Revision 3:954228fd64b3, committed 2018-09-12

Comitter:

HARUKIDELTA

Date:

Wed Sep 12 05:13:58 2018 +0000

Parent:

2:23daa5fa28b4

Commit message:

9/12

Changed in this revision

--- a/config/falfalla.h	Sat Sep 08 05:32:55 2018 +0000
+++ b/config/falfalla.h	Wed Sep 12 05:13:58 2018 +0000
@@ -14,7 +14,7 @@
 static float g_kiAIL=0.0;
 static float g_kdAIL=0.0;
 
-static float g_rightloopROLL=-17.0;
+static float g_rightloopROLL=0.0;
 static float g_rightloopPITCH=-6.3;
 static float g_leftloopROLL=16.0;
 static float g_leftloopPITCH=-6.0;
@@ -33,14 +33,14 @@
 
 #if NUMBER_FALFALLA == 1    //1号機
 
-const int16_t Trim_Falfalla[4] = {0,14,-100,-10};
+const int16_t Trim_Falfalla[4] = {-155,120,0,-240};//{0,14,-100,-10};
 const float ExpMax_Falfalla[4] = {100,115,100,89};
 const float ExpMin_Falfalla[4] = {100,47,100,110};
-const int8_t Reverce_falfalla[4] = {1,-1,1,1};   //Nutral:1 , Reverce:-1
+const int8_t Reverce_falfalla[4] = {-1,-1,1,1};   //Nutral:1 , Reverce:-1
 
 #elif NUMBER_FALFALLA == 2  //2号機
 
-const int16_t Trim_Falfalla[4] = {0,12,0,2};    //rewrite -100
+const int16_t Trim_Falfalla[6] = {135,240,0,-240,240,-130};//{0,12,0,2};    
 const float ExpMax_Falfalla[4] = {100,115,100,103};
 const float ExpMin_Falfalla[4] = {100,97,100,97};
 const int16_t Reverce_falfalla[4] = {1,-1,1,-1};   //Nutral:1 , Reverce:-1

--- a/main.cpp	Sat Sep 08 05:32:55 2018 +0000
+++ b/main.cpp	Wed Sep 12 05:13:58 2018 +0000
@@ -26,11 +26,10 @@
 #define KP_RUD 3.0
 #define KI_RUD 0.0
 #define KD_RUD 0.0
-#define KP_AIL 0.1
+#define KP_AIL 2.0
 #define KI_AIL 0.2
 #define KD_AIL 0.2
 
-//#define g_AIL_L_Ratio_rightloop 0.5
 
 #define GAIN_CONTROLVALUE_TO_PWM 3.0
 
@@ -43,7 +42,18 @@
 #define TAKEOFF_THR 0.8
 #define LOOP_THR 0.6
 
-#define g_rightloopRUD 1500 
+#define rightloopRUD 1250 
+#define AIL_L_correctionrightloop 0
+#define rightloopshortRUD 1250 
+#define AIL_L_correctionrightloopshort 0
+#define leftloopRUD  1500
+#define AIL_L_correctionleftloop -0
+#define leftloopshortRUD 1500 
+#define AIL_L_correctionleftloopshort 0
+#define glideloopRUD 1300
+
+#define AIL_L_RatioRising 0.5
+#define AIL_L_RatioDescent 2
 
 #define RIGHT_ROLL_SHORT -12.0
 #define RIGHT_PITCH_SHORT -5.0
@@ -86,7 +96,7 @@
 const float trim[4] = {Trim_Falfalla[0],Trim_Falfalla[1],Trim_Falfalla[2],Trim_Falfalla[3]};
 const float expMax[4] = {ExpMax_Falfalla[0],ExpMax_Falfalla[1],ExpMax_Falfalla[2],ExpMax_Falfalla[3]};
 const float expMin[4] = {ExpMin_Falfalla[0],ExpMin_Falfalla[1],ExpMin_Falfalla[2],ExpMin_Falfalla[3]};
-const int16_t reverce[4] = {ExpMin_Falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
+const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
 
 SBUS sbus(PA_9, PA_10); //SBUS
 
@@ -126,12 +136,11 @@
 OperationMode operation_mode = StartUp;
 BombingMode bombing_mode = Takeoff;
 static int16_t autopwm[8] = {1500,1500,1180,1500,1392,1500};
-static int16_t trimpwm[6] = {1500,1500,1180,1500,1392,1500};
+static int16_t trimpwm[6] = {1428,1500,1180,1500,1392,1629};
 int16_t maxpwm[6] = {1820,1820,1820,1820,1820,1820};
 int16_t minpwm[6] = {1180,1180,1180,1180,1180,1180};
 int16_t oldTHR = 1000;
 
-int16_t g_AIL_L_Ratio_rightloop = 0.5;
 
 
 static float nowAngle[3] = {0,0,0};
@@ -722,6 +731,9 @@
     //controlValue[ROLL] = pid_RUD.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt);
     controlValue[ROLL] = pid_AIL.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt);       //エルロンでロール制御   
     controlValue[PITCH] = pid_ELE.calcPID(nowAngle[PITCH], targetAngle[PITCH], dt);
+    
+    //pc.printf("%f,%f",controlValue[ROLL],controlValue[PITCH]);
+    
 }
 
 void UpdateAutoPWM(float controlValue[3]){    
@@ -730,7 +742,7 @@
     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
     
     autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH];                 //rewrite
-    autopwm[AIL_R] = trimpwm[AIL_R] + reverce[AIL_R] * addpwm[AIL_R];
+    autopwm[AIL_R] = trimpwm[AIL_R] - reverce[AIL_R] * addpwm[ROLL];
     //autopwm[THR] = oldTHR;
 
     autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]);
@@ -776,6 +788,7 @@
                 for(uint8_t i=0;i<6;i++){
                     pwm[i] = sbus.manualpwm[i];  
                 }
+                ///pc.printf("%d ,\r\n",pwm[AIL_R]);//L
                 /*pc.printf("%d ,",pwm[0]);//R
                 pc.printf("%d ,\r\n",pwm[5]);//L*/
                 oldTHR = sbus.manualpwm[THR];
@@ -789,8 +802,9 @@
                 pwm[RUD] = autopwm[RUD];
                 pwm[DROP] = autopwm[DROP];
                 pwm[AIL_L] = autopwm[AIL_L];
+                //pc.printf("%d ,",pwm[ELE]);//ELE
                 pc.printf("%d ,",pwm[AIL_R]);//R
-                pc.printf("%d ,\r\n",pwm[AIL_L]);//L
+                pc.printf("%d ,\r\n",pwm[AIL_R]);//L
                 //pc.printf("update_auto\r\n");
                 
                 break;
@@ -923,6 +937,8 @@
     static bool flg_setInStartAuto = false;
     static float FirstYAW_Moebius = 0.0;
     float newYaw_Moebius;
+    
+    
 
     if(!flg_setInStartAuto && CheckSW_Up(Ch7)){
         FirstYAW_Moebius = nowAngle[YAW];
@@ -933,12 +949,14 @@
         led2 = 0;
     }
     
+    autopwm[THR]=oldTHR;
+    
     newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius);
 
     if(RotateCounter == 0 && newYaw_Moebius >90.0 && newYaw_Moebius < 180.0)    {RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n");}
     if(RotateCounter == 1 && newYaw_Moebius >-180.0 && newYaw_Moebius < -90.0)  {RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n");}
-    if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius < 10.0f)   {RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n");}
-    if(RotateCounter == 3 && newYaw_Moebius >20.0 && newYaw_Moebius < 180.0f)     {RotateCounter++; led2 = 0; pc.printf("Change Rotate direction\r\n");}
+    if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius < -10.0)   {RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n");}
+    if(RotateCounter == 3 && newYaw_Moebius >0.0 && newYaw_Moebius < 90.0)     {RotateCounter++; led2 = 0; pc.printf("Change Rotate direction\r\n");}
 
 
     if(RotateCounter <= 3) UpdateTargetAngle_Rightloop_short(targetAngle);    
@@ -956,12 +974,13 @@
     
     targetAngle[ROLL] = g_glideloopROLL;
     targetAngle[PITCH] = g_glideloopPITCH;
+    autopwm[RUD]=glideloopRUD;
     
-    autopwm[THR]=oldTHR;
+    //autopwm[THR]=oldTHR;
     //シリアル通信受信の割り込みイベント登録
-    pc.attach(ISR_Serial_Rx, Serial::RxIrq);
+    //pc.attach(ISR_Serial_Rx, Serial::RxIrq);
     
-/*    
+    
     //時間計測開始設定
     if(!flg_tstart && CheckSW_Up(Ch7)){
         t_start = t.read();
@@ -979,7 +998,7 @@
         //一定高度or15秒でled点灯
         if((groundcount>5 && g_distance>0) || t_diff > 15){
             led2 = 1;
-            //pc.printf("Call [Stop!] calling!\r\n");
+            pc.printf("Call [Stop!] calling!\r\n");
         }
         if(g_distance<180 && g_distance > 0) groundcount++;
     }else{
@@ -995,13 +1014,13 @@
             THRcount++;
             if(THRcount>5){
                 autopwm[THR] = SetTHRinRatio(0.6);
-                //pc.printf("throttle ON\r\n");
+                pc.printf("throttle ON\r\n");
             }
         }else{
             autopwm[THR] = 1180;
             THRcount = 0;
         }
-    }*/
+    }
 }
 //離陸-投下-着陸一連
 void Take_off_and_landing(float targetAngle[3]){
@@ -1186,12 +1205,15 @@
 //右旋回
 void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回
 
-    autopwm[RUD]=g_rightloopRUD;
     targetAngle[ROLL] = g_rightloopROLL;
     targetAngle[PITCH] = g_rightloopPITCH ;
+    autopwm[RUD]=rightloopRUD;
     autopwm[THR] = oldTHR;//SetTHRinRatio(g_loopTHR);
-    autopwm[AIL_L]=trimpwm[AIL_L]+(autopwm[AIL_R]-trimpwm[AIL_R])*0.5;//*inverse;//g_AIL_L_Ratio_rightloop;
-    pc.printf("",)
+    if(autopwm[AIL_R]>trimpwm[AIL_R]){
+        autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
+        }
+    else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
+
     //checkHeight(targetAngle);
     //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
 }
@@ -1200,8 +1222,12 @@
 
     targetAngle[ROLL] = g_rightloopROLLshort;
     targetAngle[PITCH] = g_rightloopPITCHshort;
-    autopwm[THR] = SetTHRinRatio(g_loopTHR);
-    
+    autopwm[RUD]=rightloopshortRUD;
+    autopwm[THR] = oldTHR;
+    if(autopwm[AIL_R]>trimpwm[AIL_R]){
+        autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
+        }
+    else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
     
     //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
 }
@@ -1211,7 +1237,13 @@
     
     targetAngle[ROLL] = g_leftloopROLL;
     targetAngle[PITCH] = g_leftloopPITCH;
-    autopwm[THR] = SetTHRinRatio(g_loopTHR);
+    autopwm[RUD]=leftloopRUD;
+    autopwm[THR] = oldTHR;
+    if(autopwm[AIL_R]>trimpwm[AIL_R]){
+        autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
+        }
+    else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
+    //autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_Ratio_leftloop;
     //checkHeight(targetAngle);
 
     //printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]);
@@ -1221,8 +1253,13 @@
     
     targetAngle[ROLL] = g_leftloopROLLshort;
     targetAngle[PITCH] = g_leftloopPITCHshort;
-    autopwm[THR] = SetTHRinRatio(g_loopTHR);
-    
+    autopwm[RUD]=leftloopRUD;
+    autopwm[THR] = oldTHR;
+    if(autopwm[AIL_R]>trimpwm[AIL_R]){
+        autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
+        }
+    else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
+
     //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
 }
 void ISR_Serial_Rx()
@@ -1253,8 +1290,8 @@
     //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
     //pc.printf("%d\t",autopwm[ELE]);  pc.printf("%d\t",autopwm[RUD]);
     //pc.printf("%d",g_distance);
-
     //pc.printf("Mode: %c: ",g_buf[0]);
     //if(g_buf[0] == 'Y') pc.printf(" %3.1f",g_SerialTargetYAW);
     pc.printf("\r\n");
+    //pc.printf("%d",usensor.get_dist_cm()
 }
\ No newline at end of file