航空研究会
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Autoflight2018_31
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Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
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Autoflight2018_30
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航空研究会
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main.cpp
00001 //mbed 00002 #include "mbed.h" 00003 #include "FATFileSystem.h" 00004 #include "SDFileSystem.h" 00005 //C 00006 #include "math.h" 00007 //sensor 00008 #include "MPU6050_DMP6.h" 00009 //#include "MPU9250.h" 00010 //#include "BMP280.h" 00011 #include "hcsr04.h" 00012 //device 00013 #include "sbus.h" 00014 //config 00015 #include "SkipperSv2.h" 00016 #include "falfalla.h" 00017 //other 00018 #include "pid.h" 00019 00020 #define DEBUG_SEMIAUTO 0 00021 #define DEBUG_PRINT_INLOOP 1 00022 00023 #define KP_ELE 15.0 //2.0 00024 #define KI_ELE 0.0 00025 #define KD_ELE 0.0 //0/0 00026 #define KP_RUD 3.0 00027 #define KI_RUD 0.0 00028 #define KD_RUD 0.0 00029 #define KP_AIL 0.1 00030 #define KI_AIL 0.2 00031 #define KD_AIL 0.2 00032 00033 //#define g_AIL_L_Ratio_rightloop 0.5 00034 00035 #define GAIN_CONTROLVALUE_TO_PWM 3.0 00036 00037 #define RIGHT_ROLL -12.0 00038 #define RIGHT_PITCH -10.0 //5.0 00039 #define LEFT_ROLL 12.0 00040 #define LEFT_PITCH -5.0 00041 #define STRAIGHT_ROLL 4.0 00042 #define STRAIGHT_PITCH 3.0 00043 #define TAKEOFF_THR 0.8 00044 #define LOOP_THR 0.6 00045 00046 //#define g_rightloopRUD 1500 00047 00048 #define RIGHT_ROLL_SHORT -12.0 00049 #define RIGHT_PITCH_SHORT -5.0 00050 #define LEFT_ROLL_SHORT 12.0 00051 #define LEFT_PITCH_SHORT -5.0 00052 00053 /*#define rightloopRUD 1300 //1250 00054 #define rightloopshortRUD 1250 00055 #define leftloopRUD 1500 00056 #define leftloopshortRUD 1500 00057 #define glideloopRUD 1300 00058 */ 00059 #define AIL_R_correctionrightloop 0 00060 #define AIL_L_correctionrightloop 0 00061 #define AIL_L_correctionrightloopshort 0 00062 #define AIL_L_correctionleftloop -0 00063 #define AIL_L_correctionleftloopshort 0 00064 00065 00066 #define RIGHTLOOP_RUD 1250 00067 #define RIGHTLOOPSHORT_RUD 1250 00068 #define LEFTLOOP_RUD 1500 00069 #define LEFTLOOPSHORT_RUD 1500 00070 #define GLIDELOOP_RUD 1300 00071 #define AIL_L_CORRECTION_RIGHTLOOP 0 00072 #define AIL_L_CORRECTION_RIGHTLOOPSHORT 0 00073 #define AIL_L_CORRECTION_LEFTLOOP 0 00074 #define AIL_L_CORRECTION_LEFTLOOPSHORT 0 00075 00076 #define GLIDE_ROLL -12.0 00077 #define GLIDE_PITCH -3.0 00078 00079 00080 #define AIL_L_RatioRising 0.5 00081 #define AIL_L_RatioDescent 2 00082 00083 //コンパスキャリブレーション 00084 //SkipperS2基板 00085 /* 00086 #define MAGBIAS_X -35.0 00087 #define MAGBIAS_Y 535.0 00088 #define MAGBIAS_Z -50.0 00089 */ 00090 //S2v2 1番基板 00091 #define MAGBIAS_X 395.0 00092 #define MAGBIAS_Y 505.0 00093 #define MAGBIAS_Z -725.0 00094 //S2v2 2番基板 00095 /* 00096 #define MAGBIAS_X 185.0 00097 #define MAGBIAS_Y 220.0 00098 #define MAGBIAS_Z -350.0 00099 */ 00100 00101 #define ELEMENT 1 00102 #define LIMIT_STRAIGHT_YAW 5.0 00103 #define THRESHOLD_TURNINGRADIUS_YAW 60.0 00104 #define ALLOWHEIGHT 15 00105 00106 #ifndef PI 00107 #define PI 3.14159265358979 00108 #endif 00109 00110 const int16_t lengthdivpwm = 320; 00111 const int16_t changeModeCount = 6; 00112 00113 00114 SBUS sbus(PA_9, PA_10); //SBUS 00115 00116 PwmOut servo1(PC_6); // TIM3_CH1 //old echo 00117 PwmOut servo2(PC_7); // TIM3_CH2 //PC_7 00118 PwmOut servo3(PB_0); // TIM3_CH3 00119 PwmOut servo4(PB_1); // TIM3_CH4 00120 PwmOut servo5(PB_6); // TIM4_CH1 00121 PwmOut servo6(PB_7); // TIM4_CH2 //old trigger 00122 //PwmOut servo7(PB_8); // TIM4_CH3 //PB_8 new echo 00123 //PwmOut servo8(PB_9); // TIM4_CH4 //new trigger 00124 00125 RawSerial pc(PA_2,PA_3, 115200); //tx,rx.baudrate pin;PA_2=UART2_TX, PA_3=UART2_RX 00126 //RawSerial pc2(PB_6,PB_7, 115200); //sbus確認用 00127 SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd"); 00128 00129 DigitalOut led1(PA_0); //黄色のコネクタ 00130 DigitalOut led2(PA_1); 00131 DigitalOut led3(PB_4); 00132 DigitalOut led4(PB_5); 00133 00134 //InterruptIn switch2(PC_14); 00135 MPU6050DMP6 mpu6050(PC_0,&pc); //割り込みピン，シリアルポインタ i2cのピン指定は MPU6050>>I2Cdev.h 内のdefine 00136 //HCSR04 usensor(PB_9,PB_8); //trig,echo 9,8 00137 00138 PID pid_AIL(g_kpAIL,g_kiAIL,g_kdAIL); 00139 PID pid_ELE(g_kpELE,g_kiELE,g_kdELE); 00140 PID pid_RUD(g_kpRUD,g_kiRUD,g_kdRUD); 00141 00142 enum Channel{AIL_R, ELE, THR, RUD, DROP, AIL_L, Ch7, Ch8}; 00143 enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度 00144 enum OperationMode{StartUp, SemiAuto, RightLoop, LeftLoop, GoStraight, BombwithPC, ZERO, Moebius, Glide}; 00145 enum BombingMode{Takeoff, Chicken, Transition, Approach}; 00146 enum OutputStatus{Manual, Auto}; 00147 00148 static OutputStatus output_status = Manual; 00149 OperationMode operation_mode = StartUp; 00150 BombingMode bombing_mode = Takeoff; 00151 00152 static int16_t autopwm[8] = {1500,1500,1180,1500,1392,1500}; 00153 00154 //1号機 00155 static int16_t trimpwm[6] = {1580,1600,1176,1404,1512,1448}; 00156 int16_t maxpwm[6] = {1796,1936,1848,1740,1820,1856}; 00157 int16_t minpwm[6] = {1182,1265,1176,1068,1180,1176}; 00158 const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]}; 00159 00160 00161 //2号機 00162 /* 00163 static int16_t trimpwm[6] = {1500,1500,1180,1500,1392,1600}; 00164 int16_t maxpwm[6] = {1820,1820,1820,1820,1820,1820}; 00165 int16_t minpwm[6] = {1180,1180,1180,1180,1180,1180}; 00166 const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]}; 00167 */ 00168 00169 int16_t oldTHR = 1000; 00170 00171 int16_t g_AIL_L_Ratio_rightloop = 0.5; 00172 00173 00174 static float nowAngle[3] = {0,0,0}; 00175 const float trimAngle[3] = {0.0, 0.0, 0.0}; 00176 const float maxAngle[2] = {90, 90}; 00177 const float minAngle[2] = {-90, -90}; 00178 00179 float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0; 00180 00181 unsigned int g_distance; 00182 //Ticker USsensor; 00183 static char g_buf[16]; 00184 char g_landingcommand='Z'; 00185 float g_SerialTargetYAW; 00186 00187 Timer t; 00188 Timeout RerurnChickenServo1; 00189 Timeout RerurnChickenServo2; 00190 00191 /*-----関数のプロトタイプ宣言-----*/ 00192 void setup(); 00193 void loop(); 00194 00195 void Init_PWM(); 00196 void Init_servo(); //サーボ初期化 00197 void Init_sbus(); //SBUS初期化 00198 void Init_sensors(); 00199 void DisplayClock(); //クロック状態確認 00200 00201 //センサの値取得 00202 void SensingMPU(); 00203 void UpdateDist(); 00204 00205 //void offsetRollPitch(float FirstROLL, float FirstPITCH); 00206 //void TransYaw(float FirstYAW); 00207 float TranslateNewYaw(float beforeYaw, float newzeroYaw); 00208 void UpdateTargetAngle(float targetAngle[3]); 00209 void CalculateControlValue(float targetAngle[3], float controlValue[3]); 00210 void UpdateAutoPWM(float controlValue[3]); 00211 void ConvertPWMintoRAD(float targetAngle[3]); 00212 inline float CalcRatio(float value, float trim, float limit); 00213 bool CheckSW_Up(Channel ch); 00214 int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min); 00215 inline int16_t SetTHRinRatio(float ratio); 00216 00217 //sbus割り込み 00218 void Update_PWM(); //マニュアル・自動モードのpwmデータを整形しpwm変数に入力 00219 void Output_PWM(int16_t pwm[6]); //pwmをサーボへ出力 00220 00221 //シリアル割り込み 00222 void getSF_Serial(); 00223 float ConvertByteintoFloat(char high, char low); 00224 00225 00226 //SD設定 00227 int GetParameter(FILE *fp, const char *paramName,char parameter[]); 00228 int SetOptions(float *g_kpELE, float *g_kiELE, float *g_kdELE, 00229 float *g_kpRUD, float *g_kiRUD, float *g_kdRUD, 00230 float *g_rightloopROLL, float *g_rightloopPITCH, 00231 float *g_leftloopROLL, float *g_leftloopPITCH, 00232 float *g_gostraightROLL, float *g_gostraightPITCH, 00233 float *g_takeoffTHR, float *g_loopTHR, 00234 float *g_rightloopROLLshort, float *g_rightloopPITCHshort, 00235 float *g_leftloopROLLshort, float *g_leftloopPITCHshort, 00236 float *g_glideloopROLL, float *g_glideloopPITCH, 00237 float *g_kpAIL, float *g_kiAIL, float *g_kdAIL, 00238 int *g_rightloopRUD, int *g_rightloopshortRUD, 00239 int *g_leftloopRUD, int *g_leftloopshortRUD, 00240 int *g_glideRUD, 00241 int *g_AIL_L_correctionrightloop,int *g_AIL_L_correctionrightloopshort, 00242 int *g_AIL_L_correctionlefttloop,int *g_AIL_L_correctionleftloopshort 00243 ); 00244 //switch2割り込み 00245 void ResetTrim(); 00246 00247 //自動操縦 00248 void UpdateTargetAngle_GoStraight(float targetAngle[3]); 00249 void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]); //着陸時にスロットルが０の時の直進 00250 void UpdateTargetAngle_Rightloop(float targetAngle[3]); 00251 void UpdateTargetAngle_Rightloop_short(float targetAngle[3]); 00252 void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]); //着陸時にスロットルが０の時の右旋回 00253 void UpdateTargetAngle_Leftloop(float targetAngle[3]); 00254 void UpdateTargetAngle_Leftloop_short(float targetAngle[3]); 00255 void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]); //着陸時にスロットルが０の時の左旋回 00256 void UpdateTargetAngle_Moebius(float targetAngle[3]); 00257 void UpdateTargetAngle_Glide(float targetAngle[3]); 00258 void UpdateTargetAngle_Takeoff(float targetAngle[3]); 00259 void UpdateTargetAngle_Approach(float targetAngle[3]); 00260 void Take_off_and_landing(float targetAngle[3]); 00261 00262 int Rotate(float targetAngle[3], float TargetYAW); 00263 00264 //投下 00265 void Chicken_Drop(); 00266 void ReturnChickenServo1(); 00267 void ReturnChickenServo2(); 00268 00269 //超音波による高度補正 00270 void checkHeight(float targetAngle[3]); 00271 void UpdateTargetAngle_NoseUP(float targetAngle[3]); 00272 void UpdateTargetAngle_NoseDOWN(float targetAngle[3]); 00273 00274 //デバッグ用 00275 void Sbusprintf(); 00276 void DebugPrint(); 00277 00278 /*---関数のプロトタイプ宣言終わり---*/ 00279 00280 int main() 00281 { 00282 setup(); 00283 00284 00285 while(1){ 00286 00287 loop(); 00288 00289 00290 //NVIC_DisableIRQ(USART1_IRQn); 00291 if(!CheckSW_Up(Ch7)){ 00292 led3=0; 00293 }else{ 00294 led3=1; 00295 } 00296 //NVIC_EnableIRQ(USART1_IRQn); 00297 } 00298 00299 } 00300 00301 void setup(){ 00302 //buzzer = 0; 00303 led1 = 1; 00304 led2 = 1; 00305 led3 = 1; 00306 led4 = 1; 00307 00308 SetOptions(&g_kpELE, &g_kiELE, &g_kdELE, 00309 &g_kpRUD, &g_kiRUD, &g_kdRUD, 00310 &g_rightloopROLL, &g_rightloopPITCH, 00311 &g_leftloopROLL, &g_leftloopPITCH, 00312 &g_gostraightROLL, &g_gostraightPITCH, 00313 &g_takeoffTHR, &g_loopTHR, 00314 &g_rightloopROLLshort, &g_rightloopPITCHshort, 00315 &g_leftloopROLLshort, &g_leftloopPITCHshort, 00316 &g_glideloopROLL, &g_glideloopPITCH, 00317 &g_kpAIL, &g_kiAIL,&g_kdAIL, 00318 &g_rightloopRUD, &g_rightloopshortRUD, 00319 &g_leftloopRUD, &g_leftloopshortRUD, 00320 &g_glideloopRUD, 00321 &g_AIL_L_correctionrightloop,&g_AIL_L_correctionrightloopshort, 00322 &g_AIL_L_correctionleftloop,&g_AIL_L_correctionleftloopshort 00323 ); 00324 00325 00326 Init_PWM(); 00327 Init_servo(); 00328 Init_sbus(); 00329 Init_sensors(); 00330 //switch2.rise(ResetTrim); 00331 00332 //USsensor.attach(&UpdateDist, 0.05); 00333 00334 NVIC_SetPriority(USART1_IRQn,0); 00335 NVIC_SetPriority(EXTI0_IRQn,1); 00336 NVIC_SetPriority(TIM5_IRQn,2); 00337 NVIC_SetPriority(EXTI9_5_IRQn,3); 00338 DisplayClock(); 00339 t.start(); 00340 00341 00342 pc.printf("MPU calibration start\r\n"); 00343 00344 float offsetstart = t.read(); 00345 while(t.read() - offsetstart < 26){ 00346 SensingMPU(); 00347 for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]); 00348 pc.printf("\r\n"); 00349 led1 = !led1; 00350 led2 = !led2; 00351 led3 = !led3; 00352 led4 = !led4; 00353 } 00354 00355 pc.attach(getSF_Serial, Serial::RxIrq); 00356 NVIC_SetPriority(USART2_IRQn,4); 00357 00358 FirstROLL = nowAngle[ROLL]; 00359 FirstPITCH = nowAngle[PITCH]; 00360 nowAngle[ROLL] -=FirstROLL; 00361 nowAngle[PITCH] -=FirstPITCH; 00362 00363 led1 = 0; 00364 led2 = 0; 00365 led3 = 0; 00366 led4 = 0; 00367 wait(0.2); 00368 00369 00370 pc.printf("All initialized\r\n"); 00371 } 00372 00373 void loop(){ 00374 static float targetAngle[3] = {0.0, 0.0, 0.0}, controlValue[2] = {0.0, 0.0}; 00375 SensingMPU(); 00376 NVIC_DisableIRQ(USART2_IRQn); 00377 UpdateTargetAngle(targetAngle); 00378 CalculateControlValue(targetAngle, controlValue); 00379 NVIC_DisableIRQ(USART1_IRQn); 00380 UpdateAutoPWM(controlValue); 00381 NVIC_EnableIRQ(USART1_IRQn); 00382 NVIC_EnableIRQ(USART2_IRQn); 00383 00384 NVIC_SetPriority(TIM5_IRQn,4); 00385 NVIC_SetPriority(USART2_IRQn,2); 00386 00387 wait_ms(23); 00388 00389 NVIC_SetPriority(TIM5_IRQn,2); 00390 NVIC_SetPriority(USART2_IRQn,4); 00391 00392 00393 // pc.printf("6\r\n"); 00394 //NVIC_DisableIRQ(USART2_IRQn); 00395 //pc.printf("%c",g_landingcommand); 00396 //NVIC_EnableIRQ(USART2_IRQn); 00397 #if DEBUG_PRINT_INLOOP 00398 //Sbusprintf(); 00399 DebugPrint(); 00400 #endif 00401 } 00402 00403 //サーボ初期化関数 00404 void Init_servo(){ 00405 00406 servo1.period_ms(14); 00407 servo1.pulsewidth_us(trimpwm[AIL_R]); 00408 00409 servo2.period_ms(14); 00410 servo2.pulsewidth_us(trimpwm[ELE]); 00411 00412 servo3.period_ms(14); 00413 servo3.pulsewidth_us(trimpwm[THR]); 00414 00415 servo4.period_ms(14); 00416 servo4.pulsewidth_us(trimpwm[RUD]); 00417 00418 servo5.period_ms(14); 00419 servo5.pulsewidth_us(1392); 00420 00421 servo6.period_ms(14); 00422 servo6.pulsewidth_us(trimpwm[AIL_L]); 00423 00424 pc.printf("servo initialized\r\n"); 00425 } 00426 00427 //Sbus初期化 00428 void Init_sbus(){ 00429 sbus.initialize(); 00430 sbus.setLastfuncPoint(Update_PWM); 00431 sbus.startInterrupt(); 00432 } 00433 00434 void Init_sensors(){ 00435 if(mpu6050.setup() == -1){ 00436 pc.printf("failed initialize\r\n"); 00437 while(1){ 00438 led1 = 1; led2 = 0; led3 = 1; led4 = 0; 00439 wait(1); 00440 led1 = 0; led2 = 1; led3 = 0; led4 = 1; 00441 wait(1); 00442 } 00443 } 00444 } 00445 00446 void Init_PWM(){ 00447 pc.printf("PWM initialized\r\n"); 00448 } 00449 00450 void DisplayClock(){ 00451 pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000); 00452 pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000); 00453 pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000); 00454 pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000); 00455 pc.printf("\r\n"); 00456 } 00457 00458 void UpdateTargetAngle(float targetAngle[3]){ 00459 static int16_t count_op = 0; 00460 #if DEBUG_SEMIAUTO 00461 switch(operation_mode){ 00462 case StartUp: 00463 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ 00464 count_op++; 00465 if(count_op > changeModeCount){ 00466 operation_mode = SemiAuto; 00467 pc.printf("Goto SemiAuto mode\r\n"); 00468 count_op = 0; 00469 } 00470 }else count_op = 0; 00471 break; 00472 00473 case SemiAuto: 00474 /* 大会用では以下のif文を入れてoperation_modeを変える 00475 if(CheckSW_Up(Ch6)){ 00476 count_op++; 00477 if(count_op>changeModeCount){ 00478 output_status = XXX; 00479 led2 = 0; 00480 pc.printf("Goto XXX mode\r\n"); 00481 count_op = 0; 00482 }else count_op = 0; 00483 ConvertPWMintoRAD(targetAngle); 00484 } 00485 */ 00486 ConvertPWMintoRAD(targetAngle); 00487 break; 00488 00489 default: 00490 operation_mode = SemiAuto; 00491 break; 00492 } 00493 00494 #else 00495 00496 switch(operation_mode){ 00497 case StartUp: 00498 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 00499 count_op++; 00500 if(count_op > changeModeCount){ 00501 operation_mode = RightLoop; 00502 pc.printf("Goto RightLoop mode\r\n"); 00503 count_op = 0; 00504 } 00505 }else count_op = 0; 00506 break; 00507 00508 case RightLoop: 00509 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ 00510 count_op++; 00511 if(count_op > changeModeCount){ 00512 operation_mode = LeftLoop; 00513 pc.printf("Goto LeftLoop mode\r\n"); 00514 count_op = 0; 00515 } 00516 }else count_op = 0; 00517 UpdateTargetAngle_Rightloop(targetAngle); 00518 00519 break; 00520 00521 case LeftLoop: 00522 if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ 00523 count_op++; 00524 if(count_op > changeModeCount){ 00525 operation_mode = GoStraight; 00526 pc.printf("Goto GoStraight mode\r\n"); 00527 count_op = 0; 00528 } 00529 }else count_op = 0; 00530 UpdateTargetAngle_Leftloop(targetAngle); 00531 break; 00532 00533 case GoStraight: 00534 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ 00535 count_op++; 00536 if(count_op > changeModeCount){ 00537 operation_mode = Moebius; 00538 pc.printf("Goto Moebius mode\r\n"); 00539 count_op = 0; 00540 } 00541 }else count_op = 0; 00542 UpdateTargetAngle_GoStraight(targetAngle); 00543 break; 00544 00545 case Moebius: 00546 if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ 00547 count_op++; 00548 if(count_op > changeModeCount){ 00549 operation_mode = Glide; 00550 pc.printf("Goto Glide mode\r\n"); 00551 count_op = 0; 00552 } 00553 }else count_op = 0; 00554 UpdateTargetAngle_Moebius(targetAngle); 00555 break; 00556 00557 case Glide: 00558 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ 00559 count_op++; 00560 if(count_op > changeModeCount){ 00561 operation_mode = BombwithPC; 00562 pc.printf("Goto Bombing mode\r\n"); 00563 count_op = 0; 00564 } 00565 }else count_op = 0; 00566 UpdateTargetAngle_Glide(targetAngle); 00567 break; 00568 00569 case BombwithPC: 00570 if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ 00571 count_op++; 00572 if(count_op > changeModeCount){ 00573 operation_mode = RightLoop; 00574 pc.printf("Goto RightLoop mode\r\n"); 00575 count_op = 0; 00576 } 00577 }else count_op = 0; 00578 Take_off_and_landing(targetAngle); 00579 break; 00580 00581 default: 00582 operation_mode = StartUp; 00583 break; 00584 } 00585 #endif 00586 00587 if(CheckSW_Up(Ch7)){ 00588 output_status = Auto; 00589 led1 = 1; 00590 }else{ 00591 output_status = Manual; 00592 led1 = 0; 00593 } 00594 00595 } 00596 00597 int GetParameter(FILE *fp, const char *paramName,char parameter[]){ 00598 int i=0, j=0; 00599 int strmax = 200; 00600 char str[strmax]; 00601 00602 rewind(fp); //ファイル位置を先頭に 00603 while(1){ 00604 if (fgets(str, strmax, fp) == NULL) { 00605 return 0; 00606 } 00607 if (!strncmp(str, paramName, strlen(paramName))) { 00608 while (str[i++] != '=') {} 00609 while (str[i] != '\n') { 00610 parameter[j++] = str[i++]; 00611 } 00612 parameter[j] = '\0'; 00613 return 1; 00614 } 00615 } 00616 return 0; 00617 } 00618 00619 00620 //sdによる設定 00621 int SetOptions(float *g_kpELE, float *g_kiELE, float *g_kdELE, 00622 float *g_kpRUD, float *g_kiRUD, float *g_kdRUD, 00623 float *g_rightloopROLL, float *g_rightloopPITCH, 00624 float *g_leftloopROLL, float *g_leftloopPITCH, 00625 float *g_gostraightROLL, float *g_gostraightPITCH, 00626 float *g_takeoffTHR, float *g_loopTHR, 00627 float *g_rightloopROLLshort, float *g_rightloopPITCHshort, 00628 float *g_leftloopROLLshort, float *g_leftloopPITCHshort, 00629 float *g_glideloopROLL, float *g_glideloopPITCH, 00630 float *g_kpAIL, float *g_kiAIL, float *g_kdAIL, 00631 int *g_rightloopRUD, int *g_rightloopshortRUD, 00632 int *g_leftloopRUD, int *g_leftloopshortRUD, 00633 int *g_glideloopRUD, 00634 int *g_AIL_L_correctionrightloop,int *g_AIL_L_correctionrightloopshort, 00635 int *g_AIL_L_correctionleftloop,int *g_AIL_L_correctionleftloopshort 00636 ){ 00637 00638 pc.printf("SDsetup start.\r\n"); 00639 00640 FILE *fp; 00641 char parameter[40]; //文字列渡す用の配列 00642 int SDerrorcount = 0; //取得できなかった数を返す 00643 const char *paramNames[] = { 00644 "KP_ELEVATOR", 00645 "KI_ELEVATOR", 00646 "KD_ELEVATOR", 00647 "KP_RUDDER", 00648 "KI_RUDDER", 00649 "KD_RUDDER", 00650 "RIGHTLOOP_ROLL", 00651 "RIGHTLOOP_PITCH", 00652 "LEFTLOOP_ROLL", 00653 "LEFTLOOP_PITCH", 00654 "GOSTRAIGHT_ROLL", 00655 "GOSTRAIGHT_PITCH", 00656 "TAKEOFF_THR_RATE", 00657 "LOOP_THR_RATE", 00658 "RIGHTLOOP_ROLL_SHORT", 00659 "RIGHTLOOP_PITCH_SHORT", 00660 "LEFTLOOP_ROLL_SHORT", 00661 "LEFTLOOP_PITCH_SHORT", 00662 "AUTOGLIDE_ROLL", 00663 "AUTOGLIDE PITCH", 00664 "KP_AILERON", 00665 "KI_AILERON", 00666 "KD_AILERON", 00667 "RIGHTLOOP_RUDDER", 00668 "RIGHTLOOPSHORT_RUDDER", 00669 "LEFTLOOP_RUDDER", 00670 "LEFTLOOPSHORT_RUDDER", 00671 "GLIDELOOP_RUDDER", 00672 "AILERON_LEFT_CORRECTION_RIGHTLOOP", 00673 "AILERON_LEFT_CORRECTION_RIGHTLOOPSHORT", 00674 "AILERON_LEFT_CORRECTION_LEFTLOOP", 00675 "AILERON_LEFT_CORRECTION_LEFTLOOPSHORT" 00676 }; 00677 00678 fp = fopen("/sd/option.txt","r"); 00679 00680 if(fp != NULL){ //開けたら 00681 pc.printf("File was openned.\r\n"); 00682 if(GetParameter(fp,paramNames[0],parameter)) *g_kpELE = atof(parameter); 00683 else{ *g_kpELE = KP_ELE; 00684 SDerrorcount++; 00685 } 00686 if(GetParameter(fp,paramNames[1],parameter)) *g_kiELE = atof(parameter); 00687 else{ *g_kiELE = KI_ELE; 00688 SDerrorcount++; 00689 } 00690 if(GetParameter(fp,paramNames[2],parameter)) *g_kdELE = atof(parameter); 00691 else{ *g_kdELE = KD_ELE; 00692 SDerrorcount++; 00693 } 00694 if(GetParameter(fp,paramNames[3],parameter)) *g_kpRUD = atof(parameter); 00695 else{ *g_kpRUD = KP_RUD; 00696 SDerrorcount++; 00697 } 00698 if(GetParameter(fp,paramNames[4],parameter)) *g_kiRUD = atof(parameter); 00699 else{ *g_kiRUD = KI_RUD; 00700 SDerrorcount++; 00701 } 00702 if(GetParameter(fp,paramNames[5],parameter)) *g_kdRUD = atof(parameter); 00703 else{ *g_kdRUD = KD_RUD; 00704 SDerrorcount++; 00705 } 00706 if(GetParameter(fp,paramNames[6],parameter)) *g_rightloopROLL = atof(parameter); 00707 else{ *g_rightloopROLL = RIGHT_ROLL; 00708 SDerrorcount++; 00709 } 00710 if(GetParameter(fp,paramNames[7],parameter)) *g_rightloopPITCH = atof(parameter); 00711 else{ *g_rightloopPITCH = RIGHT_PITCH; 00712 SDerrorcount++; 00713 } 00714 if(GetParameter(fp,paramNames[8],parameter)) *g_leftloopROLL = atof(parameter); 00715 else{ *g_leftloopROLL = LEFT_ROLL; 00716 SDerrorcount++; 00717 } 00718 if(GetParameter(fp,paramNames[9],parameter)) *g_leftloopPITCH = atof(parameter); 00719 else{ *g_leftloopPITCH = LEFT_PITCH; 00720 SDerrorcount++; 00721 } 00722 if(GetParameter(fp,paramNames[10],parameter)) *g_gostraightROLL = atof(parameter); 00723 else{ *g_gostraightROLL = STRAIGHT_ROLL; 00724 SDerrorcount++; 00725 } 00726 if(GetParameter(fp,paramNames[11],parameter)) *g_gostraightPITCH = atof(parameter); 00727 else{ *g_gostraightPITCH = STRAIGHT_PITCH; 00728 SDerrorcount++; 00729 } 00730 if(GetParameter(fp,paramNames[12],parameter)) *g_takeoffTHR = atof(parameter); 00731 else{ *g_takeoffTHR = TAKEOFF_THR; 00732 SDerrorcount++; 00733 } 00734 if(GetParameter(fp,paramNames[13],parameter)) *g_loopTHR = atof(parameter); 00735 else{ *g_loopTHR = LOOP_THR; 00736 SDerrorcount++; 00737 } 00738 if(GetParameter(fp,paramNames[14],parameter)) *g_rightloopROLLshort = atof(parameter); 00739 else{ *g_rightloopROLLshort = RIGHT_ROLL_SHORT; 00740 SDerrorcount++; 00741 } 00742 if(GetParameter(fp,paramNames[15],parameter)) *g_rightloopPITCHshort = atof(parameter); 00743 else{ *g_rightloopPITCHshort = RIGHT_PITCH_SHORT; 00744 SDerrorcount++; 00745 } 00746 if(GetParameter(fp,paramNames[16],parameter)) *g_leftloopROLLshort = atof(parameter); 00747 else{ *g_leftloopROLLshort = LEFT_ROLL_SHORT; 00748 SDerrorcount++; 00749 } 00750 if(GetParameter(fp,paramNames[17],parameter)) *g_leftloopPITCHshort = atof(parameter); 00751 else{ *g_leftloopPITCHshort = LEFT_PITCH_SHORT; 00752 SDerrorcount++; 00753 } 00754 if(GetParameter(fp,paramNames[18],parameter)) *g_glideloopROLL = atof(parameter); 00755 else{ *g_glideloopROLL = GLIDE_ROLL; 00756 SDerrorcount++; 00757 } 00758 if(GetParameter(fp,paramNames[19],parameter)) *g_glideloopPITCH = atof(parameter); 00759 else{ *g_glideloopPITCH = GLIDE_PITCH; 00760 SDerrorcount++; 00761 } 00762 if(GetParameter(fp,paramNames[20],parameter)) *g_kpAIL = atof(parameter); 00763 else{ *g_kpAIL = KP_AIL; 00764 SDerrorcount++; 00765 } 00766 if(GetParameter(fp,paramNames[21],parameter)) *g_kiAIL = atof(parameter); 00767 else{ *g_kiAIL = KI_AIL; 00768 SDerrorcount++; 00769 } 00770 if(GetParameter(fp,paramNames[22],parameter)) *g_kdAIL = atof(parameter); 00771 else{ *g_kdAIL = KP_AIL; 00772 SDerrorcount++; 00773 } 00774 if(GetParameter(fp,paramNames[23],parameter)) *g_rightloopRUD = atof(parameter); 00775 else{ *g_rightloopRUD = RIGHTLOOP_RUD; 00776 SDerrorcount++; 00777 } 00778 if(GetParameter(fp,paramNames[24],parameter)) *g_rightloopshortRUD = atof(parameter); 00779 else{ *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD; 00780 SDerrorcount++; 00781 } 00782 if(GetParameter(fp,paramNames[25],parameter)) *g_leftloopRUD = atof(parameter); 00783 else{ *g_leftloopshortRUD = LEFTLOOP_RUD; 00784 SDerrorcount++; 00785 } 00786 if(GetParameter(fp,paramNames[26],parameter)) *g_leftloopshortRUD = atof(parameter); 00787 else{ *g_leftloopshortRUD = LEFTLOOPSHORT_RUD; 00788 SDerrorcount++; 00789 } 00790 if(GetParameter(fp,paramNames[27],parameter)) *g_glideloopRUD = atof(parameter); 00791 else{ *g_glideloopRUD = GLIDELOOP_RUD; 00792 SDerrorcount++; 00793 } 00794 if(GetParameter(fp,paramNames[28],parameter)) *g_AIL_L_correctionrightloop = atof(parameter); 00795 else{ *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP; 00796 SDerrorcount++; 00797 } 00798 if(GetParameter(fp,paramNames[29],parameter)) *g_AIL_L_correctionrightloopshort = atof(parameter); 00799 else{ *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT; 00800 SDerrorcount++; 00801 } 00802 if(GetParameter(fp,paramNames[30],parameter)) *g_AIL_L_correctionleftloop = atof(parameter); 00803 else{ *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP; 00804 SDerrorcount++; 00805 } 00806 if(GetParameter(fp,paramNames[31],parameter)) *g_AIL_L_correctionleftloopshort = atof(parameter); 00807 else{ *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT; 00808 SDerrorcount++; 00809 } 00810 00811 fclose(fp); 00812 00813 }else{ //ファイルがなかったら 00814 pc.printf("fp was null.\r\n"); 00815 *g_kpELE = KP_ELE; 00816 *g_kiELE = KI_ELE; 00817 *g_kdELE = KD_ELE; 00818 *g_kpRUD = KP_RUD; 00819 *g_kiRUD = KI_RUD; 00820 *g_kdRUD = KD_RUD; 00821 *g_rightloopROLL = RIGHT_ROLL; 00822 *g_rightloopPITCH = RIGHT_PITCH; 00823 *g_leftloopROLL = LEFT_ROLL; 00824 *g_leftloopPITCH = LEFT_PITCH; 00825 *g_gostraightROLL = STRAIGHT_ROLL; 00826 *g_gostraightPITCH = STRAIGHT_PITCH; 00827 *g_takeoffTHR = TAKEOFF_THR; 00828 *g_loopTHR = LOOP_THR; 00829 *g_kpAIL = KP_AIL; //パラメータ変えるのお忘れなく！！ 00830 *g_kiAIL = KI_AIL; 00831 *g_kdAIL = KD_AIL; 00832 *g_rightloopRUD = RIGHTLOOP_RUD; 00833 *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD; 00834 *g_leftloopRUD = LEFTLOOP_RUD; 00835 *g_leftloopshortRUD = LEFTLOOPSHORT_RUD; 00836 *g_glideloopRUD = GLIDELOOP_RUD; 00837 *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP; 00838 *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT; 00839 *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP; 00840 *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT; 00841 00842 00843 SDerrorcount = -1; 00844 } 00845 pc.printf("SDsetup finished.\r\n"); 00846 if(SDerrorcount == 0) pc.printf("setting option is success\r\n"); 00847 else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n"); 00848 else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount); 00849 00850 pc.printf("kpELE = %f, kiELE = %f, kdELE = %f\r\n", *g_kpRUD, *g_kiRUD, *g_kdRUD); 00851 pc.printf("kpRUD = %f, kiRUD = %f, kdRUD = %f\r\n", *g_kpELE, *g_kiELE, *g_kdELE); 00852 pc.printf("rightloopROLL = %f, rightloopPITCH = %f\r\n", *g_rightloopROLL, *g_rightloopPITCH); 00853 pc.printf("leftloopROLL = %f, g_leftloopPITCH = %f\r\n", *g_leftloopROLL, *g_leftloopPITCH); 00854 pc.printf("gostraightROLL = %f, g_gostraightPITCH = %f\r\n", *g_gostraightROLL, *g_gostraightPITCH); 00855 pc.printf("g_takeoffTHR = %f, g_loopTHR = %f\r\n", *g_takeoffTHR, *g_loopTHR); 00856 pc.printf("rightloopROLLshort = %f, rightloopPITCHshort = %f\r\n", *g_rightloopROLLshort, *g_rightloopPITCHshort); 00857 pc.printf("leftloopROLLshort = %f, g_leftloopPITCHshort = %f\r\n", *g_leftloopROLLshort, *g_leftloopPITCHshort); 00858 pc.printf("glideROLL = %f, glidePITCH = %f\r\n", *g_glideloopROLL, *g_glideloopPITCH); 00859 pc.printf("kpAIL = %f,kiAIL = %f,kdAIL = %f\r\n ",*g_kpAIL,*g_kiAIL,*g_kdAIL); 00860 pc.printf("RIGHTLOOPRUD = %d,RIGHTLOOPSHORTRUD = %d\r\n",*g_rightloopRUD,*g_rightloopshortRUD); 00861 pc.printf("LEFTTLOOPRUD = %d,LEFTLOOPSHORTRUD = %d\r\n",*g_leftloopRUD,*g_leftloopshortRUD); 00862 pc.printf("GLIDELOOPRUD = %d\r\n",*g_glideloopRUD); 00863 pc.printf("AIL_L_CORRECTION_RIGHTLOOP = %d, AIL_L_CORRECTION_RIGHTLOOPSHORT = %d\r\n",*g_AIL_L_correctionrightloop,*g_AIL_L_correctionrightloopshort); 00864 pc.printf("AIL_L_CORRECTION_LEFTLOOP = %d, AIL_L_CORRECTION_LEFTLOOPSHORT = %d\r\n",*g_AIL_L_correctionleftloop,*g_AIL_L_correctionleftloopshort); 00865 return SDerrorcount; 00866 } 00867 00868 void CalculateControlValue(float targetAngle[3], float controlValue[3]){ 00869 static int t_last; 00870 int t_now; 00871 float dt; 00872 00873 t_now = t.read_us(); 00874 dt = (float)((t_now - t_last)/1000000.0f) ; 00875 t_last = t_now; 00876 00877 00878 //controlValue[ROLL] = pid_RUD.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); 00879 controlValue[ROLL] = pid_AIL.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); //エルロンでロール制御 00880 controlValue[PITCH] = pid_ELE.calcPID(nowAngle[PITCH], targetAngle[PITCH], dt); 00881 } 00882 00883 void UpdateAutoPWM(float controlValue[3]){ 00884 int16_t addpwm[2]; //-500~500 00885 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 00886 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 00887 00888 autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH]; //rewrite 00889 autopwm[AIL_R] = trimpwm[AIL_R] - reverce[AIL_R] * addpwm[ROLL]; 00890 //autopwm[THR] = oldTHR; 00891 00892 autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]); 00893 autopwm[AIL_R] = ThresholdMaxMin(autopwm[AIL_R], maxpwm[AIL_R], minpwm[AIL_R]); 00894 00895 } 00896 00897 inline float CalcRatio(float value, float trim, float limit){ 00898 return (value - trim) / (limit - trim); 00899 } 00900 00901 bool CheckSW_Up(Channel ch){ 00902 NVIC_DisableIRQ(USART1_IRQn); 00903 if(SWITCH_CHECK < sbus.manualpwm[ch]){ 00904 return true; 00905 }else{ 00906 return false; 00907 } 00908 NVIC_EnableIRQ(USART1_IRQn); 00909 } 00910 00911 int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min){ 00912 if(value > max) return max; 00913 if(value < min) return min; 00914 return value; 00915 } 00916 00917 inline int16_t SetTHRinRatio(float ratio){ 00918 return minpwm[THR] + (int16_t)(2 * lengthdivpwm * ratio); 00919 } 00920 00921 00922 00923 /*---SBUS割り込み処理---*/ 00924 00925 //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) 00926 //各stabiGylo関数で算出したpwmを各変数に代入する(自動モード) 00927 void Update_PWM() 00928 { 00929 static int16_t pwm[6]; 00930 static int16_t temppwm[6]={trimpwm[0],trimpwm[1],trimpwm[2],trimpwm[3],trimpwm[4],trimpwm[5]}; 00931 if(sbus.flg_ch_update == true){ 00932 NVIC_DisableIRQ(USART1_IRQn); 00933 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 00934 case Manual: 00935 for(uint8_t i=0;i<6;i++){ 00936 pwm[i] = sbus.manualpwm[i]; 00937 } 00938 /*pc.printf("%d ,",pwm[0]);//R 00939 pc.printf("%d ,\r\n",pwm[5]);//L*/ 00940 oldTHR = sbus.manualpwm[THR]; 00941 //pc.printf("update_manual\r\n"); 00942 break; 00943 00944 case Auto: 00945 pwm[AIL_R] = autopwm[AIL_R]; //sbus.manualpwm[AIL]; 00946 pwm[ELE] = autopwm[ELE]; 00947 pwm[THR] = autopwm[THR]; 00948 pwm[RUD] = autopwm[RUD]; 00949 pwm[DROP] = autopwm[DROP]; 00950 pwm[AIL_L] = autopwm[AIL_L]; 00951 //pc.printf("%d ,",pwm[AIL_R]);//R 00952 //pc.printf("%d ,\r\n",pwm[AIL_L]);//L 00953 //pc.printf("update_auto\r\n"); 00954 00955 break; 00956 00957 default: 00958 for(uint8_t i=0;i<6;i++){ 00959 pwm[i] = sbus.manualpwm[i]; 00960 } //pc.printf("update_manual\r\n"); 00961 break; 00962 NVIC_EnableIRQ(USART1_IRQn); 00963 } 00964 for(uint8_t i=0;i<6;i++){ 00965 if(pwm[i]<1000 || pwm[i]>2000) pwm[i]=temppwm[i]; 00966 temppwm[i]=pwm[i]; 00967 } 00968 }else{ 00969 pc.printf("0\r\n"); 00970 } 00971 sbus.flg_ch_update = false; 00972 Output_PWM(pwm); 00973 } 00974 00975 00976 //pwmをサーボに出力。 00977 void Output_PWM(int16_t pwm[5]) 00978 { 00979 NVIC_DisableIRQ(USART1_IRQn); 00980 servo1.pulsewidth_us(pwm[0]); 00981 servo2.pulsewidth_us(pwm[1]); 00982 servo3.pulsewidth_us(pwm[2]); 00983 servo4.pulsewidth_us(pwm[3]); 00984 servo5.pulsewidth_us(pwm[4]); 00985 servo6.pulsewidth_us(pwm[5]); 00986 NVIC_EnableIRQ(USART1_IRQn); 00987 00988 } 00989 00990 void ResetTrim(){ 00991 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 00992 trimpwm[i] = sbus.manualpwm[i]; 00993 } 00994 pc.printf("reset PWM trim\r\n"); 00995 } 00996 00997 00998 void SensingMPU(){ 00999 //static int16_t deltaT = 0, t_start = 0; 01000 //t_start = t.read_us(); 01001 01002 float rpy[3] = {0}, oldrpy[3] = {0}; 01003 static uint16_t count_changeRPY = 0; 01004 static bool flg_checkoutlier = false; 01005 NVIC_DisableIRQ(USART1_IRQn); 01006 NVIC_DisableIRQ(USART2_IRQn); 01007 NVIC_DisableIRQ(TIM5_IRQn); 01008 NVIC_DisableIRQ(EXTI0_IRQn);//MPU割り込み禁止 01009 NVIC_DisableIRQ(EXTI9_5_IRQn);//超音波割り込み禁止 01010 01011 mpu6050.getRollPitchYaw_Skipper(rpy); 01012 01013 NVIC_EnableIRQ(USART1_IRQn); 01014 NVIC_EnableIRQ(USART2_IRQn); 01015 NVIC_EnableIRQ(TIM5_IRQn); 01016 NVIC_EnableIRQ(EXTI0_IRQn); 01017 NVIC_EnableIRQ(EXTI9_5_IRQn); 01018 01019 01020 //外れ値対策 01021 for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI; 01022 rpy[ROLL] -= FirstROLL; 01023 rpy[PITCH] -= FirstPITCH; 01024 rpy[YAW] -= FirstYAW; 01025 01026 for(uint8_t i=0; i<3; i++) {if(rpy[i] < nowAngle[i]-10 || rpy[i] > nowAngle[i]+10) {flg_checkoutlier = true;}} 01027 if(!flg_checkoutlier || count_changeRPY >= 2){ 01028 for(uint8_t i=0; i<3; i++){ 01029 nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均 01030 } 01031 count_changeRPY = 0; 01032 }else count_changeRPY++; 01033 flg_checkoutlier = false; 01034 01035 } 01036 01037 float TranslateNewYaw(float beforeYaw, float newzeroYaw){ 01038 float newYaw = beforeYaw - newzeroYaw; 01039 01040 if(newYaw<-180.0f) newYaw += 360.0f; 01041 else if(newYaw>180.0f) newYaw -= 360.0f; 01042 return newYaw; 01043 } 01044 01045 01046 void getSF_Serial(){ 01047 //NVIC_DisableIRQ(USART1_IRQn); 01048 NVIC_DisableIRQ(EXTI0_IRQn); 01049 //NVIC_DisableIRQ(TIM5_IRQn); 01050 01051 01052 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'}; 01053 01054 static int bufcounter=0; 01055 01056 if(pc.readable()) { // 受信確認 01057 01058 SFbuf[bufcounter] = pc.getc(); // 1文字取り出し 01059 if(SFbuf[0]!='S') return; 01060 } 01061 01062 01063 //pc.printf("%c",SFbuf[bufcounter]); 01064 01065 if(SFbuf[0]=='S'&&bufcounter<5)bufcounter++; 01066 01067 if(bufcounter==5 && SFbuf[4]=='F'){ 01068 01069 g_landingcommand = SFbuf[1]; 01070 //wait_ms(20); 01071 if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]); 01072 bufcounter = 0; 01073 memset(SFbuf, 0, strlen(SFbuf)); 01074 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW); 01075 } 01076 01077 else if(bufcounter>=5 ){ 01078 //pc.printf("Communication Falsed.\r\n"); 01079 memset(SFbuf, 0, strlen(SFbuf)); 01080 bufcounter = 0; 01081 } 01082 01083 01084 //NVIC_EnableIRQ(TIM5_IRQn); 01085 NVIC_EnableIRQ(EXTI0_IRQn); 01086 //NVIC_EnableIRQ(USART1_IRQn); 01087 } 01088 01089 float ConvertByteintoFloat(char high, char low){ 01090 01091 //int16_t intvalue = (int16_t)high*256 + (int16_t)low; 01092 int16_t intvalue = (int16_t)(((int16_t)high << 8) | low); // Turn the MSB and LSB into a signed 16-bit value 01093 float floatvalue = (float)intvalue; 01094 return floatvalue; 01095 } 01096 01097 01098 //超音波割り込み 01099 /*void UpdateDist(){ 01100 g_distance = usensor.get_dist_cm(); 01101 usensor.start(); 01102 }*/ 01103 01104 //8の字旋回 01105 void UpdateTargetAngle_Moebius(float targetAngle[3]){ 01106 static uint8_t RotateCounter=0; 01107 static bool flg_setInStartAuto = false; 01108 static float FirstYAW_Moebius = 0.0; 01109 float newYaw_Moebius; 01110 01111 if(!flg_setInStartAuto && CheckSW_Up(Ch7)){ 01112 FirstYAW_Moebius = nowAngle[YAW]; 01113 RotateCounter = 0; 01114 flg_setInStartAuto = true; 01115 }else if(!CheckSW_Up(Ch7)){ 01116 flg_setInStartAuto = false; 01117 led2 = 0; 01118 } 01119 autopwm[THR]=oldTHR; 01120 01121 newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius); 01122 01123 if(RotateCounter == 0 && newYaw_Moebius >90.0 && newYaw_Moebius < 180.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n");} 01124 if(RotateCounter == 1 && newYaw_Moebius >-180.0 && newYaw_Moebius < -90.0) {RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n");} 01125 if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius <-10.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n");} 01126 if(RotateCounter == 3 && newYaw_Moebius >0.0 && newYaw_Moebius < 90.0) {RotateCounter++; led2 = 0; pc.printf("Change Rotate direction\r\n");} 01127 01128 01129 if(RotateCounter <= 3) UpdateTargetAngle_Rightloop_short(targetAngle); 01130 else UpdateTargetAngle_Leftloop_short(targetAngle); //左旋回 01131 01132 } 01133 01134 //自動滑空 01135 void UpdateTargetAngle_Glide(float targetAngle[3]){ 01136 static int THRcount = 0; 01137 static int t_start = 0; 01138 static bool flg_tstart = false; 01139 int t_diff = 0; 01140 static int groundcount = 0; 01141 01142 targetAngle[ROLL] = g_glideloopROLL; 01143 targetAngle[PITCH] = g_glideloopPITCH; 01144 01145 autopwm[RUD]=g_glideloopRUD; 01146 // autopwm[THR]=oldTHR; 01147 01148 01149 01150 //時間計測開始設定 01151 if(!flg_tstart && CheckSW_Up(Ch7)){ 01152 t_start = t.read(); 01153 flg_tstart = true; 01154 pc.printf("timer start\r\n"); 01155 }else if(!CheckSW_Up(Ch7)){ 01156 t_start = 0; 01157 flg_tstart = false; 01158 } 01159 01160 01161 //フラグが偽であれば計測は行わない 01162 if(flg_tstart){ 01163 t_diff = t.read() - t_start; 01164 //一定高度or15秒でled点灯 01165 NVIC_DisableIRQ(EXTI9_5_IRQn); 01166 if((groundcount>5 && g_distance>0) || t_diff > 15){ 01167 led2 = 1; 01168 //pc.printf("Call [Stop!] calling!\r\n"); 01169 } 01170 01171 if(g_distance<180 && g_distance > 0) groundcount++; 01172 NVIC_EnableIRQ(EXTI9_5_IRQn); 01173 }else{ 01174 t_diff = 0; 01175 groundcount = 0; 01176 led2 = 0; 01177 } 01178 01179 if(t_diff > 17){ 01180 autopwm[THR] = SetTHRinRatio(0.5); 01181 }else{ 01182 NVIC_DisableIRQ(EXTI9_5_IRQn); 01183 if(g_distance<150 && g_distance>0 ){ 01184 NVIC_EnableIRQ(EXTI9_5_IRQn); 01185 THRcount++; 01186 if(THRcount>5){ 01187 autopwm[THR] = SetTHRinRatio(0.6); 01188 //pc.printf("throttle ON\r\n"); 01189 } 01190 }else{ 01191 autopwm[THR] = 1180; 01192 THRcount = 0; 01193 } 01194 } 01195 } 01196 //離陸-投下-着陸一連 01197 void Take_off_and_landing(float targetAngle[3]){ 01198 /* 01199 if(!CheckSW_Up(Ch7)) bombing_mode = Takeoff; 01200 01201 switch(bombing_mode){ 01202 case Takeoff: 01203 static bool flg_setFirstYaw = false; 01204 static int TakeoffCount = 0; 01205 01206 if(!flg_setFirstYaw && CheckSW_Up(Ch7)){ 01207 FirstYAW = nowAngle[YAW]; 01208 flg_setFirstYaw = true; 01209 }else if(flg_setFirstYaw && !CheckSW_Up(Ch7)){ 01210 flg_setFirstYaw = false; 01211 } 01212 01213 UpdateTargetAngle_Takeoff(targetAngle); 01214 01215 if(g_distance>150) TakeoffCount++; 01216 else TakeoffCount = 0; 01217 if(TakeoffCount>5){ 01218 autopwm[THR] = 1180+320*2*0.5; 01219 pc.printf("Now go to Approach mode!!"); 01220 bombing_mode = Approach; 01221 } 01222 break; 01223 01224 //case Chicken: 01225 //break; 01226 01227 case Transition: 01228 static int ApproachCount = 0; 01229 targetAngle[YAW]=180.0; 01230 int Judge = Rotate(targetAngle, g_SerialTargetYAW); 01231 01232 if(Judge==0) ApproachCount++; 01233 if(ApproachCount>5) bombing_mode = Approach; 01234 break; 01235 01236 case Approach: 01237 */ 01238 autopwm[THR] = SetTHRinRatio(g_loopTHR); //0.7;スロットルの割合 01239 UpdateTargetAngle_Approach(targetAngle); 01240 /* 01241 break; 01242 01243 default: 01244 bombing_mode = Takeoff; 01245 break; 01246 } 01247 */ 01248 } 01249 01250 //離陸モード 01251 void UpdateTargetAngle_Takeoff(float targetAngle[3]){ 01252 //pc.printf("%d \r\n",g_distance); 01253 targetAngle[ROLL] = g_gostraightROLL; 01254 targetAngle[PITCH] = g_loopTHR; 01255 autopwm[THR] = SetTHRinRatio(g_takeoffTHR); //0.7;スロットルの割合 01256 } 01257 01258 //ヨーを目標値にして許容角度になるまで水平旋回 01259 int Rotate(float targetAngle[3], float TargetYAW){ 01260 float diffYaw = TranslateNewYaw(TargetYAW, nowAngle[YAW]); 01261 01262 if(diffYaw > LIMIT_STRAIGHT_YAW){ 01263 /* 01264 if(diffYaw > THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Rightloop_short(targetAngle); 01265 else UpdateTargetAngle_Rightloop(targetAngle); 01266 */ 01267 UpdateTargetAngle_Rightloop_short(targetAngle); 01268 return 1; 01269 }else if(diffYaw < -LIMIT_STRAIGHT_YAW){ 01270 UpdateTargetAngle_Leftloop_short(targetAngle); 01271 /* 01272 if(diffYaw < -THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Leftloop_short(targetAngle); 01273 else UpdateTargetAngle_Leftloop(targetAngle); 01274 */ 01275 return 1; 01276 }else{ 01277 UpdateTargetAngle_GoStraight(targetAngle); 01278 return 0; 01279 } 01280 } 01281 01282 //チキラー投下 01283 void Chicken_Drop(){ 01284 if(CheckSW_Up(Ch7)){ 01285 autopwm[DROP] = 1512; 01286 pc.printf("Bombed!\r\n"); 01287 RerurnChickenServo1.attach(&ReturnChickenServo1, 3); 01288 //operation_mode = Approach; 01289 //buzzer = 0; 01290 pc.printf("Goto LeftLoop mode\r\n"); 01291 } 01292 } 01293 01294 void ReturnChickenServo1(){ 01295 autopwm[DROP] = 1344; 01296 pc.printf("first reverse\r\n"); 01297 RerurnChickenServo2.attach(&ReturnChickenServo2, 1); 01298 } 01299 01300 void ReturnChickenServo2(){ 01301 autopwm[DROP] = 1392; 01302 pc.printf("second reverse\r\n"); 01303 } 01304 01305 //着陸モード（PCからの指令に従う） 01306 void UpdateTargetAngle_Approach(float targetAngle[3]){ 01307 01308 static bool zeroTHR=true;//着陸時のスロットル動作確認用 01309 01310 if(CheckSW_Up(Ch7)){ 01311 output_status = Auto; 01312 led1 = 1; 01313 }else{ 01314 output_status = Manual; 01315 led1 = 0; 01316 zeroTHR=true; 01317 } 01318 01319 01320 NVIC_DisableIRQ(USART2_IRQn); 01321 01322 switch(g_landingcommand){ 01323 case 'R': //右旋回セヨ 01324 if(zeroTHR==false){ 01325 UpdateTargetAngle_Rightloop_zero(targetAngle); 01326 } 01327 else{ 01328 targetAngle[ROLL] = g_rightloopROLL; 01329 targetAngle[PITCH] = g_rightloopPITCH ; 01330 autopwm[RUD]=g_rightloopRUD; //RUD固定 01331 if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節 01332 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01333 } 01334 else {autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01335 autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop; 01336 } 01337 } 01338 break; 01339 01340 case 'L': //左旋回セヨ 01341 if(zeroTHR==false){ 01342 UpdateTargetAngle_Leftloop_zero(targetAngle); 01343 } 01344 else{ 01345 targetAngle[ROLL] = g_leftloopROLL; 01346 targetAngle[PITCH] = g_leftloopPITCH; 01347 autopwm[RUD]=g_leftloopRUD; 01348 if(autopwm[AIL_R]<trimpwm[AIL_R]){ 01349 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01350 } 01351 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01352 } 01353 break; 01354 01355 case 'G': //直進セヨ 01356 if(zeroTHR==false){ 01357 UpdateTargetAngle_GoStraight_zero(targetAngle); 01358 } 01359 else{ 01360 targetAngle[ROLL] = g_gostraightROLL; 01361 targetAngle[PITCH] = g_gostraightPITCH; 01362 } 01363 01364 break; 01365 01366 case 'Y': //指定ノヨー方向ニ移動セヨ 01367 Rotate(targetAngle, g_SerialTargetYAW); 01368 break; 01369 01370 case 'B': //ブザーヲ鳴ラセ 01371 //buzzer = 1; 01372 break; 01373 01374 case 'D': //物資ヲ落トセ 01375 Chicken_Drop(); 01376 break; 01377 01378 case 'C': //停止セヨ 01379 targetAngle[ROLL] = 0.0; 01380 targetAngle[PITCH] = -3.0; 01381 autopwm[THR] = minpwm[THR]; 01382 zeroTHR=false; 01383 break; 01384 01385 } 01386 NVIC_EnableIRQ(USART2_IRQn); 01387 } 01388 01389 void checkHeight(float targetAngle[3]){ 01390 01391 static int targetHeight = 200; 01392 NVIC_DisableIRQ(EXTI9_5_IRQn); 01393 if(g_distance < targetHeight + ALLOWHEIGHT){ 01394 UpdateTargetAngle_NoseUP(targetAngle); 01395 if(CheckSW_Up(Ch7)) led2 = 1; 01396 } 01397 else if(g_distance > targetHeight - ALLOWHEIGHT){ 01398 UpdateTargetAngle_NoseDOWN(targetAngle); 01399 if(CheckSW_Up(Ch7)) led2 = 1; 01400 } 01401 else led2=0; 01402 NVIC_EnableIRQ(EXTI9_5_IRQn); 01403 } 01404 01405 void UpdateTargetAngle_NoseUP(float targetAngle[3]){ 01406 01407 //targetAngle[PITCH] += 2.0f; 01408 //if(nowAngle[PITCH]<targetAngle[PITCH]) autopwm[THR] = SetTHRinRatio(0.6); 01409 autopwm[THR] = SetTHRinRatio(g_loopTHR+0.05); 01410 //pc.printf("nose UP"); 01411 } 01412 01413 void UpdateTargetAngle_NoseDOWN(float targetAngle[3]){ 01414 01415 //targetAngle[PITCH] -= 2.0f; 01416 autopwm[THR] = SetTHRinRatio(g_loopTHR-0.05); 01417 //pc.printf("nose DOWN"); 01418 } 01419 01420 //直進 01421 void UpdateTargetAngle_GoStraight(float targetAngle[3]){ 01422 01423 autopwm[RUD] = trimpwm[RUD]; 01424 targetAngle[ROLL] = g_gostraightROLL; 01425 targetAngle[PITCH] = g_gostraightPITCH; 01426 autopwm[THR] = SetTHRinRatio(g_loopTHR); 01427 01428 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01429 } 01430 01431 //直進(着陸時スロットル０のとき） 01432 void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]){ 01433 01434 autopwm[RUD] = trimpwm[RUD]; 01435 targetAngle[ROLL] = g_gostraightROLL; 01436 targetAngle[PITCH] = g_gostraightPITCH; 01437 autopwm[THR] = minpwm[THR]; 01438 01439 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01440 } 01441 01442 //右旋回 01443 void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回 01444 01445 targetAngle[ROLL] = g_rightloopROLL; 01446 targetAngle[PITCH] = g_rightloopPITCH ; 01447 autopwm[RUD]=g_rightloopRUD; //RUD固定 01448 autopwm[THR] = SetTHRinRatio(0.5); //手動スロットル記憶 01449 if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節 01450 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01451 } 01452 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01453 autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop; 01454 01455 //checkHeight(targetAngle); 01456 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01457 } 01458 01459 //右旋回（着陸時スロットル０の時） 01460 void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]){ //右旋回 01461 autopwm[THR]=minpwm[THR]; 01462 targetAngle[ROLL] = g_rightloopROLL; 01463 targetAngle[PITCH] = g_rightloopPITCH ; 01464 autopwm[RUD]=g_rightloopRUD; //RUD固定 01465 if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節 01466 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01467 } 01468 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01469 autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop; 01470 01471 //checkHeight(targetAngle); 01472 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01473 } 01474 01475 void UpdateTargetAngle_Rightloop_short(float targetAngle[3]){ //右旋回 01476 01477 targetAngle[ROLL] = g_rightloopROLLshort; 01478 targetAngle[PITCH] = g_rightloopPITCHshort; 01479 autopwm[RUD]=g_rightloopshortRUD; 01480 autopwm[THR] = SetTHRinRatio(0.5); 01481 if(autopwm[AIL_R]<trimpwm[AIL_R]){ 01482 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01483 } 01484 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01485 01486 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01487 } 01488 01489 //左旋回 01490 void UpdateTargetAngle_Leftloop(float targetAngle[3]){ 01491 01492 targetAngle[ROLL] = g_leftloopROLL; 01493 targetAngle[PITCH] = g_leftloopPITCH; 01494 autopwm[RUD]=g_leftloopRUD; 01495 autopwm[THR] = SetTHRinRatio(0.5); 01496 if(autopwm[AIL_R]<trimpwm[AIL_R]){ 01497 autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01498 } 01499 else autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01500 //checkHeight(targetAngle); 01501 01502 //printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]); 01503 } 01504 01505 //左旋回（着陸時スロットル０のとき） 01506 void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]){ 01507 01508 targetAngle[ROLL] = g_leftloopROLL; 01509 targetAngle[PITCH] = g_leftloopPITCH; 01510 autopwm[RUD]=g_leftloopRUD; 01511 autopwm[THR] = minpwm[THR]; 01512 if(autopwm[AIL_R]<trimpwm[AIL_R]){ 01513 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01514 } 01515 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01516 //autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_Ratio_leftloop; 01517 //checkHeight(targetAngle); 01518 01519 //printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]); 01520 } 01521 01522 void UpdateTargetAngle_Leftloop_short(float targetAngle[3]){ 01523 01524 targetAngle[ROLL] = g_leftloopROLLshort; 01525 targetAngle[PITCH] = g_leftloopPITCHshort; 01526 autopwm[RUD]=g_leftloopRUD; 01527 autopwm[THR] = SetTHRinRatio(0.5); 01528 if(autopwm[AIL_R]<trimpwm[AIL_R]){ 01529 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01530 } 01531 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01532 01533 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01534 } 01535 01536 void Sbusprintf(){ 01537 01538 for(uint8_t i=0; i<8; i++) pc.printf("ch.%d = %d ",i+1,sbus.manualpwm[i]); 01539 pc.printf("\r\n"); 01540 01541 } 01542 01543 01544 //デバッグ用 01545 void DebugPrint(){ 01546 /* 01547 static int16_t deltaT = 0, t_start = 0; 01548 deltaT = t.read_u2s() - t_start; 01549 pc.printf("t:%d us, ",deltaT); 01550 pc.printf("\r\n"); 01551 t_start = t.read_us(); 01552 */ 01553 //for(uint8_t i=0; i<8; i++) pc.printf("%d ",sbus.manualpwm[i]); 01554 //for(uint8_t i=1; i<4; i++) pc.printf("%d ",sbus.manualpwm[i]); 01555 //pc.printf("\r\n"); 01556 //for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]); 01557 //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 01558 //pc.printf("%d\t",autopwm[AIL_L]); // pc.printf("%d\t",autopwm[RUD]); 01559 //pc.printf("%d",g_distance); 01560 01561 //pc.printf("Mode: %c: ",g_buf[0]); 01562 //if(g_buf[0] == 'Y') pc.printf(" %3.1f",g_SerialTargetYAW); 01563 //pc.printf("\r\n"); 01564 }
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