	targetAngle[PITCH] = g_rightloopPITCH ;
HARUKIDELTA	17:55249ea37dff	1315	autopwm[RUD]=g_rightloopRUD; //RUD固定
HARUKIDELTA	22:438bedf24707	1316	if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節
taknokolat	10:652071c20bf6	1317	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	10:652071c20bf6	1318	}
taknokolat	20:9393b0cfa44d	1319	else {autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
taknokolat	10:652071c20bf6	1320	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
taknokolat	20:9393b0cfa44d	1321	}
taknokolat	20:9393b0cfa44d	1322	}
taknokolat	10:652071c20bf6	1323	break;
taknokolat	20:9393b0cfa44d	1324
taknokolat	10:652071c20bf6	1325	case 'L': //左旋回セヨ
HARUKIDELTA	19:0955311b0db6	1326	if(zeroTHR==0){
HARUKIDELTA	19:0955311b0db6	1327	UpdateTargetAngle_Leftloop_zero(targetAngle);
HARUKIDELTA	19:0955311b0db6	1328	}
HARUKIDELTA	19:0955311b0db6	1329	else{
taknokolat	10:652071c20bf6	1330	targetAngle[ROLL] = g_leftloopROLL;
taknokolat	10:652071c20bf6	1331	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	17:55249ea37dff	1332	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	22:438bedf24707	1333	if(autopwm[AIL_R]<trimpwm[AIL_R]){
taknokolat	10:652071c20bf6	1334	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	10:652071c20bf6	1335	}
taknokolat	10:652071c20bf6	1336	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	19:0955311b0db6	1337	}
taknokolat	10:652071c20bf6	1338	break;
taknokolat	10:652071c20bf6	1339
taknokolat	10:652071c20bf6	1340	case 'G': //直進セヨ
HARUKIDELTA	19:0955311b0db6	1341	if(zeroTHR==0){
HARUKIDELTA	19:0955311b0db6	1342	UpdateTargetAngle_GoStraight_zero(targetAngle);
HARUKIDELTA	19:0955311b0db6	1343	}
HARUKIDELTA	19:0955311b0db6	1344	else{
taknokolat	10:652071c20bf6	1345	targetAngle[ROLL] = g_gostraightROLL;
taknokolat	10:652071c20bf6	1346	targetAngle[PITCH] = g_gostraightPITCH;
HARUKIDELTA	19:0955311b0db6	1347	}
taknokolat	10:652071c20bf6	1348
taknokolat	10:652071c20bf6	1349	break;
taknokolat	10:652071c20bf6	1350
taknokolat	10:652071c20bf6	1351	case 'Y': //指定ノヨー方向ニ移動セヨ
taknokolat	10:652071c20bf6	1352	Rotate(targetAngle, g_SerialTargetYAW);
taknokolat	10:652071c20bf6	1353	break;
taknokolat	10:652071c20bf6	1354
taknokolat	10:652071c20bf6	1355	case 'B': //ブザーヲ鳴ラセ
taknokolat	10:652071c20bf6	1356	//buzzer = 1;
taknokolat	10:652071c20bf6	1357	break;
taknokolat	10:652071c20bf6	1358
taknokolat	10:652071c20bf6	1359	case 'D': //物資ヲ落トセ
taknokolat	10:652071c20bf6	1360	Chicken_Drop();
taknokolat	10:652071c20bf6	1361	break;
taknokolat	10:652071c20bf6	1362
taknokolat	10:652071c20bf6	1363	case 'C': //停止セヨ
taknokolat	10:652071c20bf6	1364	targetAngle[ROLL] = 0.0;
taknokolat	10:652071c20bf6	1365	targetAngle[PITCH] = -3.0;
taknokolat	10:652071c20bf6	1366	autopwm[THR] = minpwm[THR];
HARUKIDELTA	19:0955311b0db6	1367	zeroTHR=0;
taknokolat	10:652071c20bf6	1368	break;
HARUKIDELTA	0:17f575135219	1369
taknokolat	10:652071c20bf6	1370	}
taknokolat	10:652071c20bf6	1371	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	10:652071c20bf6	1372	}
taknokolat	10:652071c20bf6	1373
taknokolat	10:652071c20bf6	1374	void checkHeight(float targetAngle[3]){
taknokolat	10:652071c20bf6	1375
taknokolat	10:652071c20bf6	1376	static int targetHeight = 200;
taknokolat	10:652071c20bf6	1377	NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat	10:652071c20bf6	1378	if(g_distance < targetHeight + ALLOWHEIGHT){
taknokolat	10:652071c20bf6	1379	UpdateTargetAngle_NoseUP(targetAngle);
taknokolat	10:652071c20bf6	1380	if(CheckSW_Up(Ch7)) led2 = 1;
taknokolat	10:652071c20bf6	1381	}
taknokolat	10:652071c20bf6	1382	else if(g_distance > targetHeight - ALLOWHEIGHT){
taknokolat	10:652071c20bf6	1383	UpdateTargetAngle_NoseDOWN(targetAngle);
taknokolat	10:652071c20bf6	1384	if(CheckSW_Up(Ch7)) led2 = 1;
taknokolat	10:652071c20bf6	1385	}
taknokolat	10:652071c20bf6	1386	else led2=0;
taknokolat	10:652071c20bf6	1387	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1388	}
HARUKIDELTA	0:17f575135219	1389
taknokolat	10:652071c20bf6	1390	void UpdateTargetAngle_NoseUP(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1391
HARUKIDELTA	0:17f575135219	1392	//targetAngle[PITCH] += 2.0f;
HARUKIDELTA	0:17f575135219	1393	//if(nowAngle[PITCH]<targetAngle[PITCH]) autopwm[THR] = SetTHRinRatio(0.6);
HARUKIDELTA	0:17f575135219	1394	autopwm[THR] = SetTHRinRatio(g_loopTHR+0.05);
HARUKIDELTA	0:17f575135219	1395	//pc.printf("nose UP");
HARUKIDELTA	0:17f575135219	1396	}
HARUKIDELTA	0:17f575135219	1397
HARUKIDELTA	0:17f575135219	1398	void UpdateTargetAngle_NoseDOWN(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1399
HARUKIDELTA	0:17f575135219	1400	//targetAngle[PITCH] -= 2.0f;
HARUKIDELTA	0:17f575135219	1401	autopwm[THR] = SetTHRinRatio(g_loopTHR-0.05);
HARUKIDELTA	0:17f575135219	1402	//pc.printf("nose DOWN");
HARUKIDELTA	0:17f575135219	1403	}
HARUKIDELTA	0:17f575135219	1404
HARUKIDELTA	0:17f575135219	1405	//直進
HARUKIDELTA	0:17f575135219	1406	void UpdateTargetAngle_GoStraight(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1407
HARUKIDELTA	19:0955311b0db6	1408	autopwm[RUD] = trimpwm[RUD];
HARUKIDELTA	0:17f575135219	1409	targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA	0:17f575135219	1410	targetAngle[PITCH] = g_gostraightPITCH;
HARUKIDELTA	0:17f575135219	1411	autopwm[THR] = SetTHRinRatio(g_loopTHR);
HARUKIDELTA	0:17f575135219	1412
HARUKIDELTA	0:17f575135219	1413	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1414	}
HARUKIDELTA	0:17f575135219	1415
HARUKIDELTA	19:0955311b0db6	1416	//直進(着陸時スロットル０のとき）
HARUKIDELTA	19:0955311b0db6	1417	void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]){
HARUKIDELTA	19:0955311b0db6	1418
HARUKIDELTA	19:0955311b0db6	1419	autopwm[RUD] = trimpwm[RUD];
HARUKIDELTA	19:0955311b0db6	1420	targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA	19:0955311b0db6	1421	targetAngle[PITCH] = g_gostraightPITCH;
HARUKIDELTA	19:0955311b0db6	1422	autopwm[THR] = minpwm[THR];
HARUKIDELTA	19:0955311b0db6	1423
HARUKIDELTA	19:0955311b0db6	1424	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	19:0955311b0db6	1425	}
HARUKIDELTA	3:206b17251f5b	1426
HARUKIDELTA	0:17f575135219	1427	//右旋回
HARUKIDELTA	0:17f575135219	1428	void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回
HARUKIDELTA	0:17f575135219	1429
HARUKIDELTA	0:17f575135219	1430	targetAngle[ROLL] = g_rightloopROLL;
HARUKIDELTA	0:17f575135219	1431	targetAngle[PITCH] = g_rightloopPITCH ;
HARUKIDELTA	16:7fca5b938da6	1432	autopwm[RUD]=g_rightloopRUD; //RUD固定
TUATBM	9:f6367b7fd7be	1433	autopwm[THR] = SetTHRinRatio(0.5); //手動スロットル記憶
HARUKIDELTA	22:438bedf24707	1434	if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節
HARUKIDELTA	3:206b17251f5b	1435	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	3:206b17251f5b	1436	}
HARUKIDELTA	3:206b17251f5b	1437	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
TUATBM	9:f6367b7fd7be	1438	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
TUATBM	9:f6367b7fd7be	1439
HARUKIDELTA	0:17f575135219	1440	//checkHeight(targetAngle);
HARUKIDELTA	0:17f575135219	1441	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1442	}
HARUKIDELTA	0:17f575135219	1443
HARUKIDELTA	4:fff1165ca50c	1444	//右旋回（着陸時スロットル０の時）
HARUKIDELTA	4:fff1165ca50c	1445	void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]){ //右旋回
taknokolat	20:9393b0cfa44d	1446	autopwm[THR]=minpwm[THR];
HARUKIDELTA	4:fff1165ca50c	1447	targetAngle[ROLL] = g_rightloopROLL;
HARUKIDELTA	4:fff1165ca50c	1448	targetAngle[PITCH] = g_rightloopPITCH ;
taknokolat	20:9393b0cfa44d	1449	autopwm[RUD]=g_rightloopRUD; //RUD固定
HARUKIDELTA	22:438bedf24707	1450	if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節
taknokolat	20:9393b0cfa44d	1451	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	20:9393b0cfa44d	1452	}
taknokolat	20:9393b0cfa44d	1453	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
taknokolat	20:9393b0cfa44d	1454	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
HARUKIDELTA	4:fff1165ca50c	1455
HARUKIDELTA	4:fff1165ca50c	1456	//checkHeight(targetAngle);
HARUKIDELTA	4:fff1165ca50c	1457	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	4:fff1165ca50c	1458	}
HARUKIDELTA	4:fff1165ca50c	1459
HARUKIDELTA	0:17f575135219	1460	void UpdateTargetAngle_Rightloop_short(float targetAngle[3]){ //右旋回
HARUKIDELTA	0:17f575135219	1461
HARUKIDELTA	0:17f575135219	1462	targetAngle[ROLL] = g_rightloopROLLshort;
HARUKIDELTA	0:17f575135219	1463	targetAngle[PITCH] = g_rightloopPITCHshort;
HARUKIDELTA	16:7fca5b938da6	1464	autopwm[RUD]=g_rightloopshortRUD;
HARUKIDELTA	19:0955311b0db6	1465	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	22:438bedf24707	1466	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	3:206b17251f5b	1467	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	3:206b17251f5b	1468	}
HARUKIDELTA	3:206b17251f5b	1469	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	0:17f575135219	1470
HARUKIDELTA	0:17f575135219	1471	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1472	}
HARUKIDELTA	0:17f575135219	1473
HARUKIDELTA	0:17f575135219	1474	//左旋回
HARUKIDELTA	0:17f575135219	1475	void UpdateTargetAngle_Leftloop(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1476
HARUKIDELTA	0:17f575135219	1477	targetAngle[ROLL] = g_leftloopROLL;
HARUKIDELTA	0:17f575135219	1478	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	16:7fca5b938da6	1479	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	19:0955311b0db6	1480	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	22:438bedf24707	1481	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	17:55249ea37dff	1482	autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1483	}
HARUKIDELTA	17:55249ea37dff	1484	else autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1485	//checkHeight(targetAngle);
HARUKIDELTA	4:fff1165ca50c	1486
HARUKIDELTA	4:fff1165ca50c	1487	//printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	4:fff1165ca50c	1488	}
HARUKIDELTA	4:fff1165ca50c	1489
HARUKIDELTA	4:fff1165ca50c	1490	//左旋回（着陸時スロットル０のとき）
HARUKIDELTA	4:fff1165ca50c	1491	void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]){
HARUKIDELTA	4:fff1165ca50c	1492
HARUKIDELTA	4:fff1165ca50c	1493	targetAngle[ROLL] = g_leftloopROLL;
HARUKIDELTA	4:fff1165ca50c	1494	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	16:7fca5b938da6	1495	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	4:fff1165ca50c	1496	autopwm[THR] = minpwm[THR];
HARUKIDELTA	22:438bedf24707	1497	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	4:fff1165ca50c	1498	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1499	}
HARUKIDELTA	4:fff1165ca50c	1500	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1501	//autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_Ratio_leftloop;
HARUKIDELTA	0:17f575135219	1502	//checkHeight(targetAngle);
HARUKIDELTA	0:17f575135219	1503
HARUKIDELTA	2:23daa5fa28b4	1504	//printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1505	}
HARUKIDELTA	0:17f575135219	1506
HARUKIDELTA	0:17f575135219	1507	void UpdateTargetAngle_Leftloop_short(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1508
HARUKIDELTA	0:17f575135219	1509	targetAngle[ROLL] = g_leftloopROLLshort;
HARUKIDELTA	0:17f575135219	1510	targetAngle[PITCH] = g_leftloopPITCHshort;
HARUKIDELTA	16:7fca5b938da6	1511	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	19:0955311b0db6	1512	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	22:438bedf24707	1513	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	4:fff1165ca50c	1514	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1515	}
HARUKIDELTA	4:fff1165ca50c	1516	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1517
HARUKIDELTA	0:17f575135219	1518	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1519	}
taknokolat	10:652071c20bf6	1520
HARUKIDELTA	18:cce82f3374fc	1521	void Sbusprintf(){
HARUKIDELTA	18:cce82f3374fc	1522
HARUKIDELTA	18:cce82f3374fc	1523	for(uint8_t i=0; i<8; i++) pc.printf("ch.%d = %d ",i+1,sbus.manualpwm[i]);
HARUKIDELTA	18:cce82f3374fc	1524	pc.printf("\r\n");
HARUKIDELTA	18:cce82f3374fc	1525
HARUKIDELTA	18:cce82f3374fc	1526	}
HARUKIDELTA	18:cce82f3374fc	1527
HARUKIDELTA	0:17f575135219	1528
HARUKIDELTA	0:17f575135219	1529	//デバッグ用
HARUKIDELTA	0:17f575135219	1530	void DebugPrint(){
HARUKIDELTA	0:17f575135219	1531	/*
HARUKIDELTA	0:17f575135219	1532	static int16_t deltaT = 0, t_start = 0;
HARUKIDELTA	0:17f575135219	1533	deltaT = t.read_u2s() - t_start;
HARUKIDELTA	0:17f575135219	1534	pc.printf("t:%d us, ",deltaT);
HARUKIDELTA	0:17f575135219	1535	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	1536	t_start = t.read_us();
HARUKIDELTA	0:17f575135219	1537	*/
HARUKIDELTA	0:17f575135219	1538	//for(uint8_t i=0; i<8; i++) pc.printf("%d ",sbus.manualpwm[i]);
HARUKIDELTA	0:17f575135219	1539	//for(uint8_t i=1; i<4; i++) pc.printf("%d ",sbus.manualpwm[i]);
HARUKIDELTA	0:17f575135219	1540	//pc.printf("\r\n");
HARUKIDELTA	2:23daa5fa28b4	1541	//for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
HARUKIDELTA	0:17f575135219	1542	//for(uint8_t i=0; i<2; i++) pc.printf("%3.2f\t",nowAngle[i]); //ロール、ピッチのみ　小数点以下2ケタ
taknokolat	10:652071c20bf6	1543	//pc.printf("%d\t",autopwm[AIL_L]); // pc.printf("%d\t",autopwm[RUD]);
HARUKIDELTA	0:17f575135219	1544	//pc.printf("%d",g_distance);
HARUKIDELTA	0:17f575135219	1545
HARUKIDELTA	0:17f575135219	1546	//pc.printf("Mode: %c: ",g_buf[0]);
HARUKIDELTA	0:17f575135219	1547	//if(g_buf[0] == 'Y') pc.printf(" %3.1f",g_SerialTargetYAW);
taknokolat	10:652071c20bf6	1548	//pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	1549	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	20 Sep 2018
Imports:	0
Forks:	0
Commits:	25
Dependents:	0
Dependencies:	4
Followers:	23

main.cpp@24:3e7dcf16a6a7, 2018-09-20 (annotated)

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