Autoflight2018_31 - zeroTHRの不具合を修正 28,29,30は使用不可

航空研究会 » Code » Autoflight2018_31

航空研究会 / Mbed 2 deprecated Autoflight2018_31

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 航空研究会

main.cpp@26:bc185a3d16b6, 2018-09-21 (annotated)

Committer:: taknokolat
Date:: Fri Sep 21 04:26:30 2018 +0000
Revision:: 26:bc185a3d16b6
Parent:: 25:37bee299a276

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
taknokolat	26:bc185a3d16b6	160
TUATBM	15:43427b0241d9	161	//2号機
TUATBM	15:43427b0241d9	162	/*
TUATBM	15:43427b0241d9	163	static int16_t trimpwm[6] = {1500,1500,1180,1500,1392,1600};
TUATBM	15:43427b0241d9	164	int16_t maxpwm[6] = {1820,1820,1820,1820,1820,1820};
TUATBM	15:43427b0241d9	165	int16_t minpwm[6] = {1180,1180,1180,1180,1180,1180};
TUATBM	15:43427b0241d9	166	const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
TUATBM	15:43427b0241d9	167	*/
TUATBM	15:43427b0241d9	168
HARUKIDELTA	0:17f575135219	169	int16_t oldTHR = 1000;
HARUKIDELTA	0:17f575135219	170
HARUKIDELTA	2:23daa5fa28b4	171	int16_t g_AIL_L_Ratio_rightloop = 0.5;
HARUKIDELTA	2:23daa5fa28b4	172
HARUKIDELTA	2:23daa5fa28b4	173
HARUKIDELTA	0:17f575135219	174	static float nowAngle[3] = {0,0,0};
HARUKIDELTA	0:17f575135219	175	const float trimAngle[3] = {0.0, 0.0, 0.0};
HARUKIDELTA	0:17f575135219	176	const float maxAngle[2] = {90, 90};
HARUKIDELTA	0:17f575135219	177	const float minAngle[2] = {-90, -90};
HARUKIDELTA	0:17f575135219	178
HARUKIDELTA	0:17f575135219	179	float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0;
HARUKIDELTA	0:17f575135219	180
HARUKIDELTA	0:17f575135219	181	unsigned int g_distance;
taknokolat	10:652071c20bf6	182	//Ticker USsensor;
HARUKIDELTA	0:17f575135219	183	static char g_buf[16];
taknokolat	10:652071c20bf6	184	char g_landingcommand='Z';
HARUKIDELTA	0:17f575135219	185	float g_SerialTargetYAW;
HARUKIDELTA	0:17f575135219	186
HARUKIDELTA	0:17f575135219	187	Timer t;
HARUKIDELTA	0:17f575135219	188	Timeout RerurnChickenServo1;
HARUKIDELTA	0:17f575135219	189	Timeout RerurnChickenServo2;
HARUKIDELTA	0:17f575135219	190
HARUKIDELTA	0:17f575135219	191	/-----関数のプロトタイプ宣言-----/
HARUKIDELTA	0:17f575135219	192	void setup();
HARUKIDELTA	0:17f575135219	193	void loop();
HARUKIDELTA	0:17f575135219	194
HARUKIDELTA	0:17f575135219	195	void Init_PWM();
HARUKIDELTA	0:17f575135219	196	void Init_servo(); //サーボ初期化
HARUKIDELTA	0:17f575135219	197	void Init_sbus(); //SBUS初期化
HARUKIDELTA	0:17f575135219	198	void Init_sensors();
HARUKIDELTA	0:17f575135219	199	void DisplayClock(); //クロック状態確認
HARUKIDELTA	0:17f575135219	200
HARUKIDELTA	0:17f575135219	201	//センサの値取得
HARUKIDELTA	0:17f575135219	202	void SensingMPU();
HARUKIDELTA	0:17f575135219	203	void UpdateDist();
HARUKIDELTA	0:17f575135219	204
HARUKIDELTA	0:17f575135219	205	//void offsetRollPitch(float FirstROLL, float FirstPITCH);
HARUKIDELTA	0:17f575135219	206	//void TransYaw(float FirstYAW);
HARUKIDELTA	0:17f575135219	207	float TranslateNewYaw(float beforeYaw, float newzeroYaw);
HARUKIDELTA	0:17f575135219	208	void UpdateTargetAngle(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	209	void CalculateControlValue(float targetAngle[3], float controlValue[3]);
HARUKIDELTA	0:17f575135219	210	void UpdateAutoPWM(float controlValue[3]);
HARUKIDELTA	0:17f575135219	211	void ConvertPWMintoRAD(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	212	inline float CalcRatio(float value, float trim, float limit);
HARUKIDELTA	0:17f575135219	213	bool CheckSW_Up(Channel ch);
HARUKIDELTA	0:17f575135219	214	int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min);
HARUKIDELTA	0:17f575135219	215	inline int16_t SetTHRinRatio(float ratio);
HARUKIDELTA	0:17f575135219	216
HARUKIDELTA	0:17f575135219	217	//sbus割り込み
HARUKIDELTA	0:17f575135219	218	void Update_PWM(); //マニュアル・自動モードのpwmデータを整形しpwm変数に入力
HARUKIDELTA	0:17f575135219	219	void Output_PWM(int16_t pwm[6]); //pwmをサーボへ出力
HARUKIDELTA	0:17f575135219	220
HARUKIDELTA	0:17f575135219	221	//シリアル割り込み
HARUKIDELTA	0:17f575135219	222	void getSF_Serial();
HARUKIDELTA	0:17f575135219	223	float ConvertByteintoFloat(char high, char low);
TUATBM	15:43427b0241d9	224
HARUKIDELTA	0:17f575135219	225
HARUKIDELTA	0:17f575135219	226	//SD設定
HARUKIDELTA	0:17f575135219	227	int GetParameter(FILE fp, const char paramName,char parameter[]);
HARUKIDELTA	0:17f575135219	228	int SetOptions(float g_kpELE, float g_kiELE, float *g_kdELE,
HARUKIDELTA	0:17f575135219	229	float g_kpRUD, float g_kiRUD, float *g_kdRUD,
HARUKIDELTA	0:17f575135219	230	float g_rightloopROLL, float g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	231	float g_leftloopROLL, float g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	232	float g_gostraightROLL, float g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	233	float g_takeoffTHR, float g_loopTHR,
HARUKIDELTA	0:17f575135219	234	float g_rightloopROLLshort, float g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	235	float g_leftloopROLLshort, float g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	236	float g_glideloopROLL, float g_glideloopPITCH,
HARUKIDELTA	13:77b13d5f4d78	237	float g_kpAIL, float g_kiAIL, float *g_kdAIL,
HARUKIDELTA	13:77b13d5f4d78	238	int g_rightloopRUD, int g_rightloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	239	int g_leftloopRUD, int g_leftloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	240	int *g_glideRUD,
HARUKIDELTA	13:77b13d5f4d78	241	int g_AIL_L_correctionrightloop,int g_AIL_L_correctionrightloopshort,
HARUKIDELTA	13:77b13d5f4d78	242	int g_AIL_L_correctionlefttloop,int g_AIL_L_correctionleftloopshort
HARUKIDELTA	13:77b13d5f4d78	243	);
HARUKIDELTA	0:17f575135219	244	//switch2割り込み
HARUKIDELTA	0:17f575135219	245	void ResetTrim();
HARUKIDELTA	0:17f575135219	246
HARUKIDELTA	0:17f575135219	247	//自動操縦
HARUKIDELTA	0:17f575135219	248	void UpdateTargetAngle_GoStraight(float targetAngle[3]);
HARUKIDELTA	19:0955311b0db6	249	void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]); //着陸時にスロットルが０の時の直進
HARUKIDELTA	0:17f575135219	250	void UpdateTargetAngle_Rightloop(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	251	void UpdateTargetAngle_Rightloop_short(float targetAngle[3]);
HARUKIDELTA	19:0955311b0db6	252	void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]); //着陸時にスロットルが０の時の右旋回
HARUKIDELTA	0:17f575135219	253	void UpdateTargetAngle_Leftloop(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	254	void UpdateTargetAngle_Leftloop_short(float targetAngle[3]);
HARUKIDELTA	19:0955311b0db6	255	void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]); //着陸時にスロットルが０の時の左旋回
HARUKIDELTA	0:17f575135219	256	void UpdateTargetAngle_Moebius(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	257	void UpdateTargetAngle_Glide(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	258	void UpdateTargetAngle_Takeoff(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	259	void UpdateTargetAngle_Approach(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	260	void Take_off_and_landing(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	261
HARUKIDELTA	0:17f575135219	262	int Rotate(float targetAngle[3], float TargetYAW);
HARUKIDELTA	0:17f575135219	263
HARUKIDELTA	0:17f575135219	264	//投下
HARUKIDELTA	0:17f575135219	265	void Chicken_Drop();
HARUKIDELTA	0:17f575135219	266	void ReturnChickenServo1();
HARUKIDELTA	0:17f575135219	267	void ReturnChickenServo2();
HARUKIDELTA	0:17f575135219	268
HARUKIDELTA	0:17f575135219	269	//超音波による高度補正
HARUKIDELTA	0:17f575135219	270	void checkHeight(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	271	void UpdateTargetAngle_NoseUP(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	272	void UpdateTargetAngle_NoseDOWN(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	273
HARUKIDELTA	0:17f575135219	274	//デバッグ用
HARUKIDELTA	18:cce82f3374fc	275	void Sbusprintf();
HARUKIDELTA	0:17f575135219	276	void DebugPrint();
HARUKIDELTA	0:17f575135219	277
HARUKIDELTA	0:17f575135219	278	/---関数のプロトタイプ宣言終わり---/
HARUKIDELTA	0:17f575135219	279
HARUKIDELTA	0:17f575135219	280	int main()
HARUKIDELTA	0:17f575135219	281	{
HARUKIDELTA	0:17f575135219	282	setup();
HARUKIDELTA	0:17f575135219	283
HARUKIDELTA	0:17f575135219	284
HARUKIDELTA	0:17f575135219	285	while(1){
HARUKIDELTA	0:17f575135219	286
HARUKIDELTA	0:17f575135219	287	loop();
HARUKIDELTA	0:17f575135219	288
taknokolat	10:652071c20bf6	289
taknokolat	23:4928a6fd9eee	290	//NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	291	if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	292	led3=0;
HARUKIDELTA	0:17f575135219	293	}else{
HARUKIDELTA	0:17f575135219	294	led3=1;
HARUKIDELTA	0:17f575135219	295	}
taknokolat	23:4928a6fd9eee	296	//NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	297	}
HARUKIDELTA	0:17f575135219	298
HARUKIDELTA	0:17f575135219	299	}
HARUKIDELTA	0:17f575135219	300
HARUKIDELTA	0:17f575135219	301	void setup(){
HARUKIDELTA	0:17f575135219	302	//buzzer = 0;
HARUKIDELTA	0:17f575135219	303	led1 = 1;
HARUKIDELTA	0:17f575135219	304	led2 = 1;
HARUKIDELTA	0:17f575135219	305	led3 = 1;
HARUKIDELTA	0:17f575135219	306	led4 = 1;
HARUKIDELTA	0:17f575135219	307
HARUKIDELTA	0:17f575135219	308	SetOptions(&g_kpELE, &g_kiELE, &g_kdELE,
HARUKIDELTA	0:17f575135219	309	&g_kpRUD, &g_kiRUD, &g_kdRUD,
HARUKIDELTA	0:17f575135219	310	&g_rightloopROLL, &g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	311	&g_leftloopROLL, &g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	312	&g_gostraightROLL, &g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	313	&g_takeoffTHR, &g_loopTHR,
HARUKIDELTA	0:17f575135219	314	&g_rightloopROLLshort, &g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	315	&g_leftloopROLLshort, &g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	316	&g_glideloopROLL, &g_glideloopPITCH,
HARUKIDELTA	13:77b13d5f4d78	317	&g_kpAIL, &g_kiAIL,&g_kdAIL,
HARUKIDELTA	13:77b13d5f4d78	318	&g_rightloopRUD, &g_rightloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	319	&g_leftloopRUD, &g_leftloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	320	&g_glideloopRUD,
HARUKIDELTA	13:77b13d5f4d78	321	&g_AIL_L_correctionrightloop,&g_AIL_L_correctionrightloopshort,
HARUKIDELTA	13:77b13d5f4d78	322	&g_AIL_L_correctionleftloop,&g_AIL_L_correctionleftloopshort
HARUKIDELTA	13:77b13d5f4d78	323	);
HARUKIDELTA	0:17f575135219	324
HARUKIDELTA	0:17f575135219	325
HARUKIDELTA	0:17f575135219	326	Init_PWM();
HARUKIDELTA	0:17f575135219	327	Init_servo();
HARUKIDELTA	0:17f575135219	328	Init_sbus();
HARUKIDELTA	0:17f575135219	329	Init_sensors();
HARUKIDELTA	0:17f575135219	330	//switch2.rise(ResetTrim);
taknokolat	21:18fe7bf9e187	331
taknokolat	10:652071c20bf6	332	//USsensor.attach(&UpdateDist, 0.05);
HARUKIDELTA	0:17f575135219	333
HARUKIDELTA	0:17f575135219	334	NVIC_SetPriority(USART1_IRQn,0);
HARUKIDELTA	0:17f575135219	335	NVIC_SetPriority(EXTI0_IRQn,1);
HARUKIDELTA	0:17f575135219	336	NVIC_SetPriority(TIM5_IRQn,2);
HARUKIDELTA	0:17f575135219	337	NVIC_SetPriority(EXTI9_5_IRQn,3);
HARUKIDELTA	0:17f575135219	338	DisplayClock();
HARUKIDELTA	0:17f575135219	339	t.start();
HARUKIDELTA	0:17f575135219	340
HARUKIDELTA	0:17f575135219	341
HARUKIDELTA	0:17f575135219	342	pc.printf("MPU calibration start\r\n");
HARUKIDELTA	0:17f575135219	343
HARUKIDELTA	0:17f575135219	344	float offsetstart = t.read();
HARUKIDELTA	0:17f575135219	345	while(t.read() - offsetstart < 26){
HARUKIDELTA	0:17f575135219	346	SensingMPU();
HARUKIDELTA	0:17f575135219	347	for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
HARUKIDELTA	0:17f575135219	348	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	349	led1 = !led1;
HARUKIDELTA	0:17f575135219	350	led2 = !led2;
HARUKIDELTA	0:17f575135219	351	led3 = !led3;
HARUKIDELTA	0:17f575135219	352	led4 = !led4;
HARUKIDELTA	0:17f575135219	353	}
HARUKIDELTA	0:17f575135219	354
taknokolat	21:18fe7bf9e187	355	pc.attach(getSF_Serial, Serial::RxIrq);
taknokolat	21:18fe7bf9e187	356	NVIC_SetPriority(USART2_IRQn,4);
taknokolat	21:18fe7bf9e187	357
HARUKIDELTA	0:17f575135219	358	FirstROLL = nowAngle[ROLL];
HARUKIDELTA	0:17f575135219	359	FirstPITCH = nowAngle[PITCH];
HARUKIDELTA	0:17f575135219	360	nowAngle[ROLL] -=FirstROLL;
HARUKIDELTA	0:17f575135219	361	nowAngle[PITCH] -=FirstPITCH;
HARUKIDELTA	0:17f575135219	362
HARUKIDELTA	0:17f575135219	363	led1 = 0;
HARUKIDELTA	0:17f575135219	364	led2 = 0;
HARUKIDELTA	0:17f575135219	365	led3 = 0;
HARUKIDELTA	0:17f575135219	366	led4 = 0;
HARUKIDELTA	0:17f575135219	367	wait(0.2);
HARUKIDELTA	0:17f575135219	368
HARUKIDELTA	0:17f575135219	369
HARUKIDELTA	0:17f575135219	370	pc.printf("All initialized\r\n");
HARUKIDELTA	0:17f575135219	371	}
HARUKIDELTA	0:17f575135219	372
HARUKIDELTA	0:17f575135219	373	void loop(){
HARUKIDELTA	0:17f575135219	374	static float targetAngle[3] = {0.0, 0.0, 0.0}, controlValue[2] = {0.0, 0.0};
HARUKIDELTA	0:17f575135219	375	SensingMPU();
taknokolat	10:652071c20bf6	376	NVIC_DisableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	377	UpdateTargetAngle(targetAngle);
HARUKIDELTA	0:17f575135219	378	CalculateControlValue(targetAngle, controlValue);
taknokolat	10:652071c20bf6	379	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	380	UpdateAutoPWM(controlValue);
taknokolat	10:652071c20bf6	381	NVIC_EnableIRQ(USART1_IRQn);
taknokolat	10:652071c20bf6	382	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	25:37bee299a276	383
taknokolat	25:37bee299a276	384	NVIC_SetPriority(TIM5_IRQn,4);
taknokolat	25:37bee299a276	385	NVIC_SetPriority(USART2_IRQn,2);
taknokolat	25:37bee299a276	386
taknokolat	11:c0b9ad25d3db	387	wait_ms(23);
taknokolat	25:37bee299a276	388
taknokolat	25:37bee299a276	389	NVIC_SetPriority(TIM5_IRQn,2);
taknokolat	25:37bee299a276	390	NVIC_SetPriority(USART2_IRQn,4);
taknokolat	25:37bee299a276	391
taknokolat	25:37bee299a276	392
taknokolat	25:37bee299a276	393	// pc.printf("6\r\n");
taknokolat	25:37bee299a276	394	//NVIC_DisableIRQ(USART2_IRQn);
taknokolat	25:37bee299a276	395	//pc.printf("%c",g_landingcommand);
taknokolat	25:37bee299a276	396	//NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	397	#if DEBUG_PRINT_INLOOP
HARUKIDELTA	18:cce82f3374fc	398	//Sbusprintf();
HARUKIDELTA	0:17f575135219	399	DebugPrint();
HARUKIDELTA	0:17f575135219	400	#endif
HARUKIDELTA	0:17f575135219	401	}
HARUKIDELTA	0:17f575135219	402
HARUKIDELTA	0:17f575135219	403	//サーボ初期化関数
HARUKIDELTA	0:17f575135219	404	void Init_servo(){
HARUKIDELTA	0:17f575135219	405
HARUKIDELTA	0:17f575135219	406	servo1.period_ms(14);
HARUKIDELTA	0:17f575135219	407	servo1.pulsewidth_us(trimpwm[AIL_R]);
HARUKIDELTA	0:17f575135219	408
HARUKIDELTA	0:17f575135219	409	servo2.period_ms(14);
HARUKIDELTA	0:17f575135219	410	servo2.pulsewidth_us(trimpwm[ELE]);
HARUKIDELTA	0:17f575135219	411
HARUKIDELTA	0:17f575135219	412	servo3.period_ms(14);
HARUKIDELTA	0:17f575135219	413	servo3.pulsewidth_us(trimpwm[THR]);
HARUKIDELTA	0:17f575135219	414
HARUKIDELTA	0:17f575135219	415	servo4.period_ms(14);
HARUKIDELTA	0:17f575135219	416	servo4.pulsewidth_us(trimpwm[RUD]);
HARUKIDELTA	0:17f575135219	417
HARUKIDELTA	0:17f575135219	418	servo5.period_ms(14);
HARUKIDELTA	0:17f575135219	419	servo5.pulsewidth_us(1392);
HARUKIDELTA	0:17f575135219	420
HARUKIDELTA	0:17f575135219	421	servo6.period_ms(14);
HARUKIDELTA	0:17f575135219	422	servo6.pulsewidth_us(trimpwm[AIL_L]);
HARUKIDELTA	0:17f575135219	423
HARUKIDELTA	0:17f575135219	424	pc.printf("servo initialized\r\n");
HARUKIDELTA	0:17f575135219	425	}
HARUKIDELTA	0:17f575135219	426
HARUKIDELTA	0:17f575135219	427	//Sbus初期化
HARUKIDELTA	0:17f575135219	428	void Init_sbus(){
HARUKIDELTA	0:17f575135219	429	sbus.initialize();
HARUKIDELTA	0:17f575135219	430	sbus.setLastfuncPoint(Update_PWM);
HARUKIDELTA	0:17f575135219	431	sbus.startInterrupt();
HARUKIDELTA	0:17f575135219	432	}
HARUKIDELTA	0:17f575135219	433
HARUKIDELTA	0:17f575135219	434	void Init_sensors(){
HARUKIDELTA	0:17f575135219	435	if(mpu6050.setup() == -1){
HARUKIDELTA	0:17f575135219	436	pc.printf("failed initialize\r\n");
HARUKIDELTA	0:17f575135219	437	while(1){
HARUKIDELTA	0:17f575135219	438	led1 = 1; led2 = 0; led3 = 1; led4 = 0;
HARUKIDELTA	0:17f575135219	439	wait(1);
HARUKIDELTA	0:17f575135219	440	led1 = 0; led2 = 1; led3 = 0; led4 = 1;
HARUKIDELTA	0:17f575135219	441	wait(1);
HARUKIDELTA	0:17f575135219	442	}
HARUKIDELTA	0:17f575135219	443	}
HARUKIDELTA	0:17f575135219	444	}
HARUKIDELTA	0:17f575135219	445
HARUKIDELTA	0:17f575135219	446	void Init_PWM(){
HARUKIDELTA	0:17f575135219	447	pc.printf("PWM initialized\r\n");
HARUKIDELTA	0:17f575135219	448	}
HARUKIDELTA	0:17f575135219	449
HARUKIDELTA	0:17f575135219	450	void DisplayClock(){
HARUKIDELTA	0:17f575135219	451	pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000);
HARUKIDELTA	0:17f575135219	452	pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000);
HARUKIDELTA	0:17f575135219	453	pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000);
HARUKIDELTA	0:17f575135219	454	pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000);
HARUKIDELTA	0:17f575135219	455	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	456	}
HARUKIDELTA	0:17f575135219	457
HARUKIDELTA	0:17f575135219	458	void UpdateTargetAngle(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	459	static int16_t count_op = 0;
HARUKIDELTA	0:17f575135219	460	#if DEBUG_SEMIAUTO
HARUKIDELTA	0:17f575135219	461	switch(operation_mode){
HARUKIDELTA	0:17f575135219	462	case StartUp:
HARUKIDELTA	0:17f575135219	463	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	464	count_op++;
HARUKIDELTA	0:17f575135219	465	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	466	operation_mode = SemiAuto;
HARUKIDELTA	0:17f575135219	467	pc.printf("Goto SemiAuto mode\r\n");
HARUKIDELTA	0:17f575135219	468	count_op = 0;
HARUKIDELTA	0:17f575135219	469	}
HARUKIDELTA	0:17f575135219	470	}else count_op = 0;
HARUKIDELTA	0:17f575135219	471	break;
HARUKIDELTA	0:17f575135219	472
HARUKIDELTA	0:17f575135219	473	case SemiAuto:
HARUKIDELTA	0:17f575135219	474	/* 大会用では以下のif文を入れてoperation_modeを変える
HARUKIDELTA	0:17f575135219	475	if(CheckSW_Up(Ch6)){
HARUKIDELTA	0:17f575135219	476	count_op++;
HARUKIDELTA	0:17f575135219	477	if(count_op>changeModeCount){
HARUKIDELTA	0:17f575135219	478	output_status = XXX;
HARUKIDELTA	0:17f575135219	479	led2 = 0;
HARUKIDELTA	0:17f575135219	480	pc.printf("Goto XXX mode\r\n");
HARUKIDELTA	0:17f575135219	481	count_op = 0;
HARUKIDELTA	0:17f575135219	482	}else count_op = 0;
HARUKIDELTA	0:17f575135219	483	ConvertPWMintoRAD(targetAngle);
HARUKIDELTA	0:17f575135219	484	}
HARUKIDELTA	0:17f575135219	485	*/
HARUKIDELTA	0:17f575135219	486	ConvertPWMintoRAD(targetAngle);
HARUKIDELTA	0:17f575135219	487	break;
HARUKIDELTA	0:17f575135219	488
HARUKIDELTA	0:17f575135219	489	default:
HARUKIDELTA	0:17f575135219	490	operation_mode = SemiAuto;
HARUKIDELTA	0:17f575135219	491	break;
HARUKIDELTA	0:17f575135219	492	}
HARUKIDELTA	0:17f575135219	493
HARUKIDELTA	0:17f575135219	494	#else
HARUKIDELTA	0:17f575135219	495
HARUKIDELTA	0:17f575135219	496	switch(operation_mode){
HARUKIDELTA	0:17f575135219	497	case StartUp:
HARUKIDELTA	0:17f575135219	498	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	499	count_op++;
HARUKIDELTA	0:17f575135219	500	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	501	operation_mode = RightLoop;
HARUKIDELTA	0:17f575135219	502	pc.printf("Goto RightLoop mode\r\n");
HARUKIDELTA	0:17f575135219	503	count_op = 0;
HARUKIDELTA	0:17f575135219	504	}
HARUKIDELTA	0:17f575135219	505	}else count_op = 0;
HARUKIDELTA	0:17f575135219	506	break;
HARUKIDELTA	0:17f575135219	507
HARUKIDELTA	0:17f575135219	508	case RightLoop:
HARUKIDELTA	0:17f575135219	509	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	510	count_op++;
HARUKIDELTA	0:17f575135219	511	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	512	operation_mode = LeftLoop;
HARUKIDELTA	0:17f575135219	513	pc.printf("Goto LeftLoop mode\r\n");
HARUKIDELTA	0:17f575135219	514	count_op = 0;
HARUKIDELTA	0:17f575135219	515	}
HARUKIDELTA	0:17f575135219	516	}else count_op = 0;
HARUKIDELTA	0:17f575135219	517	UpdateTargetAngle_Rightloop(targetAngle);
HARUKIDELTA	0:17f575135219	518
HARUKIDELTA	0:17f575135219	519	break;
HARUKIDELTA	0:17f575135219	520
HARUKIDELTA	0:17f575135219	521	case LeftLoop:
HARUKIDELTA	0:17f575135219	522	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	523	count_op++;
HARUKIDELTA	0:17f575135219	524	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	525	operation_mode = GoStraight;
HARUKIDELTA	0:17f575135219	526	pc.printf("Goto GoStraight mode\r\n");
HARUKIDELTA	0:17f575135219	527	count_op = 0;
HARUKIDELTA	0:17f575135219	528	}
HARUKIDELTA	0:17f575135219	529	}else count_op = 0;
HARUKIDELTA	0:17f575135219	530	UpdateTargetAngle_Leftloop(targetAngle);
HARUKIDELTA	0:17f575135219	531	break;
HARUKIDELTA	0:17f575135219	532
HARUKIDELTA	0:17f575135219	533	case GoStraight:
HARUKIDELTA	0:17f575135219	534	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	535	count_op++;
HARUKIDELTA	0:17f575135219	536	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	537	operation_mode = Moebius;
HARUKIDELTA	0:17f575135219	538	pc.printf("Goto Moebius mode\r\n");
HARUKIDELTA	0:17f575135219	539	count_op = 0;
HARUKIDELTA	0:17f575135219	540	}
HARUKIDELTA	0:17f575135219	541	}else count_op = 0;
HARUKIDELTA	0:17f575135219	542	UpdateTargetAngle_GoStraight(targetAngle);
HARUKIDELTA	0:17f575135219	543	break;
HARUKIDELTA	0:17f575135219	544
HARUKIDELTA	0:17f575135219	545	case Moebius:
HARUKIDELTA	0:17f575135219	546	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	547	count_op++;
HARUKIDELTA	0:17f575135219	548	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	549	operation_mode = Glide;
HARUKIDELTA	0:17f575135219	550	pc.printf("Goto Glide mode\r\n");
HARUKIDELTA	0:17f575135219	551	count_op = 0;
HARUKIDELTA	0:17f575135219	552	}
HARUKIDELTA	0:17f575135219	553	}else count_op = 0;
HARUKIDELTA	0:17f575135219	554	UpdateTargetAngle_Moebius(targetAngle);
HARUKIDELTA	0:17f575135219	555	break;
HARUKIDELTA	0:17f575135219	556
HARUKIDELTA	0:17f575135219	557	case Glide:
HARUKIDELTA	0:17f575135219	558	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	559	count_op++;
HARUKIDELTA	0:17f575135219	560	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	561	operation_mode = BombwithPC;
HARUKIDELTA	0:17f575135219	562	pc.printf("Goto Bombing mode\r\n");
HARUKIDELTA	0:17f575135219	563	count_op = 0;
HARUKIDELTA	0:17f575135219	564	}
HARUKIDELTA	0:17f575135219	565	}else count_op = 0;
HARUKIDELTA	0:17f575135219	566	UpdateTargetAngle_Glide(targetAngle);
HARUKIDELTA	0:17f575135219	567	break;
HARUKIDELTA	0:17f575135219	568
HARUKIDELTA	0:17f575135219	569	case BombwithPC:
HARUKIDELTA	0:17f575135219	570	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	571	count_op++;
HARUKIDELTA	0:17f575135219	572	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	573	operation_mode = RightLoop;
HARUKIDELTA	0:17f575135219	574	pc.printf("Goto RightLoop mode\r\n");
HARUKIDELTA	0:17f575135219	575	count_op = 0;
HARUKIDELTA	0:17f575135219	576	}
HARUKIDELTA	0:17f575135219	577	}else count_op = 0;
HARUKIDELTA	0:17f575135219	578	Take_off_and_landing(targetAngle);
HARUKIDELTA	0:17f575135219	579	break;
HARUKIDELTA	0:17f575135219	580
HARUKIDELTA	0:17f575135219	581	default:
HARUKIDELTA	0:17f575135219	582	operation_mode = StartUp;
HARUKIDELTA	0:17f575135219	583	break;
HARUKIDELTA	0:17f575135219	584	}
HARUKIDELTA	0:17f575135219	585	#endif
HARUKIDELTA	0:17f575135219	586
taknokolat	26:bc185a3d16b6	587	if(CheckSW_Up(Ch7)){
taknokolat	26:bc185a3d16b6	588	output_status = Auto;
taknokolat	26:bc185a3d16b6	589	led1 = 1;
taknokolat	26:bc185a3d16b6	590	}else{
taknokolat	26:bc185a3d16b6	591	output_status = Manual;
taknokolat	26:bc185a3d16b6	592	led1 = 0;
taknokolat	26:bc185a3d16b6	593	}
taknokolat	26:bc185a3d16b6	594
HARUKIDELTA	0:17f575135219	595	}
HARUKIDELTA	0:17f575135219	596
HARUKIDELTA	0:17f575135219	597	int GetParameter(FILE fp, const char paramName,char parameter[]){
HARUKIDELTA	0:17f575135219	598	int i=0, j=0;
HARUKIDELTA	0:17f575135219	599	int strmax = 200;
HARUKIDELTA	0:17f575135219	600	char str[strmax];
HARUKIDELTA	0:17f575135219	601
HARUKIDELTA	0:17f575135219	602	rewind(fp); //ファイル位置を先頭に
HARUKIDELTA	0:17f575135219	603	while(1){
HARUKIDELTA	0:17f575135219	604	if (fgets(str, strmax, fp) == NULL) {
HARUKIDELTA	0:17f575135219	605	return 0;
HARUKIDELTA	0:17f575135219	606	}
HARUKIDELTA	0:17f575135219	607	if (!strncmp(str, paramName, strlen(paramName))) {
HARUKIDELTA	0:17f575135219	608	while (str[i++] != '=') {}
HARUKIDELTA	0:17f575135219	609	while (str[i] != '\n') {
HARUKIDELTA	0:17f575135219	610	parameter[j++] = str[i++];
HARUKIDELTA	0:17f575135219	611	}
HARUKIDELTA	0:17f575135219	612	parameter[j] = '\0';
HARUKIDELTA	0:17f575135219	613	return 1;
HARUKIDELTA	0:17f575135219	614	}
HARUKIDELTA	0:17f575135219	615	}
HARUKIDELTA	0:17f575135219	616	return 0;
HARUKIDELTA	0:17f575135219	617	}
HARUKIDELTA	0:17f575135219	618
HARUKIDELTA	0:17f575135219	619
HARUKIDELTA	0:17f575135219	620	//sdによる設定
HARUKIDELTA	0:17f575135219	621	int SetOptions(float g_kpELE, float g_kiELE, float *g_kdELE,
HARUKIDELTA	0:17f575135219	622	float g_kpRUD, float g_kiRUD, float *g_kdRUD,
HARUKIDELTA	0:17f575135219	623	float g_rightloopROLL, float g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	624	float g_leftloopROLL, float g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	625	float g_gostraightROLL, float g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	626	float g_takeoffTHR, float g_loopTHR,
HARUKIDELTA	0:17f575135219	627	float g_rightloopROLLshort, float g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	628	float g_leftloopROLLshort, float g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	629	float g_glideloopROLL, float g_glideloopPITCH,
HARUKIDELTA	13:77b13d5f4d78	630	float g_kpAIL, float g_kiAIL, float *g_kdAIL,
HARUKIDELTA	13:77b13d5f4d78	631	int g_rightloopRUD, int g_rightloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	632	int g_leftloopRUD, int g_leftloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	633	int *g_glideloopRUD,
HARUKIDELTA	13:77b13d5f4d78	634	int g_AIL_L_correctionrightloop,int g_AIL_L_correctionrightloopshort,
HARUKIDELTA	13:77b13d5f4d78	635	int g_AIL_L_correctionleftloop,int g_AIL_L_correctionleftloopshort
HARUKIDELTA	0:17f575135219	636	){
HARUKIDELTA	0:17f575135219	637
HARUKIDELTA	0:17f575135219	638	pc.printf("SDsetup start.\r\n");
HARUKIDELTA	0:17f575135219	639
HARUKIDELTA	0:17f575135219	640	FILE *fp;
HARUKIDELTA	13:77b13d5f4d78	641	char parameter[40]; //文字列渡す用の配列
HARUKIDELTA	0:17f575135219	642	int SDerrorcount = 0; //取得できなかった数を返す
HARUKIDELTA	0:17f575135219	643	const char *paramNames[] = {
HARUKIDELTA	0:17f575135219	644	"KP_ELEVATOR",
HARUKIDELTA	0:17f575135219	645	"KI_ELEVATOR",
HARUKIDELTA	0:17f575135219	646	"KD_ELEVATOR",
HARUKIDELTA	0:17f575135219	647	"KP_RUDDER",
HARUKIDELTA	0:17f575135219	648	"KI_RUDDER",
HARUKIDELTA	0:17f575135219	649	"KD_RUDDER",
HARUKIDELTA	0:17f575135219	650	"RIGHTLOOP_ROLL",
HARUKIDELTA	0:17f575135219	651	"RIGHTLOOP_PITCH",
HARUKIDELTA	0:17f575135219	652	"LEFTLOOP_ROLL",
HARUKIDELTA	0:17f575135219	653	"LEFTLOOP_PITCH",
HARUKIDELTA	0:17f575135219	654	"GOSTRAIGHT_ROLL",
HARUKIDELTA	0:17f575135219	655	"GOSTRAIGHT_PITCH",
HARUKIDELTA	0:17f575135219	656	"TAKEOFF_THR_RATE",
HARUKIDELTA	0:17f575135219	657	"LOOP_THR_RATE",
HARUKIDELTA	0:17f575135219	658	"RIGHTLOOP_ROLL_SHORT",
HARUKIDELTA	0:17f575135219	659	"RIGHTLOOP_PITCH_SHORT",
HARUKIDELTA	0:17f575135219	660	"LEFTLOOP_ROLL_SHORT",
HARUKIDELTA	0:17f575135219	661	"LEFTLOOP_PITCH_SHORT",
HARUKIDELTA	0:17f575135219	662	"AUTOGLIDE_ROLL",
HARUKIDELTA	12:763bf416ba4b	663	"AUTOGLIDE PITCH",
HARUKIDELTA	12:763bf416ba4b	664	"KP_AILERON",
HARUKIDELTA	12:763bf416ba4b	665	"KI_AILERON",
HARUKIDELTA	13:77b13d5f4d78	666	"KD_AILERON",
HARUKIDELTA	13:77b13d5f4d78	667	"RIGHTLOOP_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	668	"RIGHTLOOPSHORT_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	669	"LEFTLOOP_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	670	"LEFTLOOPSHORT_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	671	"GLIDELOOP_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	672	"AILERON_LEFT_CORRECTION_RIGHTLOOP",
HARUKIDELTA	13:77b13d5f4d78	673	"AILERON_LEFT_CORRECTION_RIGHTLOOPSHORT",
HARUKIDELTA	13:77b13d5f4d78	674	"AILERON_LEFT_CORRECTION_LEFTLOOP",
HARUKIDELTA	13:77b13d5f4d78	675	"AILERON_LEFT_CORRECTION_LEFTLOOPSHORT"
HARUKIDELTA	0:17f575135219	676	};
HARUKIDELTA	0:17f575135219	677
HARUKIDELTA	0:17f575135219	678	fp = fopen("/sd/option.txt","r");
HARUKIDELTA	0:17f575135219	679
HARUKIDELTA	0:17f575135219	680	if(fp != NULL){ //開けたら
HARUKIDELTA	0:17f575135219	681	pc.printf("File was openned.\r\n");
HARUKIDELTA	0:17f575135219	682	if(GetParameter(fp,paramNames[0],parameter)) *g_kpELE = atof(parameter);
HARUKIDELTA	0:17f575135219	683	else{ *g_kpELE = KP_ELE;
HARUKIDELTA	0:17f575135219	684	SDerrorcount++;
HARUKIDELTA	0:17f575135219	685	}
HARUKIDELTA	0:17f575135219	686	if(GetParameter(fp,paramNames[1],parameter)) *g_kiELE = atof(parameter);
HARUKIDELTA	0:17f575135219	687	else{ *g_kiELE = KI_ELE;
HARUKIDELTA	0:17f575135219	688	SDerrorcount++;
HARUKIDELTA	0:17f575135219	689	}
HARUKIDELTA	0:17f575135219	690	if(GetParameter(fp,paramNames[2],parameter)) *g_kdELE = atof(parameter);
HARUKIDELTA	0:17f575135219	691	else{ *g_kdELE = KD_ELE;
HARUKIDELTA	0:17f575135219	692	SDerrorcount++;
HARUKIDELTA	0:17f575135219	693	}
HARUKIDELTA	0:17f575135219	694	if(GetParameter(fp,paramNames[3],parameter)) *g_kpRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	695	else{ *g_kpRUD = KP_RUD;
HARUKIDELTA	0:17f575135219	696	SDerrorcount++;
HARUKIDELTA	0:17f575135219	697	}
HARUKIDELTA	0:17f575135219	698	if(GetParameter(fp,paramNames[4],parameter)) *g_kiRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	699	else{ *g_kiRUD = KI_RUD;
HARUKIDELTA	0:17f575135219	700	SDerrorcount++;
HARUKIDELTA	0:17f575135219	701	}
HARUKIDELTA	0:17f575135219	702	if(GetParameter(fp,paramNames[5],parameter)) *g_kdRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	703	else{ *g_kdRUD = KD_RUD;
HARUKIDELTA	0:17f575135219	704	SDerrorcount++;
HARUKIDELTA	0:17f575135219	705	}
HARUKIDELTA	0:17f575135219	706	if(GetParameter(fp,paramNames[6],parameter)) *g_rightloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	707	else{ *g_rightloopROLL = RIGHT_ROLL;
HARUKIDELTA	0:17f575135219	708	SDerrorcount++;
HARUKIDELTA	0:17f575135219	709	}
HARUKIDELTA	0:17f575135219	710	if(GetParameter(fp,paramNames[7],parameter)) *g_rightloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	711	else{ *g_rightloopPITCH = RIGHT_PITCH;
HARUKIDELTA	0:17f575135219	712	SDerrorcount++;
HARUKIDELTA	0:17f575135219	713	}
HARUKIDELTA	0:17f575135219	714	if(GetParameter(fp,paramNames[8],parameter)) *g_leftloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	715	else{ *g_leftloopROLL = LEFT_ROLL;
HARUKIDELTA	0:17f575135219	716	SDerrorcount++;
HARUKIDELTA	0:17f575135219	717	}
HARUKIDELTA	0:17f575135219	718	if(GetParameter(fp,paramNames[9],parameter)) *g_leftloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	719	else{ *g_leftloopPITCH = LEFT_PITCH;
HARUKIDELTA	0:17f575135219	720	SDerrorcount++;
HARUKIDELTA	0:17f575135219	721	}
HARUKIDELTA	0:17f575135219	722	if(GetParameter(fp,paramNames[10],parameter)) *g_gostraightROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	723	else{ *g_gostraightROLL = STRAIGHT_ROLL;
HARUKIDELTA	0:17f575135219	724	SDerrorcount++;
HARUKIDELTA	0:17f575135219	725	}
HARUKIDELTA	0:17f575135219	726	if(GetParameter(fp,paramNames[11],parameter)) *g_gostraightPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	727	else{ *g_gostraightPITCH = STRAIGHT_PITCH;
HARUKIDELTA	0:17f575135219	728	SDerrorcount++;
HARUKIDELTA	0:17f575135219	729	}
HARUKIDELTA	0:17f575135219	730	if(GetParameter(fp,paramNames[12],parameter)) *g_takeoffTHR = atof(parameter);
HARUKIDELTA	0:17f575135219	731	else{ *g_takeoffTHR = TAKEOFF_THR;
HARUKIDELTA	0:17f575135219	732	SDerrorcount++;
HARUKIDELTA	0:17f575135219	733	}
HARUKIDELTA	0:17f575135219	734	if(GetParameter(fp,paramNames[13],parameter)) *g_loopTHR = atof(parameter);
HARUKIDELTA	0:17f575135219	735	else{ *g_loopTHR = LOOP_THR;
HARUKIDELTA	0:17f575135219	736	SDerrorcount++;
HARUKIDELTA	0:17f575135219	737	}
HARUKIDELTA	0:17f575135219	738	if(GetParameter(fp,paramNames[14],parameter)) *g_rightloopROLLshort = atof(parameter);
HARUKIDELTA	0:17f575135219	739	else{ *g_rightloopROLLshort = RIGHT_ROLL_SHORT;
HARUKIDELTA	0:17f575135219	740	SDerrorcount++;
HARUKIDELTA	0:17f575135219	741	}
HARUKIDELTA	0:17f575135219	742	if(GetParameter(fp,paramNames[15],parameter)) *g_rightloopPITCHshort = atof(parameter);
HARUKIDELTA	0:17f575135219	743	else{ *g_rightloopPITCHshort = RIGHT_PITCH_SHORT;
HARUKIDELTA	0:17f575135219	744	SDerrorcount++;
HARUKIDELTA	0:17f575135219	745	}
HARUKIDELTA	0:17f575135219	746	if(GetParameter(fp,paramNames[16],parameter)) *g_leftloopROLLshort = atof(parameter);
HARUKIDELTA	0:17f575135219	747	else{ *g_leftloopROLLshort = LEFT_ROLL_SHORT;
HARUKIDELTA	0:17f575135219	748	SDerrorcount++;
HARUKIDELTA	0:17f575135219	749	}
HARUKIDELTA	0:17f575135219	750	if(GetParameter(fp,paramNames[17],parameter)) *g_leftloopPITCHshort = atof(parameter);
HARUKIDELTA	0:17f575135219	751	else{ *g_leftloopPITCHshort = LEFT_PITCH_SHORT;
HARUKIDELTA	0:17f575135219	752	SDerrorcount++;
HARUKIDELTA	0:17f575135219	753	}
HARUKIDELTA	0:17f575135219	754	if(GetParameter(fp,paramNames[18],parameter)) *g_glideloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	755	else{ *g_glideloopROLL = GLIDE_ROLL;
HARUKIDELTA	0:17f575135219	756	SDerrorcount++;
HARUKIDELTA	0:17f575135219	757	}
HARUKIDELTA	0:17f575135219	758	if(GetParameter(fp,paramNames[19],parameter)) *g_glideloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	759	else{ *g_glideloopPITCH = GLIDE_PITCH;
HARUKIDELTA	0:17f575135219	760	SDerrorcount++;
HARUKIDELTA	0:17f575135219	761	}
HARUKIDELTA	18:cce82f3374fc	762	if(GetParameter(fp,paramNames[20],parameter)) *g_kpAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	763	else{ *g_kpAIL = KP_AIL;
HARUKIDELTA	12:763bf416ba4b	764	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	765	}
HARUKIDELTA	12:763bf416ba4b	766	if(GetParameter(fp,paramNames[21],parameter)) *g_kiAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	767	else{ *g_kiAIL = KI_AIL;
HARUKIDELTA	12:763bf416ba4b	768	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	769	}
HARUKIDELTA	12:763bf416ba4b	770	if(GetParameter(fp,paramNames[22],parameter)) *g_kdAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	771	else{ *g_kdAIL = KP_AIL;
HARUKIDELTA	12:763bf416ba4b	772	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	773	}
HARUKIDELTA	13:77b13d5f4d78	774	if(GetParameter(fp,paramNames[23],parameter)) *g_rightloopRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	775	else{ *g_rightloopRUD = RIGHTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	776	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	777	}
HARUKIDELTA	13:77b13d5f4d78	778	if(GetParameter(fp,paramNames[24],parameter)) *g_rightloopshortRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	779	else{ *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	780	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	781	}
HARUKIDELTA	13:77b13d5f4d78	782	if(GetParameter(fp,paramNames[25],parameter)) *g_leftloopRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	783	else{ *g_leftloopshortRUD = LEFTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	784	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	785	}
HARUKIDELTA	13:77b13d5f4d78	786	if(GetParameter(fp,paramNames[26],parameter)) *g_leftloopshortRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	787	else{ *g_leftloopshortRUD = LEFTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	788	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	789	}
HARUKIDELTA	13:77b13d5f4d78	790	if(GetParameter(fp,paramNames[27],parameter)) *g_glideloopRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	791	else{ *g_glideloopRUD = GLIDELOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	792	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	793	}
HARUKIDELTA	13:77b13d5f4d78	794	if(GetParameter(fp,paramNames[28],parameter)) *g_AIL_L_correctionrightloop = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	795	else{ *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP;
HARUKIDELTA	13:77b13d5f4d78	796	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	797	}
HARUKIDELTA	13:77b13d5f4d78	798	if(GetParameter(fp,paramNames[29],parameter)) *g_AIL_L_correctionrightloopshort = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	799	else{ *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	800	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	801	}
HARUKIDELTA	13:77b13d5f4d78	802	if(GetParameter(fp,paramNames[30],parameter)) *g_AIL_L_correctionleftloop = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	803	else{ *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP;
HARUKIDELTA	13:77b13d5f4d78	804	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	805	}
HARUKIDELTA	13:77b13d5f4d78	806	if(GetParameter(fp,paramNames[31],parameter)) *g_AIL_L_correctionleftloopshort = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	807	else{ *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	808	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	809	}
HARUKIDELTA	13:77b13d5f4d78	810
HARUKIDELTA	0:17f575135219	811	fclose(fp);
HARUKIDELTA	0:17f575135219	812
HARUKIDELTA	0:17f575135219	813	}else{ //ファイルがなかったら
HARUKIDELTA	0:17f575135219	814	pc.printf("fp was null.\r\n");
HARUKIDELTA	0:17f575135219	815	*g_kpELE = KP_ELE;
HARUKIDELTA	0:17f575135219	816	*g_kiELE = KI_ELE;
HARUKIDELTA	0:17f575135219	817	*g_kdELE = KD_ELE;
HARUKIDELTA	0:17f575135219	818	*g_kpRUD = KP_RUD;
HARUKIDELTA	0:17f575135219	819	*g_kiRUD = KI_RUD;
HARUKIDELTA	0:17f575135219	820	*g_kdRUD = KD_RUD;
HARUKIDELTA	0:17f575135219	821	*g_rightloopROLL = RIGHT_ROLL;
HARUKIDELTA	0:17f575135219	822	*g_rightloopPITCH = RIGHT_PITCH;
HARUKIDELTA	0:17f575135219	823	*g_leftloopROLL = LEFT_ROLL;
HARUKIDELTA	0:17f575135219	824	*g_leftloopPITCH = LEFT_PITCH;
HARUKIDELTA	0:17f575135219	825	*g_gostraightROLL = STRAIGHT_ROLL;
HARUKIDELTA	0:17f575135219	826	*g_gostraightPITCH = STRAIGHT_PITCH;
HARUKIDELTA	0:17f575135219	827	*g_takeoffTHR = TAKEOFF_THR;
HARUKIDELTA	0:17f575135219	828	*g_loopTHR = LOOP_THR;
HARUKIDELTA	12:763bf416ba4b	829	*g_kpAIL = KP_AIL; //パラメータ変えるのお忘れなく！！
HARUKIDELTA	12:763bf416ba4b	830	*g_kiAIL = KI_AIL;
HARUKIDELTA	12:763bf416ba4b	831	*g_kdAIL = KD_AIL;
HARUKIDELTA	13:77b13d5f4d78	832	*g_rightloopRUD = RIGHTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	833	*g_rightloopshortRUD = RIGHTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	834	*g_leftloopRUD = LEFTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	835	*g_leftloopshortRUD = LEFTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	836	*g_glideloopRUD = GLIDELOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	837	*g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP;
HARUKIDELTA	13:77b13d5f4d78	838	*g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	839	*g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP;
HARUKIDELTA	13:77b13d5f4d78	840	*g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	841
HARUKIDELTA	13:77b13d5f4d78	842
HARUKIDELTA	0:17f575135219	843	SDerrorcount = -1;
HARUKIDELTA	0:17f575135219	844	}
HARUKIDELTA	0:17f575135219	845	pc.printf("SDsetup finished.\r\n");
HARUKIDELTA	0:17f575135219	846	if(SDerrorcount == 0) pc.printf("setting option is success\r\n");
HARUKIDELTA	0:17f575135219	847	else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n");
HARUKIDELTA	0:17f575135219	848	else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount);
HARUKIDELTA	0:17f575135219	849
HARUKIDELTA	0:17f575135219	850	pc.printf("kpELE = %f, kiELE = %f, kdELE = %f\r\n", g_kpRUD, g_kiRUD, *g_kdRUD);
HARUKIDELTA	0:17f575135219	851	pc.printf("kpRUD = %f, kiRUD = %f, kdRUD = %f\r\n", g_kpELE, g_kiELE, *g_kdELE);
HARUKIDELTA	0:17f575135219	852	pc.printf("rightloopROLL = %f, rightloopPITCH = %f\r\n", g_rightloopROLL, g_rightloopPITCH);
HARUKIDELTA	0:17f575135219	853	pc.printf("leftloopROLL = %f, g_leftloopPITCH = %f\r\n", g_leftloopROLL, g_leftloopPITCH);
HARUKIDELTA	0:17f575135219	854	pc.printf("gostraightROLL = %f, g_gostraightPITCH = %f\r\n", g_gostraightROLL, g_gostraightPITCH);
HARUKIDELTA	0:17f575135219	855	pc.printf("g_takeoffTHR = %f, g_loopTHR = %f\r\n", g_takeoffTHR, g_loopTHR);
HARUKIDELTA	0:17f575135219	856	pc.printf("rightloopROLLshort = %f, rightloopPITCHshort = %f\r\n", g_rightloopROLLshort, g_rightloopPITCHshort);
HARUKIDELTA	0:17f575135219	857	pc.printf("leftloopROLLshort = %f, g_leftloopPITCHshort = %f\r\n", g_leftloopROLLshort, g_leftloopPITCHshort);
HARUKIDELTA	0:17f575135219	858	pc.printf("glideROLL = %f, glidePITCH = %f\r\n", g_glideloopROLL, g_glideloopPITCH);
HARUKIDELTA	16:7fca5b938da6	859	pc.printf("kpAIL = %f,kiAIL = %f,kdAIL = %f\r\n ",g_kpAIL,g_kiAIL,*g_kdAIL);
HARUKIDELTA	16:7fca5b938da6	860	pc.printf("RIGHTLOOPRUD = %d,RIGHTLOOPSHORTRUD = %d\r\n",g_rightloopRUD,g_rightloopshortRUD);
HARUKIDELTA	16:7fca5b938da6	861	pc.printf("LEFTTLOOPRUD = %d,LEFTLOOPSHORTRUD = %d\r\n",g_leftloopRUD,g_leftloopshortRUD);
HARUKIDELTA	16:7fca5b938da6	862	pc.printf("GLIDELOOPRUD = %d\r\n",*g_glideloopRUD);
HARUKIDELTA	16:7fca5b938da6	863	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	864	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	865	return SDerrorcount;
HARUKIDELTA	0:17f575135219	866	}
HARUKIDELTA	0:17f575135219	867
HARUKIDELTA	0:17f575135219	868	void CalculateControlValue(float targetAngle[3], float controlValue[3]){
HARUKIDELTA	0:17f575135219	869	static int t_last;
HARUKIDELTA	0:17f575135219	870	int t_now;
HARUKIDELTA	0:17f575135219	871	float dt;
HARUKIDELTA	0:17f575135219	872
HARUKIDELTA	0:17f575135219	873	t_now = t.read_us();
HARUKIDELTA	0:17f575135219	874	dt = (float)((t_now - t_last)/1000000.0f) ;
HARUKIDELTA	0:17f575135219	875	t_last = t_now;
HARUKIDELTA	0:17f575135219	876
taknokolat	1:f383708a5a52	877
taknokolat	1:f383708a5a52	878	//controlValue[ROLL] = pid_RUD.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt);
taknokolat	1:f383708a5a52	879	controlValue[ROLL] = pid_AIL.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); //エルロンでロール制御
HARUKIDELTA	0:17f575135219	880	controlValue[PITCH] = pid_ELE.calcPID(nowAngle[PITCH], targetAngle[PITCH], dt);
HARUKIDELTA	0:17f575135219	881	}
HARUKIDELTA	0:17f575135219	882
HARUKIDELTA	0:17f575135219	883	void UpdateAutoPWM(float controlValue[3]){
HARUKIDELTA	0:17f575135219	884	int16_t addpwm[2]; //-500~500
HARUKIDELTA	0:17f575135219	885	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	886	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	887
HARUKIDELTA	2:23daa5fa28b4	888	autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH]; //rewrite
HARUKIDELTA	8:66bba39b95a9	889	autopwm[AIL_R] = trimpwm[AIL_R] - reverce[AIL_R] * addpwm[ROLL];
HARUKIDELTA	0:17f575135219	890	//autopwm[THR] = oldTHR;
HARUKIDELTA	0:17f575135219	891
HARUKIDELTA	0:17f575135219	892	autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]);
taknokolat	1:f383708a5a52	893	autopwm[AIL_R] = ThresholdMaxMin(autopwm[AIL_R], maxpwm[AIL_R], minpwm[AIL_R]);
HARUKIDELTA	2:23daa5fa28b4	894
HARUKIDELTA	0:17f575135219	895	}
HARUKIDELTA	0:17f575135219	896
HARUKIDELTA	0:17f575135219	897	inline float CalcRatio(float value, float trim, float limit){
HARUKIDELTA	0:17f575135219	898	return (value - trim) / (limit - trim);
HARUKIDELTA	0:17f575135219	899	}
HARUKIDELTA	0:17f575135219	900
HARUKIDELTA	0:17f575135219	901	bool CheckSW_Up(Channel ch){
taknokolat	23:4928a6fd9eee	902	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	903	if(SWITCH_CHECK < sbus.manualpwm[ch]){
HARUKIDELTA	0:17f575135219	904	return true;
HARUKIDELTA	0:17f575135219	905	}else{
HARUKIDELTA	0:17f575135219	906	return false;
HARUKIDELTA	0:17f575135219	907	}
taknokolat	23:4928a6fd9eee	908	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	909	}
HARUKIDELTA	0:17f575135219	910
HARUKIDELTA	0:17f575135219	911	int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min){
HARUKIDELTA	0:17f575135219	912	if(value > max) return max;
HARUKIDELTA	0:17f575135219	913	if(value < min) return min;
HARUKIDELTA	0:17f575135219	914	return value;
HARUKIDELTA	0:17f575135219	915	}
HARUKIDELTA	0:17f575135219	916
HARUKIDELTA	0:17f575135219	917	inline int16_t SetTHRinRatio(float ratio){
HARUKIDELTA	0:17f575135219	918	return minpwm[THR] + (int16_t)(2 * lengthdivpwm * ratio);
HARUKIDELTA	0:17f575135219	919	}
HARUKIDELTA	0:17f575135219	920
HARUKIDELTA	2:23daa5fa28b4	921
HARUKIDELTA	2:23daa5fa28b4	922
HARUKIDELTA	0:17f575135219	923	/---SBUS割り込み処理---/
HARUKIDELTA	0:17f575135219	924
HARUKIDELTA	0:17f575135219	925	//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	926	//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	927	void Update_PWM()
HARUKIDELTA	0:17f575135219	928	{
HARUKIDELTA	0:17f575135219	929	static int16_t pwm[6];
HARUKIDELTA	0:17f575135219	930	static int16_t temppwm[6]={trimpwm[0],trimpwm[1],trimpwm[2],trimpwm[3],trimpwm[4],trimpwm[5]};
HARUKIDELTA	0:17f575135219	931	if(sbus.flg_ch_update == true){
taknokolat	10:652071c20bf6	932	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	933	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	934	case Manual:
HARUKIDELTA	0:17f575135219	935	for(uint8_t i=0;i<6;i++){
taknokolat	1:f383708a5a52	936	pwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	937	}
HARUKIDELTA	2:23daa5fa28b4	938	/*pc.printf("%d ,",pwm[0]);//R
HARUKIDELTA	2:23daa5fa28b4	939	pc.printf("%d ,\r\n",pwm[5]);//L*/
HARUKIDELTA	0:17f575135219	940	oldTHR = sbus.manualpwm[THR];
HARUKIDELTA	0:17f575135219	941	//pc.printf("update_manual\r\n");
HARUKIDELTA	0:17f575135219	942	break;
HARUKIDELTA	0:17f575135219	943
HARUKIDELTA	0:17f575135219	944	case Auto:
HARUKIDELTA	0:17f575135219	945	pwm[AIL_R] = autopwm[AIL_R]; //sbus.manualpwm[AIL];
HARUKIDELTA	0:17f575135219	946	pwm[ELE] = autopwm[ELE];
HARUKIDELTA	0:17f575135219	947	pwm[THR] = autopwm[THR];
HARUKIDELTA	0:17f575135219	948	pwm[RUD] = autopwm[RUD];
HARUKIDELTA	0:17f575135219	949	pwm[DROP] = autopwm[DROP];
HARUKIDELTA	0:17f575135219	950	pwm[AIL_L] = autopwm[AIL_L];
taknokolat	10:652071c20bf6	951	//pc.printf("%d ,",pwm[AIL_R]);//R
taknokolat	10:652071c20bf6	952	//pc.printf("%d ,\r\n",pwm[AIL_L]);//L
HARUKIDELTA	0:17f575135219	953	//pc.printf("update_auto\r\n");
HARUKIDELTA	2:23daa5fa28b4	954
HARUKIDELTA	0:17f575135219	955	break;
HARUKIDELTA	0:17f575135219	956
HARUKIDELTA	0:17f575135219	957	default:
HARUKIDELTA	0:17f575135219	958	for(uint8_t i=0;i<6;i++){
HARUKIDELTA	0:17f575135219	959	pwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	960	} //pc.printf("update_manual\r\n");
HARUKIDELTA	0:17f575135219	961	break;
taknokolat	10:652071c20bf6	962	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	963	}
HARUKIDELTA	0:17f575135219	964	for(uint8_t i=0;i<6;i++){
HARUKIDELTA	0:17f575135219	965	if(pwm[i]<1000 \|\| pwm[i]>2000) pwm[i]=temppwm[i];
HARUKIDELTA	0:17f575135219	966	temppwm[i]=pwm[i];
HARUKIDELTA	0:17f575135219	967	}
HARUKIDELTA	0:17f575135219	968	}else{
HARUKIDELTA	0:17f575135219	969	pc.printf("0\r\n");
HARUKIDELTA	0:17f575135219	970	}
HARUKIDELTA	0:17f575135219	971	sbus.flg_ch_update = false;
HARUKIDELTA	0:17f575135219	972	Output_PWM(pwm);
HARUKIDELTA	0:17f575135219	973	}
HARUKIDELTA	0:17f575135219	974
HARUKIDELTA	0:17f575135219	975
HARUKIDELTA	0:17f575135219	976	//pwmをサーボに出力。
HARUKIDELTA	0:17f575135219	977	void Output_PWM(int16_t pwm[5])
HARUKIDELTA	0:17f575135219	978	{
taknokolat	10:652071c20bf6	979	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	980	servo1.pulsewidth_us(pwm[0]);
HARUKIDELTA	0:17f575135219	981	servo2.pulsewidth_us(pwm[1]);
HARUKIDELTA	0:17f575135219	982	servo3.pulsewidth_us(pwm[2]);
HARUKIDELTA	0:17f575135219	983	servo4.pulsewidth_us(pwm[3]);
HARUKIDELTA	0:17f575135219	984	servo5.pulsewidth_us(pwm[4]);
HARUKIDELTA	0:17f575135219	985	servo6.pulsewidth_us(pwm[5]);
taknokolat	10:652071c20bf6	986	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	987
HARUKIDELTA	0:17f575135219	988	}
HARUKIDELTA	0:17f575135219	989
HARUKIDELTA	0:17f575135219	990	void ResetTrim(){
HARUKIDELTA	0:17f575135219	991	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	992	trimpwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	993	}
HARUKIDELTA	0:17f575135219	994	pc.printf("reset PWM trim\r\n");
HARUKIDELTA	0:17f575135219	995	}
HARUKIDELTA	0:17f575135219	996
HARUKIDELTA	0:17f575135219	997
HARUKIDELTA	0:17f575135219	998	void SensingMPU(){
HARUKIDELTA	0:17f575135219	999	//static int16_t deltaT = 0, t_start = 0;
HARUKIDELTA	0:17f575135219	1000	//t_start = t.read_us();
HARUKIDELTA	0:17f575135219	1001
HARUKIDELTA	0:17f575135219	1002	float rpy[3] = {0}, oldrpy[3] = {0};
HARUKIDELTA	0:17f575135219	1003	static uint16_t count_changeRPY = 0;
HARUKIDELTA	0:17f575135219	1004	static bool flg_checkoutlier = false;
HARUKIDELTA	0:17f575135219	1005	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	1006	NVIC_DisableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	1007	NVIC_DisableIRQ(TIM5_IRQn);
taknokolat	10:652071c20bf6	1008	NVIC_DisableIRQ(EXTI0_IRQn);//MPU割り込み禁止
taknokolat	10:652071c20bf6	1009	NVIC_DisableIRQ(EXTI9_5_IRQn);//超音波割り込み禁止
HARUKIDELTA	0:17f575135219	1010
HARUKIDELTA	0:17f575135219	1011	mpu6050.getRollPitchYaw_Skipper(rpy);
HARUKIDELTA	0:17f575135219	1012
HARUKIDELTA	0:17f575135219	1013	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	1014	NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	1015	NVIC_EnableIRQ(TIM5_IRQn);
HARUKIDELTA	0:17f575135219	1016	NVIC_EnableIRQ(EXTI0_IRQn);
HARUKIDELTA	0:17f575135219	1017	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1018
HARUKIDELTA	0:17f575135219	1019
HARUKIDELTA	0:17f575135219	1020	//外れ値対策
HARUKIDELTA	0:17f575135219	1021	for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI;
HARUKIDELTA	0:17f575135219	1022	rpy[ROLL] -= FirstROLL;
HARUKIDELTA	0:17f575135219	1023	rpy[PITCH] -= FirstPITCH;
HARUKIDELTA	0:17f575135219	1024	rpy[YAW] -= FirstYAW;
HARUKIDELTA	0:17f575135219	1025
HARUKIDELTA	0:17f575135219	1026	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	1027	if(!flg_checkoutlier \|\| count_changeRPY >= 2){
HARUKIDELTA	0:17f575135219	1028	for(uint8_t i=0; i<3; i++){
HARUKIDELTA	0:17f575135219	1029	nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均
HARUKIDELTA	0:17f575135219	1030	}
HARUKIDELTA	0:17f575135219	1031	count_changeRPY = 0;
HARUKIDELTA	0:17f575135219	1032	}else count_changeRPY++;
HARUKIDELTA	0:17f575135219	1033	flg_checkoutlier = false;
HARUKIDELTA	0:17f575135219	1034
HARUKIDELTA	0:17f575135219	1035	}
HARUKIDELTA	0:17f575135219	1036
HARUKIDELTA	0:17f575135219	1037	float TranslateNewYaw(float beforeYaw, float newzeroYaw){
HARUKIDELTA	0:17f575135219	1038	float newYaw = beforeYaw - newzeroYaw;
HARUKIDELTA	0:17f575135219	1039
HARUKIDELTA	0:17f575135219	1040	if(newYaw<-180.0f) newYaw += 360.0f;
HARUKIDELTA	0:17f575135219	1041	else if(newYaw>180.0f) newYaw -= 360.0f;
HARUKIDELTA	0:17f575135219	1042	return newYaw;
HARUKIDELTA	0:17f575135219	1043	}
HARUKIDELTA	0:17f575135219	1044
HARUKIDELTA	0:17f575135219	1045
HARUKIDELTA	0:17f575135219	1046	void getSF_Serial(){
taknokolat	25:37bee299a276	1047	//NVIC_DisableIRQ(USART1_IRQn);
taknokolat	25:37bee299a276	1048	NVIC_DisableIRQ(EXTI0_IRQn);
taknokolat	25:37bee299a276	1049	//NVIC_DisableIRQ(TIM5_IRQn);
taknokolat	25:37bee299a276	1050
taknokolat	25:37bee299a276	1051
taknokolat	25:37bee299a276	1052	static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat	25:37bee299a276	1053
HARUKIDELTA	0:17f575135219	1054	static int bufcounter=0;
HARUKIDELTA	0:17f575135219	1055
taknokolat	14:bbd5ff31fb67	1056	if(pc.readable()) { // 受信確認
taknokolat	25:37bee299a276	1057
taknokolat	14:bbd5ff31fb67	1058	SFbuf[bufcounter] = pc.getc(); // 1文字取り出し
taknokolat	25:37bee299a276	1059	if(SFbuf[0]!='S') return;
taknokolat	25:37bee299a276	1060	}
taknokolat	25:37bee299a276	1061
taknokolat	11:c0b9ad25d3db	1062
taknokolat	25:37bee299a276	1063	//pc.printf("%c",SFbuf[bufcounter]);
HARUKIDELTA	0:17f575135219	1064
taknokolat	25:37bee299a276	1065	if(SFbuf[0]=='S'&&bufcounter<5)bufcounter++;
taknokolat	25:37bee299a276	1066
taknokolat	25:37bee299a276	1067	if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat	25:37bee299a276	1068
taknokolat	25:37bee299a276	1069	g_landingcommand = SFbuf[1];
taknokolat	25:37bee299a276	1070	//wait_ms(20);
taknokolat	25:37bee299a276	1071	if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat	25:37bee299a276	1072	bufcounter = 0;
taknokolat	25:37bee299a276	1073	memset(SFbuf, 0, strlen(SFbuf));
taknokolat	25:37bee299a276	1074	//pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat	25:37bee299a276	1075	}
taknokolat	25:37bee299a276	1076
taknokolat	10:652071c20bf6	1077	else if(bufcounter>=5 ){
taknokolat	25:37bee299a276	1078	//pc.printf("Communication Falsed.\r\n");
taknokolat	25:37bee299a276	1079	memset(SFbuf, 0, strlen(SFbuf));
HARUKIDELTA	0:17f575135219	1080	bufcounter = 0;
HARUKIDELTA	0:17f575135219	1081	}
taknokolat	25:37bee299a276	1082
taknokolat	25:37bee299a276	1083
taknokolat	25:37bee299a276	1084	//NVIC_EnableIRQ(TIM5_IRQn);
taknokolat	25:37bee299a276	1085	NVIC_EnableIRQ(EXTI0_IRQn);
taknokolat	25:37bee299a276	1086	//NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	1087	}
HARUKIDELTA	0:17f575135219	1088
HARUKIDELTA	0:17f575135219	1089	float ConvertByteintoFloat(char high, char low){
HARUKIDELTA	0:17f575135219	1090
HARUKIDELTA	0:17f575135219	1091	//int16_t intvalue = (int16_t)high*256 + (int16_t)low;
HARUKIDELTA	0:17f575135219	1092	int16_t intvalue = (int16_t)(((int16_t)high << 8) \| low); // Turn the MSB and LSB into a signed 16-bit value
HARUKIDELTA	0:17f575135219	1093	float floatvalue = (float)intvalue;
HARUKIDELTA	0:17f575135219	1094	return floatvalue;
HARUKIDELTA	0:17f575135219	1095	}
HARUKIDELTA	0:17f575135219	1096
HARUKIDELTA	0:17f575135219	1097
HARUKIDELTA	0:17f575135219	1098	//超音波割り込み
taknokolat	10:652071c20bf6	1099	/*void UpdateDist(){
HARUKIDELTA	0:17f575135219	1100	g_distance = usensor.get_dist_cm();
HARUKIDELTA	0:17f575135219	1101	usensor.start();
taknokolat	10:652071c20bf6	1102	}*/
HARUKIDELTA	0:17f575135219	1103
HARUKIDELTA	0:17f575135219	1104	//8の字旋回
HARUKIDELTA	0:17f575135219	1105	void UpdateTargetAngle_Moebius(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1106	static uint8_t RotateCounter=0;
HARUKIDELTA	0:17f575135219	1107	static bool flg_setInStartAuto = false;
HARUKIDELTA	0:17f575135219	1108	static float FirstYAW_Moebius = 0.0;
HARUKIDELTA	0:17f575135219	1109	float newYaw_Moebius;
HARUKIDELTA	0:17f575135219	1110
HARUKIDELTA	0:17f575135219	1111	if(!flg_setInStartAuto && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1112	FirstYAW_Moebius = nowAngle[YAW];
HARUKIDELTA	0:17f575135219	1113	RotateCounter = 0;
HARUKIDELTA	0:17f575135219	1114	flg_setInStartAuto = true;
HARUKIDELTA	0:17f575135219	1115	}else if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1116	flg_setInStartAuto = false;
HARUKIDELTA	0:17f575135219	1117	led2 = 0;
HARUKIDELTA	0:17f575135219	1118	}
HARUKIDELTA	6:ed61ed8b8fab	1119	autopwm[THR]=oldTHR;
HARUKIDELTA	6:ed61ed8b8fab	1120
HARUKIDELTA	0:17f575135219	1121	newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius);
HARUKIDELTA	0:17f575135219	1122
HARUKIDELTA	0:17f575135219	1123	if(RotateCounter == 0 && newYaw_Moebius >90.0 && newYaw_Moebius < 180.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n");}
HARUKIDELTA	0:17f575135219	1124	if(RotateCounter == 1 && newYaw_Moebius >-180.0 && newYaw_Moebius < -90.0) {RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n");}
HARUKIDELTA	6:ed61ed8b8fab	1125	if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius <-10.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n");}
HARUKIDELTA	6:ed61ed8b8fab	1126	if(RotateCounter == 3 && newYaw_Moebius >0.0 && newYaw_Moebius < 90.0) {RotateCounter++; led2 = 0; pc.printf("Change Rotate direction\r\n");}
HARUKIDELTA	0:17f575135219	1127
HARUKIDELTA	0:17f575135219	1128
HARUKIDELTA	0:17f575135219	1129	if(RotateCounter <= 3) UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1130	else UpdateTargetAngle_Leftloop_short(targetAngle); //左旋回
HARUKIDELTA	0:17f575135219	1131
HARUKIDELTA	0:17f575135219	1132	}
HARUKIDELTA	0:17f575135219	1133
HARUKIDELTA	0:17f575135219	1134	//自動滑空
HARUKIDELTA	0:17f575135219	1135	void UpdateTargetAngle_Glide(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1136	static int THRcount = 0;
HARUKIDELTA	0:17f575135219	1137	static int t_start = 0;
HARUKIDELTA	0:17f575135219	1138	static bool flg_tstart = false;
HARUKIDELTA	0:17f575135219	1139	int t_diff = 0;
taknokolat	1:f383708a5a52	1140	static int groundcount = 0;
HARUKIDELTA	0:17f575135219	1141
HARUKIDELTA	0:17f575135219	1142	targetAngle[ROLL] = g_glideloopROLL;
HARUKIDELTA	0:17f575135219	1143	targetAngle[PITCH] = g_glideloopPITCH;
HARUKIDELTA	0:17f575135219	1144
HARUKIDELTA	16:7fca5b938da6	1145	autopwm[RUD]=g_glideloopRUD;
HARUKIDELTA	7:53b0eb6f6bd3	1146	// autopwm[THR]=oldTHR;
taknokolat	10:652071c20bf6	1147
taknokolat	1:f383708a5a52	1148
HARUKIDELTA	7:53b0eb6f6bd3	1149
HARUKIDELTA	0:17f575135219	1150	//時間計測開始設定
HARUKIDELTA	0:17f575135219	1151	if(!flg_tstart && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1152	t_start = t.read();
HARUKIDELTA	0:17f575135219	1153	flg_tstart = true;
HARUKIDELTA	0:17f575135219	1154	pc.printf("timer start\r\n");
taknokolat	1:f383708a5a52	1155	}else if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1156	t_start = 0;
HARUKIDELTA	0:17f575135219	1157	flg_tstart = false;
HARUKIDELTA	0:17f575135219	1158	}
HARUKIDELTA	0:17f575135219	1159
taknokolat	1:f383708a5a52	1160
HARUKIDELTA	0:17f575135219	1161	//フラグが偽であれば計測は行わない
HARUKIDELTA	0:17f575135219	1162	if(flg_tstart){
HARUKIDELTA	0:17f575135219	1163	t_diff = t.read() - t_start;
HARUKIDELTA	0:17f575135219	1164	//一定高度or15秒でled点灯
taknokolat	10:652071c20bf6	1165	NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat	1:f383708a5a52	1166	if((groundcount>5 && g_distance>0) \|\| t_diff > 15){
HARUKIDELTA	0:17f575135219	1167	led2 = 1;
HARUKIDELTA	0:17f575135219	1168	//pc.printf("Call [Stop!] calling!\r\n");
HARUKIDELTA	0:17f575135219	1169	}
taknokolat	10:652071c20bf6	1170
taknokolat	1:f383708a5a52	1171	if(g_distance<180 && g_distance > 0) groundcount++;
taknokolat	10:652071c20bf6	1172	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1173	}else{
HARUKIDELTA	0:17f575135219	1174	t_diff = 0;
taknokolat	1:f383708a5a52	1175	groundcount = 0;
HARUKIDELTA	0:17f575135219	1176	led2 = 0;
HARUKIDELTA	0:17f575135219	1177	}
HARUKIDELTA	0:17f575135219	1178
taknokolat	1:f383708a5a52	1179	if(t_diff > 17){
HARUKIDELTA	0:17f575135219	1180	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	0:17f575135219	1181	}else{
taknokolat	10:652071c20bf6	1182	NVIC_DisableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1183	if(g_distance<150 && g_distance>0 ){
taknokolat	10:652071c20bf6	1184	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1185	THRcount++;
HARUKIDELTA	0:17f575135219	1186	if(THRcount>5){
taknokolat	1:f383708a5a52	1187	autopwm[THR] = SetTHRinRatio(0.6);
HARUKIDELTA	0:17f575135219	1188	//pc.printf("throttle ON\r\n");
HARUKIDELTA	0:17f575135219	1189	}
HARUKIDELTA	0:17f575135219	1190	}else{
HARUKIDELTA	0:17f575135219	1191	autopwm[THR] = 1180;
HARUKIDELTA	0:17f575135219	1192	THRcount = 0;
HARUKIDELTA	0:17f575135219	1193	}
HARUKIDELTA	7:53b0eb6f6bd3	1194	}
HARUKIDELTA	0:17f575135219	1195	}
HARUKIDELTA	0:17f575135219	1196	//離陸-投下-着陸一連
HARUKIDELTA	0:17f575135219	1197	void Take_off_and_landing(float targetAngle[3]){
taknokolat	10:652071c20bf6	1198	/*
HARUKIDELTA	0:17f575135219	1199	if(!CheckSW_Up(Ch7)) bombing_mode = Takeoff;
HARUKIDELTA	0:17f575135219	1200
HARUKIDELTA	0:17f575135219	1201	switch(bombing_mode){
HARUKIDELTA	0:17f575135219	1202	case Takeoff:
HARUKIDELTA	0:17f575135219	1203	static bool flg_setFirstYaw = false;
HARUKIDELTA	0:17f575135219	1204	static int TakeoffCount = 0;
HARUKIDELTA	0:17f575135219	1205
HARUKIDELTA	0:17f575135219	1206	if(!flg_setFirstYaw && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1207	FirstYAW = nowAngle[YAW];
HARUKIDELTA	0:17f575135219	1208	flg_setFirstYaw = true;
HARUKIDELTA	0:17f575135219	1209	}else if(flg_setFirstYaw && !CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1210	flg_setFirstYaw = false;
HARUKIDELTA	0:17f575135219	1211	}
HARUKIDELTA	0:17f575135219	1212
HARUKIDELTA	0:17f575135219	1213	UpdateTargetAngle_Takeoff(targetAngle);
HARUKIDELTA	0:17f575135219	1214
HARUKIDELTA	0:17f575135219	1215	if(g_distance>150) TakeoffCount++;
HARUKIDELTA	0:17f575135219	1216	else TakeoffCount = 0;
HARUKIDELTA	0:17f575135219	1217	if(TakeoffCount>5){
HARUKIDELTA	0:17f575135219	1218	autopwm[THR] = 1180+32020.5;
HARUKIDELTA	0:17f575135219	1219	pc.printf("Now go to Approach mode!!");
HARUKIDELTA	0:17f575135219	1220	bombing_mode = Approach;
HARUKIDELTA	0:17f575135219	1221	}
HARUKIDELTA	0:17f575135219	1222	break;
taknokolat	10:652071c20bf6	1223
taknokolat	10:652071c20bf6	1224	//case Chicken:
taknokolat	10:652071c20bf6	1225	//break;
taknokolat	10:652071c20bf6	1226
HARUKIDELTA	0:17f575135219	1227	case Transition:
HARUKIDELTA	0:17f575135219	1228	static int ApproachCount = 0;
HARUKIDELTA	0:17f575135219	1229	targetAngle[YAW]=180.0;
HARUKIDELTA	0:17f575135219	1230	int Judge = Rotate(targetAngle, g_SerialTargetYAW);
HARUKIDELTA	0:17f575135219	1231
HARUKIDELTA	0:17f575135219	1232	if(Judge==0) ApproachCount++;
HARUKIDELTA	0:17f575135219	1233	if(ApproachCount>5) bombing_mode = Approach;
HARUKIDELTA	0:17f575135219	1234	break;
HARUKIDELTA	0:17f575135219	1235
HARUKIDELTA	0:17f575135219	1236	case Approach:
taknokolat	10:652071c20bf6	1237	*/
taknokolat	10:652071c20bf6	1238	autopwm[THR] = SetTHRinRatio(g_loopTHR); //0.7;スロットルの割合
HARUKIDELTA	0:17f575135219	1239	UpdateTargetAngle_Approach(targetAngle);
taknokolat	10:652071c20bf6	1240	/*
HARUKIDELTA	0:17f575135219	1241	break;
HARUKIDELTA	0:17f575135219	1242
HARUKIDELTA	0:17f575135219	1243	default:
HARUKIDELTA	0:17f575135219	1244	bombing_mode = Takeoff;
HARUKIDELTA	0:17f575135219	1245	break;
HARUKIDELTA	0:17f575135219	1246	}
taknokolat	10:652071c20bf6	1247	*/
HARUKIDELTA	0:17f575135219	1248	}
HARUKIDELTA	0:17f575135219	1249
HARUKIDELTA	0:17f575135219	1250	//離陸モード
HARUKIDELTA	0:17f575135219	1251	void UpdateTargetAngle_Takeoff(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1252	//pc.printf("%d \r\n",g_distance);
HARUKIDELTA	0:17f575135219	1253	targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA	0:17f575135219	1254	targetAngle[PITCH] = g_loopTHR;
HARUKIDELTA	0:17f575135219	1255	autopwm[THR] = SetTHRinRatio(g_takeoffTHR); //0.7;スロットルの割合
HARUKIDELTA	0:17f575135219	1256	}
HARUKIDELTA	0:17f575135219	1257
HARUKIDELTA	0:17f575135219	1258	//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	1259	int Rotate(float targetAngle[3], float TargetYAW){
HARUKIDELTA	0:17f575135219	1260	float diffYaw = TranslateNewYaw(TargetYAW, nowAngle[YAW]);
HARUKIDELTA	0:17f575135219	1261
HARUKIDELTA	0:17f575135219	1262	if(diffYaw > LIMIT_STRAIGHT_YAW){
HARUKIDELTA	0:17f575135219	1263	/*
HARUKIDELTA	0:17f575135219	1264	if(diffYaw > THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1265	else UpdateTargetAngle_Rightloop(targetAngle);
HARUKIDELTA	0:17f575135219	1266	*/
HARUKIDELTA	0:17f575135219	1267	UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1268	return 1;
HARUKIDELTA	0:17f575135219	1269	}else if(diffYaw < -LIMIT_STRAIGHT_YAW){
HARUKIDELTA	0:17f575135219	1270	UpdateTargetAngle_Leftloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1271	/*
HARUKIDELTA	0:17f575135219	1272	if(diffYaw < -THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Leftloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1273	else UpdateTargetAngle_Leftloop(targetAngle);
HARUKIDELTA	0:17f575135219	1274	*/
HARUKIDELTA	0:17f575135219	1275	return 1;
HARUKIDELTA	0:17f575135219	1276	}else{
HARUKIDELTA	0:17f575135219	1277	UpdateTargetAngle_GoStraight(targetAngle);
HARUKIDELTA	0:17f575135219	1278	return 0;
HARUKIDELTA	0:17f575135219	1279	}
HARUKIDELTA	0:17f575135219	1280	}
HARUKIDELTA	0:17f575135219	1281
HARUKIDELTA	0:17f575135219	1282	//チキラー投下
HARUKIDELTA	0:17f575135219	1283	void Chicken_Drop(){
HARUKIDELTA	0:17f575135219	1284	if(CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1285	autopwm[DROP] = 1512;
HARUKIDELTA	0:17f575135219	1286	pc.printf("Bombed!\r\n");
HARUKIDELTA	0:17f575135219	1287	RerurnChickenServo1.attach(&ReturnChickenServo1, 3);
HARUKIDELTA	0:17f575135219	1288	//operation_mode = Approach;
HARUKIDELTA	0:17f575135219	1289	//buzzer = 0;
HARUKIDELTA	0:17f575135219	1290	pc.printf("Goto LeftLoop mode\r\n");
HARUKIDELTA	0:17f575135219	1291	}
HARUKIDELTA	0:17f575135219	1292	}
HARUKIDELTA	0:17f575135219	1293
HARUKIDELTA	0:17f575135219	1294	void ReturnChickenServo1(){
HARUKIDELTA	0:17f575135219	1295	autopwm[DROP] = 1344;
HARUKIDELTA	0:17f575135219	1296	pc.printf("first reverse\r\n");
HARUKIDELTA	0:17f575135219	1297	RerurnChickenServo2.attach(&ReturnChickenServo2, 1);
HARUKIDELTA	0:17f575135219	1298	}
HARUKIDELTA	0:17f575135219	1299
HARUKIDELTA	0:17f575135219	1300	void ReturnChickenServo2(){
HARUKIDELTA	0:17f575135219	1301	autopwm[DROP] = 1392;
HARUKIDELTA	0:17f575135219	1302	pc.printf("second reverse\r\n");
taknokolat	10:652071c20bf6	1303	}
taknokolat	10:652071c20bf6	1304
taknokolat	10:652071c20bf6	1305	//着陸モード（PCからの指令に従う）
taknokolat	10:652071c20bf6	1306	void UpdateTargetAngle_Approach(float targetAngle[3]){
taknokolat	10:652071c20bf6	1307
taknokolat	26:bc185a3d16b6	1308	static bool zeroTHR=true;//着陸時のスロットル動作確認用
taknokolat	24:2cc7a3a10e72	1309
taknokolat	26:bc185a3d16b6	1310	if(CheckSW_Up(Ch7)){
taknokolat	26:bc185a3d16b6	1311	output_status = Auto;
taknokolat	26:bc185a3d16b6	1312	led1 = 1;
taknokolat	26:bc185a3d16b6	1313	}else{
taknokolat	26:bc185a3d16b6	1314	output_status = Manual;
taknokolat	26:bc185a3d16b6	1315	led1 = 0;
taknokolat	26:bc185a3d16b6	1316	zeroTHR=true;
taknokolat	26:bc185a3d16b6	1317	}
taknokolat	26:bc185a3d16b6	1318
taknokolat	24:2cc7a3a10e72	1319
taknokolat	10:652071c20bf6	1320	NVIC_DisableIRQ(USART2_IRQn);
taknokolat	10:652071c20bf6	1321
taknokolat	10:652071c20bf6	1322	switch(g_landingcommand){
taknokolat	10:652071c20bf6	1323	case 'R': //右旋回セヨ
taknokolat	23:4928a6fd9eee	1324	if(zeroTHR==false){
HARUKIDELTA	19:0955311b0db6	1325	UpdateTargetAngle_Rightloop_zero(targetAngle);
HARUKIDELTA	19:0955311b0db6	1326	}
HARUKIDELTA	19:0955311b0db6	1327	else{
taknokolat	10:652071c20bf6	1328	targetAngle[ROLL] = g_rightloopROLL;
taknokolat	10:652071c20bf6	1329	targetAngle[PITCH] = g_rightloopPITCH ;
HARUKIDELTA	17:55249ea37dff	1330	autopwm[RUD]=g_rightloopRUD; //RUD固定
HARUKIDELTA	22:438bedf24707	1331	if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節
taknokolat	10:652071c20bf6	1332	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	10:652071c20bf6	1333	}
taknokolat	20:9393b0cfa44d	1334	else {autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
taknokolat	10:652071c20bf6	1335	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
taknokolat	20:9393b0cfa44d	1336	}
taknokolat	20:9393b0cfa44d	1337	}
taknokolat	10:652071c20bf6	1338	break;
taknokolat	20:9393b0cfa44d	1339
taknokolat	10:652071c20bf6	1340	case 'L': //左旋回セヨ
taknokolat	23:4928a6fd9eee	1341	if(zeroTHR==false){
HARUKIDELTA	19:0955311b0db6	1342	UpdateTargetAngle_Leftloop_zero(targetAngle);
HARUKIDELTA	19:0955311b0db6	1343	}
HARUKIDELTA	19:0955311b0db6	1344	else{
taknokolat	10:652071c20bf6	1345	targetAngle[ROLL] = g_leftloopROLL;
taknokolat	10:652071c20bf6	1346	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	17:55249ea37dff	1347	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	22:438bedf24707	1348	if(autopwm[AIL_R]<trimpwm[AIL_R]){
taknokolat	10:652071c20bf6	1349	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	10:652071c20bf6	1350	}
taknokolat	10:652071c20bf6	1351	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	19:0955311b0db6	1352	}
taknokolat	10:652071c20bf6	1353	break;
taknokolat	10:652071c20bf6	1354
taknokolat	10:652071c20bf6	1355	case 'G': //直進セヨ
taknokolat	23:4928a6fd9eee	1356	if(zeroTHR==false){
HARUKIDELTA	19:0955311b0db6	1357	UpdateTargetAngle_GoStraight_zero(targetAngle);
HARUKIDELTA	19:0955311b0db6	1358	}
HARUKIDELTA	19:0955311b0db6	1359	else{
taknokolat	10:652071c20bf6	1360	targetAngle[ROLL] = g_gostraightROLL;
taknokolat	10:652071c20bf6	1361	targetAngle[PITCH] = g_gostraightPITCH;
HARUKIDELTA	19:0955311b0db6	1362	}
taknokolat	10:652071c20bf6	1363
taknokolat	10:652071c20bf6	1364	break;
taknokolat	10:652071c20bf6	1365
taknokolat	10:652071c20bf6	1366	case 'Y': //指定ノヨー方向ニ移動セヨ
taknokolat	10:652071c20bf6	1367	Rotate(targetAngle, g_SerialTargetYAW);
taknokolat	10:652071c20bf6	1368	break;
taknokolat	10:652071c20bf6	1369
taknokolat	10:652071c20bf6	1370	case 'B': //ブザーヲ鳴ラセ
taknokolat	10:652071c20bf6	1371	//buzzer = 1;
taknokolat	10:652071c20bf6	1372	break;
taknokolat	10:652071c20bf6	1373
taknokolat	10:652071c20bf6	1374	case 'D': //物資ヲ落トセ
taknokolat	10:652071c20bf6	1375	Chicken_Drop();
taknokolat	10:652071c20bf6	1376	break;
taknokolat	10:652071c20bf6	1377
taknokolat	10:652071c20bf6	1378	case 'C': //停止セヨ
taknokolat	10:652071c20bf6	1379	targetAngle[ROLL] = 0.0;
taknokolat	10:652071c20bf6	1380	targetAngle[PITCH] = -3.0;
taknokolat	10:652071c20bf6	1381	autopwm[THR] = minpwm[THR];
taknokolat	23:4928a6fd9eee	1382	zeroTHR=false;
taknokolat	10:652071c20bf6	1383	break;
HARUKIDELTA	0:17f575135219	1384
taknokolat	10:652071c20bf6	1385	}
taknokolat	10:652071c20bf6	1386	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	10:652071c20bf6	1387	}
taknokolat	10:652071c20bf6	1388
taknokolat	10:652071c20bf6	1389	void checkHeight(float targetAngle[3]){
taknokolat	10:652071c20bf6	1390
taknokolat	10:652071c20bf6	1391	static int targetHeight = 200;
taknokolat	10:652071c20bf6	1392	NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat	10:652071c20bf6	1393	if(g_distance < targetHeight + ALLOWHEIGHT){
taknokolat	10:652071c20bf6	1394	UpdateTargetAngle_NoseUP(targetAngle);
taknokolat	10:652071c20bf6	1395	if(CheckSW_Up(Ch7)) led2 = 1;
taknokolat	10:652071c20bf6	1396	}
taknokolat	10:652071c20bf6	1397	else if(g_distance > targetHeight - ALLOWHEIGHT){
taknokolat	10:652071c20bf6	1398	UpdateTargetAngle_NoseDOWN(targetAngle);
taknokolat	10:652071c20bf6	1399	if(CheckSW_Up(Ch7)) led2 = 1;
taknokolat	10:652071c20bf6	1400	}
taknokolat	10:652071c20bf6	1401	else led2=0;
taknokolat	10:652071c20bf6	1402	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1403	}
HARUKIDELTA	0:17f575135219	1404
taknokolat	10:652071c20bf6	1405	void UpdateTargetAngle_NoseUP(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1406
HARUKIDELTA	0:17f575135219	1407	//targetAngle[PITCH] += 2.0f;
HARUKIDELTA	0:17f575135219	1408	//if(nowAngle[PITCH]<targetAngle[PITCH]) autopwm[THR] = SetTHRinRatio(0.6);
HARUKIDELTA	0:17f575135219	1409	autopwm[THR] = SetTHRinRatio(g_loopTHR+0.05);
HARUKIDELTA	0:17f575135219	1410	//pc.printf("nose UP");
HARUKIDELTA	0:17f575135219	1411	}
HARUKIDELTA	0:17f575135219	1412
HARUKIDELTA	0:17f575135219	1413	void UpdateTargetAngle_NoseDOWN(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1414
HARUKIDELTA	0:17f575135219	1415	//targetAngle[PITCH] -= 2.0f;
HARUKIDELTA	0:17f575135219	1416	autopwm[THR] = SetTHRinRatio(g_loopTHR-0.05);
HARUKIDELTA	0:17f575135219	1417	//pc.printf("nose DOWN");
HARUKIDELTA	0:17f575135219	1418	}
HARUKIDELTA	0:17f575135219	1419
HARUKIDELTA	0:17f575135219	1420	//直進
HARUKIDELTA	0:17f575135219	1421	void UpdateTargetAngle_GoStraight(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1422
HARUKIDELTA	19:0955311b0db6	1423	autopwm[RUD] = trimpwm[RUD];
HARUKIDELTA	0:17f575135219	1424	targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA	0:17f575135219	1425	targetAngle[PITCH] = g_gostraightPITCH;
HARUKIDELTA	0:17f575135219	1426	autopwm[THR] = SetTHRinRatio(g_loopTHR);
HARUKIDELTA	0:17f575135219	1427
HARUKIDELTA	0:17f575135219	1428	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1429	}
HARUKIDELTA	0:17f575135219	1430
HARUKIDELTA	19:0955311b0db6	1431	//直進(着陸時スロットル０のとき）
HARUKIDELTA	19:0955311b0db6	1432	void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]){
HARUKIDELTA	19:0955311b0db6	1433
HARUKIDELTA	19:0955311b0db6	1434	autopwm[RUD] = trimpwm[RUD];
HARUKIDELTA	19:0955311b0db6	1435	targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA	19:0955311b0db6	1436	targetAngle[PITCH] = g_gostraightPITCH;
HARUKIDELTA	19:0955311b0db6	1437	autopwm[THR] = minpwm[THR];
HARUKIDELTA	19:0955311b0db6	1438
HARUKIDELTA	19:0955311b0db6	1439	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	19:0955311b0db6	1440	}
HARUKIDELTA	3:206b17251f5b	1441
HARUKIDELTA	0:17f575135219	1442	//右旋回
HARUKIDELTA	0:17f575135219	1443	void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回
HARUKIDELTA	0:17f575135219	1444
HARUKIDELTA	0:17f575135219	1445	targetAngle[ROLL] = g_rightloopROLL;
HARUKIDELTA	0:17f575135219	1446	targetAngle[PITCH] = g_rightloopPITCH ;
HARUKIDELTA	16:7fca5b938da6	1447	autopwm[RUD]=g_rightloopRUD; //RUD固定
TUATBM	9:f6367b7fd7be	1448	autopwm[THR] = SetTHRinRatio(0.5); //手動スロットル記憶
HARUKIDELTA	22:438bedf24707	1449	if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節
HARUKIDELTA	3:206b17251f5b	1450	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	3:206b17251f5b	1451	}
HARUKIDELTA	3:206b17251f5b	1452	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
TUATBM	9:f6367b7fd7be	1453	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
TUATBM	9:f6367b7fd7be	1454
HARUKIDELTA	0:17f575135219	1455	//checkHeight(targetAngle);
HARUKIDELTA	0:17f575135219	1456	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1457	}
HARUKIDELTA	0:17f575135219	1458
HARUKIDELTA	4:fff1165ca50c	1459	//右旋回（着陸時スロットル０の時）
HARUKIDELTA	4:fff1165ca50c	1460	void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]){ //右旋回
taknokolat	20:9393b0cfa44d	1461	autopwm[THR]=minpwm[THR];
HARUKIDELTA	4:fff1165ca50c	1462	targetAngle[ROLL] = g_rightloopROLL;
HARUKIDELTA	4:fff1165ca50c	1463	targetAngle[PITCH] = g_rightloopPITCH ;
taknokolat	20:9393b0cfa44d	1464	autopwm[RUD]=g_rightloopRUD; //RUD固定
HARUKIDELTA	22:438bedf24707	1465	if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節
taknokolat	20:9393b0cfa44d	1466	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	20:9393b0cfa44d	1467	}
taknokolat	20:9393b0cfa44d	1468	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
taknokolat	20:9393b0cfa44d	1469	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
HARUKIDELTA	4:fff1165ca50c	1470
HARUKIDELTA	4:fff1165ca50c	1471	//checkHeight(targetAngle);
HARUKIDELTA	4:fff1165ca50c	1472	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	4:fff1165ca50c	1473	}
HARUKIDELTA	4:fff1165ca50c	1474
HARUKIDELTA	0:17f575135219	1475	void UpdateTargetAngle_Rightloop_short(float targetAngle[3]){ //右旋回
HARUKIDELTA	0:17f575135219	1476
HARUKIDELTA	0:17f575135219	1477	targetAngle[ROLL] = g_rightloopROLLshort;
HARUKIDELTA	0:17f575135219	1478	targetAngle[PITCH] = g_rightloopPITCHshort;
HARUKIDELTA	16:7fca5b938da6	1479	autopwm[RUD]=g_rightloopshortRUD;
HARUKIDELTA	19:0955311b0db6	1480	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	22:438bedf24707	1481	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	3:206b17251f5b	1482	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	3:206b17251f5b	1483	}
HARUKIDELTA	3:206b17251f5b	1484	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	0:17f575135219	1485
HARUKIDELTA	0:17f575135219	1486	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1487	}
HARUKIDELTA	0:17f575135219	1488
HARUKIDELTA	0:17f575135219	1489	//左旋回
HARUKIDELTA	0:17f575135219	1490	void UpdateTargetAngle_Leftloop(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1491
HARUKIDELTA	0:17f575135219	1492	targetAngle[ROLL] = g_leftloopROLL;
HARUKIDELTA	0:17f575135219	1493	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	16:7fca5b938da6	1494	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	19:0955311b0db6	1495	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	22:438bedf24707	1496	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	17:55249ea37dff	1497	autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1498	}
HARUKIDELTA	17:55249ea37dff	1499	else autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1500	//checkHeight(targetAngle);
HARUKIDELTA	4:fff1165ca50c	1501
HARUKIDELTA	4:fff1165ca50c	1502	//printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	4:fff1165ca50c	1503	}
HARUKIDELTA	4:fff1165ca50c	1504
HARUKIDELTA	4:fff1165ca50c	1505	//左旋回（着陸時スロットル０のとき）
HARUKIDELTA	4:fff1165ca50c	1506	void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]){
HARUKIDELTA	4:fff1165ca50c	1507
HARUKIDELTA	4:fff1165ca50c	1508	targetAngle[ROLL] = g_leftloopROLL;
HARUKIDELTA	4:fff1165ca50c	1509	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	16:7fca5b938da6	1510	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	4:fff1165ca50c	1511	autopwm[THR] = minpwm[THR];
HARUKIDELTA	22:438bedf24707	1512	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	4:fff1165ca50c	1513	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1514	}
HARUKIDELTA	4:fff1165ca50c	1515	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1516	//autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_Ratio_leftloop;
HARUKIDELTA	0:17f575135219	1517	//checkHeight(targetAngle);
HARUKIDELTA	0:17f575135219	1518
HARUKIDELTA	2:23daa5fa28b4	1519	//printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1520	}
HARUKIDELTA	0:17f575135219	1521
HARUKIDELTA	0:17f575135219	1522	void UpdateTargetAngle_Leftloop_short(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1523
HARUKIDELTA	0:17f575135219	1524	targetAngle[ROLL] = g_leftloopROLLshort;
HARUKIDELTA	0:17f575135219	1525	targetAngle[PITCH] = g_leftloopPITCHshort;
HARUKIDELTA	16:7fca5b938da6	1526	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	19:0955311b0db6	1527	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	22:438bedf24707	1528	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	4:fff1165ca50c	1529	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1530	}
HARUKIDELTA	4:fff1165ca50c	1531	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1532
HARUKIDELTA	0:17f575135219	1533	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1534	}
taknokolat	10:652071c20bf6	1535
HARUKIDELTA	18:cce82f3374fc	1536	void Sbusprintf(){
HARUKIDELTA	18:cce82f3374fc	1537
HARUKIDELTA	18:cce82f3374fc	1538	for(uint8_t i=0; i<8; i++) pc.printf("ch.%d = %d ",i+1,sbus.manualpwm[i]);
HARUKIDELTA	18:cce82f3374fc	1539	pc.printf("\r\n");
HARUKIDELTA	18:cce82f3374fc	1540
HARUKIDELTA	18:cce82f3374fc	1541	}
HARUKIDELTA	18:cce82f3374fc	1542
HARUKIDELTA	0:17f575135219	1543
HARUKIDELTA	0:17f575135219	1544	//デバッグ用
HARUKIDELTA	0:17f575135219	1545	void DebugPrint(){
HARUKIDELTA	0:17f575135219	1546	/*
HARUKIDELTA	0:17f575135219	1547	static int16_t deltaT = 0, t_start = 0;
HARUKIDELTA	0:17f575135219	1548	deltaT = t.read_u2s() - t_start;
HARUKIDELTA	0:17f575135219	1549	pc.printf("t:%d us, ",deltaT);
HARUKIDELTA	0:17f575135219	1550	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	1551	t_start = t.read_us();
HARUKIDELTA	0:17f575135219	1552	*/
HARUKIDELTA	0:17f575135219	1553	//for(uint8_t i=0; i<8; i++) pc.printf("%d ",sbus.manualpwm[i]);
HARUKIDELTA	0:17f575135219	1554	//for(uint8_t i=1; i<4; i++) pc.printf("%d ",sbus.manualpwm[i]);
HARUKIDELTA	0:17f575135219	1555	//pc.printf("\r\n");
HARUKIDELTA	2:23daa5fa28b4	1556	//for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
HARUKIDELTA	0:17f575135219	1557	//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	1558	//pc.printf("%d\t",autopwm[AIL_L]); // pc.printf("%d\t",autopwm[RUD]);
HARUKIDELTA	0:17f575135219	1559	//pc.printf("%d",g_distance);
HARUKIDELTA	0:17f575135219	1560
HARUKIDELTA	0:17f575135219	1561	//pc.printf("Mode: %c: ",g_buf[0]);
HARUKIDELTA	0:17f575135219	1562	//if(g_buf[0] == 'Y') pc.printf(" %3.1f",g_SerialTargetYAW);
taknokolat	10:652071c20bf6	1563	//pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	1564	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	21 Sep 2018
Imports:	3
Forks:	1
Commits:	27
Dependents:	0
Dependencies:	4
Followers:	23

main.cpp@26:bc185a3d16b6, 2018-09-21 (annotated)

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