zeroTHRの不具合を修正 28,29,30は使用不可
Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of Autoflight2018_30 by
main.cpp@21:18fe7bf9e187, 2018-09-19 (annotated)
- Committer:
- taknokolat
- Date:
- Wed Sep 19 05:34:41 2018 +0000
- Revision:
- 21:18fe7bf9e187
- Parent:
- 20:9393b0cfa44d
- Child:
- 22:438bedf24707
a
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
HARUKIDELTA | 0:17f575135219 | 1 | //mbed |
HARUKIDELTA | 0:17f575135219 | 2 | #include "mbed.h" |
HARUKIDELTA | 0:17f575135219 | 3 | #include "FATFileSystem.h" |
HARUKIDELTA | 0:17f575135219 | 4 | #include "SDFileSystem.h" |
HARUKIDELTA | 0:17f575135219 | 5 | //C |
HARUKIDELTA | 0:17f575135219 | 6 | #include "math.h" |
HARUKIDELTA | 0:17f575135219 | 7 | //sensor |
HARUKIDELTA | 0:17f575135219 | 8 | #include "MPU6050_DMP6.h" |
HARUKIDELTA | 0:17f575135219 | 9 | //#include "MPU9250.h" |
HARUKIDELTA | 0:17f575135219 | 10 | //#include "BMP280.h" |
HARUKIDELTA | 0:17f575135219 | 11 | #include "hcsr04.h" |
HARUKIDELTA | 0:17f575135219 | 12 | //device |
HARUKIDELTA | 0:17f575135219 | 13 | #include "sbus.h" |
HARUKIDELTA | 0:17f575135219 | 14 | //config |
HARUKIDELTA | 0:17f575135219 | 15 | #include "SkipperSv2.h" |
HARUKIDELTA | 0:17f575135219 | 16 | #include "falfalla.h" |
HARUKIDELTA | 0:17f575135219 | 17 | //other |
HARUKIDELTA | 0:17f575135219 | 18 | #include "pid.h" |
HARUKIDELTA | 0:17f575135219 | 19 | |
HARUKIDELTA | 0:17f575135219 | 20 | #define DEBUG_SEMIAUTO 0 |
HARUKIDELTA | 0:17f575135219 | 21 | #define DEBUG_PRINT_INLOOP 1 |
HARUKIDELTA | 0:17f575135219 | 22 | |
TUATBM | 9:f6367b7fd7be | 23 | #define KP_ELE 15.0 //2.0 |
HARUKIDELTA | 0:17f575135219 | 24 | #define KI_ELE 0.0 |
TUATBM | 9:f6367b7fd7be | 25 | #define KD_ELE 0.0 //0/0 |
HARUKIDELTA | 0:17f575135219 | 26 | #define KP_RUD 3.0 |
HARUKIDELTA | 0:17f575135219 | 27 | #define KI_RUD 0.0 |
HARUKIDELTA | 0:17f575135219 | 28 | #define KD_RUD 0.0 |
HARUKIDELTA | 2:23daa5fa28b4 | 29 | #define KP_AIL 0.1 |
HARUKIDELTA | 2:23daa5fa28b4 | 30 | #define KI_AIL 0.2 |
HARUKIDELTA | 2:23daa5fa28b4 | 31 | #define KD_AIL 0.2 |
taknokolat | 1:f383708a5a52 | 32 | |
HARUKIDELTA | 2:23daa5fa28b4 | 33 | //#define g_AIL_L_Ratio_rightloop 0.5 |
HARUKIDELTA | 0:17f575135219 | 34 | |
HARUKIDELTA | 0:17f575135219 | 35 | #define GAIN_CONTROLVALUE_TO_PWM 3.0 |
HARUKIDELTA | 0:17f575135219 | 36 | |
HARUKIDELTA | 0:17f575135219 | 37 | #define RIGHT_ROLL -12.0 |
TUATBM | 9:f6367b7fd7be | 38 | #define RIGHT_PITCH -10.0 //5.0 |
HARUKIDELTA | 0:17f575135219 | 39 | #define LEFT_ROLL 12.0 |
HARUKIDELTA | 0:17f575135219 | 40 | #define LEFT_PITCH -5.0 |
HARUKIDELTA | 0:17f575135219 | 41 | #define STRAIGHT_ROLL 4.0 |
HARUKIDELTA | 0:17f575135219 | 42 | #define STRAIGHT_PITCH 3.0 |
HARUKIDELTA | 0:17f575135219 | 43 | #define TAKEOFF_THR 0.8 |
HARUKIDELTA | 0:17f575135219 | 44 | #define LOOP_THR 0.6 |
HARUKIDELTA | 0:17f575135219 | 45 | |
HARUKIDELTA | 13:77b13d5f4d78 | 46 | //#define g_rightloopRUD 1500 |
HARUKIDELTA | 2:23daa5fa28b4 | 47 | |
HARUKIDELTA | 0:17f575135219 | 48 | #define RIGHT_ROLL_SHORT -12.0 |
HARUKIDELTA | 0:17f575135219 | 49 | #define RIGHT_PITCH_SHORT -5.0 |
HARUKIDELTA | 0:17f575135219 | 50 | #define LEFT_ROLL_SHORT 12.0 |
HARUKIDELTA | 0:17f575135219 | 51 | #define LEFT_PITCH_SHORT -5.0 |
HARUKIDELTA | 0:17f575135219 | 52 | |
HARUKIDELTA | 17:55249ea37dff | 53 | /*#define rightloopRUD 1300 //1250 |
HARUKIDELTA | 17:55249ea37dff | 54 | #define rightloopshortRUD 1250 |
HARUKIDELTA | 17:55249ea37dff | 55 | #define leftloopRUD 1500 |
HARUKIDELTA | 17:55249ea37dff | 56 | #define leftloopshortRUD 1500 |
HARUKIDELTA | 17:55249ea37dff | 57 | #define glideloopRUD 1300 |
HARUKIDELTA | 17:55249ea37dff | 58 | */ |
TUATBM | 9:f6367b7fd7be | 59 | #define AIL_R_correctionrightloop 0 |
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); |
HARUKIDELTA | 0:17f575135219 | 337 | NVIC_SetPriority(TIM5_IRQn,2); |
HARUKIDELTA | 0:17f575135219 | 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 | 21:18fe7bf9e187 | 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}; |
HARUKIDELTA | 0:17f575135219 | 376 | |
HARUKIDELTA | 0:17f575135219 | 377 | SensingMPU(); |
taknokolat | 10:652071c20bf6 | 378 | NVIC_DisableIRQ(USART2_IRQn); |
HARUKIDELTA | 0:17f575135219 | 379 | UpdateTargetAngle(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 380 | //Rotate(targetAngle, 30.0); |
HARUKIDELTA | 0:17f575135219 | 381 | CalculateControlValue(targetAngle, controlValue); |
taknokolat | 10:652071c20bf6 | 382 | NVIC_DisableIRQ(USART1_IRQn); |
HARUKIDELTA | 0:17f575135219 | 383 | UpdateAutoPWM(controlValue); |
taknokolat | 10:652071c20bf6 | 384 | NVIC_EnableIRQ(USART1_IRQn); |
taknokolat | 10:652071c20bf6 | 385 | NVIC_EnableIRQ(USART2_IRQn); |
taknokolat | 11:c0b9ad25d3db | 386 | wait_ms(23); |
taknokolat | 10:652071c20bf6 | 387 | pc.printf("%c",g_landingcommand); |
HARUKIDELTA | 0:17f575135219 | 388 | #if DEBUG_PRINT_INLOOP |
HARUKIDELTA | 18:cce82f3374fc | 389 | //Sbusprintf(); |
HARUKIDELTA | 0:17f575135219 | 390 | DebugPrint(); |
HARUKIDELTA | 0:17f575135219 | 391 | #endif |
HARUKIDELTA | 0:17f575135219 | 392 | } |
HARUKIDELTA | 0:17f575135219 | 393 | |
HARUKIDELTA | 0:17f575135219 | 394 | //サーボ初期化関数 |
HARUKIDELTA | 0:17f575135219 | 395 | void Init_servo(){ |
HARUKIDELTA | 0:17f575135219 | 396 | |
HARUKIDELTA | 0:17f575135219 | 397 | servo1.period_ms(14); |
HARUKIDELTA | 0:17f575135219 | 398 | servo1.pulsewidth_us(trimpwm[AIL_R]); |
HARUKIDELTA | 0:17f575135219 | 399 | |
HARUKIDELTA | 0:17f575135219 | 400 | servo2.period_ms(14); |
HARUKIDELTA | 0:17f575135219 | 401 | servo2.pulsewidth_us(trimpwm[ELE]); |
HARUKIDELTA | 0:17f575135219 | 402 | |
HARUKIDELTA | 0:17f575135219 | 403 | servo3.period_ms(14); |
HARUKIDELTA | 0:17f575135219 | 404 | servo3.pulsewidth_us(trimpwm[THR]); |
HARUKIDELTA | 0:17f575135219 | 405 | |
HARUKIDELTA | 0:17f575135219 | 406 | servo4.period_ms(14); |
HARUKIDELTA | 0:17f575135219 | 407 | servo4.pulsewidth_us(trimpwm[RUD]); |
HARUKIDELTA | 0:17f575135219 | 408 | |
HARUKIDELTA | 0:17f575135219 | 409 | servo5.period_ms(14); |
HARUKIDELTA | 0:17f575135219 | 410 | servo5.pulsewidth_us(1392); |
HARUKIDELTA | 0:17f575135219 | 411 | |
HARUKIDELTA | 0:17f575135219 | 412 | servo6.period_ms(14); |
HARUKIDELTA | 0:17f575135219 | 413 | servo6.pulsewidth_us(trimpwm[AIL_L]); |
HARUKIDELTA | 0:17f575135219 | 414 | |
HARUKIDELTA | 0:17f575135219 | 415 | pc.printf("servo initialized\r\n"); |
HARUKIDELTA | 0:17f575135219 | 416 | } |
HARUKIDELTA | 0:17f575135219 | 417 | |
HARUKIDELTA | 0:17f575135219 | 418 | //Sbus初期化 |
HARUKIDELTA | 0:17f575135219 | 419 | void Init_sbus(){ |
HARUKIDELTA | 0:17f575135219 | 420 | sbus.initialize(); |
HARUKIDELTA | 0:17f575135219 | 421 | sbus.setLastfuncPoint(Update_PWM); |
HARUKIDELTA | 0:17f575135219 | 422 | sbus.startInterrupt(); |
HARUKIDELTA | 0:17f575135219 | 423 | } |
HARUKIDELTA | 0:17f575135219 | 424 | |
HARUKIDELTA | 0:17f575135219 | 425 | void Init_sensors(){ |
HARUKIDELTA | 0:17f575135219 | 426 | if(mpu6050.setup() == -1){ |
HARUKIDELTA | 0:17f575135219 | 427 | pc.printf("failed initialize\r\n"); |
HARUKIDELTA | 0:17f575135219 | 428 | while(1){ |
HARUKIDELTA | 0:17f575135219 | 429 | led1 = 1; led2 = 0; led3 = 1; led4 = 0; |
HARUKIDELTA | 0:17f575135219 | 430 | wait(1); |
HARUKIDELTA | 0:17f575135219 | 431 | led1 = 0; led2 = 1; led3 = 0; led4 = 1; |
HARUKIDELTA | 0:17f575135219 | 432 | wait(1); |
HARUKIDELTA | 0:17f575135219 | 433 | } |
HARUKIDELTA | 0:17f575135219 | 434 | } |
HARUKIDELTA | 0:17f575135219 | 435 | } |
HARUKIDELTA | 0:17f575135219 | 436 | |
HARUKIDELTA | 0:17f575135219 | 437 | void Init_PWM(){ |
HARUKIDELTA | 0:17f575135219 | 438 | pc.printf("PWM initialized\r\n"); |
HARUKIDELTA | 0:17f575135219 | 439 | } |
HARUKIDELTA | 0:17f575135219 | 440 | |
HARUKIDELTA | 0:17f575135219 | 441 | void DisplayClock(){ |
HARUKIDELTA | 0:17f575135219 | 442 | pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000); |
HARUKIDELTA | 0:17f575135219 | 443 | pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000); |
HARUKIDELTA | 0:17f575135219 | 444 | pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000); |
HARUKIDELTA | 0:17f575135219 | 445 | pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000); |
HARUKIDELTA | 0:17f575135219 | 446 | pc.printf("\r\n"); |
HARUKIDELTA | 0:17f575135219 | 447 | } |
HARUKIDELTA | 0:17f575135219 | 448 | |
HARUKIDELTA | 0:17f575135219 | 449 | void UpdateTargetAngle(float targetAngle[3]){ |
HARUKIDELTA | 0:17f575135219 | 450 | static int16_t count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 451 | #if DEBUG_SEMIAUTO |
HARUKIDELTA | 0:17f575135219 | 452 | switch(operation_mode){ |
HARUKIDELTA | 0:17f575135219 | 453 | case StartUp: |
HARUKIDELTA | 0:17f575135219 | 454 | if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ |
HARUKIDELTA | 0:17f575135219 | 455 | count_op++; |
HARUKIDELTA | 0:17f575135219 | 456 | if(count_op > changeModeCount){ |
HARUKIDELTA | 0:17f575135219 | 457 | operation_mode = SemiAuto; |
HARUKIDELTA | 0:17f575135219 | 458 | pc.printf("Goto SemiAuto mode\r\n"); |
HARUKIDELTA | 0:17f575135219 | 459 | count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 460 | } |
HARUKIDELTA | 0:17f575135219 | 461 | }else count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 462 | break; |
HARUKIDELTA | 0:17f575135219 | 463 | |
HARUKIDELTA | 0:17f575135219 | 464 | case SemiAuto: |
HARUKIDELTA | 0:17f575135219 | 465 | /* 大会用では以下のif文を入れてoperation_modeを変える |
HARUKIDELTA | 0:17f575135219 | 466 | if(CheckSW_Up(Ch6)){ |
HARUKIDELTA | 0:17f575135219 | 467 | count_op++; |
HARUKIDELTA | 0:17f575135219 | 468 | if(count_op>changeModeCount){ |
HARUKIDELTA | 0:17f575135219 | 469 | output_status = XXX; |
HARUKIDELTA | 0:17f575135219 | 470 | led2 = 0; |
HARUKIDELTA | 0:17f575135219 | 471 | pc.printf("Goto XXX mode\r\n"); |
HARUKIDELTA | 0:17f575135219 | 472 | count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 473 | }else count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 474 | ConvertPWMintoRAD(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 475 | } |
HARUKIDELTA | 0:17f575135219 | 476 | */ |
HARUKIDELTA | 0:17f575135219 | 477 | ConvertPWMintoRAD(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 478 | break; |
HARUKIDELTA | 0:17f575135219 | 479 | |
HARUKIDELTA | 0:17f575135219 | 480 | default: |
HARUKIDELTA | 0:17f575135219 | 481 | operation_mode = SemiAuto; |
HARUKIDELTA | 0:17f575135219 | 482 | break; |
HARUKIDELTA | 0:17f575135219 | 483 | } |
HARUKIDELTA | 0:17f575135219 | 484 | |
HARUKIDELTA | 0:17f575135219 | 485 | #else |
HARUKIDELTA | 0:17f575135219 | 486 | |
HARUKIDELTA | 0:17f575135219 | 487 | switch(operation_mode){ |
HARUKIDELTA | 0:17f575135219 | 488 | case StartUp: |
HARUKIDELTA | 0:17f575135219 | 489 | 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 | 490 | count_op++; |
HARUKIDELTA | 0:17f575135219 | 491 | if(count_op > changeModeCount){ |
HARUKIDELTA | 0:17f575135219 | 492 | operation_mode = RightLoop; |
HARUKIDELTA | 0:17f575135219 | 493 | pc.printf("Goto RightLoop mode\r\n"); |
HARUKIDELTA | 0:17f575135219 | 494 | count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 495 | } |
HARUKIDELTA | 0:17f575135219 | 496 | }else count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 497 | break; |
HARUKIDELTA | 0:17f575135219 | 498 | |
HARUKIDELTA | 0:17f575135219 | 499 | case RightLoop: |
HARUKIDELTA | 0:17f575135219 | 500 | if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ |
HARUKIDELTA | 0:17f575135219 | 501 | count_op++; |
HARUKIDELTA | 0:17f575135219 | 502 | if(count_op > changeModeCount){ |
HARUKIDELTA | 0:17f575135219 | 503 | operation_mode = LeftLoop; |
HARUKIDELTA | 0:17f575135219 | 504 | pc.printf("Goto LeftLoop mode\r\n"); |
HARUKIDELTA | 0:17f575135219 | 505 | count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 506 | } |
HARUKIDELTA | 0:17f575135219 | 507 | }else count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 508 | UpdateTargetAngle_Rightloop(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 509 | |
HARUKIDELTA | 0:17f575135219 | 510 | break; |
HARUKIDELTA | 0:17f575135219 | 511 | |
HARUKIDELTA | 0:17f575135219 | 512 | case LeftLoop: |
HARUKIDELTA | 0:17f575135219 | 513 | if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ |
HARUKIDELTA | 0:17f575135219 | 514 | count_op++; |
HARUKIDELTA | 0:17f575135219 | 515 | if(count_op > changeModeCount){ |
HARUKIDELTA | 0:17f575135219 | 516 | operation_mode = GoStraight; |
HARUKIDELTA | 0:17f575135219 | 517 | pc.printf("Goto GoStraight mode\r\n"); |
HARUKIDELTA | 0:17f575135219 | 518 | count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 519 | } |
HARUKIDELTA | 0:17f575135219 | 520 | }else count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 521 | UpdateTargetAngle_Leftloop(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 522 | break; |
HARUKIDELTA | 0:17f575135219 | 523 | |
HARUKIDELTA | 0:17f575135219 | 524 | case GoStraight: |
HARUKIDELTA | 0:17f575135219 | 525 | if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ |
HARUKIDELTA | 0:17f575135219 | 526 | count_op++; |
HARUKIDELTA | 0:17f575135219 | 527 | if(count_op > changeModeCount){ |
HARUKIDELTA | 0:17f575135219 | 528 | operation_mode = Moebius; |
HARUKIDELTA | 0:17f575135219 | 529 | pc.printf("Goto Moebius mode\r\n"); |
HARUKIDELTA | 0:17f575135219 | 530 | count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 531 | } |
HARUKIDELTA | 0:17f575135219 | 532 | }else count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 533 | UpdateTargetAngle_GoStraight(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 534 | break; |
HARUKIDELTA | 0:17f575135219 | 535 | |
HARUKIDELTA | 0:17f575135219 | 536 | case Moebius: |
HARUKIDELTA | 0:17f575135219 | 537 | if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ |
HARUKIDELTA | 0:17f575135219 | 538 | count_op++; |
HARUKIDELTA | 0:17f575135219 | 539 | if(count_op > changeModeCount){ |
HARUKIDELTA | 0:17f575135219 | 540 | operation_mode = Glide; |
HARUKIDELTA | 0:17f575135219 | 541 | pc.printf("Goto Glide mode\r\n"); |
HARUKIDELTA | 0:17f575135219 | 542 | count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 543 | } |
HARUKIDELTA | 0:17f575135219 | 544 | }else count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 545 | UpdateTargetAngle_Moebius(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 546 | break; |
HARUKIDELTA | 0:17f575135219 | 547 | |
HARUKIDELTA | 0:17f575135219 | 548 | case Glide: |
HARUKIDELTA | 0:17f575135219 | 549 | if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ |
HARUKIDELTA | 0:17f575135219 | 550 | count_op++; |
HARUKIDELTA | 0:17f575135219 | 551 | if(count_op > changeModeCount){ |
HARUKIDELTA | 0:17f575135219 | 552 | operation_mode = BombwithPC; |
HARUKIDELTA | 0:17f575135219 | 553 | pc.printf("Goto Bombing mode\r\n"); |
HARUKIDELTA | 0:17f575135219 | 554 | count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 555 | } |
HARUKIDELTA | 0:17f575135219 | 556 | }else count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 557 | UpdateTargetAngle_Glide(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 558 | break; |
HARUKIDELTA | 0:17f575135219 | 559 | |
HARUKIDELTA | 0:17f575135219 | 560 | case BombwithPC: |
HARUKIDELTA | 0:17f575135219 | 561 | if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ |
HARUKIDELTA | 0:17f575135219 | 562 | count_op++; |
HARUKIDELTA | 0:17f575135219 | 563 | if(count_op > changeModeCount){ |
HARUKIDELTA | 0:17f575135219 | 564 | operation_mode = RightLoop; |
HARUKIDELTA | 0:17f575135219 | 565 | pc.printf("Goto RightLoop mode\r\n"); |
HARUKIDELTA | 0:17f575135219 | 566 | count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 567 | } |
HARUKIDELTA | 0:17f575135219 | 568 | }else count_op = 0; |
HARUKIDELTA | 0:17f575135219 | 569 | Take_off_and_landing(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 570 | break; |
HARUKIDELTA | 0:17f575135219 | 571 | |
HARUKIDELTA | 0:17f575135219 | 572 | default: |
HARUKIDELTA | 0:17f575135219 | 573 | operation_mode = StartUp; |
HARUKIDELTA | 0:17f575135219 | 574 | break; |
HARUKIDELTA | 0:17f575135219 | 575 | } |
HARUKIDELTA | 0:17f575135219 | 576 | #endif |
HARUKIDELTA | 0:17f575135219 | 577 | |
HARUKIDELTA | 0:17f575135219 | 578 | if(CheckSW_Up(Ch7)){ |
HARUKIDELTA | 0:17f575135219 | 579 | output_status = Auto; |
HARUKIDELTA | 0:17f575135219 | 580 | led1 = 1; |
HARUKIDELTA | 0:17f575135219 | 581 | }else{ |
HARUKIDELTA | 0:17f575135219 | 582 | output_status = Manual; |
HARUKIDELTA | 0:17f575135219 | 583 | led1 = 0; |
HARUKIDELTA | 0:17f575135219 | 584 | } |
HARUKIDELTA | 0:17f575135219 | 585 | } |
HARUKIDELTA | 0:17f575135219 | 586 | |
HARUKIDELTA | 0:17f575135219 | 587 | int GetParameter(FILE *fp, const char *paramName,char parameter[]){ |
HARUKIDELTA | 0:17f575135219 | 588 | int i=0, j=0; |
HARUKIDELTA | 0:17f575135219 | 589 | int strmax = 200; |
HARUKIDELTA | 0:17f575135219 | 590 | char str[strmax]; |
HARUKIDELTA | 0:17f575135219 | 591 | |
HARUKIDELTA | 0:17f575135219 | 592 | rewind(fp); //ファイル位置を先頭に |
HARUKIDELTA | 0:17f575135219 | 593 | while(1){ |
HARUKIDELTA | 0:17f575135219 | 594 | if (fgets(str, strmax, fp) == NULL) { |
HARUKIDELTA | 0:17f575135219 | 595 | return 0; |
HARUKIDELTA | 0:17f575135219 | 596 | } |
HARUKIDELTA | 0:17f575135219 | 597 | if (!strncmp(str, paramName, strlen(paramName))) { |
HARUKIDELTA | 0:17f575135219 | 598 | while (str[i++] != '=') {} |
HARUKIDELTA | 0:17f575135219 | 599 | while (str[i] != '\n') { |
HARUKIDELTA | 0:17f575135219 | 600 | parameter[j++] = str[i++]; |
HARUKIDELTA | 0:17f575135219 | 601 | } |
HARUKIDELTA | 0:17f575135219 | 602 | parameter[j] = '\0'; |
HARUKIDELTA | 0:17f575135219 | 603 | return 1; |
HARUKIDELTA | 0:17f575135219 | 604 | } |
HARUKIDELTA | 0:17f575135219 | 605 | } |
HARUKIDELTA | 0:17f575135219 | 606 | return 0; |
HARUKIDELTA | 0:17f575135219 | 607 | } |
HARUKIDELTA | 0:17f575135219 | 608 | |
HARUKIDELTA | 0:17f575135219 | 609 | |
HARUKIDELTA | 0:17f575135219 | 610 | //sdによる設定 |
HARUKIDELTA | 0:17f575135219 | 611 | int SetOptions(float *g_kpELE, float *g_kiELE, float *g_kdELE, |
HARUKIDELTA | 0:17f575135219 | 612 | float *g_kpRUD, float *g_kiRUD, float *g_kdRUD, |
HARUKIDELTA | 0:17f575135219 | 613 | float *g_rightloopROLL, float *g_rightloopPITCH, |
HARUKIDELTA | 0:17f575135219 | 614 | float *g_leftloopROLL, float *g_leftloopPITCH, |
HARUKIDELTA | 0:17f575135219 | 615 | float *g_gostraightROLL, float *g_gostraightPITCH, |
HARUKIDELTA | 0:17f575135219 | 616 | float *g_takeoffTHR, float *g_loopTHR, |
HARUKIDELTA | 0:17f575135219 | 617 | float *g_rightloopROLLshort, float *g_rightloopPITCHshort, |
HARUKIDELTA | 0:17f575135219 | 618 | float *g_leftloopROLLshort, float *g_leftloopPITCHshort, |
HARUKIDELTA | 12:763bf416ba4b | 619 | float *g_glideloopROLL, float *g_glideloopPITCH, |
HARUKIDELTA | 13:77b13d5f4d78 | 620 | float *g_kpAIL, float *g_kiAIL, float *g_kdAIL, |
HARUKIDELTA | 13:77b13d5f4d78 | 621 | int *g_rightloopRUD, int *g_rightloopshortRUD, |
HARUKIDELTA | 13:77b13d5f4d78 | 622 | int *g_leftloopRUD, int *g_leftloopshortRUD, |
HARUKIDELTA | 13:77b13d5f4d78 | 623 | int *g_glideloopRUD, |
HARUKIDELTA | 13:77b13d5f4d78 | 624 | int *g_AIL_L_correctionrightloop,int *g_AIL_L_correctionrightloopshort, |
HARUKIDELTA | 13:77b13d5f4d78 | 625 | int *g_AIL_L_correctionleftloop,int *g_AIL_L_correctionleftloopshort |
HARUKIDELTA | 0:17f575135219 | 626 | ){ |
HARUKIDELTA | 0:17f575135219 | 627 | |
HARUKIDELTA | 0:17f575135219 | 628 | pc.printf("SDsetup start.\r\n"); |
HARUKIDELTA | 0:17f575135219 | 629 | |
HARUKIDELTA | 0:17f575135219 | 630 | FILE *fp; |
HARUKIDELTA | 13:77b13d5f4d78 | 631 | char parameter[40]; //文字列渡す用の配列 |
HARUKIDELTA | 0:17f575135219 | 632 | int SDerrorcount = 0; //取得できなかった数を返す |
HARUKIDELTA | 0:17f575135219 | 633 | const char *paramNames[] = { |
HARUKIDELTA | 0:17f575135219 | 634 | "KP_ELEVATOR", |
HARUKIDELTA | 0:17f575135219 | 635 | "KI_ELEVATOR", |
HARUKIDELTA | 0:17f575135219 | 636 | "KD_ELEVATOR", |
HARUKIDELTA | 0:17f575135219 | 637 | "KP_RUDDER", |
HARUKIDELTA | 0:17f575135219 | 638 | "KI_RUDDER", |
HARUKIDELTA | 0:17f575135219 | 639 | "KD_RUDDER", |
HARUKIDELTA | 0:17f575135219 | 640 | "RIGHTLOOP_ROLL", |
HARUKIDELTA | 0:17f575135219 | 641 | "RIGHTLOOP_PITCH", |
HARUKIDELTA | 0:17f575135219 | 642 | "LEFTLOOP_ROLL", |
HARUKIDELTA | 0:17f575135219 | 643 | "LEFTLOOP_PITCH", |
HARUKIDELTA | 0:17f575135219 | 644 | "GOSTRAIGHT_ROLL", |
HARUKIDELTA | 0:17f575135219 | 645 | "GOSTRAIGHT_PITCH", |
HARUKIDELTA | 0:17f575135219 | 646 | "TAKEOFF_THR_RATE", |
HARUKIDELTA | 0:17f575135219 | 647 | "LOOP_THR_RATE", |
HARUKIDELTA | 0:17f575135219 | 648 | "RIGHTLOOP_ROLL_SHORT", |
HARUKIDELTA | 0:17f575135219 | 649 | "RIGHTLOOP_PITCH_SHORT", |
HARUKIDELTA | 0:17f575135219 | 650 | "LEFTLOOP_ROLL_SHORT", |
HARUKIDELTA | 0:17f575135219 | 651 | "LEFTLOOP_PITCH_SHORT", |
HARUKIDELTA | 0:17f575135219 | 652 | "AUTOGLIDE_ROLL", |
HARUKIDELTA | 12:763bf416ba4b | 653 | "AUTOGLIDE PITCH", |
HARUKIDELTA | 12:763bf416ba4b | 654 | "KP_AILERON", |
HARUKIDELTA | 12:763bf416ba4b | 655 | "KI_AILERON", |
HARUKIDELTA | 13:77b13d5f4d78 | 656 | "KD_AILERON", |
HARUKIDELTA | 13:77b13d5f4d78 | 657 | "RIGHTLOOP_RUDDER", |
HARUKIDELTA | 13:77b13d5f4d78 | 658 | "RIGHTLOOPSHORT_RUDDER", |
HARUKIDELTA | 13:77b13d5f4d78 | 659 | "LEFTLOOP_RUDDER", |
HARUKIDELTA | 13:77b13d5f4d78 | 660 | "LEFTLOOPSHORT_RUDDER", |
HARUKIDELTA | 13:77b13d5f4d78 | 661 | "GLIDELOOP_RUDDER", |
HARUKIDELTA | 13:77b13d5f4d78 | 662 | "AILERON_LEFT_CORRECTION_RIGHTLOOP", |
HARUKIDELTA | 13:77b13d5f4d78 | 663 | "AILERON_LEFT_CORRECTION_RIGHTLOOPSHORT", |
HARUKIDELTA | 13:77b13d5f4d78 | 664 | "AILERON_LEFT_CORRECTION_LEFTLOOP", |
HARUKIDELTA | 13:77b13d5f4d78 | 665 | "AILERON_LEFT_CORRECTION_LEFTLOOPSHORT" |
HARUKIDELTA | 0:17f575135219 | 666 | }; |
HARUKIDELTA | 0:17f575135219 | 667 | |
HARUKIDELTA | 0:17f575135219 | 668 | fp = fopen("/sd/option.txt","r"); |
HARUKIDELTA | 0:17f575135219 | 669 | |
HARUKIDELTA | 0:17f575135219 | 670 | if(fp != NULL){ //開けたら |
HARUKIDELTA | 0:17f575135219 | 671 | pc.printf("File was openned.\r\n"); |
HARUKIDELTA | 0:17f575135219 | 672 | if(GetParameter(fp,paramNames[0],parameter)) *g_kpELE = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 673 | else{ *g_kpELE = KP_ELE; |
HARUKIDELTA | 0:17f575135219 | 674 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 675 | } |
HARUKIDELTA | 0:17f575135219 | 676 | if(GetParameter(fp,paramNames[1],parameter)) *g_kiELE = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 677 | else{ *g_kiELE = KI_ELE; |
HARUKIDELTA | 0:17f575135219 | 678 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 679 | } |
HARUKIDELTA | 0:17f575135219 | 680 | if(GetParameter(fp,paramNames[2],parameter)) *g_kdELE = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 681 | else{ *g_kdELE = KD_ELE; |
HARUKIDELTA | 0:17f575135219 | 682 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 683 | } |
HARUKIDELTA | 0:17f575135219 | 684 | if(GetParameter(fp,paramNames[3],parameter)) *g_kpRUD = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 685 | else{ *g_kpRUD = KP_RUD; |
HARUKIDELTA | 0:17f575135219 | 686 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 687 | } |
HARUKIDELTA | 0:17f575135219 | 688 | if(GetParameter(fp,paramNames[4],parameter)) *g_kiRUD = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 689 | else{ *g_kiRUD = KI_RUD; |
HARUKIDELTA | 0:17f575135219 | 690 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 691 | } |
HARUKIDELTA | 0:17f575135219 | 692 | if(GetParameter(fp,paramNames[5],parameter)) *g_kdRUD = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 693 | else{ *g_kdRUD = KD_RUD; |
HARUKIDELTA | 0:17f575135219 | 694 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 695 | } |
HARUKIDELTA | 0:17f575135219 | 696 | if(GetParameter(fp,paramNames[6],parameter)) *g_rightloopROLL = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 697 | else{ *g_rightloopROLL = RIGHT_ROLL; |
HARUKIDELTA | 0:17f575135219 | 698 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 699 | } |
HARUKIDELTA | 0:17f575135219 | 700 | if(GetParameter(fp,paramNames[7],parameter)) *g_rightloopPITCH = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 701 | else{ *g_rightloopPITCH = RIGHT_PITCH; |
HARUKIDELTA | 0:17f575135219 | 702 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 703 | } |
HARUKIDELTA | 0:17f575135219 | 704 | if(GetParameter(fp,paramNames[8],parameter)) *g_leftloopROLL = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 705 | else{ *g_leftloopROLL = LEFT_ROLL; |
HARUKIDELTA | 0:17f575135219 | 706 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 707 | } |
HARUKIDELTA | 0:17f575135219 | 708 | if(GetParameter(fp,paramNames[9],parameter)) *g_leftloopPITCH = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 709 | else{ *g_leftloopPITCH = LEFT_PITCH; |
HARUKIDELTA | 0:17f575135219 | 710 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 711 | } |
HARUKIDELTA | 0:17f575135219 | 712 | if(GetParameter(fp,paramNames[10],parameter)) *g_gostraightROLL = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 713 | else{ *g_gostraightROLL = STRAIGHT_ROLL; |
HARUKIDELTA | 0:17f575135219 | 714 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 715 | } |
HARUKIDELTA | 0:17f575135219 | 716 | if(GetParameter(fp,paramNames[11],parameter)) *g_gostraightPITCH = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 717 | else{ *g_gostraightPITCH = STRAIGHT_PITCH; |
HARUKIDELTA | 0:17f575135219 | 718 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 719 | } |
HARUKIDELTA | 0:17f575135219 | 720 | if(GetParameter(fp,paramNames[12],parameter)) *g_takeoffTHR = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 721 | else{ *g_takeoffTHR = TAKEOFF_THR; |
HARUKIDELTA | 0:17f575135219 | 722 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 723 | } |
HARUKIDELTA | 0:17f575135219 | 724 | if(GetParameter(fp,paramNames[13],parameter)) *g_loopTHR = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 725 | else{ *g_loopTHR = LOOP_THR; |
HARUKIDELTA | 0:17f575135219 | 726 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 727 | } |
HARUKIDELTA | 0:17f575135219 | 728 | if(GetParameter(fp,paramNames[14],parameter)) *g_rightloopROLLshort = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 729 | else{ *g_rightloopROLLshort = RIGHT_ROLL_SHORT; |
HARUKIDELTA | 0:17f575135219 | 730 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 731 | } |
HARUKIDELTA | 0:17f575135219 | 732 | if(GetParameter(fp,paramNames[15],parameter)) *g_rightloopPITCHshort = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 733 | else{ *g_rightloopPITCHshort = RIGHT_PITCH_SHORT; |
HARUKIDELTA | 0:17f575135219 | 734 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 735 | } |
HARUKIDELTA | 0:17f575135219 | 736 | if(GetParameter(fp,paramNames[16],parameter)) *g_leftloopROLLshort = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 737 | else{ *g_leftloopROLLshort = LEFT_ROLL_SHORT; |
HARUKIDELTA | 0:17f575135219 | 738 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 739 | } |
HARUKIDELTA | 0:17f575135219 | 740 | if(GetParameter(fp,paramNames[17],parameter)) *g_leftloopPITCHshort = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 741 | else{ *g_leftloopPITCHshort = LEFT_PITCH_SHORT; |
HARUKIDELTA | 0:17f575135219 | 742 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 743 | } |
HARUKIDELTA | 0:17f575135219 | 744 | if(GetParameter(fp,paramNames[18],parameter)) *g_glideloopROLL = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 745 | else{ *g_glideloopROLL = GLIDE_ROLL; |
HARUKIDELTA | 0:17f575135219 | 746 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 747 | } |
HARUKIDELTA | 0:17f575135219 | 748 | if(GetParameter(fp,paramNames[19],parameter)) *g_glideloopPITCH = atof(parameter); |
HARUKIDELTA | 0:17f575135219 | 749 | else{ *g_glideloopPITCH = GLIDE_PITCH; |
HARUKIDELTA | 0:17f575135219 | 750 | SDerrorcount++; |
HARUKIDELTA | 0:17f575135219 | 751 | } |
HARUKIDELTA | 18:cce82f3374fc | 752 | if(GetParameter(fp,paramNames[20],parameter)) *g_kpAIL = atof(parameter); |
HARUKIDELTA | 12:763bf416ba4b | 753 | else{ *g_kpAIL = KP_AIL; |
HARUKIDELTA | 12:763bf416ba4b | 754 | SDerrorcount++; |
HARUKIDELTA | 12:763bf416ba4b | 755 | } |
HARUKIDELTA | 12:763bf416ba4b | 756 | if(GetParameter(fp,paramNames[21],parameter)) *g_kiAIL = atof(parameter); |
HARUKIDELTA | 12:763bf416ba4b | 757 | else{ *g_kiAIL = KI_AIL; |
HARUKIDELTA | 12:763bf416ba4b | 758 | SDerrorcount++; |
HARUKIDELTA | 12:763bf416ba4b | 759 | } |
HARUKIDELTA | 12:763bf416ba4b | 760 | if(GetParameter(fp,paramNames[22],parameter)) *g_kdAIL = atof(parameter); |
HARUKIDELTA | 12:763bf416ba4b | 761 | else{ *g_kdAIL = KP_AIL; |
HARUKIDELTA | 12:763bf416ba4b | 762 | SDerrorcount++; |
HARUKIDELTA | 12:763bf416ba4b | 763 | } |
HARUKIDELTA | 13:77b13d5f4d78 | 764 | if(GetParameter(fp,paramNames[23],parameter)) *g_rightloopRUD = atof(parameter); |
HARUKIDELTA | 13:77b13d5f4d78 | 765 | else{ *g_rightloopRUD = RIGHTLOOP_RUD; |
HARUKIDELTA | 13:77b13d5f4d78 | 766 | SDerrorcount++; |
HARUKIDELTA | 13:77b13d5f4d78 | 767 | } |
HARUKIDELTA | 13:77b13d5f4d78 | 768 | if(GetParameter(fp,paramNames[24],parameter)) *g_rightloopshortRUD = atof(parameter); |
HARUKIDELTA | 13:77b13d5f4d78 | 769 | else{ *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD; |
HARUKIDELTA | 13:77b13d5f4d78 | 770 | SDerrorcount++; |
HARUKIDELTA | 13:77b13d5f4d78 | 771 | } |
HARUKIDELTA | 13:77b13d5f4d78 | 772 | if(GetParameter(fp,paramNames[25],parameter)) *g_leftloopRUD = atof(parameter); |
HARUKIDELTA | 13:77b13d5f4d78 | 773 | else{ *g_leftloopshortRUD = LEFTLOOP_RUD; |
HARUKIDELTA | 13:77b13d5f4d78 | 774 | SDerrorcount++; |
HARUKIDELTA | 13:77b13d5f4d78 | 775 | } |
HARUKIDELTA | 13:77b13d5f4d78 | 776 | if(GetParameter(fp,paramNames[26],parameter)) *g_leftloopshortRUD = atof(parameter); |
HARUKIDELTA | 13:77b13d5f4d78 | 777 | else{ *g_leftloopshortRUD = LEFTLOOPSHORT_RUD; |
HARUKIDELTA | 13:77b13d5f4d78 | 778 | SDerrorcount++; |
HARUKIDELTA | 13:77b13d5f4d78 | 779 | } |
HARUKIDELTA | 13:77b13d5f4d78 | 780 | if(GetParameter(fp,paramNames[27],parameter)) *g_glideloopRUD = atof(parameter); |
HARUKIDELTA | 13:77b13d5f4d78 | 781 | else{ *g_glideloopRUD = GLIDELOOP_RUD; |
HARUKIDELTA | 13:77b13d5f4d78 | 782 | SDerrorcount++; |
HARUKIDELTA | 13:77b13d5f4d78 | 783 | } |
HARUKIDELTA | 13:77b13d5f4d78 | 784 | if(GetParameter(fp,paramNames[28],parameter)) *g_AIL_L_correctionrightloop = atof(parameter); |
HARUKIDELTA | 13:77b13d5f4d78 | 785 | else{ *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP; |
HARUKIDELTA | 13:77b13d5f4d78 | 786 | SDerrorcount++; |
HARUKIDELTA | 13:77b13d5f4d78 | 787 | } |
HARUKIDELTA | 13:77b13d5f4d78 | 788 | if(GetParameter(fp,paramNames[29],parameter)) *g_AIL_L_correctionrightloopshort = atof(parameter); |
HARUKIDELTA | 13:77b13d5f4d78 | 789 | else{ *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT; |
HARUKIDELTA | 13:77b13d5f4d78 | 790 | SDerrorcount++; |
HARUKIDELTA | 13:77b13d5f4d78 | 791 | } |
HARUKIDELTA | 13:77b13d5f4d78 | 792 | if(GetParameter(fp,paramNames[30],parameter)) *g_AIL_L_correctionleftloop = atof(parameter); |
HARUKIDELTA | 13:77b13d5f4d78 | 793 | else{ *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP; |
HARUKIDELTA | 13:77b13d5f4d78 | 794 | SDerrorcount++; |
HARUKIDELTA | 13:77b13d5f4d78 | 795 | } |
HARUKIDELTA | 13:77b13d5f4d78 | 796 | if(GetParameter(fp,paramNames[31],parameter)) *g_AIL_L_correctionleftloopshort = atof(parameter); |
HARUKIDELTA | 13:77b13d5f4d78 | 797 | else{ *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT; |
HARUKIDELTA | 13:77b13d5f4d78 | 798 | SDerrorcount++; |
HARUKIDELTA | 13:77b13d5f4d78 | 799 | } |
HARUKIDELTA | 13:77b13d5f4d78 | 800 | |
HARUKIDELTA | 0:17f575135219 | 801 | fclose(fp); |
HARUKIDELTA | 0:17f575135219 | 802 | |
HARUKIDELTA | 0:17f575135219 | 803 | }else{ //ファイルがなかったら |
HARUKIDELTA | 0:17f575135219 | 804 | pc.printf("fp was null.\r\n"); |
HARUKIDELTA | 0:17f575135219 | 805 | *g_kpELE = KP_ELE; |
HARUKIDELTA | 0:17f575135219 | 806 | *g_kiELE = KI_ELE; |
HARUKIDELTA | 0:17f575135219 | 807 | *g_kdELE = KD_ELE; |
HARUKIDELTA | 0:17f575135219 | 808 | *g_kpRUD = KP_RUD; |
HARUKIDELTA | 0:17f575135219 | 809 | *g_kiRUD = KI_RUD; |
HARUKIDELTA | 0:17f575135219 | 810 | *g_kdRUD = KD_RUD; |
HARUKIDELTA | 0:17f575135219 | 811 | *g_rightloopROLL = RIGHT_ROLL; |
HARUKIDELTA | 0:17f575135219 | 812 | *g_rightloopPITCH = RIGHT_PITCH; |
HARUKIDELTA | 0:17f575135219 | 813 | *g_leftloopROLL = LEFT_ROLL; |
HARUKIDELTA | 0:17f575135219 | 814 | *g_leftloopPITCH = LEFT_PITCH; |
HARUKIDELTA | 0:17f575135219 | 815 | *g_gostraightROLL = STRAIGHT_ROLL; |
HARUKIDELTA | 0:17f575135219 | 816 | *g_gostraightPITCH = STRAIGHT_PITCH; |
HARUKIDELTA | 0:17f575135219 | 817 | *g_takeoffTHR = TAKEOFF_THR; |
HARUKIDELTA | 0:17f575135219 | 818 | *g_loopTHR = LOOP_THR; |
HARUKIDELTA | 12:763bf416ba4b | 819 | *g_kpAIL = KP_AIL; //パラメータ変えるのお忘れなく!! |
HARUKIDELTA | 12:763bf416ba4b | 820 | *g_kiAIL = KI_AIL; |
HARUKIDELTA | 12:763bf416ba4b | 821 | *g_kdAIL = KD_AIL; |
HARUKIDELTA | 13:77b13d5f4d78 | 822 | *g_rightloopRUD = RIGHTLOOP_RUD; |
HARUKIDELTA | 13:77b13d5f4d78 | 823 | *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD; |
HARUKIDELTA | 13:77b13d5f4d78 | 824 | *g_leftloopRUD = LEFTLOOP_RUD; |
HARUKIDELTA | 13:77b13d5f4d78 | 825 | *g_leftloopshortRUD = LEFTLOOPSHORT_RUD; |
HARUKIDELTA | 13:77b13d5f4d78 | 826 | *g_glideloopRUD = GLIDELOOP_RUD; |
HARUKIDELTA | 13:77b13d5f4d78 | 827 | *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP; |
HARUKIDELTA | 13:77b13d5f4d78 | 828 | *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT; |
HARUKIDELTA | 13:77b13d5f4d78 | 829 | *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP; |
HARUKIDELTA | 13:77b13d5f4d78 | 830 | *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT; |
HARUKIDELTA | 13:77b13d5f4d78 | 831 | |
HARUKIDELTA | 13:77b13d5f4d78 | 832 | |
HARUKIDELTA | 0:17f575135219 | 833 | SDerrorcount = -1; |
HARUKIDELTA | 0:17f575135219 | 834 | } |
HARUKIDELTA | 0:17f575135219 | 835 | pc.printf("SDsetup finished.\r\n"); |
HARUKIDELTA | 0:17f575135219 | 836 | if(SDerrorcount == 0) pc.printf("setting option is success\r\n"); |
HARUKIDELTA | 0:17f575135219 | 837 | else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n"); |
HARUKIDELTA | 0:17f575135219 | 838 | else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount); |
HARUKIDELTA | 0:17f575135219 | 839 | |
HARUKIDELTA | 0:17f575135219 | 840 | pc.printf("kpELE = %f, kiELE = %f, kdELE = %f\r\n", *g_kpRUD, *g_kiRUD, *g_kdRUD); |
HARUKIDELTA | 0:17f575135219 | 841 | pc.printf("kpRUD = %f, kiRUD = %f, kdRUD = %f\r\n", *g_kpELE, *g_kiELE, *g_kdELE); |
HARUKIDELTA | 0:17f575135219 | 842 | pc.printf("rightloopROLL = %f, rightloopPITCH = %f\r\n", *g_rightloopROLL, *g_rightloopPITCH); |
HARUKIDELTA | 0:17f575135219 | 843 | pc.printf("leftloopROLL = %f, g_leftloopPITCH = %f\r\n", *g_leftloopROLL, *g_leftloopPITCH); |
HARUKIDELTA | 0:17f575135219 | 844 | pc.printf("gostraightROLL = %f, g_gostraightPITCH = %f\r\n", *g_gostraightROLL, *g_gostraightPITCH); |
HARUKIDELTA | 0:17f575135219 | 845 | pc.printf("g_takeoffTHR = %f, g_loopTHR = %f\r\n", *g_takeoffTHR, *g_loopTHR); |
HARUKIDELTA | 0:17f575135219 | 846 | pc.printf("rightloopROLLshort = %f, rightloopPITCHshort = %f\r\n", *g_rightloopROLLshort, *g_rightloopPITCHshort); |
HARUKIDELTA | 0:17f575135219 | 847 | pc.printf("leftloopROLLshort = %f, g_leftloopPITCHshort = %f\r\n", *g_leftloopROLLshort, *g_leftloopPITCHshort); |
HARUKIDELTA | 0:17f575135219 | 848 | pc.printf("glideROLL = %f, glidePITCH = %f\r\n", *g_glideloopROLL, *g_glideloopPITCH); |
HARUKIDELTA | 16:7fca5b938da6 | 849 | pc.printf("kpAIL = %f,kiAIL = %f,kdAIL = %f\r\n ",*g_kpAIL,*g_kiAIL,*g_kdAIL); |
HARUKIDELTA | 16:7fca5b938da6 | 850 | pc.printf("RIGHTLOOPRUD = %d,RIGHTLOOPSHORTRUD = %d\r\n",*g_rightloopRUD,*g_rightloopshortRUD); |
HARUKIDELTA | 16:7fca5b938da6 | 851 | pc.printf("LEFTTLOOPRUD = %d,LEFTLOOPSHORTRUD = %d\r\n",*g_leftloopRUD,*g_leftloopshortRUD); |
HARUKIDELTA | 16:7fca5b938da6 | 852 | pc.printf("GLIDELOOPRUD = %d\r\n",*g_glideloopRUD); |
HARUKIDELTA | 16:7fca5b938da6 | 853 | 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 | 854 | 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 | 855 | return SDerrorcount; |
HARUKIDELTA | 0:17f575135219 | 856 | } |
HARUKIDELTA | 0:17f575135219 | 857 | |
HARUKIDELTA | 0:17f575135219 | 858 | void CalculateControlValue(float targetAngle[3], float controlValue[3]){ |
HARUKIDELTA | 0:17f575135219 | 859 | static int t_last; |
HARUKIDELTA | 0:17f575135219 | 860 | int t_now; |
HARUKIDELTA | 0:17f575135219 | 861 | float dt; |
HARUKIDELTA | 0:17f575135219 | 862 | |
HARUKIDELTA | 0:17f575135219 | 863 | t_now = t.read_us(); |
HARUKIDELTA | 0:17f575135219 | 864 | dt = (float)((t_now - t_last)/1000000.0f) ; |
HARUKIDELTA | 0:17f575135219 | 865 | t_last = t_now; |
HARUKIDELTA | 0:17f575135219 | 866 | |
taknokolat | 1:f383708a5a52 | 867 | |
taknokolat | 1:f383708a5a52 | 868 | //controlValue[ROLL] = pid_RUD.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); |
taknokolat | 1:f383708a5a52 | 869 | controlValue[ROLL] = pid_AIL.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); //エルロンでロール制御 |
HARUKIDELTA | 0:17f575135219 | 870 | controlValue[PITCH] = pid_ELE.calcPID(nowAngle[PITCH], targetAngle[PITCH], dt); |
HARUKIDELTA | 0:17f575135219 | 871 | } |
HARUKIDELTA | 0:17f575135219 | 872 | |
HARUKIDELTA | 0:17f575135219 | 873 | void UpdateAutoPWM(float controlValue[3]){ |
HARUKIDELTA | 0:17f575135219 | 874 | int16_t addpwm[2]; //-500~500 |
HARUKIDELTA | 0:17f575135219 | 875 | 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 | 876 | 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 | 877 | |
HARUKIDELTA | 2:23daa5fa28b4 | 878 | autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH]; //rewrite |
HARUKIDELTA | 8:66bba39b95a9 | 879 | autopwm[AIL_R] = trimpwm[AIL_R] - reverce[AIL_R] * addpwm[ROLL]; |
HARUKIDELTA | 0:17f575135219 | 880 | //autopwm[THR] = oldTHR; |
HARUKIDELTA | 0:17f575135219 | 881 | |
HARUKIDELTA | 0:17f575135219 | 882 | autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]); |
taknokolat | 1:f383708a5a52 | 883 | autopwm[AIL_R] = ThresholdMaxMin(autopwm[AIL_R], maxpwm[AIL_R], minpwm[AIL_R]); |
HARUKIDELTA | 2:23daa5fa28b4 | 884 | |
HARUKIDELTA | 0:17f575135219 | 885 | } |
HARUKIDELTA | 0:17f575135219 | 886 | |
HARUKIDELTA | 0:17f575135219 | 887 | inline float CalcRatio(float value, float trim, float limit){ |
HARUKIDELTA | 0:17f575135219 | 888 | return (value - trim) / (limit - trim); |
HARUKIDELTA | 0:17f575135219 | 889 | } |
HARUKIDELTA | 0:17f575135219 | 890 | |
HARUKIDELTA | 0:17f575135219 | 891 | bool CheckSW_Up(Channel ch){ |
HARUKIDELTA | 0:17f575135219 | 892 | if(SWITCH_CHECK < sbus.manualpwm[ch]){ |
HARUKIDELTA | 0:17f575135219 | 893 | return true; |
HARUKIDELTA | 0:17f575135219 | 894 | }else{ |
HARUKIDELTA | 0:17f575135219 | 895 | return false; |
HARUKIDELTA | 0:17f575135219 | 896 | } |
HARUKIDELTA | 0:17f575135219 | 897 | } |
HARUKIDELTA | 0:17f575135219 | 898 | |
HARUKIDELTA | 0:17f575135219 | 899 | int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min){ |
HARUKIDELTA | 0:17f575135219 | 900 | if(value > max) return max; |
HARUKIDELTA | 0:17f575135219 | 901 | if(value < min) return min; |
HARUKIDELTA | 0:17f575135219 | 902 | return value; |
HARUKIDELTA | 0:17f575135219 | 903 | } |
HARUKIDELTA | 0:17f575135219 | 904 | |
HARUKIDELTA | 0:17f575135219 | 905 | inline int16_t SetTHRinRatio(float ratio){ |
HARUKIDELTA | 0:17f575135219 | 906 | return minpwm[THR] + (int16_t)(2 * lengthdivpwm * ratio); |
HARUKIDELTA | 0:17f575135219 | 907 | } |
HARUKIDELTA | 0:17f575135219 | 908 | |
HARUKIDELTA | 2:23daa5fa28b4 | 909 | |
HARUKIDELTA | 2:23daa5fa28b4 | 910 | |
HARUKIDELTA | 0:17f575135219 | 911 | /*---SBUS割り込み処理---*/ |
HARUKIDELTA | 0:17f575135219 | 912 | |
HARUKIDELTA | 0:17f575135219 | 913 | //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 | 914 | //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 | 915 | void Update_PWM() |
HARUKIDELTA | 0:17f575135219 | 916 | { |
HARUKIDELTA | 0:17f575135219 | 917 | static int16_t pwm[6]; |
HARUKIDELTA | 0:17f575135219 | 918 | static int16_t temppwm[6]={trimpwm[0],trimpwm[1],trimpwm[2],trimpwm[3],trimpwm[4],trimpwm[5]}; |
HARUKIDELTA | 0:17f575135219 | 919 | if(sbus.flg_ch_update == true){ |
taknokolat | 10:652071c20bf6 | 920 | NVIC_DisableIRQ(USART1_IRQn); |
HARUKIDELTA | 0:17f575135219 | 921 | 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 | 922 | case Manual: |
HARUKIDELTA | 0:17f575135219 | 923 | for(uint8_t i=0;i<6;i++){ |
taknokolat | 1:f383708a5a52 | 924 | pwm[i] = sbus.manualpwm[i]; |
HARUKIDELTA | 0:17f575135219 | 925 | } |
HARUKIDELTA | 2:23daa5fa28b4 | 926 | /*pc.printf("%d ,",pwm[0]);//R |
HARUKIDELTA | 2:23daa5fa28b4 | 927 | pc.printf("%d ,\r\n",pwm[5]);//L*/ |
HARUKIDELTA | 0:17f575135219 | 928 | oldTHR = sbus.manualpwm[THR]; |
HARUKIDELTA | 0:17f575135219 | 929 | //pc.printf("update_manual\r\n"); |
HARUKIDELTA | 0:17f575135219 | 930 | break; |
HARUKIDELTA | 0:17f575135219 | 931 | |
HARUKIDELTA | 0:17f575135219 | 932 | case Auto: |
HARUKIDELTA | 0:17f575135219 | 933 | pwm[AIL_R] = autopwm[AIL_R]; //sbus.manualpwm[AIL]; |
HARUKIDELTA | 0:17f575135219 | 934 | pwm[ELE] = autopwm[ELE]; |
HARUKIDELTA | 0:17f575135219 | 935 | pwm[THR] = autopwm[THR]; |
HARUKIDELTA | 0:17f575135219 | 936 | pwm[RUD] = autopwm[RUD]; |
HARUKIDELTA | 0:17f575135219 | 937 | pwm[DROP] = autopwm[DROP]; |
HARUKIDELTA | 0:17f575135219 | 938 | pwm[AIL_L] = autopwm[AIL_L]; |
taknokolat | 10:652071c20bf6 | 939 | //pc.printf("%d ,",pwm[AIL_R]);//R |
taknokolat | 10:652071c20bf6 | 940 | //pc.printf("%d ,\r\n",pwm[AIL_L]);//L |
HARUKIDELTA | 0:17f575135219 | 941 | //pc.printf("update_auto\r\n"); |
HARUKIDELTA | 2:23daa5fa28b4 | 942 | |
HARUKIDELTA | 0:17f575135219 | 943 | break; |
HARUKIDELTA | 0:17f575135219 | 944 | |
HARUKIDELTA | 0:17f575135219 | 945 | default: |
HARUKIDELTA | 0:17f575135219 | 946 | for(uint8_t i=0;i<6;i++){ |
HARUKIDELTA | 0:17f575135219 | 947 | pwm[i] = sbus.manualpwm[i]; |
HARUKIDELTA | 0:17f575135219 | 948 | } //pc.printf("update_manual\r\n"); |
HARUKIDELTA | 0:17f575135219 | 949 | break; |
taknokolat | 10:652071c20bf6 | 950 | NVIC_EnableIRQ(USART1_IRQn); |
HARUKIDELTA | 0:17f575135219 | 951 | } |
HARUKIDELTA | 0:17f575135219 | 952 | for(uint8_t i=0;i<6;i++){ |
HARUKIDELTA | 0:17f575135219 | 953 | if(pwm[i]<1000 || pwm[i]>2000) pwm[i]=temppwm[i]; |
HARUKIDELTA | 0:17f575135219 | 954 | temppwm[i]=pwm[i]; |
HARUKIDELTA | 0:17f575135219 | 955 | } |
HARUKIDELTA | 0:17f575135219 | 956 | }else{ |
HARUKIDELTA | 0:17f575135219 | 957 | pc.printf("0\r\n"); |
HARUKIDELTA | 0:17f575135219 | 958 | } |
HARUKIDELTA | 0:17f575135219 | 959 | sbus.flg_ch_update = false; |
HARUKIDELTA | 0:17f575135219 | 960 | Output_PWM(pwm); |
HARUKIDELTA | 0:17f575135219 | 961 | } |
HARUKIDELTA | 0:17f575135219 | 962 | |
HARUKIDELTA | 0:17f575135219 | 963 | |
HARUKIDELTA | 0:17f575135219 | 964 | //pwmをサーボに出力。 |
HARUKIDELTA | 0:17f575135219 | 965 | void Output_PWM(int16_t pwm[5]) |
HARUKIDELTA | 0:17f575135219 | 966 | { |
taknokolat | 10:652071c20bf6 | 967 | NVIC_DisableIRQ(USART1_IRQn); |
HARUKIDELTA | 0:17f575135219 | 968 | servo1.pulsewidth_us(pwm[0]); |
HARUKIDELTA | 0:17f575135219 | 969 | servo2.pulsewidth_us(pwm[1]); |
HARUKIDELTA | 0:17f575135219 | 970 | servo3.pulsewidth_us(pwm[2]); |
HARUKIDELTA | 0:17f575135219 | 971 | servo4.pulsewidth_us(pwm[3]); |
HARUKIDELTA | 0:17f575135219 | 972 | servo5.pulsewidth_us(pwm[4]); |
HARUKIDELTA | 0:17f575135219 | 973 | servo6.pulsewidth_us(pwm[5]); |
taknokolat | 10:652071c20bf6 | 974 | NVIC_EnableIRQ(USART1_IRQn); |
HARUKIDELTA | 0:17f575135219 | 975 | |
HARUKIDELTA | 0:17f575135219 | 976 | } |
HARUKIDELTA | 0:17f575135219 | 977 | |
HARUKIDELTA | 0:17f575135219 | 978 | void ResetTrim(){ |
HARUKIDELTA | 0:17f575135219 | 979 | 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 | 980 | trimpwm[i] = sbus.manualpwm[i]; |
HARUKIDELTA | 0:17f575135219 | 981 | } |
HARUKIDELTA | 0:17f575135219 | 982 | pc.printf("reset PWM trim\r\n"); |
HARUKIDELTA | 0:17f575135219 | 983 | } |
HARUKIDELTA | 0:17f575135219 | 984 | |
HARUKIDELTA | 0:17f575135219 | 985 | |
HARUKIDELTA | 0:17f575135219 | 986 | void SensingMPU(){ |
HARUKIDELTA | 0:17f575135219 | 987 | //static int16_t deltaT = 0, t_start = 0; |
HARUKIDELTA | 0:17f575135219 | 988 | //t_start = t.read_us(); |
HARUKIDELTA | 0:17f575135219 | 989 | |
HARUKIDELTA | 0:17f575135219 | 990 | float rpy[3] = {0}, oldrpy[3] = {0}; |
HARUKIDELTA | 0:17f575135219 | 991 | static uint16_t count_changeRPY = 0; |
HARUKIDELTA | 0:17f575135219 | 992 | static bool flg_checkoutlier = false; |
HARUKIDELTA | 0:17f575135219 | 993 | NVIC_DisableIRQ(USART1_IRQn); |
HARUKIDELTA | 0:17f575135219 | 994 | NVIC_DisableIRQ(USART2_IRQn); |
HARUKIDELTA | 0:17f575135219 | 995 | NVIC_DisableIRQ(TIM5_IRQn); |
taknokolat | 10:652071c20bf6 | 996 | NVIC_DisableIRQ(EXTI0_IRQn);//MPU割り込み禁止 |
taknokolat | 10:652071c20bf6 | 997 | NVIC_DisableIRQ(EXTI9_5_IRQn);//超音波割り込み禁止 |
HARUKIDELTA | 0:17f575135219 | 998 | |
HARUKIDELTA | 0:17f575135219 | 999 | mpu6050.getRollPitchYaw_Skipper(rpy); |
HARUKIDELTA | 0:17f575135219 | 1000 | |
HARUKIDELTA | 0:17f575135219 | 1001 | NVIC_EnableIRQ(USART1_IRQn); |
HARUKIDELTA | 0:17f575135219 | 1002 | NVIC_EnableIRQ(USART2_IRQn); |
HARUKIDELTA | 0:17f575135219 | 1003 | NVIC_EnableIRQ(TIM5_IRQn); |
HARUKIDELTA | 0:17f575135219 | 1004 | NVIC_EnableIRQ(EXTI0_IRQn); |
HARUKIDELTA | 0:17f575135219 | 1005 | NVIC_EnableIRQ(EXTI9_5_IRQn); |
HARUKIDELTA | 0:17f575135219 | 1006 | |
HARUKIDELTA | 0:17f575135219 | 1007 | |
HARUKIDELTA | 0:17f575135219 | 1008 | //外れ値対策 |
HARUKIDELTA | 0:17f575135219 | 1009 | for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI; |
HARUKIDELTA | 0:17f575135219 | 1010 | rpy[ROLL] -= FirstROLL; |
HARUKIDELTA | 0:17f575135219 | 1011 | rpy[PITCH] -= FirstPITCH; |
HARUKIDELTA | 0:17f575135219 | 1012 | rpy[YAW] -= FirstYAW; |
HARUKIDELTA | 0:17f575135219 | 1013 | |
HARUKIDELTA | 0:17f575135219 | 1014 | 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 | 1015 | if(!flg_checkoutlier || count_changeRPY >= 2){ |
HARUKIDELTA | 0:17f575135219 | 1016 | for(uint8_t i=0; i<3; i++){ |
HARUKIDELTA | 0:17f575135219 | 1017 | nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均 |
HARUKIDELTA | 0:17f575135219 | 1018 | } |
HARUKIDELTA | 0:17f575135219 | 1019 | count_changeRPY = 0; |
HARUKIDELTA | 0:17f575135219 | 1020 | }else count_changeRPY++; |
HARUKIDELTA | 0:17f575135219 | 1021 | flg_checkoutlier = false; |
HARUKIDELTA | 0:17f575135219 | 1022 | |
HARUKIDELTA | 0:17f575135219 | 1023 | } |
HARUKIDELTA | 0:17f575135219 | 1024 | |
HARUKIDELTA | 0:17f575135219 | 1025 | float TranslateNewYaw(float beforeYaw, float newzeroYaw){ |
HARUKIDELTA | 0:17f575135219 | 1026 | float newYaw = beforeYaw - newzeroYaw; |
HARUKIDELTA | 0:17f575135219 | 1027 | |
HARUKIDELTA | 0:17f575135219 | 1028 | if(newYaw<-180.0f) newYaw += 360.0f; |
HARUKIDELTA | 0:17f575135219 | 1029 | else if(newYaw>180.0f) newYaw -= 360.0f; |
HARUKIDELTA | 0:17f575135219 | 1030 | return newYaw; |
HARUKIDELTA | 0:17f575135219 | 1031 | } |
HARUKIDELTA | 0:17f575135219 | 1032 | |
HARUKIDELTA | 0:17f575135219 | 1033 | |
HARUKIDELTA | 0:17f575135219 | 1034 | void getSF_Serial(){ |
HARUKIDELTA | 0:17f575135219 | 1035 | |
HARUKIDELTA | 0:17f575135219 | 1036 | static char SFbuf[16]; |
HARUKIDELTA | 0:17f575135219 | 1037 | static int bufcounter=0; |
HARUKIDELTA | 0:17f575135219 | 1038 | |
taknokolat | 14:bbd5ff31fb67 | 1039 | if(pc.readable()) { // 受信確認 |
taknokolat | 14:bbd5ff31fb67 | 1040 | SFbuf[bufcounter] = pc.getc(); // 1文字取り出し |
taknokolat | 14:bbd5ff31fb67 | 1041 | } |
taknokolat | 11:c0b9ad25d3db | 1042 | |
taknokolat | 11:c0b9ad25d3db | 1043 | |
taknokolat | 11:c0b9ad25d3db | 1044 | pc.printf("%c",SFbuf[bufcounter]); |
taknokolat | 11:c0b9ad25d3db | 1045 | |
HARUKIDELTA | 0:17f575135219 | 1046 | if(SFbuf[0]=='S'&&bufcounter<5) bufcounter++; |
HARUKIDELTA | 0:17f575135219 | 1047 | |
HARUKIDELTA | 0:17f575135219 | 1048 | if(bufcounter==5 && SFbuf[4]=='F'){ |
HARUKIDELTA | 0:17f575135219 | 1049 | g_landingcommand = SFbuf[1]; |
taknokolat | 21:18fe7bf9e187 | 1050 | wait_ms(20); |
HARUKIDELTA | 0:17f575135219 | 1051 | if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]); |
HARUKIDELTA | 0:17f575135219 | 1052 | bufcounter = 0; |
HARUKIDELTA | 0:17f575135219 | 1053 | memset(SFbuf, 0, strlen(SFbuf)); |
taknokolat | 10:652071c20bf6 | 1054 | //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW); |
HARUKIDELTA | 0:17f575135219 | 1055 | } |
taknokolat | 10:652071c20bf6 | 1056 | else if(bufcounter>=5 ){ |
HARUKIDELTA | 0:17f575135219 | 1057 | pc.printf("Communication Falsed.\r\n"); |
HARUKIDELTA | 0:17f575135219 | 1058 | bufcounter = 0; |
HARUKIDELTA | 0:17f575135219 | 1059 | } |
taknokolat | 11:c0b9ad25d3db | 1060 | |
HARUKIDELTA | 0:17f575135219 | 1061 | } |
HARUKIDELTA | 0:17f575135219 | 1062 | |
HARUKIDELTA | 0:17f575135219 | 1063 | float ConvertByteintoFloat(char high, char low){ |
HARUKIDELTA | 0:17f575135219 | 1064 | |
HARUKIDELTA | 0:17f575135219 | 1065 | //int16_t intvalue = (int16_t)high*256 + (int16_t)low; |
HARUKIDELTA | 0:17f575135219 | 1066 | int16_t intvalue = (int16_t)(((int16_t)high << 8) | low); // Turn the MSB and LSB into a signed 16-bit value |
HARUKIDELTA | 0:17f575135219 | 1067 | float floatvalue = (float)intvalue; |
HARUKIDELTA | 0:17f575135219 | 1068 | return floatvalue; |
HARUKIDELTA | 0:17f575135219 | 1069 | } |
HARUKIDELTA | 0:17f575135219 | 1070 | |
HARUKIDELTA | 0:17f575135219 | 1071 | |
HARUKIDELTA | 0:17f575135219 | 1072 | //超音波割り込み |
taknokolat | 10:652071c20bf6 | 1073 | /*void UpdateDist(){ |
HARUKIDELTA | 0:17f575135219 | 1074 | g_distance = usensor.get_dist_cm(); |
HARUKIDELTA | 0:17f575135219 | 1075 | usensor.start(); |
taknokolat | 10:652071c20bf6 | 1076 | }*/ |
HARUKIDELTA | 0:17f575135219 | 1077 | |
HARUKIDELTA | 0:17f575135219 | 1078 | //8の字旋回 |
HARUKIDELTA | 0:17f575135219 | 1079 | void UpdateTargetAngle_Moebius(float targetAngle[3]){ |
HARUKIDELTA | 0:17f575135219 | 1080 | static uint8_t RotateCounter=0; |
HARUKIDELTA | 0:17f575135219 | 1081 | static bool flg_setInStartAuto = false; |
HARUKIDELTA | 0:17f575135219 | 1082 | static float FirstYAW_Moebius = 0.0; |
HARUKIDELTA | 0:17f575135219 | 1083 | float newYaw_Moebius; |
HARUKIDELTA | 0:17f575135219 | 1084 | |
HARUKIDELTA | 0:17f575135219 | 1085 | if(!flg_setInStartAuto && CheckSW_Up(Ch7)){ |
HARUKIDELTA | 0:17f575135219 | 1086 | FirstYAW_Moebius = nowAngle[YAW]; |
HARUKIDELTA | 0:17f575135219 | 1087 | RotateCounter = 0; |
HARUKIDELTA | 0:17f575135219 | 1088 | flg_setInStartAuto = true; |
HARUKIDELTA | 0:17f575135219 | 1089 | }else if(!CheckSW_Up(Ch7)){ |
HARUKIDELTA | 0:17f575135219 | 1090 | flg_setInStartAuto = false; |
HARUKIDELTA | 0:17f575135219 | 1091 | led2 = 0; |
HARUKIDELTA | 0:17f575135219 | 1092 | } |
HARUKIDELTA | 6:ed61ed8b8fab | 1093 | autopwm[THR]=oldTHR; |
HARUKIDELTA | 6:ed61ed8b8fab | 1094 | |
HARUKIDELTA | 0:17f575135219 | 1095 | newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius); |
HARUKIDELTA | 0:17f575135219 | 1096 | |
HARUKIDELTA | 0:17f575135219 | 1097 | if(RotateCounter == 0 && newYaw_Moebius >90.0 && newYaw_Moebius < 180.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n");} |
HARUKIDELTA | 0:17f575135219 | 1098 | if(RotateCounter == 1 && newYaw_Moebius >-180.0 && newYaw_Moebius < -90.0) {RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n");} |
HARUKIDELTA | 6:ed61ed8b8fab | 1099 | if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius <-10.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n");} |
HARUKIDELTA | 6:ed61ed8b8fab | 1100 | if(RotateCounter == 3 && newYaw_Moebius >0.0 && newYaw_Moebius < 90.0) {RotateCounter++; led2 = 0; pc.printf("Change Rotate direction\r\n");} |
HARUKIDELTA | 0:17f575135219 | 1101 | |
HARUKIDELTA | 0:17f575135219 | 1102 | |
HARUKIDELTA | 0:17f575135219 | 1103 | if(RotateCounter <= 3) UpdateTargetAngle_Rightloop_short(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 1104 | else UpdateTargetAngle_Leftloop_short(targetAngle); //左旋回 |
HARUKIDELTA | 0:17f575135219 | 1105 | |
HARUKIDELTA | 0:17f575135219 | 1106 | } |
HARUKIDELTA | 0:17f575135219 | 1107 | |
HARUKIDELTA | 0:17f575135219 | 1108 | //自動滑空 |
HARUKIDELTA | 0:17f575135219 | 1109 | void UpdateTargetAngle_Glide(float targetAngle[3]){ |
HARUKIDELTA | 0:17f575135219 | 1110 | static int THRcount = 0; |
HARUKIDELTA | 0:17f575135219 | 1111 | static int t_start = 0; |
HARUKIDELTA | 0:17f575135219 | 1112 | static bool flg_tstart = false; |
HARUKIDELTA | 0:17f575135219 | 1113 | int t_diff = 0; |
taknokolat | 1:f383708a5a52 | 1114 | static int groundcount = 0; |
HARUKIDELTA | 0:17f575135219 | 1115 | |
HARUKIDELTA | 0:17f575135219 | 1116 | targetAngle[ROLL] = g_glideloopROLL; |
HARUKIDELTA | 0:17f575135219 | 1117 | targetAngle[PITCH] = g_glideloopPITCH; |
HARUKIDELTA | 0:17f575135219 | 1118 | |
HARUKIDELTA | 16:7fca5b938da6 | 1119 | autopwm[RUD]=g_glideloopRUD; |
HARUKIDELTA | 7:53b0eb6f6bd3 | 1120 | // autopwm[THR]=oldTHR; |
taknokolat | 10:652071c20bf6 | 1121 | |
taknokolat | 1:f383708a5a52 | 1122 | |
HARUKIDELTA | 7:53b0eb6f6bd3 | 1123 | |
HARUKIDELTA | 0:17f575135219 | 1124 | //時間計測開始設定 |
HARUKIDELTA | 0:17f575135219 | 1125 | if(!flg_tstart && CheckSW_Up(Ch7)){ |
HARUKIDELTA | 0:17f575135219 | 1126 | t_start = t.read(); |
HARUKIDELTA | 0:17f575135219 | 1127 | flg_tstart = true; |
HARUKIDELTA | 0:17f575135219 | 1128 | pc.printf("timer start\r\n"); |
taknokolat | 1:f383708a5a52 | 1129 | }else if(!CheckSW_Up(Ch7)){ |
HARUKIDELTA | 0:17f575135219 | 1130 | t_start = 0; |
HARUKIDELTA | 0:17f575135219 | 1131 | flg_tstart = false; |
HARUKIDELTA | 0:17f575135219 | 1132 | } |
HARUKIDELTA | 0:17f575135219 | 1133 | |
taknokolat | 1:f383708a5a52 | 1134 | |
HARUKIDELTA | 0:17f575135219 | 1135 | //フラグが偽であれば計測は行わない |
HARUKIDELTA | 0:17f575135219 | 1136 | if(flg_tstart){ |
HARUKIDELTA | 0:17f575135219 | 1137 | t_diff = t.read() - t_start; |
HARUKIDELTA | 0:17f575135219 | 1138 | //一定高度or15秒でled点灯 |
taknokolat | 10:652071c20bf6 | 1139 | NVIC_DisableIRQ(EXTI9_5_IRQn); |
taknokolat | 1:f383708a5a52 | 1140 | if((groundcount>5 && g_distance>0) || t_diff > 15){ |
HARUKIDELTA | 0:17f575135219 | 1141 | led2 = 1; |
HARUKIDELTA | 0:17f575135219 | 1142 | //pc.printf("Call [Stop!] calling!\r\n"); |
HARUKIDELTA | 0:17f575135219 | 1143 | } |
taknokolat | 10:652071c20bf6 | 1144 | |
taknokolat | 1:f383708a5a52 | 1145 | if(g_distance<180 && g_distance > 0) groundcount++; |
taknokolat | 10:652071c20bf6 | 1146 | NVIC_EnableIRQ(EXTI9_5_IRQn); |
HARUKIDELTA | 0:17f575135219 | 1147 | }else{ |
HARUKIDELTA | 0:17f575135219 | 1148 | t_diff = 0; |
taknokolat | 1:f383708a5a52 | 1149 | groundcount = 0; |
HARUKIDELTA | 0:17f575135219 | 1150 | led2 = 0; |
HARUKIDELTA | 0:17f575135219 | 1151 | } |
HARUKIDELTA | 0:17f575135219 | 1152 | |
taknokolat | 1:f383708a5a52 | 1153 | if(t_diff > 17){ |
HARUKIDELTA | 0:17f575135219 | 1154 | autopwm[THR] = SetTHRinRatio(0.5); |
HARUKIDELTA | 0:17f575135219 | 1155 | }else{ |
taknokolat | 10:652071c20bf6 | 1156 | NVIC_DisableIRQ(EXTI9_5_IRQn); |
HARUKIDELTA | 0:17f575135219 | 1157 | if(g_distance<150 && g_distance>0 ){ |
taknokolat | 10:652071c20bf6 | 1158 | NVIC_EnableIRQ(EXTI9_5_IRQn); |
HARUKIDELTA | 0:17f575135219 | 1159 | THRcount++; |
HARUKIDELTA | 0:17f575135219 | 1160 | if(THRcount>5){ |
taknokolat | 1:f383708a5a52 | 1161 | autopwm[THR] = SetTHRinRatio(0.6); |
HARUKIDELTA | 0:17f575135219 | 1162 | //pc.printf("throttle ON\r\n"); |
HARUKIDELTA | 0:17f575135219 | 1163 | } |
HARUKIDELTA | 0:17f575135219 | 1164 | }else{ |
HARUKIDELTA | 0:17f575135219 | 1165 | autopwm[THR] = 1180; |
HARUKIDELTA | 0:17f575135219 | 1166 | THRcount = 0; |
HARUKIDELTA | 0:17f575135219 | 1167 | } |
HARUKIDELTA | 7:53b0eb6f6bd3 | 1168 | } |
HARUKIDELTA | 0:17f575135219 | 1169 | } |
HARUKIDELTA | 0:17f575135219 | 1170 | //離陸-投下-着陸一連 |
HARUKIDELTA | 0:17f575135219 | 1171 | void Take_off_and_landing(float targetAngle[3]){ |
taknokolat | 10:652071c20bf6 | 1172 | /* |
HARUKIDELTA | 0:17f575135219 | 1173 | if(!CheckSW_Up(Ch7)) bombing_mode = Takeoff; |
HARUKIDELTA | 0:17f575135219 | 1174 | |
HARUKIDELTA | 0:17f575135219 | 1175 | switch(bombing_mode){ |
HARUKIDELTA | 0:17f575135219 | 1176 | case Takeoff: |
HARUKIDELTA | 0:17f575135219 | 1177 | static bool flg_setFirstYaw = false; |
HARUKIDELTA | 0:17f575135219 | 1178 | static int TakeoffCount = 0; |
HARUKIDELTA | 0:17f575135219 | 1179 | |
HARUKIDELTA | 0:17f575135219 | 1180 | if(!flg_setFirstYaw && CheckSW_Up(Ch7)){ |
HARUKIDELTA | 0:17f575135219 | 1181 | FirstYAW = nowAngle[YAW]; |
HARUKIDELTA | 0:17f575135219 | 1182 | flg_setFirstYaw = true; |
HARUKIDELTA | 0:17f575135219 | 1183 | }else if(flg_setFirstYaw && !CheckSW_Up(Ch7)){ |
HARUKIDELTA | 0:17f575135219 | 1184 | flg_setFirstYaw = false; |
HARUKIDELTA | 0:17f575135219 | 1185 | } |
HARUKIDELTA | 0:17f575135219 | 1186 | |
HARUKIDELTA | 0:17f575135219 | 1187 | UpdateTargetAngle_Takeoff(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 1188 | |
HARUKIDELTA | 0:17f575135219 | 1189 | if(g_distance>150) TakeoffCount++; |
HARUKIDELTA | 0:17f575135219 | 1190 | else TakeoffCount = 0; |
HARUKIDELTA | 0:17f575135219 | 1191 | if(TakeoffCount>5){ |
HARUKIDELTA | 0:17f575135219 | 1192 | autopwm[THR] = 1180+320*2*0.5; |
HARUKIDELTA | 0:17f575135219 | 1193 | pc.printf("Now go to Approach mode!!"); |
HARUKIDELTA | 0:17f575135219 | 1194 | bombing_mode = Approach; |
HARUKIDELTA | 0:17f575135219 | 1195 | } |
HARUKIDELTA | 0:17f575135219 | 1196 | break; |
taknokolat | 10:652071c20bf6 | 1197 | |
taknokolat | 10:652071c20bf6 | 1198 | //case Chicken: |
taknokolat | 10:652071c20bf6 | 1199 | //break; |
taknokolat | 10:652071c20bf6 | 1200 | |
HARUKIDELTA | 0:17f575135219 | 1201 | case Transition: |
HARUKIDELTA | 0:17f575135219 | 1202 | static int ApproachCount = 0; |
HARUKIDELTA | 0:17f575135219 | 1203 | targetAngle[YAW]=180.0; |
HARUKIDELTA | 0:17f575135219 | 1204 | int Judge = Rotate(targetAngle, g_SerialTargetYAW); |
HARUKIDELTA | 0:17f575135219 | 1205 | |
HARUKIDELTA | 0:17f575135219 | 1206 | if(Judge==0) ApproachCount++; |
HARUKIDELTA | 0:17f575135219 | 1207 | if(ApproachCount>5) bombing_mode = Approach; |
HARUKIDELTA | 0:17f575135219 | 1208 | break; |
HARUKIDELTA | 0:17f575135219 | 1209 | |
HARUKIDELTA | 0:17f575135219 | 1210 | case Approach: |
taknokolat | 10:652071c20bf6 | 1211 | */ |
taknokolat | 10:652071c20bf6 | 1212 | autopwm[THR] = SetTHRinRatio(g_loopTHR); //0.7;スロットルの割合 |
HARUKIDELTA | 0:17f575135219 | 1213 | UpdateTargetAngle_Approach(targetAngle); |
taknokolat | 10:652071c20bf6 | 1214 | /* |
HARUKIDELTA | 0:17f575135219 | 1215 | break; |
HARUKIDELTA | 0:17f575135219 | 1216 | |
HARUKIDELTA | 0:17f575135219 | 1217 | default: |
HARUKIDELTA | 0:17f575135219 | 1218 | bombing_mode = Takeoff; |
HARUKIDELTA | 0:17f575135219 | 1219 | break; |
HARUKIDELTA | 0:17f575135219 | 1220 | } |
taknokolat | 10:652071c20bf6 | 1221 | */ |
HARUKIDELTA | 0:17f575135219 | 1222 | } |
HARUKIDELTA | 0:17f575135219 | 1223 | |
HARUKIDELTA | 0:17f575135219 | 1224 | //離陸モード |
HARUKIDELTA | 0:17f575135219 | 1225 | void UpdateTargetAngle_Takeoff(float targetAngle[3]){ |
HARUKIDELTA | 0:17f575135219 | 1226 | //pc.printf("%d \r\n",g_distance); |
HARUKIDELTA | 0:17f575135219 | 1227 | targetAngle[ROLL] = g_gostraightROLL; |
HARUKIDELTA | 0:17f575135219 | 1228 | targetAngle[PITCH] = g_loopTHR; |
HARUKIDELTA | 0:17f575135219 | 1229 | autopwm[THR] = SetTHRinRatio(g_takeoffTHR); //0.7;スロットルの割合 |
HARUKIDELTA | 0:17f575135219 | 1230 | } |
HARUKIDELTA | 0:17f575135219 | 1231 | |
HARUKIDELTA | 0:17f575135219 | 1232 | //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 | 1233 | int Rotate(float targetAngle[3], float TargetYAW){ |
HARUKIDELTA | 0:17f575135219 | 1234 | float diffYaw = TranslateNewYaw(TargetYAW, nowAngle[YAW]); |
HARUKIDELTA | 0:17f575135219 | 1235 | |
HARUKIDELTA | 0:17f575135219 | 1236 | if(diffYaw > LIMIT_STRAIGHT_YAW){ |
HARUKIDELTA | 0:17f575135219 | 1237 | /* |
HARUKIDELTA | 0:17f575135219 | 1238 | if(diffYaw > THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Rightloop_short(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 1239 | else UpdateTargetAngle_Rightloop(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 1240 | */ |
HARUKIDELTA | 0:17f575135219 | 1241 | UpdateTargetAngle_Rightloop_short(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 1242 | return 1; |
HARUKIDELTA | 0:17f575135219 | 1243 | }else if(diffYaw < -LIMIT_STRAIGHT_YAW){ |
HARUKIDELTA | 0:17f575135219 | 1244 | UpdateTargetAngle_Leftloop_short(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 1245 | /* |
HARUKIDELTA | 0:17f575135219 | 1246 | if(diffYaw < -THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Leftloop_short(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 1247 | else UpdateTargetAngle_Leftloop(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 1248 | */ |
HARUKIDELTA | 0:17f575135219 | 1249 | return 1; |
HARUKIDELTA | 0:17f575135219 | 1250 | }else{ |
HARUKIDELTA | 0:17f575135219 | 1251 | UpdateTargetAngle_GoStraight(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 1252 | return 0; |
HARUKIDELTA | 0:17f575135219 | 1253 | } |
HARUKIDELTA | 0:17f575135219 | 1254 | } |
HARUKIDELTA | 0:17f575135219 | 1255 | |
HARUKIDELTA | 0:17f575135219 | 1256 | //チキラー投下 |
HARUKIDELTA | 0:17f575135219 | 1257 | void Chicken_Drop(){ |
HARUKIDELTA | 0:17f575135219 | 1258 | if(CheckSW_Up(Ch7)){ |
HARUKIDELTA | 0:17f575135219 | 1259 | autopwm[DROP] = 1512; |
HARUKIDELTA | 0:17f575135219 | 1260 | pc.printf("Bombed!\r\n"); |
HARUKIDELTA | 0:17f575135219 | 1261 | RerurnChickenServo1.attach(&ReturnChickenServo1, 3); |
HARUKIDELTA | 0:17f575135219 | 1262 | //operation_mode = Approach; |
HARUKIDELTA | 0:17f575135219 | 1263 | //buzzer = 0; |
HARUKIDELTA | 0:17f575135219 | 1264 | pc.printf("Goto LeftLoop mode\r\n"); |
HARUKIDELTA | 0:17f575135219 | 1265 | } |
HARUKIDELTA | 0:17f575135219 | 1266 | } |
HARUKIDELTA | 0:17f575135219 | 1267 | |
HARUKIDELTA | 0:17f575135219 | 1268 | void ReturnChickenServo1(){ |
HARUKIDELTA | 0:17f575135219 | 1269 | autopwm[DROP] = 1344; |
HARUKIDELTA | 0:17f575135219 | 1270 | pc.printf("first reverse\r\n"); |
HARUKIDELTA | 0:17f575135219 | 1271 | RerurnChickenServo2.attach(&ReturnChickenServo2, 1); |
HARUKIDELTA | 0:17f575135219 | 1272 | } |
HARUKIDELTA | 0:17f575135219 | 1273 | |
HARUKIDELTA | 0:17f575135219 | 1274 | void ReturnChickenServo2(){ |
HARUKIDELTA | 0:17f575135219 | 1275 | autopwm[DROP] = 1392; |
HARUKIDELTA | 0:17f575135219 | 1276 | pc.printf("second reverse\r\n"); |
taknokolat | 10:652071c20bf6 | 1277 | } |
taknokolat | 10:652071c20bf6 | 1278 | |
taknokolat | 10:652071c20bf6 | 1279 | //着陸モード(PCからの指令に従う) |
taknokolat | 10:652071c20bf6 | 1280 | void UpdateTargetAngle_Approach(float targetAngle[3]){ |
taknokolat | 10:652071c20bf6 | 1281 | |
taknokolat | 10:652071c20bf6 | 1282 | NVIC_DisableIRQ(USART2_IRQn); |
taknokolat | 10:652071c20bf6 | 1283 | |
taknokolat | 10:652071c20bf6 | 1284 | switch(g_landingcommand){ |
taknokolat | 10:652071c20bf6 | 1285 | case 'R': //右旋回セヨ |
HARUKIDELTA | 19:0955311b0db6 | 1286 | if(zeroTHR==0){ |
HARUKIDELTA | 19:0955311b0db6 | 1287 | UpdateTargetAngle_Rightloop_zero(targetAngle); |
HARUKIDELTA | 19:0955311b0db6 | 1288 | } |
HARUKIDELTA | 19:0955311b0db6 | 1289 | else{ |
taknokolat | 10:652071c20bf6 | 1290 | targetAngle[ROLL] = g_rightloopROLL; |
taknokolat | 10:652071c20bf6 | 1291 | targetAngle[PITCH] = g_rightloopPITCH ; |
HARUKIDELTA | 17:55249ea37dff | 1292 | autopwm[RUD]=g_rightloopRUD; //RUD固定 |
taknokolat | 10:652071c20bf6 | 1293 | if(autopwm[AIL_R]>trimpwm[AIL_R]){ //エルロン上がりやすさ調節 |
taknokolat | 10:652071c20bf6 | 1294 | autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; |
taknokolat | 10:652071c20bf6 | 1295 | } |
taknokolat | 20:9393b0cfa44d | 1296 | else {autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; |
taknokolat | 10:652071c20bf6 | 1297 | autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop; |
taknokolat | 20:9393b0cfa44d | 1298 | } |
taknokolat | 20:9393b0cfa44d | 1299 | } |
taknokolat | 10:652071c20bf6 | 1300 | break; |
taknokolat | 20:9393b0cfa44d | 1301 | |
taknokolat | 10:652071c20bf6 | 1302 | case 'L': //左旋回セヨ |
HARUKIDELTA | 19:0955311b0db6 | 1303 | if(zeroTHR==0){ |
HARUKIDELTA | 19:0955311b0db6 | 1304 | UpdateTargetAngle_Leftloop_zero(targetAngle); |
HARUKIDELTA | 19:0955311b0db6 | 1305 | } |
HARUKIDELTA | 19:0955311b0db6 | 1306 | else{ |
taknokolat | 10:652071c20bf6 | 1307 | targetAngle[ROLL] = g_leftloopROLL; |
taknokolat | 10:652071c20bf6 | 1308 | targetAngle[PITCH] = g_leftloopPITCH; |
HARUKIDELTA | 17:55249ea37dff | 1309 | autopwm[RUD]=g_leftloopRUD; |
taknokolat | 10:652071c20bf6 | 1310 | if(autopwm[AIL_R]>trimpwm[AIL_R]){ |
taknokolat | 10:652071c20bf6 | 1311 | autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; |
taknokolat | 10:652071c20bf6 | 1312 | } |
taknokolat | 10:652071c20bf6 | 1313 | else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; |
HARUKIDELTA | 19:0955311b0db6 | 1314 | } |
taknokolat | 10:652071c20bf6 | 1315 | break; |
taknokolat | 10:652071c20bf6 | 1316 | |
taknokolat | 10:652071c20bf6 | 1317 | case 'G': //直進セヨ |
HARUKIDELTA | 19:0955311b0db6 | 1318 | if(zeroTHR==0){ |
HARUKIDELTA | 19:0955311b0db6 | 1319 | UpdateTargetAngle_GoStraight_zero(targetAngle); |
HARUKIDELTA | 19:0955311b0db6 | 1320 | } |
HARUKIDELTA | 19:0955311b0db6 | 1321 | else{ |
taknokolat | 10:652071c20bf6 | 1322 | targetAngle[ROLL] = g_gostraightROLL; |
taknokolat | 10:652071c20bf6 | 1323 | targetAngle[PITCH] = g_gostraightPITCH; |
HARUKIDELTA | 19:0955311b0db6 | 1324 | } |
taknokolat | 10:652071c20bf6 | 1325 | |
taknokolat | 10:652071c20bf6 | 1326 | break; |
taknokolat | 10:652071c20bf6 | 1327 | |
taknokolat | 10:652071c20bf6 | 1328 | case 'Y': //指定ノヨー方向ニ移動セヨ |
taknokolat | 10:652071c20bf6 | 1329 | Rotate(targetAngle, g_SerialTargetYAW); |
taknokolat | 10:652071c20bf6 | 1330 | break; |
taknokolat | 10:652071c20bf6 | 1331 | |
taknokolat | 10:652071c20bf6 | 1332 | case 'B': //ブザーヲ鳴ラセ |
taknokolat | 10:652071c20bf6 | 1333 | //buzzer = 1; |
taknokolat | 10:652071c20bf6 | 1334 | break; |
taknokolat | 10:652071c20bf6 | 1335 | |
taknokolat | 10:652071c20bf6 | 1336 | case 'D': //物資ヲ落トセ |
taknokolat | 10:652071c20bf6 | 1337 | Chicken_Drop(); |
taknokolat | 10:652071c20bf6 | 1338 | break; |
taknokolat | 10:652071c20bf6 | 1339 | |
taknokolat | 10:652071c20bf6 | 1340 | case 'C': //停止セヨ |
taknokolat | 10:652071c20bf6 | 1341 | targetAngle[ROLL] = 0.0; |
taknokolat | 10:652071c20bf6 | 1342 | targetAngle[PITCH] = -3.0; |
taknokolat | 10:652071c20bf6 | 1343 | autopwm[THR] = minpwm[THR]; |
HARUKIDELTA | 19:0955311b0db6 | 1344 | zeroTHR=0; |
taknokolat | 10:652071c20bf6 | 1345 | break; |
HARUKIDELTA | 0:17f575135219 | 1346 | |
taknokolat | 10:652071c20bf6 | 1347 | } |
taknokolat | 10:652071c20bf6 | 1348 | NVIC_EnableIRQ(USART2_IRQn); |
taknokolat | 10:652071c20bf6 | 1349 | } |
taknokolat | 10:652071c20bf6 | 1350 | |
taknokolat | 10:652071c20bf6 | 1351 | void checkHeight(float targetAngle[3]){ |
taknokolat | 10:652071c20bf6 | 1352 | |
taknokolat | 10:652071c20bf6 | 1353 | static int targetHeight = 200; |
taknokolat | 10:652071c20bf6 | 1354 | NVIC_DisableIRQ(EXTI9_5_IRQn); |
taknokolat | 10:652071c20bf6 | 1355 | if(g_distance < targetHeight + ALLOWHEIGHT){ |
taknokolat | 10:652071c20bf6 | 1356 | UpdateTargetAngle_NoseUP(targetAngle); |
taknokolat | 10:652071c20bf6 | 1357 | if(CheckSW_Up(Ch7)) led2 = 1; |
taknokolat | 10:652071c20bf6 | 1358 | } |
taknokolat | 10:652071c20bf6 | 1359 | else if(g_distance > targetHeight - ALLOWHEIGHT){ |
taknokolat | 10:652071c20bf6 | 1360 | UpdateTargetAngle_NoseDOWN(targetAngle); |
taknokolat | 10:652071c20bf6 | 1361 | if(CheckSW_Up(Ch7)) led2 = 1; |
taknokolat | 10:652071c20bf6 | 1362 | } |
taknokolat | 10:652071c20bf6 | 1363 | else led2=0; |
taknokolat | 10:652071c20bf6 | 1364 | NVIC_EnableIRQ(EXTI9_5_IRQn); |
HARUKIDELTA | 0:17f575135219 | 1365 | } |
HARUKIDELTA | 0:17f575135219 | 1366 | |
taknokolat | 10:652071c20bf6 | 1367 | void UpdateTargetAngle_NoseUP(float targetAngle[3]){ |
HARUKIDELTA | 0:17f575135219 | 1368 | |
HARUKIDELTA | 0:17f575135219 | 1369 | //targetAngle[PITCH] += 2.0f; |
HARUKIDELTA | 0:17f575135219 | 1370 | //if(nowAngle[PITCH]<targetAngle[PITCH]) autopwm[THR] = SetTHRinRatio(0.6); |
HARUKIDELTA | 0:17f575135219 | 1371 | autopwm[THR] = SetTHRinRatio(g_loopTHR+0.05); |
HARUKIDELTA | 0:17f575135219 | 1372 | //pc.printf("nose UP"); |
HARUKIDELTA | 0:17f575135219 | 1373 | } |
HARUKIDELTA | 0:17f575135219 | 1374 | |
HARUKIDELTA | 0:17f575135219 | 1375 | void UpdateTargetAngle_NoseDOWN(float targetAngle[3]){ |
HARUKIDELTA | 0:17f575135219 | 1376 | |
HARUKIDELTA | 0:17f575135219 | 1377 | //targetAngle[PITCH] -= 2.0f; |
HARUKIDELTA | 0:17f575135219 | 1378 | autopwm[THR] = SetTHRinRatio(g_loopTHR-0.05); |
HARUKIDELTA | 0:17f575135219 | 1379 | //pc.printf("nose DOWN"); |
HARUKIDELTA | 0:17f575135219 | 1380 | } |
HARUKIDELTA | 0:17f575135219 | 1381 | |
HARUKIDELTA | 0:17f575135219 | 1382 | //直進 |
HARUKIDELTA | 0:17f575135219 | 1383 | void UpdateTargetAngle_GoStraight(float targetAngle[3]){ |
HARUKIDELTA | 0:17f575135219 | 1384 | |
HARUKIDELTA | 19:0955311b0db6 | 1385 | autopwm[RUD] = trimpwm[RUD]; |
HARUKIDELTA | 0:17f575135219 | 1386 | targetAngle[ROLL] = g_gostraightROLL; |
HARUKIDELTA | 0:17f575135219 | 1387 | targetAngle[PITCH] = g_gostraightPITCH; |
HARUKIDELTA | 0:17f575135219 | 1388 | autopwm[THR] = SetTHRinRatio(g_loopTHR); |
HARUKIDELTA | 0:17f575135219 | 1389 | |
HARUKIDELTA | 0:17f575135219 | 1390 | //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); |
HARUKIDELTA | 0:17f575135219 | 1391 | } |
HARUKIDELTA | 0:17f575135219 | 1392 | |
HARUKIDELTA | 19:0955311b0db6 | 1393 | //直進(着陸時スロットル0のとき) |
HARUKIDELTA | 19:0955311b0db6 | 1394 | void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]){ |
HARUKIDELTA | 19:0955311b0db6 | 1395 | |
HARUKIDELTA | 19:0955311b0db6 | 1396 | autopwm[RUD] = trimpwm[RUD]; |
HARUKIDELTA | 19:0955311b0db6 | 1397 | targetAngle[ROLL] = g_gostraightROLL; |
HARUKIDELTA | 19:0955311b0db6 | 1398 | targetAngle[PITCH] = g_gostraightPITCH; |
HARUKIDELTA | 19:0955311b0db6 | 1399 | autopwm[THR] = minpwm[THR]; |
HARUKIDELTA | 19:0955311b0db6 | 1400 | |
HARUKIDELTA | 19:0955311b0db6 | 1401 | //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); |
HARUKIDELTA | 19:0955311b0db6 | 1402 | } |
HARUKIDELTA | 3:206b17251f5b | 1403 | |
HARUKIDELTA | 0:17f575135219 | 1404 | //右旋回 |
HARUKIDELTA | 0:17f575135219 | 1405 | void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回 |
HARUKIDELTA | 0:17f575135219 | 1406 | |
HARUKIDELTA | 0:17f575135219 | 1407 | targetAngle[ROLL] = g_rightloopROLL; |
HARUKIDELTA | 0:17f575135219 | 1408 | targetAngle[PITCH] = g_rightloopPITCH ; |
HARUKIDELTA | 16:7fca5b938da6 | 1409 | autopwm[RUD]=g_rightloopRUD; //RUD固定 |
TUATBM | 9:f6367b7fd7be | 1410 | autopwm[THR] = SetTHRinRatio(0.5); //手動スロットル記憶 |
HARUKIDELTA | 3:206b17251f5b | 1411 | if(autopwm[AIL_R]>trimpwm[AIL_R]){ //エルロン上がりやすさ調節 |
HARUKIDELTA | 3:206b17251f5b | 1412 | autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; |
HARUKIDELTA | 3:206b17251f5b | 1413 | } |
HARUKIDELTA | 3:206b17251f5b | 1414 | else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; |
TUATBM | 9:f6367b7fd7be | 1415 | autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop; |
TUATBM | 9:f6367b7fd7be | 1416 | |
HARUKIDELTA | 0:17f575135219 | 1417 | //checkHeight(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 1418 | //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); |
HARUKIDELTA | 0:17f575135219 | 1419 | } |
HARUKIDELTA | 0:17f575135219 | 1420 | |
HARUKIDELTA | 4:fff1165ca50c | 1421 | //右旋回(着陸時スロットル0の時) |
HARUKIDELTA | 4:fff1165ca50c | 1422 | void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]){ //右旋回 |
taknokolat | 20:9393b0cfa44d | 1423 | autopwm[THR]=minpwm[THR]; |
HARUKIDELTA | 4:fff1165ca50c | 1424 | targetAngle[ROLL] = g_rightloopROLL; |
HARUKIDELTA | 4:fff1165ca50c | 1425 | targetAngle[PITCH] = g_rightloopPITCH ; |
taknokolat | 20:9393b0cfa44d | 1426 | autopwm[RUD]=g_rightloopRUD; //RUD固定 |
taknokolat | 20:9393b0cfa44d | 1427 | if(autopwm[AIL_R]>trimpwm[AIL_R]){ //エルロン上がりやすさ調節 |
taknokolat | 20:9393b0cfa44d | 1428 | autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; |
taknokolat | 20:9393b0cfa44d | 1429 | } |
taknokolat | 20:9393b0cfa44d | 1430 | else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; |
taknokolat | 20:9393b0cfa44d | 1431 | autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop; |
HARUKIDELTA | 4:fff1165ca50c | 1432 | |
HARUKIDELTA | 4:fff1165ca50c | 1433 | //checkHeight(targetAngle); |
HARUKIDELTA | 4:fff1165ca50c | 1434 | //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); |
HARUKIDELTA | 4:fff1165ca50c | 1435 | } |
HARUKIDELTA | 4:fff1165ca50c | 1436 | |
HARUKIDELTA | 0:17f575135219 | 1437 | void UpdateTargetAngle_Rightloop_short(float targetAngle[3]){ //右旋回 |
HARUKIDELTA | 0:17f575135219 | 1438 | |
HARUKIDELTA | 0:17f575135219 | 1439 | targetAngle[ROLL] = g_rightloopROLLshort; |
HARUKIDELTA | 0:17f575135219 | 1440 | targetAngle[PITCH] = g_rightloopPITCHshort; |
HARUKIDELTA | 16:7fca5b938da6 | 1441 | autopwm[RUD]=g_rightloopshortRUD; |
HARUKIDELTA | 19:0955311b0db6 | 1442 | autopwm[THR] = SetTHRinRatio(0.5); |
HARUKIDELTA | 3:206b17251f5b | 1443 | if(autopwm[AIL_R]>trimpwm[AIL_R]){ |
HARUKIDELTA | 3:206b17251f5b | 1444 | autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; |
HARUKIDELTA | 3:206b17251f5b | 1445 | } |
HARUKIDELTA | 3:206b17251f5b | 1446 | else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; |
HARUKIDELTA | 0:17f575135219 | 1447 | |
HARUKIDELTA | 0:17f575135219 | 1448 | //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); |
HARUKIDELTA | 0:17f575135219 | 1449 | } |
HARUKIDELTA | 0:17f575135219 | 1450 | |
HARUKIDELTA | 0:17f575135219 | 1451 | //左旋回 |
HARUKIDELTA | 0:17f575135219 | 1452 | void UpdateTargetAngle_Leftloop(float targetAngle[3]){ |
HARUKIDELTA | 0:17f575135219 | 1453 | |
HARUKIDELTA | 0:17f575135219 | 1454 | targetAngle[ROLL] = g_leftloopROLL; |
HARUKIDELTA | 0:17f575135219 | 1455 | targetAngle[PITCH] = g_leftloopPITCH; |
HARUKIDELTA | 16:7fca5b938da6 | 1456 | autopwm[RUD]=g_leftloopRUD; |
HARUKIDELTA | 19:0955311b0db6 | 1457 | autopwm[THR] = SetTHRinRatio(0.5); |
HARUKIDELTA | 4:fff1165ca50c | 1458 | if(autopwm[AIL_R]>trimpwm[AIL_R]){ |
HARUKIDELTA | 17:55249ea37dff | 1459 | autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; |
HARUKIDELTA | 4:fff1165ca50c | 1460 | } |
HARUKIDELTA | 17:55249ea37dff | 1461 | else autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; |
HARUKIDELTA | 4:fff1165ca50c | 1462 | //checkHeight(targetAngle); |
HARUKIDELTA | 4:fff1165ca50c | 1463 | |
HARUKIDELTA | 4:fff1165ca50c | 1464 | //printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]); |
HARUKIDELTA | 4:fff1165ca50c | 1465 | } |
HARUKIDELTA | 4:fff1165ca50c | 1466 | |
HARUKIDELTA | 4:fff1165ca50c | 1467 | //左旋回(着陸時スロットル0のとき) |
HARUKIDELTA | 4:fff1165ca50c | 1468 | void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]){ |
HARUKIDELTA | 4:fff1165ca50c | 1469 | |
HARUKIDELTA | 4:fff1165ca50c | 1470 | targetAngle[ROLL] = g_leftloopROLL; |
HARUKIDELTA | 4:fff1165ca50c | 1471 | targetAngle[PITCH] = g_leftloopPITCH; |
HARUKIDELTA | 16:7fca5b938da6 | 1472 | autopwm[RUD]=g_leftloopRUD; |
HARUKIDELTA | 4:fff1165ca50c | 1473 | autopwm[THR] = minpwm[THR]; |
HARUKIDELTA | 4:fff1165ca50c | 1474 | if(autopwm[AIL_R]>trimpwm[AIL_R]){ |
HARUKIDELTA | 4:fff1165ca50c | 1475 | autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; |
HARUKIDELTA | 4:fff1165ca50c | 1476 | } |
HARUKIDELTA | 4:fff1165ca50c | 1477 | else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; |
HARUKIDELTA | 4:fff1165ca50c | 1478 | //autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_Ratio_leftloop; |
HARUKIDELTA | 0:17f575135219 | 1479 | //checkHeight(targetAngle); |
HARUKIDELTA | 0:17f575135219 | 1480 | |
HARUKIDELTA | 2:23daa5fa28b4 | 1481 | //printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]); |
HARUKIDELTA | 0:17f575135219 | 1482 | } |
HARUKIDELTA | 0:17f575135219 | 1483 | |
HARUKIDELTA | 0:17f575135219 | 1484 | void UpdateTargetAngle_Leftloop_short(float targetAngle[3]){ |
HARUKIDELTA | 0:17f575135219 | 1485 | |
HARUKIDELTA | 0:17f575135219 | 1486 | targetAngle[ROLL] = g_leftloopROLLshort; |
HARUKIDELTA | 0:17f575135219 | 1487 | targetAngle[PITCH] = g_leftloopPITCHshort; |
HARUKIDELTA | 16:7fca5b938da6 | 1488 | autopwm[RUD]=g_leftloopRUD; |
HARUKIDELTA | 19:0955311b0db6 | 1489 | autopwm[THR] = SetTHRinRatio(0.5); |
HARUKIDELTA | 4:fff1165ca50c | 1490 | if(autopwm[AIL_R]>trimpwm[AIL_R]){ |
HARUKIDELTA | 4:fff1165ca50c | 1491 | autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; |
HARUKIDELTA | 4:fff1165ca50c | 1492 | } |
HARUKIDELTA | 4:fff1165ca50c | 1493 | else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; |
HARUKIDELTA | 4:fff1165ca50c | 1494 | |
HARUKIDELTA | 0:17f575135219 | 1495 | //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); |
HARUKIDELTA | 0:17f575135219 | 1496 | } |
taknokolat | 10:652071c20bf6 | 1497 | |
HARUKIDELTA | 18:cce82f3374fc | 1498 | void Sbusprintf(){ |
HARUKIDELTA | 18:cce82f3374fc | 1499 | |
HARUKIDELTA | 18:cce82f3374fc | 1500 | for(uint8_t i=0; i<8; i++) pc.printf("ch.%d = %d ",i+1,sbus.manualpwm[i]); |
HARUKIDELTA | 18:cce82f3374fc | 1501 | pc.printf("\r\n"); |
HARUKIDELTA | 18:cce82f3374fc | 1502 | |
HARUKIDELTA | 18:cce82f3374fc | 1503 | } |
HARUKIDELTA | 18:cce82f3374fc | 1504 | |
HARUKIDELTA | 0:17f575135219 | 1505 | |
HARUKIDELTA | 0:17f575135219 | 1506 | //デバッグ用 |
HARUKIDELTA | 0:17f575135219 | 1507 | void DebugPrint(){ |
HARUKIDELTA | 0:17f575135219 | 1508 | /* |
HARUKIDELTA | 0:17f575135219 | 1509 | static int16_t deltaT = 0, t_start = 0; |
HARUKIDELTA | 0:17f575135219 | 1510 | deltaT = t.read_u2s() - t_start; |
HARUKIDELTA | 0:17f575135219 | 1511 | pc.printf("t:%d us, ",deltaT); |
HARUKIDELTA | 0:17f575135219 | 1512 | pc.printf("\r\n"); |
HARUKIDELTA | 0:17f575135219 | 1513 | t_start = t.read_us(); |
HARUKIDELTA | 0:17f575135219 | 1514 | */ |
HARUKIDELTA | 0:17f575135219 | 1515 | //for(uint8_t i=0; i<8; i++) pc.printf("%d ",sbus.manualpwm[i]); |
HARUKIDELTA | 0:17f575135219 | 1516 | //for(uint8_t i=1; i<4; i++) pc.printf("%d ",sbus.manualpwm[i]); |
HARUKIDELTA | 0:17f575135219 | 1517 | //pc.printf("\r\n"); |
HARUKIDELTA | 2:23daa5fa28b4 | 1518 | //for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]); |
HARUKIDELTA | 0:17f575135219 | 1519 | //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 | 1520 | //pc.printf("%d\t",autopwm[AIL_L]); // pc.printf("%d\t",autopwm[RUD]); |
HARUKIDELTA | 0:17f575135219 | 1521 | //pc.printf("%d",g_distance); |
HARUKIDELTA | 0:17f575135219 | 1522 | |
HARUKIDELTA | 0:17f575135219 | 1523 | //pc.printf("Mode: %c: ",g_buf[0]); |
HARUKIDELTA | 0:17f575135219 | 1524 | //if(g_buf[0] == 'Y') pc.printf(" %3.1f",g_SerialTargetYAW); |
taknokolat | 10:652071c20bf6 | 1525 | //pc.printf("\r\n"); |
HARUKIDELTA | 0:17f575135219 | 1526 | } |