Autoflight2018_45 - 離陸可能版

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航空研究会 / Mbed 2 deprecated Autoflight2018_45

離陸可能版

Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3

Fork of Autoflight2018_44 by 航空研究会

main.cpp@27:61876b34ded4, 2018-09-21 (annotated)

Committer:: HARUKIDELTA
Date:: Fri Sep 21 13:11:19 2018 +0000
Revision:: 27:61876b34ded4
Parent:: 26:bc185a3d16b6
Child:: 28:aa44903a01e1

RightLoop???????????

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	27:61876b34ded4	53	#define rightloopROLL2 -10.0
HARUKIDELTA	27:61876b34ded4	54
HARUKIDELTA	17:55249ea37dff	55	/*#define rightloopRUD 1300 //1250
HARUKIDELTA	17:55249ea37dff	56	#define rightloopshortRUD 1250
HARUKIDELTA	17:55249ea37dff	57	#define leftloopRUD 1500
HARUKIDELTA	17:55249ea37dff	58	#define leftloopshortRUD 1500
HARUKIDELTA	17:55249ea37dff	59	#define glideloopRUD 1300
HARUKIDELTA	17:55249ea37dff	60	*/
TUATBM	9:f6367b7fd7be	61	#define AIL_R_correctionrightloop 0
HARUKIDELTA	18:cce82f3374fc	62	#define AIL_L_correctionrightloop 0
HARUKIDELTA	3:206b17251f5b	63	#define AIL_L_correctionrightloopshort 0
HARUKIDELTA	3:206b17251f5b	64	#define AIL_L_correctionleftloop -0
HARUKIDELTA	3:206b17251f5b	65	#define AIL_L_correctionleftloopshort 0
HARUKIDELTA	3:206b17251f5b	66
HARUKIDELTA	19:0955311b0db6	67
HARUKIDELTA	8:66bba39b95a9	68	#define RIGHTLOOP_RUD 1250
HARUKIDELTA	8:66bba39b95a9	69	#define RIGHTLOOPSHORT_RUD 1250
HARUKIDELTA	8:66bba39b95a9	70	#define LEFTLOOP_RUD 1500
HARUKIDELTA	8:66bba39b95a9	71	#define LEFTLOOPSHORT_RUD 1500
HARUKIDELTA	8:66bba39b95a9	72	#define GLIDELOOP_RUD 1300
HARUKIDELTA	8:66bba39b95a9	73	#define AIL_L_CORRECTION_RIGHTLOOP 0
HARUKIDELTA	8:66bba39b95a9	74	#define AIL_L_CORRECTION_RIGHTLOOPSHORT 0
HARUKIDELTA	8:66bba39b95a9	75	#define AIL_L_CORRECTION_LEFTLOOP 0
HARUKIDELTA	8:66bba39b95a9	76	#define AIL_L_CORRECTION_LEFTLOOPSHORT 0
HARUKIDELTA	3:206b17251f5b	77
HARUKIDELTA	0:17f575135219	78	#define GLIDE_ROLL -12.0
HARUKIDELTA	0:17f575135219	79	#define GLIDE_PITCH -3.0
HARUKIDELTA	0:17f575135219	80
HARUKIDELTA	3:206b17251f5b	81
HARUKIDELTA	3:206b17251f5b	82	#define AIL_L_RatioRising 0.5
HARUKIDELTA	3:206b17251f5b	83	#define AIL_L_RatioDescent 2
HARUKIDELTA	3:206b17251f5b	84
HARUKIDELTA	0:17f575135219	85	//コンパスキャリブレーション
HARUKIDELTA	0:17f575135219	86	//SkipperS2基板
HARUKIDELTA	0:17f575135219	87	/*
HARUKIDELTA	0:17f575135219	88	#define MAGBIAS_X -35.0
HARUKIDELTA	0:17f575135219	89	#define MAGBIAS_Y 535.0
HARUKIDELTA	0:17f575135219	90	#define MAGBIAS_Z -50.0
HARUKIDELTA	0:17f575135219	91	*/
HARUKIDELTA	0:17f575135219	92	//S2v2 1番基板
HARUKIDELTA	0:17f575135219	93	#define MAGBIAS_X 395.0
HARUKIDELTA	0:17f575135219	94	#define MAGBIAS_Y 505.0
HARUKIDELTA	0:17f575135219	95	#define MAGBIAS_Z -725.0
HARUKIDELTA	0:17f575135219	96	//S2v2 2番基板
HARUKIDELTA	0:17f575135219	97	/*
HARUKIDELTA	0:17f575135219	98	#define MAGBIAS_X 185.0
HARUKIDELTA	0:17f575135219	99	#define MAGBIAS_Y 220.0
HARUKIDELTA	0:17f575135219	100	#define MAGBIAS_Z -350.0
HARUKIDELTA	0:17f575135219	101	*/
HARUKIDELTA	0:17f575135219	102
HARUKIDELTA	0:17f575135219	103	#define ELEMENT 1
HARUKIDELTA	0:17f575135219	104	#define LIMIT_STRAIGHT_YAW 5.0
HARUKIDELTA	0:17f575135219	105	#define THRESHOLD_TURNINGRADIUS_YAW 60.0
HARUKIDELTA	0:17f575135219	106	#define ALLOWHEIGHT 15
HARUKIDELTA	0:17f575135219	107
HARUKIDELTA	0:17f575135219	108	#ifndef PI
HARUKIDELTA	0:17f575135219	109	#define PI 3.14159265358979
HARUKIDELTA	0:17f575135219	110	#endif
HARUKIDELTA	0:17f575135219	111
HARUKIDELTA	0:17f575135219	112	const int16_t lengthdivpwm = 320;
HARUKIDELTA	0:17f575135219	113	const int16_t changeModeCount = 6;
HARUKIDELTA	0:17f575135219	114
HARUKIDELTA	0:17f575135219	115
HARUKIDELTA	0:17f575135219	116	SBUS sbus(PA_9, PA_10); //SBUS
HARUKIDELTA	0:17f575135219	117
HARUKIDELTA	0:17f575135219	118	PwmOut servo1(PC_6); // TIM3_CH1 //old echo
HARUKIDELTA	0:17f575135219	119	PwmOut servo2(PC_7); // TIM3_CH2 //PC_7
HARUKIDELTA	0:17f575135219	120	PwmOut servo3(PB_0); // TIM3_CH3
HARUKIDELTA	0:17f575135219	121	PwmOut servo4(PB_1); // TIM3_CH4
HARUKIDELTA	0:17f575135219	122	PwmOut servo5(PB_6); // TIM4_CH1
HARUKIDELTA	0:17f575135219	123	PwmOut servo6(PB_7); // TIM4_CH2 //old trigger
HARUKIDELTA	0:17f575135219	124	//PwmOut servo7(PB_8); // TIM4_CH3 //PB_8 new echo
HARUKIDELTA	0:17f575135219	125	//PwmOut servo8(PB_9); // TIM4_CH4 //new trigger
HARUKIDELTA	0:17f575135219	126
HARUKIDELTA	0:17f575135219	127	RawSerial pc(PA_2,PA_3, 115200); //tx,rx.baudrate pin;PA_2=UART2_TX, PA_3=UART2_RX
taknokolat	1:f383708a5a52	128	//RawSerial pc2(PB_6,PB_7, 115200); //sbus確認用
HARUKIDELTA	0:17f575135219	129	SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
HARUKIDELTA	0:17f575135219	130
HARUKIDELTA	0:17f575135219	131	DigitalOut led1(PA_0); //黄色のコネクタ
HARUKIDELTA	0:17f575135219	132	DigitalOut led2(PA_1);
HARUKIDELTA	0:17f575135219	133	DigitalOut led3(PB_4);
HARUKIDELTA	0:17f575135219	134	DigitalOut led4(PB_5);
HARUKIDELTA	0:17f575135219	135
HARUKIDELTA	0:17f575135219	136	//InterruptIn switch2(PC_14);
HARUKIDELTA	0:17f575135219	137	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	138	//HCSR04 usensor(PB_9,PB_8); //trig,echo 9,8
HARUKIDELTA	0:17f575135219	139
taknokolat	1:f383708a5a52	140	PID pid_AIL(g_kpAIL,g_kiAIL,g_kdAIL);
HARUKIDELTA	0:17f575135219	141	PID pid_ELE(g_kpELE,g_kiELE,g_kdELE);
HARUKIDELTA	0:17f575135219	142	PID pid_RUD(g_kpRUD,g_kiRUD,g_kdRUD);
HARUKIDELTA	0:17f575135219	143
HARUKIDELTA	0:17f575135219	144	enum Channel{AIL_R, ELE, THR, RUD, DROP, AIL_L, Ch7, Ch8};
HARUKIDELTA	0:17f575135219	145	enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度
HARUKIDELTA	0:17f575135219	146	enum OperationMode{StartUp, SemiAuto, RightLoop, LeftLoop, GoStraight, BombwithPC, ZERO, Moebius, Glide};
HARUKIDELTA	0:17f575135219	147	enum BombingMode{Takeoff, Chicken, Transition, Approach};
HARUKIDELTA	0:17f575135219	148	enum OutputStatus{Manual, Auto};
HARUKIDELTA	0:17f575135219	149
HARUKIDELTA	0:17f575135219	150	static OutputStatus output_status = Manual;
HARUKIDELTA	0:17f575135219	151	OperationMode operation_mode = StartUp;
HARUKIDELTA	0:17f575135219	152	BombingMode bombing_mode = Takeoff;
TUATBM	15:43427b0241d9	153
HARUKIDELTA	0:17f575135219	154	static int16_t autopwm[8] = {1500,1500,1180,1500,1392,1500};
TUATBM	15:43427b0241d9	155
TUATBM	15:43427b0241d9	156	//1号機
HARUKIDELTA	18:cce82f3374fc	157	static int16_t trimpwm[6] = {1580,1600,1176,1404,1512,1448};
HARUKIDELTA	18:cce82f3374fc	158	int16_t maxpwm[6] = {1796,1936,1848,1740,1820,1856};
HARUKIDELTA	18:cce82f3374fc	159	int16_t minpwm[6] = {1182,1265,1176,1068,1180,1176};
TUATBM	15:43427b0241d9	160	const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
TUATBM	15:43427b0241d9	161
taknokolat	26:bc185a3d16b6	162
TUATBM	15:43427b0241d9	163	//2号機
TUATBM	15:43427b0241d9	164	/*
TUATBM	15:43427b0241d9	165	static int16_t trimpwm[6] = {1500,1500,1180,1500,1392,1600};
TUATBM	15:43427b0241d9	166	int16_t maxpwm[6] = {1820,1820,1820,1820,1820,1820};
TUATBM	15:43427b0241d9	167	int16_t minpwm[6] = {1180,1180,1180,1180,1180,1180};
TUATBM	15:43427b0241d9	168	const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
TUATBM	15:43427b0241d9	169	*/
TUATBM	15:43427b0241d9	170
HARUKIDELTA	0:17f575135219	171	int16_t oldTHR = 1000;
HARUKIDELTA	0:17f575135219	172
HARUKIDELTA	2:23daa5fa28b4	173	int16_t g_AIL_L_Ratio_rightloop = 0.5;
HARUKIDELTA	2:23daa5fa28b4	174
HARUKIDELTA	2:23daa5fa28b4	175
HARUKIDELTA	0:17f575135219	176	static float nowAngle[3] = {0,0,0};
HARUKIDELTA	0:17f575135219	177	const float trimAngle[3] = {0.0, 0.0, 0.0};
HARUKIDELTA	0:17f575135219	178	const float maxAngle[2] = {90, 90};
HARUKIDELTA	0:17f575135219	179	const float minAngle[2] = {-90, -90};
HARUKIDELTA	0:17f575135219	180
HARUKIDELTA	0:17f575135219	181	float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0;
HARUKIDELTA	0:17f575135219	182
HARUKIDELTA	0:17f575135219	183	unsigned int g_distance;
taknokolat	10:652071c20bf6	184	//Ticker USsensor;
HARUKIDELTA	0:17f575135219	185	static char g_buf[16];
taknokolat	10:652071c20bf6	186	char g_landingcommand='Z';
HARUKIDELTA	0:17f575135219	187	float g_SerialTargetYAW;
HARUKIDELTA	0:17f575135219	188
HARUKIDELTA	0:17f575135219	189	Timer t;
HARUKIDELTA	27:61876b34ded4	190	Timer t2;
HARUKIDELTA	0:17f575135219	191	Timeout RerurnChickenServo1;
HARUKIDELTA	0:17f575135219	192	Timeout RerurnChickenServo2;
HARUKIDELTA	0:17f575135219	193
HARUKIDELTA	0:17f575135219	194	/-----関数のプロトタイプ宣言-----/
HARUKIDELTA	0:17f575135219	195	void setup();
HARUKIDELTA	0:17f575135219	196	void loop();
HARUKIDELTA	0:17f575135219	197
HARUKIDELTA	0:17f575135219	198	void Init_PWM();
HARUKIDELTA	0:17f575135219	199	void Init_servo(); //サーボ初期化
HARUKIDELTA	0:17f575135219	200	void Init_sbus(); //SBUS初期化
HARUKIDELTA	0:17f575135219	201	void Init_sensors();
HARUKIDELTA	0:17f575135219	202	void DisplayClock(); //クロック状態確認
HARUKIDELTA	0:17f575135219	203
HARUKIDELTA	0:17f575135219	204	//センサの値取得
HARUKIDELTA	0:17f575135219	205	void SensingMPU();
HARUKIDELTA	0:17f575135219	206	void UpdateDist();
HARUKIDELTA	0:17f575135219	207
HARUKIDELTA	0:17f575135219	208	//void offsetRollPitch(float FirstROLL, float FirstPITCH);
HARUKIDELTA	0:17f575135219	209	//void TransYaw(float FirstYAW);
HARUKIDELTA	0:17f575135219	210	float TranslateNewYaw(float beforeYaw, float newzeroYaw);
HARUKIDELTA	0:17f575135219	211	void UpdateTargetAngle(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	212	void CalculateControlValue(float targetAngle[3], float controlValue[3]);
HARUKIDELTA	0:17f575135219	213	void UpdateAutoPWM(float controlValue[3]);
HARUKIDELTA	0:17f575135219	214	void ConvertPWMintoRAD(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	215	inline float CalcRatio(float value, float trim, float limit);
HARUKIDELTA	0:17f575135219	216	bool CheckSW_Up(Channel ch);
HARUKIDELTA	0:17f575135219	217	int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min);
HARUKIDELTA	0:17f575135219	218	inline int16_t SetTHRinRatio(float ratio);
HARUKIDELTA	0:17f575135219	219
HARUKIDELTA	0:17f575135219	220	//sbus割り込み
HARUKIDELTA	0:17f575135219	221	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	222	void Output_PWM(int16_t pwm[6]); //pwmをサーボへ出力
HARUKIDELTA	0:17f575135219	223
HARUKIDELTA	0:17f575135219	224	//シリアル割り込み
HARUKIDELTA	0:17f575135219	225	void getSF_Serial();
HARUKIDELTA	0:17f575135219	226	float ConvertByteintoFloat(char high, char low);
TUATBM	15:43427b0241d9	227
HARUKIDELTA	0:17f575135219	228
HARUKIDELTA	0:17f575135219	229	//SD設定
HARUKIDELTA	0:17f575135219	230	int GetParameter(FILE fp, const char paramName,char parameter[]);
HARUKIDELTA	0:17f575135219	231	int SetOptions(float g_kpELE, float g_kiELE, float *g_kdELE,
HARUKIDELTA	0:17f575135219	232	float g_kpRUD, float g_kiRUD, float *g_kdRUD,
HARUKIDELTA	0:17f575135219	233	float g_rightloopROLL, float g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	234	float g_leftloopROLL, float g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	235	float g_gostraightROLL, float g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	236	float g_takeoffTHR, float g_loopTHR,
HARUKIDELTA	0:17f575135219	237	float g_rightloopROLLshort, float g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	238	float g_leftloopROLLshort, float g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	239	float g_glideloopROLL, float g_glideloopPITCH,
HARUKIDELTA	13:77b13d5f4d78	240	float g_kpAIL, float g_kiAIL, float *g_kdAIL,
HARUKIDELTA	13:77b13d5f4d78	241	int g_rightloopRUD, int g_rightloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	242	int g_leftloopRUD, int g_leftloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	243	int *g_glideRUD,
HARUKIDELTA	13:77b13d5f4d78	244	int g_AIL_L_correctionrightloop,int g_AIL_L_correctionrightloopshort,
HARUKIDELTA	13:77b13d5f4d78	245	int g_AIL_L_correctionlefttloop,int g_AIL_L_correctionleftloopshort
HARUKIDELTA	13:77b13d5f4d78	246	);
HARUKIDELTA	0:17f575135219	247	//switch2割り込み
HARUKIDELTA	0:17f575135219	248	void ResetTrim();
HARUKIDELTA	0:17f575135219	249
HARUKIDELTA	0:17f575135219	250	//自動操縦
HARUKIDELTA	0:17f575135219	251	void UpdateTargetAngle_GoStraight(float targetAngle[3]);
HARUKIDELTA	19:0955311b0db6	252	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	253	void UpdateTargetAngle_Rightloop(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	254	void UpdateTargetAngle_Rightloop_short(float targetAngle[3]);
HARUKIDELTA	19:0955311b0db6	255	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	256	void UpdateTargetAngle_Leftloop(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	257	void UpdateTargetAngle_Leftloop_short(float targetAngle[3]);
HARUKIDELTA	19:0955311b0db6	258	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	259	void UpdateTargetAngle_Moebius(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	260	void UpdateTargetAngle_Glide(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	261	void UpdateTargetAngle_Takeoff(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	262	void UpdateTargetAngle_Approach(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	263	void Take_off_and_landing(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	264
HARUKIDELTA	0:17f575135219	265	int Rotate(float targetAngle[3], float TargetYAW);
HARUKIDELTA	0:17f575135219	266
HARUKIDELTA	0:17f575135219	267	//投下
HARUKIDELTA	0:17f575135219	268	void Chicken_Drop();
HARUKIDELTA	0:17f575135219	269	void ReturnChickenServo1();
HARUKIDELTA	0:17f575135219	270	void ReturnChickenServo2();
HARUKIDELTA	0:17f575135219	271
HARUKIDELTA	0:17f575135219	272	//超音波による高度補正
HARUKIDELTA	0:17f575135219	273	void checkHeight(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	274	void UpdateTargetAngle_NoseUP(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	275	void UpdateTargetAngle_NoseDOWN(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	276
HARUKIDELTA	0:17f575135219	277	//デバッグ用
HARUKIDELTA	18:cce82f3374fc	278	void Sbusprintf();
HARUKIDELTA	0:17f575135219	279	void DebugPrint();
HARUKIDELTA	0:17f575135219	280
HARUKIDELTA	0:17f575135219	281	/---関数のプロトタイプ宣言終わり---/
HARUKIDELTA	0:17f575135219	282
HARUKIDELTA	0:17f575135219	283	int main()
HARUKIDELTA	0:17f575135219	284	{
HARUKIDELTA	0:17f575135219	285	setup();
HARUKIDELTA	0:17f575135219	286
HARUKIDELTA	0:17f575135219	287
HARUKIDELTA	0:17f575135219	288	while(1){
HARUKIDELTA	0:17f575135219	289
HARUKIDELTA	0:17f575135219	290	loop();
HARUKIDELTA	0:17f575135219	291
taknokolat	10:652071c20bf6	292
taknokolat	23:4928a6fd9eee	293	//NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	294	if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	295	led3=0;
HARUKIDELTA	0:17f575135219	296	}else{
HARUKIDELTA	0:17f575135219	297	led3=1;
HARUKIDELTA	0:17f575135219	298	}
taknokolat	23:4928a6fd9eee	299	//NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	300	}
HARUKIDELTA	0:17f575135219	301
HARUKIDELTA	0:17f575135219	302	}
HARUKIDELTA	0:17f575135219	303
HARUKIDELTA	0:17f575135219	304	void setup(){
HARUKIDELTA	0:17f575135219	305	//buzzer = 0;
HARUKIDELTA	0:17f575135219	306	led1 = 1;
HARUKIDELTA	0:17f575135219	307	led2 = 1;
HARUKIDELTA	0:17f575135219	308	led3 = 1;
HARUKIDELTA	0:17f575135219	309	led4 = 1;
HARUKIDELTA	0:17f575135219	310
HARUKIDELTA	0:17f575135219	311	SetOptions(&g_kpELE, &g_kiELE, &g_kdELE,
HARUKIDELTA	0:17f575135219	312	&g_kpRUD, &g_kiRUD, &g_kdRUD,
HARUKIDELTA	0:17f575135219	313	&g_rightloopROLL, &g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	314	&g_leftloopROLL, &g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	315	&g_gostraightROLL, &g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	316	&g_takeoffTHR, &g_loopTHR,
HARUKIDELTA	0:17f575135219	317	&g_rightloopROLLshort, &g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	318	&g_leftloopROLLshort, &g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	319	&g_glideloopROLL, &g_glideloopPITCH,
HARUKIDELTA	13:77b13d5f4d78	320	&g_kpAIL, &g_kiAIL,&g_kdAIL,
HARUKIDELTA	13:77b13d5f4d78	321	&g_rightloopRUD, &g_rightloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	322	&g_leftloopRUD, &g_leftloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	323	&g_glideloopRUD,
HARUKIDELTA	13:77b13d5f4d78	324	&g_AIL_L_correctionrightloop,&g_AIL_L_correctionrightloopshort,
HARUKIDELTA	13:77b13d5f4d78	325	&g_AIL_L_correctionleftloop,&g_AIL_L_correctionleftloopshort
HARUKIDELTA	13:77b13d5f4d78	326	);
HARUKIDELTA	0:17f575135219	327
HARUKIDELTA	0:17f575135219	328
HARUKIDELTA	0:17f575135219	329	Init_PWM();
HARUKIDELTA	0:17f575135219	330	Init_servo();
HARUKIDELTA	0:17f575135219	331	Init_sbus();
HARUKIDELTA	0:17f575135219	332	Init_sensors();
HARUKIDELTA	0:17f575135219	333	//switch2.rise(ResetTrim);
taknokolat	21:18fe7bf9e187	334
taknokolat	10:652071c20bf6	335	//USsensor.attach(&UpdateDist, 0.05);
HARUKIDELTA	0:17f575135219	336
HARUKIDELTA	0:17f575135219	337	NVIC_SetPriority(USART1_IRQn,0);
HARUKIDELTA	0:17f575135219	338	NVIC_SetPriority(EXTI0_IRQn,1);
HARUKIDELTA	0:17f575135219	339	NVIC_SetPriority(TIM5_IRQn,2);
HARUKIDELTA	0:17f575135219	340	NVIC_SetPriority(EXTI9_5_IRQn,3);
HARUKIDELTA	0:17f575135219	341	DisplayClock();
HARUKIDELTA	0:17f575135219	342	t.start();
HARUKIDELTA	0:17f575135219	343
HARUKIDELTA	0:17f575135219	344
HARUKIDELTA	0:17f575135219	345	pc.printf("MPU calibration start\r\n");
HARUKIDELTA	0:17f575135219	346
HARUKIDELTA	0:17f575135219	347	float offsetstart = t.read();
HARUKIDELTA	0:17f575135219	348	while(t.read() - offsetstart < 26){
HARUKIDELTA	0:17f575135219	349	SensingMPU();
HARUKIDELTA	0:17f575135219	350	for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
HARUKIDELTA	0:17f575135219	351	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	352	led1 = !led1;
HARUKIDELTA	0:17f575135219	353	led2 = !led2;
HARUKIDELTA	0:17f575135219	354	led3 = !led3;
HARUKIDELTA	0:17f575135219	355	led4 = !led4;
HARUKIDELTA	0:17f575135219	356	}
HARUKIDELTA	0:17f575135219	357
taknokolat	21:18fe7bf9e187	358	pc.attach(getSF_Serial, Serial::RxIrq);
taknokolat	21:18fe7bf9e187	359	NVIC_SetPriority(USART2_IRQn,4);
taknokolat	21:18fe7bf9e187	360
HARUKIDELTA	0:17f575135219	361	FirstROLL = nowAngle[ROLL];
HARUKIDELTA	0:17f575135219	362	FirstPITCH = nowAngle[PITCH];
HARUKIDELTA	0:17f575135219	363	nowAngle[ROLL] -=FirstROLL;
HARUKIDELTA	0:17f575135219	364	nowAngle[PITCH] -=FirstPITCH;
HARUKIDELTA	0:17f575135219	365
HARUKIDELTA	0:17f575135219	366	led1 = 0;
HARUKIDELTA	0:17f575135219	367	led2 = 0;
HARUKIDELTA	0:17f575135219	368	led3 = 0;
HARUKIDELTA	0:17f575135219	369	led4 = 0;
HARUKIDELTA	0:17f575135219	370	wait(0.2);
HARUKIDELTA	0:17f575135219	371
HARUKIDELTA	0:17f575135219	372
HARUKIDELTA	0:17f575135219	373	pc.printf("All initialized\r\n");
HARUKIDELTA	0:17f575135219	374	}
HARUKIDELTA	0:17f575135219	375
HARUKIDELTA	0:17f575135219	376	void loop(){
HARUKIDELTA	0:17f575135219	377	static float targetAngle[3] = {0.0, 0.0, 0.0}, controlValue[2] = {0.0, 0.0};
HARUKIDELTA	0:17f575135219	378	SensingMPU();
taknokolat	10:652071c20bf6	379	NVIC_DisableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	380	UpdateTargetAngle(targetAngle);
HARUKIDELTA	0:17f575135219	381	CalculateControlValue(targetAngle, controlValue);
taknokolat	10:652071c20bf6	382	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	383	UpdateAutoPWM(controlValue);
taknokolat	10:652071c20bf6	384	NVIC_EnableIRQ(USART1_IRQn);
taknokolat	10:652071c20bf6	385	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	25:37bee299a276	386
taknokolat	25:37bee299a276	387	NVIC_SetPriority(TIM5_IRQn,4);
taknokolat	25:37bee299a276	388	NVIC_SetPriority(USART2_IRQn,2);
taknokolat	25:37bee299a276	389
taknokolat	11:c0b9ad25d3db	390	wait_ms(23);
taknokolat	25:37bee299a276	391
taknokolat	25:37bee299a276	392	NVIC_SetPriority(TIM5_IRQn,2);
taknokolat	25:37bee299a276	393	NVIC_SetPriority(USART2_IRQn,4);
taknokolat	25:37bee299a276	394
taknokolat	25:37bee299a276	395
taknokolat	25:37bee299a276	396	// pc.printf("6\r\n");
taknokolat	25:37bee299a276	397	//NVIC_DisableIRQ(USART2_IRQn);
taknokolat	25:37bee299a276	398	//pc.printf("%c",g_landingcommand);
taknokolat	25:37bee299a276	399	//NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	400	#if DEBUG_PRINT_INLOOP
HARUKIDELTA	18:cce82f3374fc	401	//Sbusprintf();
HARUKIDELTA	0:17f575135219	402	DebugPrint();
HARUKIDELTA	0:17f575135219	403	#endif
HARUKIDELTA	0:17f575135219	404	}
HARUKIDELTA	0:17f575135219	405
HARUKIDELTA	0:17f575135219	406	//サーボ初期化関数
HARUKIDELTA	0:17f575135219	407	void Init_servo(){
HARUKIDELTA	0:17f575135219	408
HARUKIDELTA	0:17f575135219	409	servo1.period_ms(14);
HARUKIDELTA	0:17f575135219	410	servo1.pulsewidth_us(trimpwm[AIL_R]);
HARUKIDELTA	0:17f575135219	411
HARUKIDELTA	0:17f575135219	412	servo2.period_ms(14);
HARUKIDELTA	0:17f575135219	413	servo2.pulsewidth_us(trimpwm[ELE]);
HARUKIDELTA	0:17f575135219	414
HARUKIDELTA	0:17f575135219	415	servo3.period_ms(14);
HARUKIDELTA	0:17f575135219	416	servo3.pulsewidth_us(trimpwm[THR]);
HARUKIDELTA	0:17f575135219	417
HARUKIDELTA	0:17f575135219	418	servo4.period_ms(14);
HARUKIDELTA	0:17f575135219	419	servo4.pulsewidth_us(trimpwm[RUD]);
HARUKIDELTA	0:17f575135219	420
HARUKIDELTA	0:17f575135219	421	servo5.period_ms(14);
HARUKIDELTA	0:17f575135219	422	servo5.pulsewidth_us(1392);
HARUKIDELTA	0:17f575135219	423
HARUKIDELTA	0:17f575135219	424	servo6.period_ms(14);
HARUKIDELTA	0:17f575135219	425	servo6.pulsewidth_us(trimpwm[AIL_L]);
HARUKIDELTA	0:17f575135219	426
HARUKIDELTA	0:17f575135219	427	pc.printf("servo initialized\r\n");
HARUKIDELTA	0:17f575135219	428	}
HARUKIDELTA	0:17f575135219	429
HARUKIDELTA	0:17f575135219	430	//Sbus初期化
HARUKIDELTA	0:17f575135219	431	void Init_sbus(){
HARUKIDELTA	0:17f575135219	432	sbus.initialize();
HARUKIDELTA	0:17f575135219	433	sbus.setLastfuncPoint(Update_PWM);
HARUKIDELTA	0:17f575135219	434	sbus.startInterrupt();
HARUKIDELTA	0:17f575135219	435	}
HARUKIDELTA	0:17f575135219	436
HARUKIDELTA	0:17f575135219	437	void Init_sensors(){
HARUKIDELTA	0:17f575135219	438	if(mpu6050.setup() == -1){
HARUKIDELTA	0:17f575135219	439	pc.printf("failed initialize\r\n");
HARUKIDELTA	0:17f575135219	440	while(1){
HARUKIDELTA	0:17f575135219	441	led1 = 1; led2 = 0; led3 = 1; led4 = 0;
HARUKIDELTA	0:17f575135219	442	wait(1);
HARUKIDELTA	0:17f575135219	443	led1 = 0; led2 = 1; led3 = 0; led4 = 1;
HARUKIDELTA	0:17f575135219	444	wait(1);
HARUKIDELTA	0:17f575135219	445	}
HARUKIDELTA	0:17f575135219	446	}
HARUKIDELTA	0:17f575135219	447	}
HARUKIDELTA	0:17f575135219	448
HARUKIDELTA	0:17f575135219	449	void Init_PWM(){
HARUKIDELTA	0:17f575135219	450	pc.printf("PWM initialized\r\n");
HARUKIDELTA	0:17f575135219	451	}
HARUKIDELTA	0:17f575135219	452
HARUKIDELTA	0:17f575135219	453	void DisplayClock(){
HARUKIDELTA	0:17f575135219	454	pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000);
HARUKIDELTA	0:17f575135219	455	pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000);
HARUKIDELTA	0:17f575135219	456	pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000);
HARUKIDELTA	0:17f575135219	457	pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000);
HARUKIDELTA	0:17f575135219	458	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	459	}
HARUKIDELTA	0:17f575135219	460
HARUKIDELTA	0:17f575135219	461	void UpdateTargetAngle(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	462	static int16_t count_op = 0;
HARUKIDELTA	0:17f575135219	463	#if DEBUG_SEMIAUTO
HARUKIDELTA	0:17f575135219	464	switch(operation_mode){
HARUKIDELTA	0:17f575135219	465	case StartUp:
HARUKIDELTA	0:17f575135219	466	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	467	count_op++;
HARUKIDELTA	0:17f575135219	468	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	469	operation_mode = SemiAuto;
HARUKIDELTA	0:17f575135219	470	pc.printf("Goto SemiAuto mode\r\n");
HARUKIDELTA	0:17f575135219	471	count_op = 0;
HARUKIDELTA	0:17f575135219	472	}
HARUKIDELTA	0:17f575135219	473	}else count_op = 0;
HARUKIDELTA	0:17f575135219	474	break;
HARUKIDELTA	0:17f575135219	475
HARUKIDELTA	0:17f575135219	476	case SemiAuto:
HARUKIDELTA	0:17f575135219	477	/* 大会用では以下のif文を入れてoperation_modeを変える
HARUKIDELTA	0:17f575135219	478	if(CheckSW_Up(Ch6)){
HARUKIDELTA	0:17f575135219	479	count_op++;
HARUKIDELTA	0:17f575135219	480	if(count_op>changeModeCount){
HARUKIDELTA	0:17f575135219	481	output_status = XXX;
HARUKIDELTA	0:17f575135219	482	led2 = 0;
HARUKIDELTA	0:17f575135219	483	pc.printf("Goto XXX mode\r\n");
HARUKIDELTA	0:17f575135219	484	count_op = 0;
HARUKIDELTA	0:17f575135219	485	}else count_op = 0;
HARUKIDELTA	0:17f575135219	486	ConvertPWMintoRAD(targetAngle);
HARUKIDELTA	0:17f575135219	487	}
HARUKIDELTA	0:17f575135219	488	*/
HARUKIDELTA	0:17f575135219	489	ConvertPWMintoRAD(targetAngle);
HARUKIDELTA	0:17f575135219	490	break;
HARUKIDELTA	0:17f575135219	491
HARUKIDELTA	0:17f575135219	492	default:
HARUKIDELTA	0:17f575135219	493	operation_mode = SemiAuto;
HARUKIDELTA	0:17f575135219	494	break;
HARUKIDELTA	0:17f575135219	495	}
HARUKIDELTA	0:17f575135219	496
HARUKIDELTA	0:17f575135219	497	#else
HARUKIDELTA	0:17f575135219	498
HARUKIDELTA	0:17f575135219	499	switch(operation_mode){
HARUKIDELTA	0:17f575135219	500	case StartUp:
HARUKIDELTA	0:17f575135219	501	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	502	count_op++;
HARUKIDELTA	0:17f575135219	503	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	504	operation_mode = RightLoop;
HARUKIDELTA	0:17f575135219	505	pc.printf("Goto RightLoop mode\r\n");
HARUKIDELTA	0:17f575135219	506	count_op = 0;
HARUKIDELTA	0:17f575135219	507	}
HARUKIDELTA	0:17f575135219	508	}else count_op = 0;
HARUKIDELTA	0:17f575135219	509	break;
HARUKIDELTA	0:17f575135219	510
HARUKIDELTA	0:17f575135219	511	case RightLoop:
HARUKIDELTA	0:17f575135219	512	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	513	count_op++;
HARUKIDELTA	0:17f575135219	514	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	515	operation_mode = LeftLoop;
HARUKIDELTA	0:17f575135219	516	pc.printf("Goto LeftLoop mode\r\n");
HARUKIDELTA	0:17f575135219	517	count_op = 0;
HARUKIDELTA	0:17f575135219	518	}
HARUKIDELTA	0:17f575135219	519	}else count_op = 0;
HARUKIDELTA	0:17f575135219	520	UpdateTargetAngle_Rightloop(targetAngle);
HARUKIDELTA	0:17f575135219	521
HARUKIDELTA	0:17f575135219	522	break;
HARUKIDELTA	0:17f575135219	523
HARUKIDELTA	0:17f575135219	524	case LeftLoop:
HARUKIDELTA	0:17f575135219	525	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	526	count_op++;
HARUKIDELTA	0:17f575135219	527	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	528	operation_mode = GoStraight;
HARUKIDELTA	0:17f575135219	529	pc.printf("Goto GoStraight mode\r\n");
HARUKIDELTA	0:17f575135219	530	count_op = 0;
HARUKIDELTA	0:17f575135219	531	}
HARUKIDELTA	0:17f575135219	532	}else count_op = 0;
HARUKIDELTA	0:17f575135219	533	UpdateTargetAngle_Leftloop(targetAngle);
HARUKIDELTA	0:17f575135219	534	break;
HARUKIDELTA	0:17f575135219	535
HARUKIDELTA	0:17f575135219	536	case GoStraight:
HARUKIDELTA	0:17f575135219	537	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	538	count_op++;
HARUKIDELTA	0:17f575135219	539	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	540	operation_mode = Moebius;
HARUKIDELTA	0:17f575135219	541	pc.printf("Goto Moebius mode\r\n");
HARUKIDELTA	0:17f575135219	542	count_op = 0;
HARUKIDELTA	0:17f575135219	543	}
HARUKIDELTA	0:17f575135219	544	}else count_op = 0;
HARUKIDELTA	0:17f575135219	545	UpdateTargetAngle_GoStraight(targetAngle);
HARUKIDELTA	0:17f575135219	546	break;
HARUKIDELTA	0:17f575135219	547
HARUKIDELTA	0:17f575135219	548	case Moebius:
HARUKIDELTA	0:17f575135219	549	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	550	count_op++;
HARUKIDELTA	0:17f575135219	551	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	552	operation_mode = Glide;
HARUKIDELTA	0:17f575135219	553	pc.printf("Goto Glide mode\r\n");
HARUKIDELTA	0:17f575135219	554	count_op = 0;
HARUKIDELTA	0:17f575135219	555	}
HARUKIDELTA	0:17f575135219	556	}else count_op = 0;
HARUKIDELTA	0:17f575135219	557	UpdateTargetAngle_Moebius(targetAngle);
HARUKIDELTA	0:17f575135219	558	break;
HARUKIDELTA	0:17f575135219	559
HARUKIDELTA	0:17f575135219	560	case Glide:
HARUKIDELTA	0:17f575135219	561	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	562	count_op++;
HARUKIDELTA	0:17f575135219	563	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	564	operation_mode = BombwithPC;
HARUKIDELTA	0:17f575135219	565	pc.printf("Goto Bombing mode\r\n");
HARUKIDELTA	0:17f575135219	566	count_op = 0;
HARUKIDELTA	0:17f575135219	567	}
HARUKIDELTA	0:17f575135219	568	}else count_op = 0;
HARUKIDELTA	0:17f575135219	569	UpdateTargetAngle_Glide(targetAngle);
HARUKIDELTA	0:17f575135219	570	break;
HARUKIDELTA	0:17f575135219	571
HARUKIDELTA	0:17f575135219	572	case BombwithPC:
HARUKIDELTA	0:17f575135219	573	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	574	count_op++;
HARUKIDELTA	0:17f575135219	575	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	576	operation_mode = RightLoop;
HARUKIDELTA	0:17f575135219	577	pc.printf("Goto RightLoop mode\r\n");
HARUKIDELTA	0:17f575135219	578	count_op = 0;
HARUKIDELTA	0:17f575135219	579	}
HARUKIDELTA	0:17f575135219	580	}else count_op = 0;
HARUKIDELTA	0:17f575135219	581	Take_off_and_landing(targetAngle);
HARUKIDELTA	0:17f575135219	582	break;
HARUKIDELTA	0:17f575135219	583
HARUKIDELTA	0:17f575135219	584	default:
HARUKIDELTA	0:17f575135219	585	operation_mode = StartUp;
HARUKIDELTA	0:17f575135219	586	break;
HARUKIDELTA	0:17f575135219	587	}
HARUKIDELTA	0:17f575135219	588	#endif
HARUKIDELTA	0:17f575135219	589
taknokolat	26:bc185a3d16b6	590	if(CheckSW_Up(Ch7)){
taknokolat	26:bc185a3d16b6	591	output_status = Auto;
taknokolat	26:bc185a3d16b6	592	led1 = 1;
taknokolat	26:bc185a3d16b6	593	}else{
taknokolat	26:bc185a3d16b6	594	output_status = Manual;
taknokolat	26:bc185a3d16b6	595	led1 = 0;
taknokolat	26:bc185a3d16b6	596	}
taknokolat	26:bc185a3d16b6	597
HARUKIDELTA	0:17f575135219	598	}
HARUKIDELTA	0:17f575135219	599
HARUKIDELTA	0:17f575135219	600	int GetParameter(FILE fp, const char paramName,char parameter[]){
HARUKIDELTA	0:17f575135219	601	int i=0, j=0;
HARUKIDELTA	0:17f575135219	602	int strmax = 200;
HARUKIDELTA	0:17f575135219	603	char str[strmax];
HARUKIDELTA	0:17f575135219	604
HARUKIDELTA	0:17f575135219	605	rewind(fp); //ファイル位置を先頭に
HARUKIDELTA	0:17f575135219	606	while(1){
HARUKIDELTA	0:17f575135219	607	if (fgets(str, strmax, fp) == NULL) {
HARUKIDELTA	0:17f575135219	608	return 0;
HARUKIDELTA	0:17f575135219	609	}
HARUKIDELTA	0:17f575135219	610	if (!strncmp(str, paramName, strlen(paramName))) {
HARUKIDELTA	0:17f575135219	611	while (str[i++] != '=') {}
HARUKIDELTA	0:17f575135219	612	while (str[i] != '\n') {
HARUKIDELTA	0:17f575135219	613	parameter[j++] = str[i++];
HARUKIDELTA	0:17f575135219	614	}
HARUKIDELTA	0:17f575135219	615	parameter[j] = '\0';
HARUKIDELTA	0:17f575135219	616	return 1;
HARUKIDELTA	0:17f575135219	617	}
HARUKIDELTA	0:17f575135219	618	}
HARUKIDELTA	0:17f575135219	619	return 0;
HARUKIDELTA	0:17f575135219	620	}
HARUKIDELTA	0:17f575135219	621
HARUKIDELTA	0:17f575135219	622
HARUKIDELTA	0:17f575135219	623	//sdによる設定
HARUKIDELTA	0:17f575135219	624	int SetOptions(float g_kpELE, float g_kiELE, float *g_kdELE,
HARUKIDELTA	0:17f575135219	625	float g_kpRUD, float g_kiRUD, float *g_kdRUD,
HARUKIDELTA	0:17f575135219	626	float g_rightloopROLL, float g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	627	float g_leftloopROLL, float g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	628	float g_gostraightROLL, float g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	629	float g_takeoffTHR, float g_loopTHR,
HARUKIDELTA	0:17f575135219	630	float g_rightloopROLLshort, float g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	631	float g_leftloopROLLshort, float g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	632	float g_glideloopROLL, float g_glideloopPITCH,
HARUKIDELTA	13:77b13d5f4d78	633	float g_kpAIL, float g_kiAIL, float *g_kdAIL,
HARUKIDELTA	13:77b13d5f4d78	634	int g_rightloopRUD, int g_rightloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	635	int g_leftloopRUD, int g_leftloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	636	int *g_glideloopRUD,
HARUKIDELTA	13:77b13d5f4d78	637	int g_AIL_L_correctionrightloop,int g_AIL_L_correctionrightloopshort,
HARUKIDELTA	13:77b13d5f4d78	638	int g_AIL_L_correctionleftloop,int g_AIL_L_correctionleftloopshort
HARUKIDELTA	0:17f575135219	639	){
HARUKIDELTA	0:17f575135219	640
HARUKIDELTA	0:17f575135219	641	pc.printf("SDsetup start.\r\n");
HARUKIDELTA	0:17f575135219	642
HARUKIDELTA	0:17f575135219	643	FILE *fp;
HARUKIDELTA	13:77b13d5f4d78	644	char parameter[40]; //文字列渡す用の配列
HARUKIDELTA	0:17f575135219	645	int SDerrorcount = 0; //取得できなかった数を返す
HARUKIDELTA	0:17f575135219	646	const char *paramNames[] = {
HARUKIDELTA	0:17f575135219	647	"KP_ELEVATOR",
HARUKIDELTA	0:17f575135219	648	"KI_ELEVATOR",
HARUKIDELTA	0:17f575135219	649	"KD_ELEVATOR",
HARUKIDELTA	0:17f575135219	650	"KP_RUDDER",
HARUKIDELTA	0:17f575135219	651	"KI_RUDDER",
HARUKIDELTA	0:17f575135219	652	"KD_RUDDER",
HARUKIDELTA	0:17f575135219	653	"RIGHTLOOP_ROLL",
HARUKIDELTA	0:17f575135219	654	"RIGHTLOOP_PITCH",
HARUKIDELTA	0:17f575135219	655	"LEFTLOOP_ROLL",
HARUKIDELTA	0:17f575135219	656	"LEFTLOOP_PITCH",
HARUKIDELTA	0:17f575135219	657	"GOSTRAIGHT_ROLL",
HARUKIDELTA	0:17f575135219	658	"GOSTRAIGHT_PITCH",
HARUKIDELTA	0:17f575135219	659	"TAKEOFF_THR_RATE",
HARUKIDELTA	0:17f575135219	660	"LOOP_THR_RATE",
HARUKIDELTA	0:17f575135219	661	"RIGHTLOOP_ROLL_SHORT",
HARUKIDELTA	0:17f575135219	662	"RIGHTLOOP_PITCH_SHORT",
HARUKIDELTA	0:17f575135219	663	"LEFTLOOP_ROLL_SHORT",
HARUKIDELTA	0:17f575135219	664	"LEFTLOOP_PITCH_SHORT",
HARUKIDELTA	0:17f575135219	665	"AUTOGLIDE_ROLL",
HARUKIDELTA	12:763bf416ba4b	666	"AUTOGLIDE PITCH",
HARUKIDELTA	12:763bf416ba4b	667	"KP_AILERON",
HARUKIDELTA	12:763bf416ba4b	668	"KI_AILERON",
HARUKIDELTA	13:77b13d5f4d78	669	"KD_AILERON",
HARUKIDELTA	13:77b13d5f4d78	670	"RIGHTLOOP_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	671	"RIGHTLOOPSHORT_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	672	"LEFTLOOP_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	673	"LEFTLOOPSHORT_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	674	"GLIDELOOP_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	675	"AILERON_LEFT_CORRECTION_RIGHTLOOP",
HARUKIDELTA	13:77b13d5f4d78	676	"AILERON_LEFT_CORRECTION_RIGHTLOOPSHORT",
HARUKIDELTA	13:77b13d5f4d78	677	"AILERON_LEFT_CORRECTION_LEFTLOOP",
HARUKIDELTA	13:77b13d5f4d78	678	"AILERON_LEFT_CORRECTION_LEFTLOOPSHORT"
HARUKIDELTA	0:17f575135219	679	};
HARUKIDELTA	0:17f575135219	680
HARUKIDELTA	0:17f575135219	681	fp = fopen("/sd/option.txt","r");
HARUKIDELTA	0:17f575135219	682
HARUKIDELTA	0:17f575135219	683	if(fp != NULL){ //開けたら
HARUKIDELTA	0:17f575135219	684	pc.printf("File was openned.\r\n");
HARUKIDELTA	0:17f575135219	685	if(GetParameter(fp,paramNames[0],parameter)) *g_kpELE = atof(parameter);
HARUKIDELTA	0:17f575135219	686	else{ *g_kpELE = KP_ELE;
HARUKIDELTA	0:17f575135219	687	SDerrorcount++;
HARUKIDELTA	0:17f575135219	688	}
HARUKIDELTA	0:17f575135219	689	if(GetParameter(fp,paramNames[1],parameter)) *g_kiELE = atof(parameter);
HARUKIDELTA	0:17f575135219	690	else{ *g_kiELE = KI_ELE;
HARUKIDELTA	0:17f575135219	691	SDerrorcount++;
HARUKIDELTA	0:17f575135219	692	}
HARUKIDELTA	0:17f575135219	693	if(GetParameter(fp,paramNames[2],parameter)) *g_kdELE = atof(parameter);
HARUKIDELTA	0:17f575135219	694	else{ *g_kdELE = KD_ELE;
HARUKIDELTA	0:17f575135219	695	SDerrorcount++;
HARUKIDELTA	0:17f575135219	696	}
HARUKIDELTA	0:17f575135219	697	if(GetParameter(fp,paramNames[3],parameter)) *g_kpRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	698	else{ *g_kpRUD = KP_RUD;
HARUKIDELTA	0:17f575135219	699	SDerrorcount++;
HARUKIDELTA	0:17f575135219	700	}
HARUKIDELTA	0:17f575135219	701	if(GetParameter(fp,paramNames[4],parameter)) *g_kiRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	702	else{ *g_kiRUD = KI_RUD;
HARUKIDELTA	0:17f575135219	703	SDerrorcount++;
HARUKIDELTA	0:17f575135219	704	}
HARUKIDELTA	0:17f575135219	705	if(GetParameter(fp,paramNames[5],parameter)) *g_kdRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	706	else{ *g_kdRUD = KD_RUD;
HARUKIDELTA	0:17f575135219	707	SDerrorcount++;
HARUKIDELTA	0:17f575135219	708	}
HARUKIDELTA	0:17f575135219	709	if(GetParameter(fp,paramNames[6],parameter)) *g_rightloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	710	else{ *g_rightloopROLL = RIGHT_ROLL;
HARUKIDELTA	0:17f575135219	711	SDerrorcount++;
HARUKIDELTA	0:17f575135219	712	}
HARUKIDELTA	0:17f575135219	713	if(GetParameter(fp,paramNames[7],parameter)) *g_rightloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	714	else{ *g_rightloopPITCH = RIGHT_PITCH;
HARUKIDELTA	0:17f575135219	715	SDerrorcount++;
HARUKIDELTA	0:17f575135219	716	}
HARUKIDELTA	0:17f575135219	717	if(GetParameter(fp,paramNames[8],parameter)) *g_leftloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	718	else{ *g_leftloopROLL = LEFT_ROLL;
HARUKIDELTA	0:17f575135219	719	SDerrorcount++;
HARUKIDELTA	0:17f575135219	720	}
HARUKIDELTA	0:17f575135219	721	if(GetParameter(fp,paramNames[9],parameter)) *g_leftloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	722	else{ *g_leftloopPITCH = LEFT_PITCH;
HARUKIDELTA	0:17f575135219	723	SDerrorcount++;
HARUKIDELTA	0:17f575135219	724	}
HARUKIDELTA	0:17f575135219	725	if(GetParameter(fp,paramNames[10],parameter)) *g_gostraightROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	726	else{ *g_gostraightROLL = STRAIGHT_ROLL;
HARUKIDELTA	0:17f575135219	727	SDerrorcount++;
HARUKIDELTA	0:17f575135219	728	}
HARUKIDELTA	0:17f575135219	729	if(GetParameter(fp,paramNames[11],parameter)) *g_gostraightPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	730	else{ *g_gostraightPITCH = STRAIGHT_PITCH;
HARUKIDELTA	0:17f575135219	731	SDerrorcount++;
HARUKIDELTA	0:17f575135219	732	}
HARUKIDELTA	0:17f575135219	733	if(GetParameter(fp,paramNames[12],parameter)) *g_takeoffTHR = atof(parameter);
HARUKIDELTA	0:17f575135219	734	else{ *g_takeoffTHR = TAKEOFF_THR;
HARUKIDELTA	0:17f575135219	735	SDerrorcount++;
HARUKIDELTA	0:17f575135219	736	}
HARUKIDELTA	0:17f575135219	737	if(GetParameter(fp,paramNames[13],parameter)) *g_loopTHR = atof(parameter);
HARUKIDELTA	0:17f575135219	738	else{ *g_loopTHR = LOOP_THR;
HARUKIDELTA	0:17f575135219	739	SDerrorcount++;
HARUKIDELTA	0:17f575135219	740	}
HARUKIDELTA	0:17f575135219	741	if(GetParameter(fp,paramNames[14],parameter)) *g_rightloopROLLshort = atof(parameter);
HARUKIDELTA	0:17f575135219	742	else{ *g_rightloopROLLshort = RIGHT_ROLL_SHORT;
HARUKIDELTA	0:17f575135219	743	SDerrorcount++;
HARUKIDELTA	0:17f575135219	744	}
HARUKIDELTA	0:17f575135219	745	if(GetParameter(fp,paramNames[15],parameter)) *g_rightloopPITCHshort = atof(parameter);
HARUKIDELTA	0:17f575135219	746	else{ *g_rightloopPITCHshort = RIGHT_PITCH_SHORT;
HARUKIDELTA	0:17f575135219	747	SDerrorcount++;
HARUKIDELTA	0:17f575135219	748	}
HARUKIDELTA	0:17f575135219	749	if(GetParameter(fp,paramNames[16],parameter)) *g_leftloopROLLshort = atof(parameter);
HARUKIDELTA	0:17f575135219	750	else{ *g_leftloopROLLshort = LEFT_ROLL_SHORT;
HARUKIDELTA	0:17f575135219	751	SDerrorcount++;
HARUKIDELTA	0:17f575135219	752	}
HARUKIDELTA	0:17f575135219	753	if(GetParameter(fp,paramNames[17],parameter)) *g_leftloopPITCHshort = atof(parameter);
HARUKIDELTA	0:17f575135219	754	else{ *g_leftloopPITCHshort = LEFT_PITCH_SHORT;
HARUKIDELTA	0:17f575135219	755	SDerrorcount++;
HARUKIDELTA	0:17f575135219	756	}
HARUKIDELTA	0:17f575135219	757	if(GetParameter(fp,paramNames[18],parameter)) *g_glideloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	758	else{ *g_glideloopROLL = GLIDE_ROLL;
HARUKIDELTA	0:17f575135219	759	SDerrorcount++;
HARUKIDELTA	0:17f575135219	760	}
HARUKIDELTA	0:17f575135219	761	if(GetParameter(fp,paramNames[19],parameter)) *g_glideloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	762	else{ *g_glideloopPITCH = GLIDE_PITCH;
HARUKIDELTA	0:17f575135219	763	SDerrorcount++;
HARUKIDELTA	0:17f575135219	764	}
HARUKIDELTA	18:cce82f3374fc	765	if(GetParameter(fp,paramNames[20],parameter)) *g_kpAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	766	else{ *g_kpAIL = KP_AIL;
HARUKIDELTA	12:763bf416ba4b	767	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	768	}
HARUKIDELTA	12:763bf416ba4b	769	if(GetParameter(fp,paramNames[21],parameter)) *g_kiAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	770	else{ *g_kiAIL = KI_AIL;
HARUKIDELTA	12:763bf416ba4b	771	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	772	}
HARUKIDELTA	12:763bf416ba4b	773	if(GetParameter(fp,paramNames[22],parameter)) *g_kdAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	774	else{ *g_kdAIL = KP_AIL;
HARUKIDELTA	12:763bf416ba4b	775	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	776	}
HARUKIDELTA	13:77b13d5f4d78	777	if(GetParameter(fp,paramNames[23],parameter)) *g_rightloopRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	778	else{ *g_rightloopRUD = RIGHTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	779	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	780	}
HARUKIDELTA	13:77b13d5f4d78	781	if(GetParameter(fp,paramNames[24],parameter)) *g_rightloopshortRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	782	else{ *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	783	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	784	}
HARUKIDELTA	13:77b13d5f4d78	785	if(GetParameter(fp,paramNames[25],parameter)) *g_leftloopRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	786	else{ *g_leftloopshortRUD = LEFTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	787	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	788	}
HARUKIDELTA	13:77b13d5f4d78	789	if(GetParameter(fp,paramNames[26],parameter)) *g_leftloopshortRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	790	else{ *g_leftloopshortRUD = LEFTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	791	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	792	}
HARUKIDELTA	13:77b13d5f4d78	793	if(GetParameter(fp,paramNames[27],parameter)) *g_glideloopRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	794	else{ *g_glideloopRUD = GLIDELOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	795	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	796	}
HARUKIDELTA	13:77b13d5f4d78	797	if(GetParameter(fp,paramNames[28],parameter)) *g_AIL_L_correctionrightloop = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	798	else{ *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP;
HARUKIDELTA	13:77b13d5f4d78	799	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	800	}
HARUKIDELTA	13:77b13d5f4d78	801	if(GetParameter(fp,paramNames[29],parameter)) *g_AIL_L_correctionrightloopshort = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	802	else{ *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	803	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	804	}
HARUKIDELTA	13:77b13d5f4d78	805	if(GetParameter(fp,paramNames[30],parameter)) *g_AIL_L_correctionleftloop = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	806	else{ *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP;
HARUKIDELTA	13:77b13d5f4d78	807	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	808	}
HARUKIDELTA	13:77b13d5f4d78	809	if(GetParameter(fp,paramNames[31],parameter)) *g_AIL_L_correctionleftloopshort = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	810	else{ *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	811	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	812	}
HARUKIDELTA	13:77b13d5f4d78	813
HARUKIDELTA	0:17f575135219	814	fclose(fp);
HARUKIDELTA	0:17f575135219	815
HARUKIDELTA	0:17f575135219	816	}else{ //ファイルがなかったら
HARUKIDELTA	0:17f575135219	817	pc.printf("fp was null.\r\n");
HARUKIDELTA	0:17f575135219	818	*g_kpELE = KP_ELE;
HARUKIDELTA	0:17f575135219	819	*g_kiELE = KI_ELE;
HARUKIDELTA	0:17f575135219	820	*g_kdELE = KD_ELE;
HARUKIDELTA	0:17f575135219	821	*g_kpRUD = KP_RUD;
HARUKIDELTA	0:17f575135219	822	*g_kiRUD = KI_RUD;
HARUKIDELTA	0:17f575135219	823	*g_kdRUD = KD_RUD;
HARUKIDELTA	0:17f575135219	824	*g_rightloopROLL = RIGHT_ROLL;
HARUKIDELTA	0:17f575135219	825	*g_rightloopPITCH = RIGHT_PITCH;
HARUKIDELTA	0:17f575135219	826	*g_leftloopROLL = LEFT_ROLL;
HARUKIDELTA	0:17f575135219	827	*g_leftloopPITCH = LEFT_PITCH;
HARUKIDELTA	0:17f575135219	828	*g_gostraightROLL = STRAIGHT_ROLL;
HARUKIDELTA	0:17f575135219	829	*g_gostraightPITCH = STRAIGHT_PITCH;
HARUKIDELTA	0:17f575135219	830	*g_takeoffTHR = TAKEOFF_THR;
HARUKIDELTA	0:17f575135219	831	*g_loopTHR = LOOP_THR;
HARUKIDELTA	12:763bf416ba4b	832	*g_kpAIL = KP_AIL; //パラメータ変えるのお忘れなく！！
HARUKIDELTA	12:763bf416ba4b	833	*g_kiAIL = KI_AIL;
HARUKIDELTA	12:763bf416ba4b	834	*g_kdAIL = KD_AIL;
HARUKIDELTA	13:77b13d5f4d78	835	*g_rightloopRUD = RIGHTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	836	*g_rightloopshortRUD = RIGHTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	837	*g_leftloopRUD = LEFTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	838	*g_leftloopshortRUD = LEFTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	839	*g_glideloopRUD = GLIDELOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	840	*g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP;
HARUKIDELTA	13:77b13d5f4d78	841	*g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	842	*g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP;
HARUKIDELTA	13:77b13d5f4d78	843	*g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	844
HARUKIDELTA	13:77b13d5f4d78	845
HARUKIDELTA	0:17f575135219	846	SDerrorcount = -1;
HARUKIDELTA	0:17f575135219	847	}
HARUKIDELTA	0:17f575135219	848	pc.printf("SDsetup finished.\r\n");
HARUKIDELTA	0:17f575135219	849	if(SDerrorcount == 0) pc.printf("setting option is success\r\n");
HARUKIDELTA	0:17f575135219	850	else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n");
HARUKIDELTA	0:17f575135219	851	else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount);
HARUKIDELTA	0:17f575135219	852
HARUKIDELTA	0:17f575135219	853	pc.printf("kpELE = %f, kiELE = %f, kdELE = %f\r\n", g_kpRUD, g_kiRUD, *g_kdRUD);
HARUKIDELTA	0:17f575135219	854	pc.printf("kpRUD = %f, kiRUD = %f, kdRUD = %f\r\n", g_kpELE, g_kiELE, *g_kdELE);
HARUKIDELTA	0:17f575135219	855	pc.printf("rightloopROLL = %f, rightloopPITCH = %f\r\n", g_rightloopROLL, g_rightloopPITCH);
HARUKIDELTA	0:17f575135219	856	pc.printf("leftloopROLL = %f, g_leftloopPITCH = %f\r\n", g_leftloopROLL, g_leftloopPITCH);
HARUKIDELTA	0:17f575135219	857	pc.printf("gostraightROLL = %f, g_gostraightPITCH = %f\r\n", g_gostraightROLL, g_gostraightPITCH);
HARUKIDELTA	0:17f575135219	858	pc.printf("g_takeoffTHR = %f, g_loopTHR = %f\r\n", g_takeoffTHR, g_loopTHR);
HARUKIDELTA	0:17f575135219	859	pc.printf("rightloopROLLshort = %f, rightloopPITCHshort = %f\r\n", g_rightloopROLLshort, g_rightloopPITCHshort);
HARUKIDELTA	0:17f575135219	860	pc.printf("leftloopROLLshort = %f, g_leftloopPITCHshort = %f\r\n", g_leftloopROLLshort, g_leftloopPITCHshort);
HARUKIDELTA	0:17f575135219	861	pc.printf("glideROLL = %f, glidePITCH = %f\r\n", g_glideloopROLL, g_glideloopPITCH);
HARUKIDELTA	16:7fca5b938da6	862	pc.printf("kpAIL = %f,kiAIL = %f,kdAIL = %f\r\n ",g_kpAIL,g_kiAIL,*g_kdAIL);
HARUKIDELTA	16:7fca5b938da6	863	pc.printf("RIGHTLOOPRUD = %d,RIGHTLOOPSHORTRUD = %d\r\n",g_rightloopRUD,g_rightloopshortRUD);
HARUKIDELTA	16:7fca5b938da6	864	pc.printf("LEFTTLOOPRUD = %d,LEFTLOOPSHORTRUD = %d\r\n",g_leftloopRUD,g_leftloopshortRUD);
HARUKIDELTA	16:7fca5b938da6	865	pc.printf("GLIDELOOPRUD = %d\r\n",*g_glideloopRUD);
HARUKIDELTA	16:7fca5b938da6	866	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	867	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	868	return SDerrorcount;
HARUKIDELTA	0:17f575135219	869	}
HARUKIDELTA	0:17f575135219	870
HARUKIDELTA	0:17f575135219	871	void CalculateControlValue(float targetAngle[3], float controlValue[3]){
HARUKIDELTA	0:17f575135219	872	static int t_last;
HARUKIDELTA	0:17f575135219	873	int t_now;
HARUKIDELTA	0:17f575135219	874	float dt;
HARUKIDELTA	0:17f575135219	875
HARUKIDELTA	0:17f575135219	876	t_now = t.read_us();
HARUKIDELTA	0:17f575135219	877	dt = (float)((t_now - t_last)/1000000.0f) ;
HARUKIDELTA	0:17f575135219	878	t_last = t_now;
HARUKIDELTA	0:17f575135219	879
taknokolat	1:f383708a5a52	880
taknokolat	1:f383708a5a52	881	//controlValue[ROLL] = pid_RUD.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt);
taknokolat	1:f383708a5a52	882	controlValue[ROLL] = pid_AIL.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); //エルロンでロール制御
HARUKIDELTA	0:17f575135219	883	controlValue[PITCH] = pid_ELE.calcPID(nowAngle[PITCH], targetAngle[PITCH], dt);
HARUKIDELTA	0:17f575135219	884	}
HARUKIDELTA	0:17f575135219	885
HARUKIDELTA	0:17f575135219	886	void UpdateAutoPWM(float controlValue[3]){
HARUKIDELTA	0:17f575135219	887	int16_t addpwm[2]; //-500~500
HARUKIDELTA	0:17f575135219	888	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	889	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	890
HARUKIDELTA	2:23daa5fa28b4	891	autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH]; //rewrite
HARUKIDELTA	8:66bba39b95a9	892	autopwm[AIL_R] = trimpwm[AIL_R] - reverce[AIL_R] * addpwm[ROLL];
HARUKIDELTA	0:17f575135219	893	//autopwm[THR] = oldTHR;
HARUKIDELTA	0:17f575135219	894
HARUKIDELTA	0:17f575135219	895	autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]);
taknokolat	1:f383708a5a52	896	autopwm[AIL_R] = ThresholdMaxMin(autopwm[AIL_R], maxpwm[AIL_R], minpwm[AIL_R]);
HARUKIDELTA	2:23daa5fa28b4	897
HARUKIDELTA	0:17f575135219	898	}
HARUKIDELTA	0:17f575135219	899
HARUKIDELTA	0:17f575135219	900	inline float CalcRatio(float value, float trim, float limit){
HARUKIDELTA	0:17f575135219	901	return (value - trim) / (limit - trim);
HARUKIDELTA	0:17f575135219	902	}
HARUKIDELTA	0:17f575135219	903
HARUKIDELTA	0:17f575135219	904	bool CheckSW_Up(Channel ch){
taknokolat	23:4928a6fd9eee	905	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	906	if(SWITCH_CHECK < sbus.manualpwm[ch]){
HARUKIDELTA	0:17f575135219	907	return true;
HARUKIDELTA	0:17f575135219	908	}else{
HARUKIDELTA	0:17f575135219	909	return false;
HARUKIDELTA	0:17f575135219	910	}
taknokolat	23:4928a6fd9eee	911	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	912	}
HARUKIDELTA	0:17f575135219	913
HARUKIDELTA	0:17f575135219	914	int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min){
HARUKIDELTA	0:17f575135219	915	if(value > max) return max;
HARUKIDELTA	0:17f575135219	916	if(value < min) return min;
HARUKIDELTA	0:17f575135219	917	return value;
HARUKIDELTA	0:17f575135219	918	}
HARUKIDELTA	0:17f575135219	919
HARUKIDELTA	0:17f575135219	920	inline int16_t SetTHRinRatio(float ratio){
HARUKIDELTA	0:17f575135219	921	return minpwm[THR] + (int16_t)(2 * lengthdivpwm * ratio);
HARUKIDELTA	0:17f575135219	922	}
HARUKIDELTA	0:17f575135219	923
HARUKIDELTA	2:23daa5fa28b4	924
HARUKIDELTA	2:23daa5fa28b4	925
HARUKIDELTA	0:17f575135219	926	/---SBUS割り込み処理---/
HARUKIDELTA	0:17f575135219	927
HARUKIDELTA	0:17f575135219	928	//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	929	//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	930	void Update_PWM()
HARUKIDELTA	0:17f575135219	931	{
HARUKIDELTA	0:17f575135219	932	static int16_t pwm[6];
HARUKIDELTA	0:17f575135219	933	static int16_t temppwm[6]={trimpwm[0],trimpwm[1],trimpwm[2],trimpwm[3],trimpwm[4],trimpwm[5]};
HARUKIDELTA	0:17f575135219	934	if(sbus.flg_ch_update == true){
taknokolat	10:652071c20bf6	935	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	936	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	937	case Manual:
HARUKIDELTA	0:17f575135219	938	for(uint8_t i=0;i<6;i++){
taknokolat	1:f383708a5a52	939	pwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	940	}
HARUKIDELTA	2:23daa5fa28b4	941	/*pc.printf("%d ,",pwm[0]);//R
HARUKIDELTA	2:23daa5fa28b4	942	pc.printf("%d ,\r\n",pwm[5]);//L*/
HARUKIDELTA	0:17f575135219	943	oldTHR = sbus.manualpwm[THR];
HARUKIDELTA	0:17f575135219	944	//pc.printf("update_manual\r\n");
HARUKIDELTA	0:17f575135219	945	break;
HARUKIDELTA	0:17f575135219	946
HARUKIDELTA	0:17f575135219	947	case Auto:
HARUKIDELTA	0:17f575135219	948	pwm[AIL_R] = autopwm[AIL_R]; //sbus.manualpwm[AIL];
HARUKIDELTA	0:17f575135219	949	pwm[ELE] = autopwm[ELE];
HARUKIDELTA	0:17f575135219	950	pwm[THR] = autopwm[THR];
HARUKIDELTA	0:17f575135219	951	pwm[RUD] = autopwm[RUD];
HARUKIDELTA	0:17f575135219	952	pwm[DROP] = autopwm[DROP];
HARUKIDELTA	0:17f575135219	953	pwm[AIL_L] = autopwm[AIL_L];
taknokolat	10:652071c20bf6	954	//pc.printf("%d ,",pwm[AIL_R]);//R
taknokolat	10:652071c20bf6	955	//pc.printf("%d ,\r\n",pwm[AIL_L]);//L
HARUKIDELTA	0:17f575135219	956	//pc.printf("update_auto\r\n");
HARUKIDELTA	2:23daa5fa28b4	957
HARUKIDELTA	0:17f575135219	958	break;
HARUKIDELTA	0:17f575135219	959
HARUKIDELTA	0:17f575135219	960	default:
HARUKIDELTA	0:17f575135219	961	for(uint8_t i=0;i<6;i++){
HARUKIDELTA	0:17f575135219	962	pwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	963	} //pc.printf("update_manual\r\n");
HARUKIDELTA	0:17f575135219	964	break;
taknokolat	10:652071c20bf6	965	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	966	}
HARUKIDELTA	0:17f575135219	967	for(uint8_t i=0;i<6;i++){
HARUKIDELTA	0:17f575135219	968	if(pwm[i]<1000 \|\| pwm[i]>2000) pwm[i]=temppwm[i];
HARUKIDELTA	0:17f575135219	969	temppwm[i]=pwm[i];
HARUKIDELTA	0:17f575135219	970	}
HARUKIDELTA	0:17f575135219	971	}else{
HARUKIDELTA	0:17f575135219	972	pc.printf("0\r\n");
HARUKIDELTA	0:17f575135219	973	}
HARUKIDELTA	0:17f575135219	974	sbus.flg_ch_update = false;
HARUKIDELTA	0:17f575135219	975	Output_PWM(pwm);
HARUKIDELTA	0:17f575135219	976	}
HARUKIDELTA	0:17f575135219	977
HARUKIDELTA	0:17f575135219	978
HARUKIDELTA	0:17f575135219	979	//pwmをサーボに出力。
HARUKIDELTA	0:17f575135219	980	void Output_PWM(int16_t pwm[5])
HARUKIDELTA	0:17f575135219	981	{
taknokolat	10:652071c20bf6	982	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	983	servo1.pulsewidth_us(pwm[0]);
HARUKIDELTA	0:17f575135219	984	servo2.pulsewidth_us(pwm[1]);
HARUKIDELTA	0:17f575135219	985	servo3.pulsewidth_us(pwm[2]);
HARUKIDELTA	0:17f575135219	986	servo4.pulsewidth_us(pwm[3]);
HARUKIDELTA	0:17f575135219	987	servo5.pulsewidth_us(pwm[4]);
HARUKIDELTA	0:17f575135219	988	servo6.pulsewidth_us(pwm[5]);
taknokolat	10:652071c20bf6	989	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	990
HARUKIDELTA	0:17f575135219	991	}
HARUKIDELTA	0:17f575135219	992
HARUKIDELTA	0:17f575135219	993	void ResetTrim(){
HARUKIDELTA	0:17f575135219	994	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	995	trimpwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	996	}
HARUKIDELTA	0:17f575135219	997	pc.printf("reset PWM trim\r\n");
HARUKIDELTA	0:17f575135219	998	}
HARUKIDELTA	0:17f575135219	999
HARUKIDELTA	0:17f575135219	1000
HARUKIDELTA	0:17f575135219	1001	void SensingMPU(){
HARUKIDELTA	0:17f575135219	1002	//static int16_t deltaT = 0, t_start = 0;
HARUKIDELTA	0:17f575135219	1003	//t_start = t.read_us();
HARUKIDELTA	0:17f575135219	1004
HARUKIDELTA	0:17f575135219	1005	float rpy[3] = {0}, oldrpy[3] = {0};
HARUKIDELTA	0:17f575135219	1006	static uint16_t count_changeRPY = 0;
HARUKIDELTA	0:17f575135219	1007	static bool flg_checkoutlier = false;
HARUKIDELTA	0:17f575135219	1008	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	1009	NVIC_DisableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	1010	NVIC_DisableIRQ(TIM5_IRQn);
taknokolat	10:652071c20bf6	1011	NVIC_DisableIRQ(EXTI0_IRQn);//MPU割り込み禁止
taknokolat	10:652071c20bf6	1012	NVIC_DisableIRQ(EXTI9_5_IRQn);//超音波割り込み禁止
HARUKIDELTA	0:17f575135219	1013
HARUKIDELTA	0:17f575135219	1014	mpu6050.getRollPitchYaw_Skipper(rpy);
HARUKIDELTA	0:17f575135219	1015
HARUKIDELTA	0:17f575135219	1016	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	1017	NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	1018	NVIC_EnableIRQ(TIM5_IRQn);
HARUKIDELTA	0:17f575135219	1019	NVIC_EnableIRQ(EXTI0_IRQn);
HARUKIDELTA	0:17f575135219	1020	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1021
HARUKIDELTA	0:17f575135219	1022
HARUKIDELTA	0:17f575135219	1023	//外れ値対策
HARUKIDELTA	0:17f575135219	1024	for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI;
HARUKIDELTA	0:17f575135219	1025	rpy[ROLL] -= FirstROLL;
HARUKIDELTA	0:17f575135219	1026	rpy[PITCH] -= FirstPITCH;
HARUKIDELTA	0:17f575135219	1027	rpy[YAW] -= FirstYAW;
HARUKIDELTA	0:17f575135219	1028
HARUKIDELTA	0:17f575135219	1029	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	1030	if(!flg_checkoutlier \|\| count_changeRPY >= 2){
HARUKIDELTA	0:17f575135219	1031	for(uint8_t i=0; i<3; i++){
HARUKIDELTA	0:17f575135219	1032	nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均
HARUKIDELTA	0:17f575135219	1033	}
HARUKIDELTA	0:17f575135219	1034	count_changeRPY = 0;
HARUKIDELTA	0:17f575135219	1035	}else count_changeRPY++;
HARUKIDELTA	0:17f575135219	1036	flg_checkoutlier = false;
HARUKIDELTA	0:17f575135219	1037
HARUKIDELTA	0:17f575135219	1038	}
HARUKIDELTA	0:17f575135219	1039
HARUKIDELTA	0:17f575135219	1040	float TranslateNewYaw(float beforeYaw, float newzeroYaw){
HARUKIDELTA	0:17f575135219	1041	float newYaw = beforeYaw - newzeroYaw;
HARUKIDELTA	0:17f575135219	1042
HARUKIDELTA	0:17f575135219	1043	if(newYaw<-180.0f) newYaw += 360.0f;
HARUKIDELTA	0:17f575135219	1044	else if(newYaw>180.0f) newYaw -= 360.0f;
HARUKIDELTA	0:17f575135219	1045	return newYaw;
HARUKIDELTA	0:17f575135219	1046	}
HARUKIDELTA	0:17f575135219	1047
HARUKIDELTA	0:17f575135219	1048
HARUKIDELTA	0:17f575135219	1049	void getSF_Serial(){
taknokolat	25:37bee299a276	1050	//NVIC_DisableIRQ(USART1_IRQn);
taknokolat	25:37bee299a276	1051	NVIC_DisableIRQ(EXTI0_IRQn);
taknokolat	25:37bee299a276	1052	//NVIC_DisableIRQ(TIM5_IRQn);
taknokolat	25:37bee299a276	1053
taknokolat	25:37bee299a276	1054
taknokolat	25:37bee299a276	1055	static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat	25:37bee299a276	1056
HARUKIDELTA	0:17f575135219	1057	static int bufcounter=0;
HARUKIDELTA	0:17f575135219	1058
taknokolat	14:bbd5ff31fb67	1059	if(pc.readable()) { // 受信確認
taknokolat	25:37bee299a276	1060
taknokolat	14:bbd5ff31fb67	1061	SFbuf[bufcounter] = pc.getc(); // 1文字取り出し
taknokolat	25:37bee299a276	1062	if(SFbuf[0]!='S') return;
taknokolat	25:37bee299a276	1063	}
taknokolat	25:37bee299a276	1064
taknokolat	11:c0b9ad25d3db	1065
taknokolat	25:37bee299a276	1066	//pc.printf("%c",SFbuf[bufcounter]);
HARUKIDELTA	0:17f575135219	1067
taknokolat	25:37bee299a276	1068	if(SFbuf[0]=='S'&&bufcounter<5)bufcounter++;
taknokolat	25:37bee299a276	1069
taknokolat	25:37bee299a276	1070	if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat	25:37bee299a276	1071
taknokolat	25:37bee299a276	1072	g_landingcommand = SFbuf[1];
taknokolat	25:37bee299a276	1073	//wait_ms(20);
taknokolat	25:37bee299a276	1074	if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat	25:37bee299a276	1075	bufcounter = 0;
taknokolat	25:37bee299a276	1076	memset(SFbuf, 0, strlen(SFbuf));
taknokolat	25:37bee299a276	1077	//pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat	25:37bee299a276	1078	}
taknokolat	25:37bee299a276	1079
taknokolat	10:652071c20bf6	1080	else if(bufcounter>=5 ){
taknokolat	25:37bee299a276	1081	//pc.printf("Communication Falsed.\r\n");
taknokolat	25:37bee299a276	1082	memset(SFbuf, 0, strlen(SFbuf));
HARUKIDELTA	0:17f575135219	1083	bufcounter = 0;
HARUKIDELTA	0:17f575135219	1084	}
taknokolat	25:37bee299a276	1085
taknokolat	25:37bee299a276	1086
taknokolat	25:37bee299a276	1087	//NVIC_EnableIRQ(TIM5_IRQn);
taknokolat	25:37bee299a276	1088	NVIC_EnableIRQ(EXTI0_IRQn);
taknokolat	25:37bee299a276	1089	//NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	1090	}
HARUKIDELTA	0:17f575135219	1091
HARUKIDELTA	0:17f575135219	1092	float ConvertByteintoFloat(char high, char low){
HARUKIDELTA	0:17f575135219	1093
HARUKIDELTA	0:17f575135219	1094	//int16_t intvalue = (int16_t)high*256 + (int16_t)low;
HARUKIDELTA	0:17f575135219	1095	int16_t intvalue = (int16_t)(((int16_t)high << 8) \| low); // Turn the MSB and LSB into a signed 16-bit value
HARUKIDELTA	0:17f575135219	1096	float floatvalue = (float)intvalue;
HARUKIDELTA	0:17f575135219	1097	return floatvalue;
HARUKIDELTA	0:17f575135219	1098	}
HARUKIDELTA	0:17f575135219	1099
HARUKIDELTA	0:17f575135219	1100
HARUKIDELTA	0:17f575135219	1101	//超音波割り込み
taknokolat	10:652071c20bf6	1102	/*void UpdateDist(){
HARUKIDELTA	0:17f575135219	1103	g_distance = usensor.get_dist_cm();
HARUKIDELTA	0:17f575135219	1104	usensor.start();
taknokolat	10:652071c20bf6	1105	}*/
HARUKIDELTA	0:17f575135219	1106
HARUKIDELTA	0:17f575135219	1107	//8の字旋回
HARUKIDELTA	0:17f575135219	1108	void UpdateTargetAngle_Moebius(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1109	static uint8_t RotateCounter=0;
HARUKIDELTA	0:17f575135219	1110	static bool flg_setInStartAuto = false;
HARUKIDELTA	0:17f575135219	1111	static float FirstYAW_Moebius = 0.0;
HARUKIDELTA	0:17f575135219	1112	float newYaw_Moebius;
HARUKIDELTA	0:17f575135219	1113
HARUKIDELTA	0:17f575135219	1114	if(!flg_setInStartAuto && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1115	FirstYAW_Moebius = nowAngle[YAW];
HARUKIDELTA	0:17f575135219	1116	RotateCounter = 0;
HARUKIDELTA	0:17f575135219	1117	flg_setInStartAuto = true;
HARUKIDELTA	0:17f575135219	1118	}else if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1119	flg_setInStartAuto = false;
HARUKIDELTA	0:17f575135219	1120	led2 = 0;
HARUKIDELTA	0:17f575135219	1121	}
HARUKIDELTA	6:ed61ed8b8fab	1122	autopwm[THR]=oldTHR;
HARUKIDELTA	6:ed61ed8b8fab	1123
HARUKIDELTA	0:17f575135219	1124	newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius);
HARUKIDELTA	0:17f575135219	1125
HARUKIDELTA	0:17f575135219	1126	if(RotateCounter == 0 && newYaw_Moebius >90.0 && newYaw_Moebius < 180.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n");}
HARUKIDELTA	0:17f575135219	1127	if(RotateCounter == 1 && newYaw_Moebius >-180.0 && newYaw_Moebius < -90.0) {RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n");}
HARUKIDELTA	6:ed61ed8b8fab	1128	if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius <-10.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n");}
HARUKIDELTA	6:ed61ed8b8fab	1129	if(RotateCounter == 3 && newYaw_Moebius >0.0 && newYaw_Moebius < 90.0) {RotateCounter++; led2 = 0; pc.printf("Change Rotate direction\r\n");}
HARUKIDELTA	0:17f575135219	1130
HARUKIDELTA	0:17f575135219	1131
HARUKIDELTA	0:17f575135219	1132	if(RotateCounter <= 3) UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1133	else UpdateTargetAngle_Leftloop_short(targetAngle); //左旋回
HARUKIDELTA	0:17f575135219	1134
HARUKIDELTA	0:17f575135219	1135	}
HARUKIDELTA	0:17f575135219	1136
HARUKIDELTA	0:17f575135219	1137	//自動滑空
HARUKIDELTA	0:17f575135219	1138	void UpdateTargetAngle_Glide(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1139	static int THRcount = 0;
HARUKIDELTA	0:17f575135219	1140	static int t_start = 0;
HARUKIDELTA	0:17f575135219	1141	static bool flg_tstart = false;
HARUKIDELTA	0:17f575135219	1142	int t_diff = 0;
taknokolat	1:f383708a5a52	1143	static int groundcount = 0;
HARUKIDELTA	0:17f575135219	1144
HARUKIDELTA	0:17f575135219	1145	targetAngle[ROLL] = g_glideloopROLL;
HARUKIDELTA	0:17f575135219	1146	targetAngle[PITCH] = g_glideloopPITCH;
HARUKIDELTA	0:17f575135219	1147
HARUKIDELTA	16:7fca5b938da6	1148	autopwm[RUD]=g_glideloopRUD;
HARUKIDELTA	7:53b0eb6f6bd3	1149	// autopwm[THR]=oldTHR;
taknokolat	10:652071c20bf6	1150
taknokolat	1:f383708a5a52	1151
HARUKIDELTA	7:53b0eb6f6bd3	1152
HARUKIDELTA	0:17f575135219	1153	//時間計測開始設定
HARUKIDELTA	0:17f575135219	1154	if(!flg_tstart && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1155	t_start = t.read();
HARUKIDELTA	0:17f575135219	1156	flg_tstart = true;
HARUKIDELTA	0:17f575135219	1157	pc.printf("timer start\r\n");
taknokolat	1:f383708a5a52	1158	}else if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1159	t_start = 0;
HARUKIDELTA	0:17f575135219	1160	flg_tstart = false;
HARUKIDELTA	0:17f575135219	1161	}
HARUKIDELTA	0:17f575135219	1162
taknokolat	1:f383708a5a52	1163
HARUKIDELTA	0:17f575135219	1164	//フラグが偽であれば計測は行わない
HARUKIDELTA	0:17f575135219	1165	if(flg_tstart){
HARUKIDELTA	0:17f575135219	1166	t_diff = t.read() - t_start;
HARUKIDELTA	0:17f575135219	1167	//一定高度or15秒でled点灯
taknokolat	10:652071c20bf6	1168	NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat	1:f383708a5a52	1169	if((groundcount>5 && g_distance>0) \|\| t_diff > 15){
HARUKIDELTA	0:17f575135219	1170	led2 = 1;
HARUKIDELTA	0:17f575135219	1171	//pc.printf("Call [Stop!] calling!\r\n");
HARUKIDELTA	0:17f575135219	1172	}
taknokolat	10:652071c20bf6	1173
taknokolat	1:f383708a5a52	1174	if(g_distance<180 && g_distance > 0) groundcount++;
taknokolat	10:652071c20bf6	1175	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1176	}else{
HARUKIDELTA	0:17f575135219	1177	t_diff = 0;
taknokolat	1:f383708a5a52	1178	groundcount = 0;
HARUKIDELTA	0:17f575135219	1179	led2 = 0;
HARUKIDELTA	0:17f575135219	1180	}
HARUKIDELTA	0:17f575135219	1181
taknokolat	1:f383708a5a52	1182	if(t_diff > 17){
HARUKIDELTA	0:17f575135219	1183	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	0:17f575135219	1184	}else{
taknokolat	10:652071c20bf6	1185	NVIC_DisableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1186	if(g_distance<150 && g_distance>0 ){
taknokolat	10:652071c20bf6	1187	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1188	THRcount++;
HARUKIDELTA	0:17f575135219	1189	if(THRcount>5){
taknokolat	1:f383708a5a52	1190	autopwm[THR] = SetTHRinRatio(0.6);
HARUKIDELTA	0:17f575135219	1191	//pc.printf("throttle ON\r\n");
HARUKIDELTA	0:17f575135219	1192	}
HARUKIDELTA	0:17f575135219	1193	}else{
HARUKIDELTA	0:17f575135219	1194	autopwm[THR] = 1180;
HARUKIDELTA	0:17f575135219	1195	THRcount = 0;
HARUKIDELTA	0:17f575135219	1196	}
HARUKIDELTA	7:53b0eb6f6bd3	1197	}
HARUKIDELTA	0:17f575135219	1198	}
HARUKIDELTA	0:17f575135219	1199	//離陸-投下-着陸一連
HARUKIDELTA	0:17f575135219	1200	void Take_off_and_landing(float targetAngle[3]){
taknokolat	10:652071c20bf6	1201	/*
HARUKIDELTA	0:17f575135219	1202	if(!CheckSW_Up(Ch7)) bombing_mode = Takeoff;
HARUKIDELTA	0:17f575135219	1203
HARUKIDELTA	0:17f575135219	1204	switch(bombing_mode){
HARUKIDELTA	0:17f575135219	1205	case Takeoff:
HARUKIDELTA	0:17f575135219	1206	static bool flg_setFirstYaw = false;
HARUKIDELTA	0:17f575135219	1207	static int TakeoffCount = 0;
HARUKIDELTA	0:17f575135219	1208
HARUKIDELTA	0:17f575135219	1209	if(!flg_setFirstYaw && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1210	FirstYAW = nowAngle[YAW];
HARUKIDELTA	0:17f575135219	1211	flg_setFirstYaw = true;
HARUKIDELTA	0:17f575135219	1212	}else if(flg_setFirstYaw && !CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1213	flg_setFirstYaw = false;
HARUKIDELTA	0:17f575135219	1214	}
HARUKIDELTA	0:17f575135219	1215
HARUKIDELTA	0:17f575135219	1216	UpdateTargetAngle_Takeoff(targetAngle);
HARUKIDELTA	0:17f575135219	1217
HARUKIDELTA	0:17f575135219	1218	if(g_distance>150) TakeoffCount++;
HARUKIDELTA	0:17f575135219	1219	else TakeoffCount = 0;
HARUKIDELTA	0:17f575135219	1220	if(TakeoffCount>5){
HARUKIDELTA	0:17f575135219	1221	autopwm[THR] = 1180+32020.5;
HARUKIDELTA	0:17f575135219	1222	pc.printf("Now go to Approach mode!!");
HARUKIDELTA	0:17f575135219	1223	bombing_mode = Approach;
HARUKIDELTA	0:17f575135219	1224	}
HARUKIDELTA	0:17f575135219	1225	break;
taknokolat	10:652071c20bf6	1226
taknokolat	10:652071c20bf6	1227	//case Chicken:
taknokolat	10:652071c20bf6	1228	//break;
taknokolat	10:652071c20bf6	1229
HARUKIDELTA	0:17f575135219	1230	case Transition:
HARUKIDELTA	0:17f575135219	1231	static int ApproachCount = 0;
HARUKIDELTA	0:17f575135219	1232	targetAngle[YAW]=180.0;
HARUKIDELTA	0:17f575135219	1233	int Judge = Rotate(targetAngle, g_SerialTargetYAW);
HARUKIDELTA	0:17f575135219	1234
HARUKIDELTA	0:17f575135219	1235	if(Judge==0) ApproachCount++;
HARUKIDELTA	0:17f575135219	1236	if(ApproachCount>5) bombing_mode = Approach;
HARUKIDELTA	0:17f575135219	1237	break;
HARUKIDELTA	0:17f575135219	1238
HARUKIDELTA	0:17f575135219	1239	case Approach:
taknokolat	10:652071c20bf6	1240	*/
taknokolat	10:652071c20bf6	1241	autopwm[THR] = SetTHRinRatio(g_loopTHR); //0.7;スロットルの割合
HARUKIDELTA	0:17f575135219	1242	UpdateTargetAngle_Approach(targetAngle);
taknokolat	10:652071c20bf6	1243	/*
HARUKIDELTA	0:17f575135219	1244	break;
HARUKIDELTA	0:17f575135219	1245
HARUKIDELTA	0:17f575135219	1246	default:
HARUKIDELTA	0:17f575135219	1247	bombing_mode = Takeoff;
HARUKIDELTA	0:17f575135219	1248	break;
HARUKIDELTA	0:17f575135219	1249	}
taknokolat	10:652071c20bf6	1250	*/
HARUKIDELTA	0:17f575135219	1251	}
HARUKIDELTA	0:17f575135219	1252
HARUKIDELTA	0:17f575135219	1253	//離陸モード
HARUKIDELTA	0:17f575135219	1254	void UpdateTargetAngle_Takeoff(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1255	//pc.printf("%d \r\n",g_distance);
HARUKIDELTA	0:17f575135219	1256	targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA	0:17f575135219	1257	targetAngle[PITCH] = g_loopTHR;
HARUKIDELTA	0:17f575135219	1258	autopwm[THR] = SetTHRinRatio(g_takeoffTHR); //0.7;スロットルの割合
HARUKIDELTA	0:17f575135219	1259	}
HARUKIDELTA	0:17f575135219	1260
HARUKIDELTA	0:17f575135219	1261	//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	1262	int Rotate(float targetAngle[3], float TargetYAW){
HARUKIDELTA	0:17f575135219	1263	float diffYaw = TranslateNewYaw(TargetYAW, nowAngle[YAW]);
HARUKIDELTA	0:17f575135219	1264
HARUKIDELTA	0:17f575135219	1265	if(diffYaw > LIMIT_STRAIGHT_YAW){
HARUKIDELTA	0:17f575135219	1266	/*
HARUKIDELTA	0:17f575135219	1267	if(diffYaw > THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1268	else UpdateTargetAngle_Rightloop(targetAngle);
HARUKIDELTA	0:17f575135219	1269	*/
HARUKIDELTA	0:17f575135219	1270	UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1271	return 1;
HARUKIDELTA	0:17f575135219	1272	}else if(diffYaw < -LIMIT_STRAIGHT_YAW){
HARUKIDELTA	0:17f575135219	1273	UpdateTargetAngle_Leftloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1274	/*
HARUKIDELTA	0:17f575135219	1275	if(diffYaw < -THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Leftloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1276	else UpdateTargetAngle_Leftloop(targetAngle);
HARUKIDELTA	0:17f575135219	1277	*/
HARUKIDELTA	0:17f575135219	1278	return 1;
HARUKIDELTA	0:17f575135219	1279	}else{
HARUKIDELTA	0:17f575135219	1280	UpdateTargetAngle_GoStraight(targetAngle);
HARUKIDELTA	0:17f575135219	1281	return 0;
HARUKIDELTA	0:17f575135219	1282	}
HARUKIDELTA	0:17f575135219	1283	}
HARUKIDELTA	0:17f575135219	1284
HARUKIDELTA	0:17f575135219	1285	//チキラー投下
HARUKIDELTA	0:17f575135219	1286	void Chicken_Drop(){
HARUKIDELTA	0:17f575135219	1287	if(CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1288	autopwm[DROP] = 1512;
HARUKIDELTA	0:17f575135219	1289	pc.printf("Bombed!\r\n");
HARUKIDELTA	0:17f575135219	1290	RerurnChickenServo1.attach(&ReturnChickenServo1, 3);
HARUKIDELTA	0:17f575135219	1291	//operation_mode = Approach;
HARUKIDELTA	0:17f575135219	1292	//buzzer = 0;
HARUKIDELTA	0:17f575135219	1293	pc.printf("Goto LeftLoop mode\r\n");
HARUKIDELTA	0:17f575135219	1294	}
HARUKIDELTA	0:17f575135219	1295	}
HARUKIDELTA	0:17f575135219	1296
HARUKIDELTA	0:17f575135219	1297	void ReturnChickenServo1(){
HARUKIDELTA	0:17f575135219	1298	autopwm[DROP] = 1344;
HARUKIDELTA	0:17f575135219	1299	pc.printf("first reverse\r\n");
HARUKIDELTA	0:17f575135219	1300	RerurnChickenServo2.attach(&ReturnChickenServo2, 1);
HARUKIDELTA	0:17f575135219	1301	}
HARUKIDELTA	0:17f575135219	1302
HARUKIDELTA	0:17f575135219	1303	void ReturnChickenServo2(){
HARUKIDELTA	0:17f575135219	1304	autopwm[DROP] = 1392;
HARUKIDELTA	0:17f575135219	1305	pc.printf("second reverse\r\n");
taknokolat	10:652071c20bf6	1306	}
taknokolat	10:652071c20bf6	1307
taknokolat	10:652071c20bf6	1308	//着陸モード（PCからの指令に従う）
taknokolat	10:652071c20bf6	1309	void UpdateTargetAngle_Approach(float targetAngle[3]){
taknokolat	10:652071c20bf6	1310
taknokolat	26:bc185a3d16b6	1311	static bool zeroTHR=true;//着陸時のスロットル動作確認用
taknokolat	24:2cc7a3a10e72	1312
taknokolat	26:bc185a3d16b6	1313	if(CheckSW_Up(Ch7)){
taknokolat	26:bc185a3d16b6	1314	output_status = Auto;
taknokolat	26:bc185a3d16b6	1315	led1 = 1;
taknokolat	26:bc185a3d16b6	1316	}else{
taknokolat	26:bc185a3d16b6	1317	output_status = Manual;
taknokolat	26:bc185a3d16b6	1318	led1 = 0;
taknokolat	26:bc185a3d16b6	1319	zeroTHR=true;
taknokolat	26:bc185a3d16b6	1320	}
taknokolat	26:bc185a3d16b6	1321
taknokolat	24:2cc7a3a10e72	1322
taknokolat	10:652071c20bf6	1323	NVIC_DisableIRQ(USART2_IRQn);
taknokolat	10:652071c20bf6	1324
taknokolat	10:652071c20bf6	1325	switch(g_landingcommand){
taknokolat	10:652071c20bf6	1326	case 'R': //右旋回セヨ
taknokolat	23:4928a6fd9eee	1327	if(zeroTHR==false){
HARUKIDELTA	19:0955311b0db6	1328	UpdateTargetAngle_Rightloop_zero(targetAngle);
HARUKIDELTA	19:0955311b0db6	1329	}
HARUKIDELTA	19:0955311b0db6	1330	else{
taknokolat	10:652071c20bf6	1331	targetAngle[ROLL] = g_rightloopROLL;
taknokolat	10:652071c20bf6	1332	targetAngle[PITCH] = g_rightloopPITCH ;
HARUKIDELTA	17:55249ea37dff	1333	autopwm[RUD]=g_rightloopRUD; //RUD固定
HARUKIDELTA	22:438bedf24707	1334	if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節
taknokolat	10:652071c20bf6	1335	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	10:652071c20bf6	1336	}
taknokolat	20:9393b0cfa44d	1337	else {autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
taknokolat	10:652071c20bf6	1338	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
taknokolat	20:9393b0cfa44d	1339	}
taknokolat	20:9393b0cfa44d	1340	}
taknokolat	10:652071c20bf6	1341	break;
taknokolat	20:9393b0cfa44d	1342
taknokolat	10:652071c20bf6	1343	case 'L': //左旋回セヨ
taknokolat	23:4928a6fd9eee	1344	if(zeroTHR==false){
HARUKIDELTA	19:0955311b0db6	1345	UpdateTargetAngle_Leftloop_zero(targetAngle);
HARUKIDELTA	19:0955311b0db6	1346	}
HARUKIDELTA	19:0955311b0db6	1347	else{
taknokolat	10:652071c20bf6	1348	targetAngle[ROLL] = g_leftloopROLL;
taknokolat	10:652071c20bf6	1349	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	17:55249ea37dff	1350	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	22:438bedf24707	1351	if(autopwm[AIL_R]<trimpwm[AIL_R]){
taknokolat	10:652071c20bf6	1352	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	10:652071c20bf6	1353	}
taknokolat	10:652071c20bf6	1354	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	19:0955311b0db6	1355	}
taknokolat	10:652071c20bf6	1356	break;
taknokolat	10:652071c20bf6	1357
taknokolat	10:652071c20bf6	1358	case 'G': //直進セヨ
taknokolat	23:4928a6fd9eee	1359	if(zeroTHR==false){
HARUKIDELTA	19:0955311b0db6	1360	UpdateTargetAngle_GoStraight_zero(targetAngle);
HARUKIDELTA	19:0955311b0db6	1361	}
HARUKIDELTA	19:0955311b0db6	1362	else{
taknokolat	10:652071c20bf6	1363	targetAngle[ROLL] = g_gostraightROLL;
taknokolat	10:652071c20bf6	1364	targetAngle[PITCH] = g_gostraightPITCH;
HARUKIDELTA	19:0955311b0db6	1365	}
taknokolat	10:652071c20bf6	1366
taknokolat	10:652071c20bf6	1367	break;
taknokolat	10:652071c20bf6	1368
taknokolat	10:652071c20bf6	1369	case 'Y': //指定ノヨー方向ニ移動セヨ
taknokolat	10:652071c20bf6	1370	Rotate(targetAngle, g_SerialTargetYAW);
taknokolat	10:652071c20bf6	1371	break;
taknokolat	10:652071c20bf6	1372
taknokolat	10:652071c20bf6	1373	case 'B': //ブザーヲ鳴ラセ
taknokolat	10:652071c20bf6	1374	//buzzer = 1;
taknokolat	10:652071c20bf6	1375	break;
taknokolat	10:652071c20bf6	1376
taknokolat	10:652071c20bf6	1377	case 'D': //物資ヲ落トセ
taknokolat	10:652071c20bf6	1378	Chicken_Drop();
taknokolat	10:652071c20bf6	1379	break;
taknokolat	10:652071c20bf6	1380
taknokolat	10:652071c20bf6	1381	case 'C': //停止セヨ
taknokolat	10:652071c20bf6	1382	targetAngle[ROLL] = 0.0;
taknokolat	10:652071c20bf6	1383	targetAngle[PITCH] = -3.0;
taknokolat	10:652071c20bf6	1384	autopwm[THR] = minpwm[THR];
taknokolat	23:4928a6fd9eee	1385	zeroTHR=false;
taknokolat	10:652071c20bf6	1386	break;
HARUKIDELTA	0:17f575135219	1387
taknokolat	10:652071c20bf6	1388	}
taknokolat	10:652071c20bf6	1389	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	10:652071c20bf6	1390	}
taknokolat	10:652071c20bf6	1391
taknokolat	10:652071c20bf6	1392	void checkHeight(float targetAngle[3]){
taknokolat	10:652071c20bf6	1393
taknokolat	10:652071c20bf6	1394	static int targetHeight = 200;
taknokolat	10:652071c20bf6	1395	NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat	10:652071c20bf6	1396	if(g_distance < targetHeight + ALLOWHEIGHT){
taknokolat	10:652071c20bf6	1397	UpdateTargetAngle_NoseUP(targetAngle);
taknokolat	10:652071c20bf6	1398	if(CheckSW_Up(Ch7)) led2 = 1;
taknokolat	10:652071c20bf6	1399	}
taknokolat	10:652071c20bf6	1400	else if(g_distance > targetHeight - ALLOWHEIGHT){
taknokolat	10:652071c20bf6	1401	UpdateTargetAngle_NoseDOWN(targetAngle);
taknokolat	10:652071c20bf6	1402	if(CheckSW_Up(Ch7)) led2 = 1;
taknokolat	10:652071c20bf6	1403	}
taknokolat	10:652071c20bf6	1404	else led2=0;
taknokolat	10:652071c20bf6	1405	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1406	}
HARUKIDELTA	0:17f575135219	1407
taknokolat	10:652071c20bf6	1408	void UpdateTargetAngle_NoseUP(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1409
HARUKIDELTA	0:17f575135219	1410	//targetAngle[PITCH] += 2.0f;
HARUKIDELTA	0:17f575135219	1411	//if(nowAngle[PITCH]<targetAngle[PITCH]) autopwm[THR] = SetTHRinRatio(0.6);
HARUKIDELTA	0:17f575135219	1412	autopwm[THR] = SetTHRinRatio(g_loopTHR+0.05);
HARUKIDELTA	0:17f575135219	1413	//pc.printf("nose UP");
HARUKIDELTA	0:17f575135219	1414	}
HARUKIDELTA	0:17f575135219	1415
HARUKIDELTA	0:17f575135219	1416	void UpdateTargetAngle_NoseDOWN(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1417
HARUKIDELTA	0:17f575135219	1418	//targetAngle[PITCH] -= 2.0f;
HARUKIDELTA	0:17f575135219	1419	autopwm[THR] = SetTHRinRatio(g_loopTHR-0.05);
HARUKIDELTA	0:17f575135219	1420	//pc.printf("nose DOWN");
HARUKIDELTA	0:17f575135219	1421	}
HARUKIDELTA	0:17f575135219	1422
HARUKIDELTA	0:17f575135219	1423	//直進
HARUKIDELTA	0:17f575135219	1424	void UpdateTargetAngle_GoStraight(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1425
HARUKIDELTA	19:0955311b0db6	1426	autopwm[RUD] = trimpwm[RUD];
HARUKIDELTA	0:17f575135219	1427	targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA	0:17f575135219	1428	targetAngle[PITCH] = g_gostraightPITCH;
HARUKIDELTA	0:17f575135219	1429	autopwm[THR] = SetTHRinRatio(g_loopTHR);
HARUKIDELTA	0:17f575135219	1430
HARUKIDELTA	0:17f575135219	1431	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1432	}
HARUKIDELTA	0:17f575135219	1433
HARUKIDELTA	19:0955311b0db6	1434	//直進(着陸時スロットル０のとき）
HARUKIDELTA	19:0955311b0db6	1435	void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]){
HARUKIDELTA	19:0955311b0db6	1436
HARUKIDELTA	19:0955311b0db6	1437	autopwm[RUD] = trimpwm[RUD];
HARUKIDELTA	19:0955311b0db6	1438	targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA	19:0955311b0db6	1439	targetAngle[PITCH] = g_gostraightPITCH;
HARUKIDELTA	19:0955311b0db6	1440	autopwm[THR] = minpwm[THR];
HARUKIDELTA	19:0955311b0db6	1441
HARUKIDELTA	19:0955311b0db6	1442	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	19:0955311b0db6	1443	}
HARUKIDELTA	3:206b17251f5b	1444
HARUKIDELTA	0:17f575135219	1445	//右旋回
HARUKIDELTA	0:17f575135219	1446	void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回
HARUKIDELTA	0:17f575135219	1447
HARUKIDELTA	0:17f575135219	1448	targetAngle[PITCH] = g_rightloopPITCH ;
HARUKIDELTA	16:7fca5b938da6	1449	autopwm[RUD]=g_rightloopRUD; //RUD固定
TUATBM	9:f6367b7fd7be	1450	autopwm[THR] = SetTHRinRatio(0.5); //手動スロットル記憶
HARUKIDELTA	27:61876b34ded4	1451
HARUKIDELTA	27:61876b34ded4	1452
HARUKIDELTA	27:61876b34ded4	1453	if (nowAngle[ROLL]>20.0\|\|nowAngle[ROLL]<-20.0){
HARUKIDELTA	27:61876b34ded4	1454	t2.start();
HARUKIDELTA	27:61876b34ded4	1455	pc.printf("Timer start.");
HARUKIDELTA	27:61876b34ded4	1456	}
HARUKIDELTA	27:61876b34ded4	1457	if(0.0<t2.read()<5.0){
HARUKIDELTA	27:61876b34ded4	1458	pc.printf("tagetAngle is changed.");
HARUKIDELTA	27:61876b34ded4	1459	targetAngle[ROLL] = rightloopROLL2;
HARUKIDELTA	27:61876b34ded4	1460	}
HARUKIDELTA	27:61876b34ded4	1461	else {
HARUKIDELTA	27:61876b34ded4	1462	t2.stop();
HARUKIDELTA	27:61876b34ded4	1463	t2.reset();
HARUKIDELTA	27:61876b34ded4	1464	pc.printf("Timer stopped.");
HARUKIDELTA	27:61876b34ded4	1465	targetAngle[ROLL] = g_rightloopROLL;
HARUKIDELTA	27:61876b34ded4	1466	}
HARUKIDELTA	27:61876b34ded4	1467
HARUKIDELTA	22:438bedf24707	1468	if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節
HARUKIDELTA	3:206b17251f5b	1469	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	3:206b17251f5b	1470	}
HARUKIDELTA	3:206b17251f5b	1471	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
TUATBM	9:f6367b7fd7be	1472	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
TUATBM	9:f6367b7fd7be	1473
HARUKIDELTA	27:61876b34ded4	1474
HARUKIDELTA	0:17f575135219	1475	//checkHeight(targetAngle);
HARUKIDELTA	0:17f575135219	1476	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1477	}
HARUKIDELTA	0:17f575135219	1478
HARUKIDELTA	4:fff1165ca50c	1479	//右旋回（着陸時スロットル０の時）
HARUKIDELTA	4:fff1165ca50c	1480	void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]){ //右旋回
taknokolat	20:9393b0cfa44d	1481	autopwm[THR]=minpwm[THR];
HARUKIDELTA	4:fff1165ca50c	1482	targetAngle[ROLL] = g_rightloopROLL;
HARUKIDELTA	4:fff1165ca50c	1483	targetAngle[PITCH] = g_rightloopPITCH ;
taknokolat	20:9393b0cfa44d	1484	autopwm[RUD]=g_rightloopRUD; //RUD固定
HARUKIDELTA	22:438bedf24707	1485	if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節
taknokolat	20:9393b0cfa44d	1486	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	20:9393b0cfa44d	1487	}
taknokolat	20:9393b0cfa44d	1488	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
taknokolat	20:9393b0cfa44d	1489	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
HARUKIDELTA	4:fff1165ca50c	1490
HARUKIDELTA	4:fff1165ca50c	1491	//checkHeight(targetAngle);
HARUKIDELTA	4:fff1165ca50c	1492	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	4:fff1165ca50c	1493	}
HARUKIDELTA	4:fff1165ca50c	1494
HARUKIDELTA	0:17f575135219	1495	void UpdateTargetAngle_Rightloop_short(float targetAngle[3]){ //右旋回
HARUKIDELTA	0:17f575135219	1496
HARUKIDELTA	0:17f575135219	1497	targetAngle[ROLL] = g_rightloopROLLshort;
HARUKIDELTA	0:17f575135219	1498	targetAngle[PITCH] = g_rightloopPITCHshort;
HARUKIDELTA	16:7fca5b938da6	1499	autopwm[RUD]=g_rightloopshortRUD;
HARUKIDELTA	19:0955311b0db6	1500	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	22:438bedf24707	1501	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	3:206b17251f5b	1502	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	3:206b17251f5b	1503	}
HARUKIDELTA	3:206b17251f5b	1504	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	0:17f575135219	1505
HARUKIDELTA	0:17f575135219	1506	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1507	}
HARUKIDELTA	0:17f575135219	1508
HARUKIDELTA	0:17f575135219	1509	//左旋回
HARUKIDELTA	0:17f575135219	1510	void UpdateTargetAngle_Leftloop(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1511
HARUKIDELTA	0:17f575135219	1512	targetAngle[ROLL] = g_leftloopROLL;
HARUKIDELTA	0:17f575135219	1513	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	16:7fca5b938da6	1514	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	19:0955311b0db6	1515	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	22:438bedf24707	1516	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	17:55249ea37dff	1517	autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1518	}
HARUKIDELTA	17:55249ea37dff	1519	else autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1520	//checkHeight(targetAngle);
HARUKIDELTA	4:fff1165ca50c	1521
HARUKIDELTA	4:fff1165ca50c	1522	//printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	4:fff1165ca50c	1523	}
HARUKIDELTA	4:fff1165ca50c	1524
HARUKIDELTA	4:fff1165ca50c	1525	//左旋回（着陸時スロットル０のとき）
HARUKIDELTA	4:fff1165ca50c	1526	void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]){
HARUKIDELTA	4:fff1165ca50c	1527
HARUKIDELTA	4:fff1165ca50c	1528	targetAngle[ROLL] = g_leftloopROLL;
HARUKIDELTA	4:fff1165ca50c	1529	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	16:7fca5b938da6	1530	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	4:fff1165ca50c	1531	autopwm[THR] = minpwm[THR];
HARUKIDELTA	22:438bedf24707	1532	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	4:fff1165ca50c	1533	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1534	}
HARUKIDELTA	4:fff1165ca50c	1535	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1536	//autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_Ratio_leftloop;
HARUKIDELTA	0:17f575135219	1537	//checkHeight(targetAngle);
HARUKIDELTA	0:17f575135219	1538
HARUKIDELTA	2:23daa5fa28b4	1539	//printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1540	}
HARUKIDELTA	0:17f575135219	1541
HARUKIDELTA	0:17f575135219	1542	void UpdateTargetAngle_Leftloop_short(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1543
HARUKIDELTA	0:17f575135219	1544	targetAngle[ROLL] = g_leftloopROLLshort;
HARUKIDELTA	0:17f575135219	1545	targetAngle[PITCH] = g_leftloopPITCHshort;
HARUKIDELTA	16:7fca5b938da6	1546	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	19:0955311b0db6	1547	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	22:438bedf24707	1548	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	4:fff1165ca50c	1549	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1550	}
HARUKIDELTA	4:fff1165ca50c	1551	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1552
HARUKIDELTA	0:17f575135219	1553	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1554	}
taknokolat	10:652071c20bf6	1555
HARUKIDELTA	18:cce82f3374fc	1556	void Sbusprintf(){
HARUKIDELTA	18:cce82f3374fc	1557
HARUKIDELTA	18:cce82f3374fc	1558	for(uint8_t i=0; i<8; i++) pc.printf("ch.%d = %d ",i+1,sbus.manualpwm[i]);
HARUKIDELTA	18:cce82f3374fc	1559	pc.printf("\r\n");
HARUKIDELTA	18:cce82f3374fc	1560
HARUKIDELTA	18:cce82f3374fc	1561	}
HARUKIDELTA	18:cce82f3374fc	1562
HARUKIDELTA	0:17f575135219	1563
HARUKIDELTA	0:17f575135219	1564	//デバッグ用
HARUKIDELTA	0:17f575135219	1565	void DebugPrint(){
HARUKIDELTA	0:17f575135219	1566	/*
HARUKIDELTA	0:17f575135219	1567	static int16_t deltaT = 0, t_start = 0;
HARUKIDELTA	0:17f575135219	1568	deltaT = t.read_u2s() - t_start;
HARUKIDELTA	0:17f575135219	1569	pc.printf("t:%d us, ",deltaT);
HARUKIDELTA	0:17f575135219	1570	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	1571	t_start = t.read_us();
HARUKIDELTA	0:17f575135219	1572	*/
HARUKIDELTA	0:17f575135219	1573	//for(uint8_t i=0; i<8; i++) pc.printf("%d ",sbus.manualpwm[i]);
HARUKIDELTA	0:17f575135219	1574	//for(uint8_t i=1; i<4; i++) pc.printf("%d ",sbus.manualpwm[i]);
HARUKIDELTA	0:17f575135219	1575	//pc.printf("\r\n");
HARUKIDELTA	27:61876b34ded4	1576	for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
HARUKIDELTA	0:17f575135219	1577	//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	1578	//pc.printf("%d\t",autopwm[AIL_L]); // pc.printf("%d\t",autopwm[RUD]);
HARUKIDELTA	0:17f575135219	1579	//pc.printf("%d",g_distance);
HARUKIDELTA	0:17f575135219	1580
HARUKIDELTA	0:17f575135219	1581	//pc.printf("Mode: %c: ",g_buf[0]);
HARUKIDELTA	0:17f575135219	1582	//if(g_buf[0] == 'Y') pc.printf(" %3.1f",g_SerialTargetYAW);
HARUKIDELTA	27:61876b34ded4	1583	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	1584	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	24 Sep 2018
Imports:	6
Forks:	1
Commits:	35
Dependents:	0
Dependencies:	4
Followers:	23

main.cpp@27:61876b34ded4, 2018-09-21 (annotated)

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