航空研究会
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Autoflight2018_47
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Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
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Autoflight2018_46
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航空研究会
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main.cpp
00001 //mbed 00002 #include "mbed.h" 00003 #include "FATFileSystem.h" 00004 #include "SDFileSystem.h" 00005 //C 00006 #include "math.h" 00007 //sensor 00008 #include "MPU6050_DMP6.h" 00009 //#include "MPU9250.h" 00010 //#include "BMP280.h" 00011 #include "hcsr04.h" 00012 //device 00013 #include "sbus.h" 00014 //config 00015 #include "SkipperSv2.h" 00016 #include "falfalla.h" 00017 //other 00018 #include "pid.h" 00019 00020 #define DEBUG_SEMIAUTO 0 00021 #define DEBUG_PRINT_INLOOP 1 00022 00023 #define KP_ELE 15.0 //2.0 00024 #define KI_ELE 0.0 00025 #define KD_ELE 0.0 //0/0 00026 #define KP_RUD 3.0 00027 #define KI_RUD 0.0 00028 #define KD_RUD 0.0 00029 #define KP_AIL 0.1 00030 #define KI_AIL 0.2 00031 #define KD_AIL 0.2 00032 00033 //#define g_AIL_L_Ratio_rightloop 0.5 00034 00035 #define GAIN_CONTROLVALUE_TO_PWM 3.0 00036 00037 #define RIGHT_ROLL -12.0 00038 #define RIGHT_PITCH -10.0 //5.0 00039 #define LEFT_ROLL 12.0 00040 #define LEFT_PITCH -5.0 00041 #define STRAIGHT_ROLL 4.0 00042 #define STRAIGHT_PITCH 3.0 00043 #define TAKEOFF_THR 0.8 00044 #define LOOP_THR 0.6 00045 00046 //#define g_rightloopRUD 1500 00047 00048 #define RIGHT_ROLL_SHORT -12.0 00049 #define RIGHT_PITCH_SHORT -5.0 00050 #define LEFT_ROLL_SHORT 12.0 00051 #define LEFT_PITCH_SHORT -5.0 00052 00053 #define rightloopROLL2 -10.0 00054 00055 /*#define rightloopRUD 1300 //1250 00056 #define rightloopshortRUD 1250 00057 #define leftloopRUD 1500 00058 #define leftloopshortRUD 1500 00059 #define glideloopRUD 1300 00060 */ 00061 #define AIL_R_correctionrightloop 0 00062 #define AIL_L_correctionrightloop 0 00063 #define AIL_L_correctionrightloopshort 0 00064 #define AIL_L_correctionleftloop -0 00065 #define AIL_L_correctionleftloopshort 0 00066 00067 00068 #define RIGHTLOOP_RUD 1250 00069 #define RIGHTLOOPSHORT_RUD 1250 00070 #define LEFTLOOP_RUD 1500 00071 #define LEFTLOOPSHORT_RUD 1500 00072 #define GLIDELOOP_RUD 1300 00073 #define AIL_L_CORRECTION_RIGHTLOOP 0 00074 #define AIL_L_CORRECTION_RIGHTLOOPSHORT 0 00075 #define AIL_L_CORRECTION_LEFTLOOP 0 00076 #define AIL_L_CORRECTION_LEFTLOOPSHORT 0 00077 00078 #define GLIDE_ROLL -12.0 00079 #define GLIDE_PITCH -3.0 00080 00081 00082 #define AIL_L_RatioRising 0.5 00083 #define AIL_L_RatioDescent 2 00084 00085 //コンパスキャリブレーション 00086 //SkipperS2基板 00087 /* 00088 #define MAGBIAS_X -35.0 00089 #define MAGBIAS_Y 535.0 00090 #define MAGBIAS_Z -50.0 00091 */ 00092 //S2v2 1番基板 00093 #define MAGBIAS_X 395.0 00094 #define MAGBIAS_Y 505.0 00095 #define MAGBIAS_Z -725.0 00096 //S2v2 2番基板 00097 /* 00098 #define MAGBIAS_X 185.0 00099 #define MAGBIAS_Y 220.0 00100 #define MAGBIAS_Z -350.0 00101 */ 00102 00103 #define ELEMENT 1 00104 #define LIMIT_STRAIGHT_YAW 5.0 00105 #define THRESHOLD_TURNINGRADIUS_YAW 60.0 00106 #define ALLOWHEIGHT 15 00107 00108 #ifndef PI 00109 #define PI 3.14159265358979 00110 #endif 00111 00112 const int16_t lengthdivpwm = 320; 00113 const int16_t changeModeCount = 6; 00114 00115 00116 SBUS sbus(PA_9, PA_10); //SBUS 00117 00118 PwmOut servo1(PC_6); // TIM3_CH1 //old echo 00119 PwmOut servo2(PC_7); // TIM3_CH2 //PC_7 00120 PwmOut servo3(PB_0); // TIM3_CH3 00121 PwmOut servo4(PB_1); // TIM3_CH4 00122 PwmOut servo5(PB_6); // TIM4_CH1 00123 PwmOut servo6(PB_7); // TIM4_CH2 //old trigger 00124 //PwmOut servo7(PB_8); // TIM4_CH3 //PB_8 new echo 00125 //PwmOut servo8(PB_9); // TIM4_CH4 //new trigger 00126 00127 RawSerial pc(PA_2,PA_3, 115200); //tx,rx.baudrate pin;PA_2=UART2_TX, PA_3=UART2_RX 00128 //RawSerial pc2(PB_6,PB_7, 115200); //sbus確認用 00129 SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd"); 00130 00131 DigitalOut led1(PA_0); //黄色のコネクタ 00132 DigitalOut led2(PA_1); 00133 DigitalOut led3(PB_4); 00134 DigitalOut led4(PB_5); 00135 00136 //InterruptIn switch2(PC_14); 00137 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 00138 HCSR04 usensor(PB_9,PB_8); //trig,echo 9,8 00139 00140 PID pid_AIL(g_kpAIL,g_kiAIL,g_kdAIL); 00141 PID pid_ELE(g_kpELE,g_kiELE,g_kdELE); 00142 PID pid_RUD(g_kpRUD,g_kiRUD,g_kdRUD); 00143 00144 enum Channel{AIL_R, ELE, THR, RUD, DROP, AIL_L, Ch7, Ch8}; 00145 enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度 00146 enum OperationMode{StartUp, SemiAuto, RightLoop, LeftLoop, GoStraight, BombwithPC, ZERO, Moebius, Glide}; 00147 enum BombingMode{Takeoff, Chicken, Transition, Approach}; 00148 enum OutputStatus{Manual, Auto}; 00149 00150 static OutputStatus output_status = Manual; 00151 OperationMode operation_mode = StartUp; 00152 BombingMode bombing_mode = Takeoff; 00153 00154 static int16_t autopwm[8] = {1455,1450,1176,1628,1512,1452}; 00155 /* 00156 //1号機 00157 static int16_t trimpwm[6] = {1580,1600,1176,1404,1440,1448}; 00158 int16_t maxpwm[6] = {1796,1936,1848,1740,1820,1856}; 00159 int16_t minpwm[6] = {1182,1265,1176,1068,1180,1176}; 00160 const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]}; 00161 */ 00162 00163 //2号機 00164 00165 static int16_t trimpwm[6] = {1455,1450,1176,1628,1512,1452}; 00166 int16_t maxpwm[6] = {1672,1786,1848,1964,1820,1860}; 00167 int16_t minpwm[6] = {1057,1115,1176,1292,1180,1180}; 00168 const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]}; 00169 00170 00171 int16_t oldTHR = 1000; 00172 00173 int16_t g_AIL_L_Ratio_rightloop = 0.5; 00174 00175 00176 static float nowAngle[3] = {0,0,0}; 00177 const float trimAngle[3] = {0.0, 0.0, 0.0}; 00178 const float maxAngle[2] = {90, 90}; 00179 const float minAngle[2] = {-90, -90}; 00180 00181 float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0; 00182 00183 unsigned int g_distance; 00184 Ticker USsensor; 00185 static char g_buf[16]; 00186 char g_landingcommand='Z'; 00187 float g_SerialTargetYAW; 00188 00189 Timer t; 00190 Timer t2; 00191 Timeout RerurnChickenServo1; 00192 Timeout RerurnChickenServo2; 00193 00194 /*-----関数のプロトタイプ宣言-----*/ 00195 void setup(); 00196 void loop(); 00197 00198 void Init_PWM(); 00199 void Init_servo(); //サーボ初期化 00200 void Init_sbus(); //SBUS初期化 00201 void Init_sensors(); 00202 void DisplayClock(); //クロック状態確認 00203 00204 //センサの値取得 00205 void SensingMPU(); 00206 void UpdateDist(); 00207 00208 //void offsetRollPitch(float FirstROLL, float FirstPITCH); 00209 //void TransYaw(float FirstYAW); 00210 float TranslateNewYaw(float beforeYaw, float newzeroYaw); 00211 void UpdateTargetAngle(float targetAngle[3]); 00212 void CalculateControlValue(float targetAngle[3], float controlValue[3]); 00213 void UpdateAutoPWM(float controlValue[3]); 00214 void ConvertPWMintoRAD(float targetAngle[3]); 00215 inline float CalcRatio(float value, float trim, float limit); 00216 bool CheckSW_Up(Channel ch); 00217 int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min); 00218 inline int16_t SetTHRinRatio(float ratio); 00219 00220 //sbus割り込み 00221 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 00222 void Output_PWM(int16_t pwm[6]); //pwmをサーボへ出力 00223 00224 //シリアル割り込み 00225 void getSF_Serial(); 00226 float ConvertByteintoFloat(char high, char low); 00227 00228 00229 //SD設定 00230 int GetParameter(FILE *fp, const char *paramName,char parameter[]); 00231 int SetOptions(float *g_kpELE, float *g_kiELE, float *g_kdELE, 00232 float *g_kpRUD, float *g_kiRUD, float *g_kdRUD, 00233 float *g_rightloopROLL, float *g_rightloopPITCH, 00234 float *g_leftloopROLL, float *g_leftloopPITCH, 00235 float *g_gostraightROLL, float *g_gostraightPITCH, 00236 float *g_takeoffTHR, float *g_loopTHR, 00237 float *g_rightloopROLLshort, float *g_rightloopPITCHshort, 00238 float *g_leftloopROLLshort, float *g_leftloopPITCHshort, 00239 float *g_glideloopROLL, float *g_glideloopPITCH, 00240 float *g_kpAIL, float *g_kiAIL, float *g_kdAIL, 00241 int *g_rightloopRUD, int *g_rightloopshortRUD, 00242 int *g_leftloopRUD, int *g_leftloopshortRUD, 00243 int *g_glideRUD, 00244 int *g_AIL_L_correctionrightloop,int *g_AIL_L_correctionrightloopshort, 00245 int *g_AIL_L_correctionlefttloop,int *g_AIL_L_correctionleftloopshort 00246 ); 00247 //switch2割り込み 00248 void ResetTrim(); 00249 00250 //自動操縦 00251 void UpdateTargetAngle_GoStraight(float targetAngle[3]); 00252 void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]); //着陸時にスロットルが０の時の直進 00253 void UpdateTargetAngle_Rightloop(float targetAngle[3]); 00254 void UpdateTargetAngle_Rightloop_short(float targetAngle[3]); 00255 void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]); //着陸時にスロットルが０の時の右旋回 00256 void UpdateTargetAngle_Leftloop(float targetAngle[3]); 00257 void UpdateTargetAngle_Leftloop_short(float targetAngle[3]); 00258 void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]); //着陸時にスロットルが０の時の左旋回 00259 void UpdateTargetAngle_Moebius(float targetAngle[3]); 00260 void UpdateTargetAngle_Glide(float targetAngle[3]); 00261 void UpdateTargetAngle_Takeoff(float targetAngle[3]); 00262 void UpdateTargetAngle_Approach(float targetAngle[3]); 00263 void Take_off_and_landing(float targetAngle[3]); 00264 00265 int Rotate(float targetAngle[3], float TargetYAW); 00266 00267 //投下 00268 void Chicken_Drop(); 00269 void ReturnChickenServo1(); 00270 void ReturnChickenServo2(); 00271 00272 //超音波による高度補正 00273 void checkHeight(float targetAngle[3]); 00274 void UpdateTargetAngle_NoseUP(float targetAngle[3]); 00275 void UpdateTargetAngle_NoseDOWN(float targetAngle[3]); 00276 00277 //デバッグ用 00278 void Sbusprintf(); 00279 void DebugPrint(); 00280 00281 /*---関数のプロトタイプ宣言終わり---*/ 00282 00283 int main() 00284 { 00285 setup(); 00286 00287 00288 while(1){ 00289 00290 loop(); 00291 00292 00293 NVIC_DisableIRQ(USART1_IRQn); 00294 if(!CheckSW_Up(Ch7)){ 00295 led3=0; 00296 }else{ 00297 led3=1; 00298 } 00299 NVIC_EnableIRQ(USART1_IRQn); 00300 } 00301 00302 } 00303 00304 void setup(){ 00305 //buzzer = 0; 00306 led1 = 1; 00307 led2 = 1; 00308 led3 = 1; 00309 led4 = 1; 00310 00311 SetOptions(&g_kpELE, &g_kiELE, &g_kdELE, 00312 &g_kpRUD, &g_kiRUD, &g_kdRUD, 00313 &g_rightloopROLL, &g_rightloopPITCH, 00314 &g_leftloopROLL, &g_leftloopPITCH, 00315 &g_gostraightROLL, &g_gostraightPITCH, 00316 &g_takeoffTHR, &g_loopTHR, 00317 &g_rightloopROLLshort, &g_rightloopPITCHshort, 00318 &g_leftloopROLLshort, &g_leftloopPITCHshort, 00319 &g_glideloopROLL, &g_glideloopPITCH, 00320 &g_kpAIL, &g_kiAIL,&g_kdAIL, 00321 &g_rightloopRUD, &g_rightloopshortRUD, 00322 &g_leftloopRUD, &g_leftloopshortRUD, 00323 &g_glideloopRUD, 00324 &g_AIL_L_correctionrightloop,&g_AIL_L_correctionrightloopshort, 00325 &g_AIL_L_correctionleftloop,&g_AIL_L_correctionleftloopshort 00326 ); 00327 00328 00329 Init_PWM(); 00330 Init_servo(); 00331 Init_sbus(); 00332 Init_sensors(); 00333 //switch2.rise(ResetTrim); 00334 00335 USsensor.attach(&UpdateDist, 0.05); 00336 00337 NVIC_SetPriority(USART1_IRQn,0); 00338 NVIC_SetPriority(EXTI0_IRQn,1); 00339 NVIC_SetPriority(TIM5_IRQn,2); 00340 NVIC_SetPriority(EXTI9_5_IRQn,3); 00341 DisplayClock(); 00342 t.start(); 00343 00344 00345 pc.printf("MPU calibration start\r\n"); 00346 00347 float offsetstart = t.read(); 00348 while(t.read() - offsetstart < 26){ 00349 SensingMPU(); 00350 for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]); 00351 pc.printf("\r\n"); 00352 led1 = !led1; 00353 led2 = !led2; 00354 led3 = !led3; 00355 led4 = !led4; 00356 } 00357 00358 pc.attach(getSF_Serial, Serial::RxIrq); 00359 NVIC_SetPriority(USART2_IRQn,4); 00360 00361 FirstROLL = nowAngle[ROLL]; 00362 FirstPITCH = nowAngle[PITCH]; 00363 nowAngle[ROLL] -=FirstROLL; 00364 nowAngle[PITCH] -=FirstPITCH; 00365 00366 led1 = 0; 00367 led2 = 0; 00368 led3 = 0; 00369 led4 = 0; 00370 wait(0.2); 00371 00372 00373 pc.printf("All initialized\r\n"); 00374 } 00375 00376 void loop(){ 00377 static float targetAngle[3] = {0.0, 0.0, 0.0}, controlValue[2] = {0.0, 0.0}; 00378 SensingMPU(); 00379 UpdateTargetAngle(targetAngle); 00380 CalculateControlValue(targetAngle, controlValue); 00381 UpdateAutoPWM(controlValue); 00382 00383 00384 //NVIC_SetPriority(TIM5_IRQn,4); 00385 //NVIC_SetPriority(USART2_IRQn,2); 00386 00387 wait_ms(23); 00388 00389 //NVIC_SetPriority(TIM5_IRQn,2); 00390 //NVIC_SetPriority(USART2_IRQn,4); 00391 00392 00393 // pc.printf("6\r\n"); 00394 //NVIC_DisableIRQ(USART2_IRQn); 00395 //pc.printf("%c",g_landingcommand); 00396 //NVIC_EnableIRQ(USART2_IRQn); 00397 #if DEBUG_PRINT_INLOOP 00398 //Sbusprintf(); 00399 DebugPrint(); 00400 #endif 00401 } 00402 00403 //サーボ初期化関数 00404 void Init_servo(){ 00405 00406 servo1.period_ms(14); 00407 servo1.pulsewidth_us(trimpwm[AIL_R]); 00408 00409 servo2.period_ms(14); 00410 servo2.pulsewidth_us(trimpwm[ELE]); 00411 00412 servo3.period_ms(14); 00413 servo3.pulsewidth_us(trimpwm[THR]); 00414 00415 servo4.period_ms(14); 00416 servo4.pulsewidth_us(trimpwm[RUD]); 00417 00418 servo5.period_ms(14); 00419 servo5.pulsewidth_us(trimpwm[DROP]); 00420 00421 servo6.period_ms(14); 00422 servo6.pulsewidth_us(trimpwm[AIL_L]); 00423 00424 pc.printf("servo initialized\r\n"); 00425 } 00426 00427 //Sbus初期化 00428 void Init_sbus(){ 00429 sbus.initialize(); 00430 sbus.setLastfuncPoint(Update_PWM); 00431 sbus.startInterrupt(); 00432 } 00433 00434 void Init_sensors(){ 00435 if(mpu6050.setup() == -1){ 00436 pc.printf("failed initialize\r\n"); 00437 while(1){ 00438 led1 = 1; led2 = 0; led3 = 1; led4 = 0; 00439 wait(1); 00440 led1 = 0; led2 = 1; led3 = 0; led4 = 1; 00441 wait(1); 00442 } 00443 } 00444 } 00445 00446 void Init_PWM(){ 00447 pc.printf("PWM initialized\r\n"); 00448 } 00449 00450 void DisplayClock(){ 00451 pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000); 00452 pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000); 00453 pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000); 00454 pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000); 00455 pc.printf("\r\n"); 00456 } 00457 00458 void UpdateTargetAngle(float targetAngle[3]){ 00459 00460 00461 static int16_t count_op = 0; 00462 #if DEBUG_SEMIAUTO 00463 switch(operation_mode){ 00464 case StartUp: 00465 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ 00466 count_op++; 00467 if(count_op > changeModeCount){ 00468 operation_mode = SemiAuto; 00469 pc.printf("Goto SemiAuto mode\r\n"); 00470 count_op = 0; 00471 } 00472 }else count_op = 0; 00473 break; 00474 00475 case SemiAuto: 00476 /* 大会用では以下のif文を入れてoperation_modeを変える 00477 if(CheckSW_Up(Ch6)){ 00478 count_op++; 00479 if(count_op>changeModeCount){ 00480 output_status = XXX; 00481 led2 = 0; 00482 pc.printf("Goto XXX mode\r\n"); 00483 count_op = 0; 00484 }else count_op = 0; 00485 ConvertPWMintoRAD(targetAngle); 00486 } 00487 */ 00488 ConvertPWMintoRAD(targetAngle); 00489 break; 00490 00491 default: 00492 operation_mode = SemiAuto; 00493 break; 00494 } 00495 00496 #else 00497 00498 switch(operation_mode){ 00499 case StartUp: 00500 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 00501 count_op++; 00502 if(count_op > changeModeCount){ 00503 operation_mode = RightLoop; 00504 pc.printf("Goto RightLoop mode\r\n"); 00505 count_op = 0; 00506 } 00507 }else count_op = 0; 00508 break; 00509 00510 case RightLoop: 00511 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ 00512 count_op++; 00513 if(count_op > changeModeCount){ 00514 operation_mode = LeftLoop; 00515 pc.printf("Goto LeftLoop mode\r\n"); 00516 count_op = 0; 00517 } 00518 }else count_op = 0; 00519 UpdateTargetAngle_Rightloop(targetAngle); 00520 00521 break; 00522 00523 case LeftLoop: 00524 if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ 00525 count_op++; 00526 if(count_op > changeModeCount){ 00527 operation_mode = GoStraight; 00528 pc.printf("Goto GoStraight mode\r\n"); 00529 count_op = 0; 00530 } 00531 }else count_op = 0; 00532 UpdateTargetAngle_Leftloop(targetAngle); 00533 break; 00534 00535 case GoStraight: 00536 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ 00537 count_op++; 00538 if(count_op > changeModeCount){ 00539 operation_mode = Moebius; 00540 pc.printf("Goto Moebius mode\r\n"); 00541 count_op = 0; 00542 } 00543 }else count_op = 0; 00544 UpdateTargetAngle_GoStraight(targetAngle); 00545 break; 00546 00547 case Moebius: 00548 if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ 00549 count_op++; 00550 if(count_op > changeModeCount){ 00551 operation_mode = Glide; 00552 pc.printf("Goto Glide mode\r\n"); 00553 count_op = 0; 00554 } 00555 }else count_op = 0; 00556 UpdateTargetAngle_Moebius(targetAngle); 00557 break; 00558 00559 case Glide: 00560 if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){ 00561 count_op++; 00562 if(count_op > changeModeCount){ 00563 operation_mode = BombwithPC; 00564 pc.printf("Goto Bombing mode\r\n"); 00565 pc.attach(getSF_Serial, Serial::RxIrq); 00566 count_op = 0; 00567 } 00568 }else count_op = 0; 00569 UpdateTargetAngle_Glide(targetAngle); 00570 break; 00571 00572 case BombwithPC: 00573 if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){ 00574 count_op++; 00575 if(count_op > changeModeCount){ 00576 operation_mode = RightLoop; 00577 pc.printf("Goto RightLoop mode\r\n"); 00578 pc.attach(NULL, Serial::RxIrq); 00579 count_op = 0; 00580 } 00581 }else count_op = 0; 00582 Take_off_and_landing(targetAngle); 00583 break; 00584 00585 default: 00586 operation_mode = StartUp; 00587 break; 00588 } 00589 #endif 00590 00591 if(CheckSW_Up(Ch7)){ 00592 output_status = Auto; 00593 led1 = 1; 00594 }else{ 00595 output_status = Manual; 00596 led1 = 0; 00597 } 00598 00599 00600 } 00601 00602 int GetParameter(FILE *fp, const char *paramName,char parameter[]){ 00603 int i=0, j=0; 00604 int strmax = 200; 00605 char str[strmax]; 00606 00607 rewind(fp); //ファイル位置を先頭に 00608 while(1){ 00609 if (fgets(str, strmax, fp) == NULL) { 00610 return 0; 00611 } 00612 if (!strncmp(str, paramName, strlen(paramName))) { 00613 while (str[i++] != '=') {} 00614 while (str[i] != '\n') { 00615 parameter[j++] = str[i++]; 00616 } 00617 parameter[j] = '\0'; 00618 return 1; 00619 } 00620 } 00621 } 00622 00623 00624 //sdによる設定 00625 int SetOptions(float *g_kpELE, float *g_kiELE, float *g_kdELE, 00626 float *g_kpRUD, float *g_kiRUD, float *g_kdRUD, 00627 float *g_rightloopROLL, float *g_rightloopPITCH, 00628 float *g_leftloopROLL, float *g_leftloopPITCH, 00629 float *g_gostraightROLL, float *g_gostraightPITCH, 00630 float *g_takeoffTHR, float *g_loopTHR, 00631 float *g_rightloopROLLshort, float *g_rightloopPITCHshort, 00632 float *g_leftloopROLLshort, float *g_leftloopPITCHshort, 00633 float *g_glideloopROLL, float *g_glideloopPITCH, 00634 float *g_kpAIL, float *g_kiAIL, float *g_kdAIL, 00635 int *g_rightloopRUD, int *g_rightloopshortRUD, 00636 int *g_leftloopRUD, int *g_leftloopshortRUD, 00637 int *g_glideloopRUD, 00638 int *g_AIL_L_correctionrightloop,int *g_AIL_L_correctionrightloopshort, 00639 int *g_AIL_L_correctionleftloop,int *g_AIL_L_correctionleftloopshort 00640 ){ 00641 00642 pc.printf("SDsetup start.\r\n"); 00643 00644 FILE *fp; 00645 char parameter[40]; //文字列渡す用の配列 00646 int SDerrorcount = 0; //取得できなかった数を返す 00647 const char *paramNames[] = { 00648 "KP_ELEVATOR", 00649 "KI_ELEVATOR", 00650 "KD_ELEVATOR", 00651 "KP_RUDDER", 00652 "KI_RUDDER", 00653 "KD_RUDDER", 00654 "RIGHTLOOP_ROLL", 00655 "RIGHTLOOP_PITCH", 00656 "LEFTLOOP_ROLL", 00657 "LEFTLOOP_PITCH", 00658 "GOSTRAIGHT_ROLL", 00659 "GOSTRAIGHT_PITCH", 00660 "TAKEOFF_THR_RATE", 00661 "LOOP_THR_RATE", 00662 "RIGHTLOOP_ROLL_SHORT", 00663 "RIGHTLOOP_PITCH_SHORT", 00664 "LEFTLOOP_ROLL_SHORT", 00665 "LEFTLOOP_PITCH_SHORT", 00666 "AUTOGLIDE_ROLL", 00667 "AUTOGLIDE PITCH", 00668 "KP_AILERON", 00669 "KI_AILERON", 00670 "KD_AILERON", 00671 "RIGHTLOOP_RUDDER", 00672 "RIGHTLOOPSHORT_RUDDER", 00673 "LEFTLOOP_RUDDER", 00674 "LEFTLOOPSHORT_RUDDER", 00675 "GLIDELOOP_RUDDER", 00676 "AILERON_LEFT_CORRECTION_RIGHTLOOP", 00677 "AILERON_LEFT_CORRECTION_RIGHTLOOPSHORT", 00678 "AILERON_LEFT_CORRECTION_LEFTLOOP", 00679 "AILERON_LEFT_CORRECTION_LEFTLOOPSHORT" 00680 }; 00681 00682 fp = fopen("/sd/option.txt","r"); 00683 00684 if(fp != NULL){ //開けたら 00685 pc.printf("File was openned.\r\n"); 00686 if(GetParameter(fp,paramNames[0],parameter)) *g_kpELE = atof(parameter); 00687 else{ *g_kpELE = KP_ELE; 00688 SDerrorcount++; 00689 } 00690 if(GetParameter(fp,paramNames[1],parameter)) *g_kiELE = atof(parameter); 00691 else{ *g_kiELE = KI_ELE; 00692 SDerrorcount++; 00693 } 00694 if(GetParameter(fp,paramNames[2],parameter)) *g_kdELE = atof(parameter); 00695 else{ *g_kdELE = KD_ELE; 00696 SDerrorcount++; 00697 } 00698 if(GetParameter(fp,paramNames[3],parameter)) *g_kpRUD = atof(parameter); 00699 else{ *g_kpRUD = KP_RUD; 00700 SDerrorcount++; 00701 } 00702 if(GetParameter(fp,paramNames[4],parameter)) *g_kiRUD = atof(parameter); 00703 else{ *g_kiRUD = KI_RUD; 00704 SDerrorcount++; 00705 } 00706 if(GetParameter(fp,paramNames[5],parameter)) *g_kdRUD = atof(parameter); 00707 else{ *g_kdRUD = KD_RUD; 00708 SDerrorcount++; 00709 } 00710 if(GetParameter(fp,paramNames[6],parameter)) *g_rightloopROLL = atof(parameter); 00711 else{ *g_rightloopROLL = RIGHT_ROLL; 00712 SDerrorcount++; 00713 } 00714 if(GetParameter(fp,paramNames[7],parameter)) *g_rightloopPITCH = atof(parameter); 00715 else{ *g_rightloopPITCH = RIGHT_PITCH; 00716 SDerrorcount++; 00717 } 00718 if(GetParameter(fp,paramNames[8],parameter)) *g_leftloopROLL = atof(parameter); 00719 else{ *g_leftloopROLL = LEFT_ROLL; 00720 SDerrorcount++; 00721 } 00722 if(GetParameter(fp,paramNames[9],parameter)) *g_leftloopPITCH = atof(parameter); 00723 else{ *g_leftloopPITCH = LEFT_PITCH; 00724 SDerrorcount++; 00725 } 00726 if(GetParameter(fp,paramNames[10],parameter)) *g_gostraightROLL = atof(parameter); 00727 else{ *g_gostraightROLL = STRAIGHT_ROLL; 00728 SDerrorcount++; 00729 } 00730 if(GetParameter(fp,paramNames[11],parameter)) *g_gostraightPITCH = atof(parameter); 00731 else{ *g_gostraightPITCH = STRAIGHT_PITCH; 00732 SDerrorcount++; 00733 } 00734 if(GetParameter(fp,paramNames[12],parameter)) *g_takeoffTHR = atof(parameter); 00735 else{ *g_takeoffTHR = TAKEOFF_THR; 00736 SDerrorcount++; 00737 } 00738 if(GetParameter(fp,paramNames[13],parameter)) *g_loopTHR = atof(parameter); 00739 else{ *g_loopTHR = LOOP_THR; 00740 SDerrorcount++; 00741 } 00742 if(GetParameter(fp,paramNames[14],parameter)) *g_rightloopROLLshort = atof(parameter); 00743 else{ *g_rightloopROLLshort = RIGHT_ROLL_SHORT; 00744 SDerrorcount++; 00745 } 00746 if(GetParameter(fp,paramNames[15],parameter)) *g_rightloopPITCHshort = atof(parameter); 00747 else{ *g_rightloopPITCHshort = RIGHT_PITCH_SHORT; 00748 SDerrorcount++; 00749 } 00750 if(GetParameter(fp,paramNames[16],parameter)) *g_leftloopROLLshort = atof(parameter); 00751 else{ *g_leftloopROLLshort = LEFT_ROLL_SHORT; 00752 SDerrorcount++; 00753 } 00754 if(GetParameter(fp,paramNames[17],parameter)) *g_leftloopPITCHshort = atof(parameter); 00755 else{ *g_leftloopPITCHshort = LEFT_PITCH_SHORT; 00756 SDerrorcount++; 00757 } 00758 if(GetParameter(fp,paramNames[18],parameter)) *g_glideloopROLL = atof(parameter); 00759 else{ *g_glideloopROLL = GLIDE_ROLL; 00760 SDerrorcount++; 00761 } 00762 if(GetParameter(fp,paramNames[19],parameter)) *g_glideloopPITCH = atof(parameter); 00763 else{ *g_glideloopPITCH = GLIDE_PITCH; 00764 SDerrorcount++; 00765 } 00766 if(GetParameter(fp,paramNames[20],parameter)) *g_kpAIL = atof(parameter); 00767 else{ *g_kpAIL = KP_AIL; 00768 SDerrorcount++; 00769 } 00770 if(GetParameter(fp,paramNames[21],parameter)) *g_kiAIL = atof(parameter); 00771 else{ *g_kiAIL = KI_AIL; 00772 SDerrorcount++; 00773 } 00774 if(GetParameter(fp,paramNames[22],parameter)) *g_kdAIL = atof(parameter); 00775 else{ *g_kdAIL = KP_AIL; 00776 SDerrorcount++; 00777 } 00778 if(GetParameter(fp,paramNames[23],parameter)) *g_rightloopRUD = atof(parameter); 00779 else{ *g_rightloopRUD = RIGHTLOOP_RUD; 00780 SDerrorcount++; 00781 } 00782 if(GetParameter(fp,paramNames[24],parameter)) *g_rightloopshortRUD = atof(parameter); 00783 else{ *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD; 00784 SDerrorcount++; 00785 } 00786 if(GetParameter(fp,paramNames[25],parameter)) *g_leftloopRUD = atof(parameter); 00787 else{ *g_leftloopshortRUD = LEFTLOOP_RUD; 00788 SDerrorcount++; 00789 } 00790 if(GetParameter(fp,paramNames[26],parameter)) *g_leftloopshortRUD = atof(parameter); 00791 else{ *g_leftloopshortRUD = LEFTLOOPSHORT_RUD; 00792 SDerrorcount++; 00793 } 00794 if(GetParameter(fp,paramNames[27],parameter)) *g_glideloopRUD = atof(parameter); 00795 else{ *g_glideloopRUD = GLIDELOOP_RUD; 00796 SDerrorcount++; 00797 } 00798 if(GetParameter(fp,paramNames[28],parameter)) *g_AIL_L_correctionrightloop = atof(parameter); 00799 else{ *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP; 00800 SDerrorcount++; 00801 } 00802 if(GetParameter(fp,paramNames[29],parameter)) *g_AIL_L_correctionrightloopshort = atof(parameter); 00803 else{ *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT; 00804 SDerrorcount++; 00805 } 00806 if(GetParameter(fp,paramNames[30],parameter)) *g_AIL_L_correctionleftloop = atof(parameter); 00807 else{ *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP; 00808 SDerrorcount++; 00809 } 00810 if(GetParameter(fp,paramNames[31],parameter)) *g_AIL_L_correctionleftloopshort = atof(parameter); 00811 else{ *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT; 00812 SDerrorcount++; 00813 } 00814 00815 fclose(fp); 00816 00817 }else{ //ファイルがなかったら 00818 pc.printf("fp was null.\r\n"); 00819 *g_kpELE = KP_ELE; 00820 *g_kiELE = KI_ELE; 00821 *g_kdELE = KD_ELE; 00822 *g_kpRUD = KP_RUD; 00823 *g_kiRUD = KI_RUD; 00824 *g_kdRUD = KD_RUD; 00825 *g_rightloopROLL = RIGHT_ROLL; 00826 *g_rightloopPITCH = RIGHT_PITCH; 00827 *g_leftloopROLL = LEFT_ROLL; 00828 *g_leftloopPITCH = LEFT_PITCH; 00829 *g_gostraightROLL = STRAIGHT_ROLL; 00830 *g_gostraightPITCH = STRAIGHT_PITCH; 00831 *g_takeoffTHR = TAKEOFF_THR; 00832 *g_loopTHR = LOOP_THR; 00833 *g_kpAIL = KP_AIL; //パラメータ変えるのお忘れなく！！ 00834 *g_kiAIL = KI_AIL; 00835 *g_kdAIL = KD_AIL; 00836 *g_rightloopRUD = RIGHTLOOP_RUD; 00837 *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD; 00838 *g_leftloopRUD = LEFTLOOP_RUD; 00839 *g_leftloopshortRUD = LEFTLOOPSHORT_RUD; 00840 *g_glideloopRUD = GLIDELOOP_RUD; 00841 *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP; 00842 *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT; 00843 *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP; 00844 *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT; 00845 00846 00847 SDerrorcount = -1; 00848 } 00849 pc.printf("SDsetup finished.\r\n"); 00850 if(SDerrorcount == 0) pc.printf("setting option is success\r\n"); 00851 else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n"); 00852 else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount); 00853 00854 pc.printf("kpELE = %f, kiELE = %f, kdELE = %f\r\n", *g_kpRUD, *g_kiRUD, *g_kdRUD); 00855 pc.printf("kpRUD = %f, kiRUD = %f, kdRUD = %f\r\n", *g_kpELE, *g_kiELE, *g_kdELE); 00856 pc.printf("rightloopROLL = %f, rightloopPITCH = %f\r\n", *g_rightloopROLL, *g_rightloopPITCH); 00857 pc.printf("leftloopROLL = %f, g_leftloopPITCH = %f\r\n", *g_leftloopROLL, *g_leftloopPITCH); 00858 pc.printf("gostraightROLL = %f, g_gostraightPITCH = %f\r\n", *g_gostraightROLL, *g_gostraightPITCH); 00859 pc.printf("g_takeoffTHR = %f, g_loopTHR = %f\r\n", *g_takeoffTHR, *g_loopTHR); 00860 pc.printf("rightloopROLLshort = %f, rightloopPITCHshort = %f\r\n", *g_rightloopROLLshort, *g_rightloopPITCHshort); 00861 pc.printf("leftloopROLLshort = %f, g_leftloopPITCHshort = %f\r\n", *g_leftloopROLLshort, *g_leftloopPITCHshort); 00862 pc.printf("glideROLL = %f, glidePITCH = %f\r\n", *g_glideloopROLL, *g_glideloopPITCH); 00863 pc.printf("kpAIL = %f,kiAIL = %f,kdAIL = %f\r\n ",*g_kpAIL,*g_kiAIL,*g_kdAIL); 00864 pc.printf("RIGHTLOOPRUD = %d,RIGHTLOOPSHORTRUD = %d\r\n",*g_rightloopRUD,*g_rightloopshortRUD); 00865 pc.printf("LEFTTLOOPRUD = %d,LEFTLOOPSHORTRUD = %d\r\n",*g_leftloopRUD,*g_leftloopshortRUD); 00866 pc.printf("GLIDELOOPRUD = %d\r\n",*g_glideloopRUD); 00867 pc.printf("AIL_L_CORRECTION_RIGHTLOOP = %d, AIL_L_CORRECTION_RIGHTLOOPSHORT = %d\r\n",*g_AIL_L_correctionrightloop,*g_AIL_L_correctionrightloopshort); 00868 pc.printf("AIL_L_CORRECTION_LEFTLOOP = %d, AIL_L_CORRECTION_LEFTLOOPSHORT = %d\r\n",*g_AIL_L_correctionleftloop,*g_AIL_L_correctionleftloopshort); 00869 return SDerrorcount; 00870 } 00871 00872 void CalculateControlValue(float targetAngle[3], float controlValue[3]){ 00873 00874 static int t_last; 00875 int t_now; 00876 float dt; 00877 00878 t_now = t.read_us(); 00879 dt = (float)((t_now - t_last)/1000000.0f) ; 00880 t_last = t_now; 00881 00882 00883 //controlValue[ROLL] = pid_RUD.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); 00884 controlValue[ROLL] = pid_AIL.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); //エルロンでロール制御 00885 controlValue[PITCH] = pid_ELE.calcPID(nowAngle[PITCH], targetAngle[PITCH], dt); 00886 00887 } 00888 00889 void UpdateAutoPWM(float controlValue[3]){ 00890 NVIC_DisableIRQ(USART1_IRQn); 00891 int16_t addpwm[2]; //-500~500 00892 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 00893 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 00894 00895 autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH]; //rewrite 00896 autopwm[AIL_R] = trimpwm[AIL_R] - reverce[AIL_R] * addpwm[ROLL]; 00897 //autopwm[THR] = oldTHR; 00898 00899 autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]); 00900 autopwm[AIL_R] = ThresholdMaxMin(autopwm[AIL_R], maxpwm[AIL_R], minpwm[AIL_R]); 00901 00902 NVIC_EnableIRQ(USART1_IRQn); 00903 } 00904 00905 inline float CalcRatio(float value, float trim, float limit){ 00906 return (value - trim) / (limit - trim); 00907 } 00908 00909 bool CheckSW_Up(Channel ch){ 00910 00911 if(SWITCH_CHECK < sbus.manualpwm[ch]){ 00912 return true; 00913 }else{ 00914 return false; 00915 } 00916 00917 } 00918 00919 int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min){ 00920 if(value > max) return max; 00921 if(value < min) return min; 00922 return value; 00923 } 00924 00925 inline int16_t SetTHRinRatio(float ratio){ 00926 return minpwm[THR] + (int16_t)(2 * lengthdivpwm * ratio); 00927 } 00928 00929 00930 00931 /*---SBUS割り込み処理---*/ 00932 00933 //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) 00934 //各stabiGylo関数で算出したpwmを各変数に代入する(自動モード) 00935 void Update_PWM() 00936 { 00937 NVIC_DisableIRQ(USART1_IRQn); 00938 static int16_t pwm[6]; 00939 static int16_t temppwm[6]={trimpwm[0],trimpwm[1],trimpwm[2],trimpwm[3],trimpwm[4],trimpwm[5]}; 00940 static int16_t FailsafeCounter=0; 00941 static int16_t OKCounter=0; 00942 00943 if(sbus.flg_ch_update == true && sbus.failsafe_status==SBUS_SIGNAL_OK){ 00944 00945 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 00946 case Manual: 00947 if(OKCounter!=0) break; 00948 for(uint8_t i=0;i<6;i++){ 00949 pwm[i] = sbus.manualpwm[i]; 00950 } 00951 oldTHR = sbus.manualpwm[THR]; 00952 //pc.printf("update_manual\r\n"); 00953 NVIC_EnableIRQ(USART1_IRQn); 00954 break; 00955 00956 case Auto: 00957 if(OKCounter!=0) break; 00958 pwm[AIL_R] = autopwm[AIL_R]; //sbus.manualpwm[AIL]; 00959 pwm[ELE] = autopwm[ELE]; 00960 pwm[THR] = autopwm[THR]; 00961 pwm[RUD] = autopwm[RUD]; 00962 pwm[DROP] = autopwm[DROP]; 00963 pwm[AIL_L] = autopwm[AIL_L]; 00964 00965 NVIC_EnableIRQ(USART1_IRQn); 00966 break; 00967 00968 default: 00969 if(OKCounter!=0) break; 00970 for(uint8_t i=0;i<6;i++){ 00971 pwm[i] = sbus.manualpwm[i]; 00972 } //pc.printf("update_manual\r\n"); 00973 NVIC_EnableIRQ(USART1_IRQn); 00974 break; 00975 } 00976 00977 for(uint8_t i=0;i<6;i++){ 00978 if(pwm[i]<1000 || pwm[i]>2000) pwm[i]=temppwm[i]; 00979 temppwm[i]=pwm[i]; 00980 } 00981 00982 } 00983 //else(sbus.flg_ch_update == false) pc.printf("0\r\n"); 00984 /* if(sbus.failsafe_status==SBUS_SIGNAL_OK){ 00985 pc.printf("OK\r\n"); 00986 } 00987 */ 00988 //pc.printf("%d\r\n",sbus.failsafe_status); 00989 00990 if(sbus.failsafe_status==SBUS_SIGNAL_LOST||sbus.failsafe_status==SBUS_SIGNAL_FAILSAFE) FailsafeCounter++; 00991 else FailsafeCounter=0; 00992 00993 if(FailsafeCounter>10){ 00994 for(uint8_t i=0;i<6;i++) pwm[i] = trimpwm[i]; 00995 00996 if(sbus.failsafe_status==SBUS_SIGNAL_OK) OKCounter++; 00997 if(OKCounter>10) { 00998 OKCounter=0; 00999 } 01000 01001 //pc.printf("%d\r\n",sbus.failsafe_status); 01002 //if(sbus.failsafe_status!=SBUS_SIGNAL_FAILSAFE)break; 01003 01004 } 01005 //if(sbus.failsafe_status==SBUS_SIGNAL_OK){FailsafeCounter=0;} 01006 01007 01008 sbus.flg_ch_update = false; 01009 Output_PWM(pwm); 01010 } 01011 01012 01013 //pwmをサーボに出力。 01014 void Output_PWM(int16_t pwm[5]) 01015 { 01016 NVIC_DisableIRQ(USART1_IRQn); 01017 servo1.pulsewidth_us(pwm[0]); 01018 servo2.pulsewidth_us(pwm[1]); 01019 servo3.pulsewidth_us(pwm[2]); 01020 servo4.pulsewidth_us(pwm[3]); 01021 servo5.pulsewidth_us(pwm[4]); 01022 servo6.pulsewidth_us(pwm[5]); 01023 NVIC_EnableIRQ(USART1_IRQn); 01024 01025 } 01026 01027 void ResetTrim(){ 01028 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 01029 trimpwm[i] = sbus.manualpwm[i]; 01030 } 01031 pc.printf("reset PWM trim\r\n"); 01032 } 01033 01034 01035 void SensingMPU(){ 01036 //static int16_t deltaT = 0, t_start = 0; 01037 //t_start = t.read_us(); 01038 01039 float rpy[3] = {0}, oldrpy[3] = {0}; 01040 static uint16_t count_changeRPY = 0; 01041 static bool flg_checkoutlier = false; 01042 NVIC_DisableIRQ(USART1_IRQn); 01043 NVIC_DisableIRQ(USART2_IRQn); 01044 NVIC_DisableIRQ(TIM5_IRQn); 01045 NVIC_DisableIRQ(EXTI0_IRQn);//MPU割り込み禁止 01046 NVIC_DisableIRQ(EXTI9_5_IRQn);//超音波割り込み禁止 01047 01048 mpu6050.getRollPitchYaw_Skipper(rpy); 01049 01050 NVIC_EnableIRQ(USART1_IRQn); 01051 NVIC_EnableIRQ(USART2_IRQn); 01052 NVIC_EnableIRQ(TIM5_IRQn); 01053 NVIC_EnableIRQ(EXTI0_IRQn); 01054 NVIC_EnableIRQ(EXTI9_5_IRQn); 01055 01056 01057 //外れ値対策 01058 for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI; 01059 rpy[ROLL] -= FirstROLL; 01060 rpy[PITCH] -= FirstPITCH; 01061 rpy[YAW] -= FirstYAW; 01062 01063 for(uint8_t i=0; i<3; i++) {if(rpy[i] < nowAngle[i]-10 || rpy[i] > nowAngle[i]+10) {flg_checkoutlier = true;}} 01064 if(!flg_checkoutlier || count_changeRPY >= 2){ 01065 for(uint8_t i=0; i<3; i++){ 01066 nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均 01067 } 01068 count_changeRPY = 0; 01069 }else count_changeRPY++; 01070 flg_checkoutlier = false; 01071 01072 } 01073 01074 float TranslateNewYaw(float beforeYaw, float newzeroYaw){ 01075 float newYaw = beforeYaw - newzeroYaw; 01076 01077 if(newYaw<-180.0f) newYaw += 360.0f; 01078 else if(newYaw>180.0f) newYaw -= 360.0f; 01079 return newYaw; 01080 } 01081 01082 01083 void getSF_Serial(){ 01084 //NVIC_DisableIRQ(USART1_IRQn); 01085 //NVIC_DisableIRQ(EXTI0_IRQn); 01086 //NVIC_DisableIRQ(TIM5_IRQn); 01087 01088 01089 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'}; 01090 01091 static int bufcounter=0; 01092 01093 01094 01095 if(pc.readable()) { // 受信確認 01096 01097 SFbuf[bufcounter] = pc.getc(); // 1文字取り出し 01098 if(SFbuf[0]!='S'){ 01099 //pc.printf("x"); 01100 return; 01101 } 01102 01103 01104 01105 //pc.printf("%c",SFbuf[bufcounter]); 01106 01107 if(SFbuf[0]=='S'&&bufcounter<5)bufcounter++; 01108 01109 if(bufcounter==5 && SFbuf[4]=='F'){ 01110 01111 g_landingcommand = SFbuf[1]; 01112 //wait_ms(20); 01113 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]); 01114 if(g_landingcommand=='Y')g_SerialTargetYAW =0.0f; 01115 bufcounter = 0; 01116 memset(SFbuf, 0, strlen(SFbuf)); 01117 NVIC_ClearPendingIRQ(USART2_IRQn); 01118 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW); 01119 } 01120 01121 else if(bufcounter>=5){ 01122 //pc.printf("Communication Falsed.\r\n"); 01123 memset(SFbuf, 0, strlen(SFbuf)); 01124 bufcounter = 0; 01125 NVIC_ClearPendingIRQ(USART2_IRQn); 01126 } 01127 } 01128 01129 //NVIC_EnableIRQ(TIM5_IRQn); 01130 //NVIC_EnableIRQ(EXTI0_IRQn); 01131 //NVIC_EnableIRQ(USART1_IRQn); 01132 } 01133 01134 float ConvertByteintoFloat(char high, char low){ 01135 01136 //int16_t intvalue = (int16_t)high*256 + (int16_t)low; 01137 int16_t intvalue = (int16_t)(((int16_t)high << 8) | low); // Turn the MSB and LSB into a signed 16-bit value 01138 float floatvalue = (float)intvalue; 01139 return floatvalue; 01140 } 01141 01142 01143 //超音波割り込み 01144 void UpdateDist(){ 01145 g_distance = usensor.get_dist_cm(); 01146 usensor.start(); 01147 } 01148 01149 //8の字旋回 01150 void UpdateTargetAngle_Moebius(float targetAngle[3]){ 01151 static uint8_t RotateCounter=0; 01152 static bool flg_setInStartAuto = false; 01153 static float FirstYAW_Moebius = 0.0; 01154 float newYaw_Moebius; 01155 01156 if(!flg_setInStartAuto && CheckSW_Up(Ch7)){ 01157 FirstYAW_Moebius = nowAngle[YAW]; 01158 RotateCounter = 0; 01159 flg_setInStartAuto = true; 01160 }else if(!CheckSW_Up(Ch7)){ 01161 flg_setInStartAuto = false; 01162 led2 = 0; 01163 } 01164 autopwm[THR]=oldTHR; 01165 01166 newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius); 01167 01168 if(RotateCounter == 0 && newYaw_Moebius >90.0 && newYaw_Moebius < 180.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n");} 01169 if(RotateCounter == 1 && newYaw_Moebius >-180.0 && newYaw_Moebius < -90.0) {RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n");} 01170 if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius <-10.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n");} 01171 if(RotateCounter == 3 && newYaw_Moebius >0.0 && newYaw_Moebius < 90.0) {RotateCounter++; led2 = 0; pc.printf("Change Rotate direction\r\n");} 01172 01173 01174 if(RotateCounter <= 3) UpdateTargetAngle_Rightloop_short(targetAngle); 01175 else UpdateTargetAngle_Leftloop_short(targetAngle); //左旋回 01176 01177 } 01178 01179 //自動滑空 01180 void UpdateTargetAngle_Glide(float targetAngle[3]){ 01181 static int THRcount = 0; 01182 static int t_start = 0; 01183 static bool flg_tstart = false; 01184 static bool flg_ground = false; 01185 int t_diff = 0; 01186 static int groundcount = 0; 01187 01188 targetAngle[ROLL] = g_glideloopROLL; 01189 targetAngle[PITCH] = g_glideloopPITCH; 01190 01191 autopwm[RUD]=g_glideloopRUD; 01192 // autopwm[THR]=oldTHR; 01193 01194 01195 01196 //時間計測開始設定 01197 if(!flg_tstart && CheckSW_Up(Ch7)){ 01198 t_start = t.read(); 01199 flg_tstart = true; 01200 pc.printf("timer start\r\n"); 01201 }else if(!CheckSW_Up(Ch7)){ 01202 t_start = 0; 01203 flg_tstart = false; 01204 } 01205 01206 01207 //フラグが偽であれば計測は行わない 01208 if(flg_tstart){ 01209 t_diff = t.read() - t_start; 01210 //一定高度or15秒でled点灯 01211 NVIC_DisableIRQ(EXTI9_5_IRQn); 01212 if((groundcount>5 && g_distance>0) || t_diff > 15){ 01213 led2 = 1; 01214 //pc.printf("Call [Stop!] calling!\r\n"); 01215 } 01216 01217 if(g_distance<180 && g_distance > 0) { 01218 groundcount++; 01219 } 01220 NVIC_EnableIRQ(EXTI9_5_IRQn); 01221 }else{ 01222 t_diff = 0; 01223 groundcount = 0; 01224 led2 = 0; 01225 } 01226 01227 NVIC_DisableIRQ(EXTI9_5_IRQn); 01228 if(t_diff > 17) autopwm[THR] = SetTHRinRatio(0.5); 01229 01230 else if(g_distance<150 && g_distance>0 ){ 01231 NVIC_DisableIRQ(EXTI9_5_IRQn); 01232 THRcount++; 01233 if(THRcount>5) flg_ground = true; 01234 } 01235 else THRcount = 0; 01236 NVIC_EnableIRQ(EXTI9_5_IRQn); 01237 01238 if(flg_ground == true) autopwm[THR] = SetTHRinRatio(0.6); 01239 else autopwm[THR] = minpwm[THR]; 01240 01241 NVIC_DisableIRQ(USART1_IRQn); 01242 if(!CheckSW_Up(Ch7)){ 01243 flg_ground = false; 01244 } 01245 NVIC_EnableIRQ(USART1_IRQn); 01246 } 01247 01248 //離陸-投下-着陸一連 01249 void Take_off_and_landing(float targetAngle[3]){ 01250 01251 if(!CheckSW_Up(Ch7)) bombing_mode = Takeoff; 01252 01253 switch(bombing_mode){ 01254 case Takeoff: 01255 static bool flg_setFirstYaw = false; 01256 static int TakeoffCount = 0; 01257 01258 if(!flg_setFirstYaw && CheckSW_Up(Ch7)){ 01259 FirstYAW = nowAngle[YAW]; 01260 flg_setFirstYaw = true; 01261 }else if(flg_setFirstYaw && !CheckSW_Up(Ch7)){ 01262 flg_setFirstYaw = false; 01263 } 01264 01265 UpdateTargetAngle_Takeoff(targetAngle); 01266 NVIC_DisableIRQ(EXTI9_5_IRQn); 01267 if(g_distance>150) TakeoffCount++; 01268 else TakeoffCount = 0; 01269 NVIC_EnableIRQ(EXTI9_5_IRQn); 01270 if(TakeoffCount>5){ 01271 autopwm[THR] = 1180+320*2*0.5; 01272 targetAngle[PITCH]=g_gostraightPITCH; 01273 //pc.printf("Now go to Approach mode!!"); 01274 bombing_mode = Approach; 01275 } 01276 break; 01277 01278 //case Chicken: 01279 //break; 01280 /* 01281 case Transition: 01282 static int ApproachCount = 0; 01283 targetAngle[YAW]=180.0; 01284 int Judge = Rotate(targetAngle, g_SerialTargetYAW); 01285 01286 if(Judge==0) ApproachCount++; 01287 if(ApproachCount>5) bombing_mode = Approach; 01288 break; 01289 */ 01290 case Approach: 01291 01292 autopwm[THR] = SetTHRinRatio(g_loopTHR); //0.7;スロットルの割合 01293 UpdateTargetAngle_Approach(targetAngle); 01294 01295 break; 01296 01297 default: 01298 bombing_mode = Takeoff; 01299 break; 01300 } 01301 01302 } 01303 01304 //離陸モード 01305 void UpdateTargetAngle_Takeoff(float targetAngle[3]){ 01306 //pc.printf("%d \r\n",g_distance); 01307 static int tELE_start = 0; 01308 static bool flg_ELEup = false; 01309 int t_def = 0; 01310 01311 autopwm[RUD] = trimpwm[RUD]; 01312 01313 01314 if(!flg_ELEup && CheckSW_Up(Ch7)){ 01315 tELE_start = t.read_ms(); 01316 flg_ELEup = true; 01317 pc.printf("timer start\r\n"); 01318 }else if(!CheckSW_Up(Ch7)){ 01319 tELE_start = 0; 01320 flg_ELEup = false; 01321 } 01322 if(flg_ELEup){ 01323 t_def = t.read_ms() - tELE_start; 01324 01325 //1.5秒経過すればELE上げ舵へ 01326 if(t_def>500) targetAngle[PITCH]=-35.0; 01327 else{ 01328 t_def = 0; 01329 targetAngle[PITCH]=g_gostraightPITCH; 01330 } 01331 } 01332 targetAngle[ROLL] = g_gostraightROLL; 01333 //targetAngle[PITCH] = g_loopTHR; 01334 autopwm[THR] = SetTHRinRatio(g_takeoffTHR); //0.7;スロットルの割合 01335 } 01336 01337 01338 //ヨーを目標値にして許容角度になるまで水平旋回 01339 int Rotate(float targetAngle[3], float TargetYAW){ 01340 float diffYaw = TranslateNewYaw(TargetYAW, nowAngle[YAW]); 01341 01342 if(diffYaw > LIMIT_STRAIGHT_YAW){ 01343 /* 01344 if(diffYaw > THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Rightloop_short(targetAngle); 01345 else UpdateTargetAngle_Rightloop(targetAngle); 01346 */ 01347 UpdateTargetAngle_Rightloop_short(targetAngle); 01348 return 1; 01349 }else if(diffYaw < -LIMIT_STRAIGHT_YAW){ 01350 UpdateTargetAngle_Leftloop_short(targetAngle); 01351 /* 01352 if(diffYaw < -THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Leftloop_short(targetAngle); 01353 else UpdateTargetAngle_Leftloop(targetAngle); 01354 */ 01355 return 1; 01356 }else{ 01357 UpdateTargetAngle_GoStraight(targetAngle); 01358 return 0; 01359 } 01360 } 01361 01362 //チキラー投下 01363 void Chicken_Drop(){ 01364 if(CheckSW_Up(Ch7)){ 01365 autopwm[DROP] = 1911; 01366 pc.printf("Bombed!\r\n"); 01367 //RerurnChickenServo1.attach(&ReturnChickenServo1, 3); 01368 //operation_mode = Approach; 01369 //buzzer = 0; 01370 pc.printf("Goto LeftLoop mode\r\n"); 01371 } 01372 } 01373 01374 void ReturnChickenServo1(){ 01375 autopwm[DROP] = 1344; 01376 pc.printf("first reverse\r\n"); 01377 RerurnChickenServo2.attach(&ReturnChickenServo2, 1); 01378 } 01379 01380 void ReturnChickenServo2(){ 01381 autopwm[DROP] = 1392; 01382 pc.printf("second reverse\r\n"); 01383 } 01384 01385 //着陸モード（PCからの指令に従う） 01386 void UpdateTargetAngle_Approach(float targetAngle[3]){ 01387 01388 static bool zeroTHR=true;//着陸時のスロットル動作確認用 01389 01390 if(CheckSW_Up(Ch7)){ 01391 output_status = Auto; 01392 led1 = 1; 01393 }else{ 01394 output_status = Manual; 01395 led1 = 0; 01396 zeroTHR=true; 01397 } 01398 01399 01400 NVIC_DisableIRQ(USART2_IRQn); 01401 switch(g_landingcommand){ 01402 case 'R': //右旋回セヨ 01403 if(zeroTHR==false){ 01404 UpdateTargetAngle_Rightloop_zero(targetAngle); 01405 } 01406 else{ 01407 targetAngle[ROLL] = g_rightloopROLL; 01408 targetAngle[PITCH] = g_rightloopPITCH ; 01409 autopwm[RUD]=g_rightloopRUD; //RUD固定 01410 if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節 01411 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01412 } 01413 else {autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01414 autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop; 01415 } 01416 } 01417 NVIC_EnableIRQ(USART2_IRQn); 01418 break; 01419 01420 case 'L': //左旋回セヨ 01421 if(zeroTHR==false){ 01422 UpdateTargetAngle_Leftloop_zero(targetAngle); 01423 } 01424 else{ 01425 targetAngle[ROLL] = g_leftloopROLL; 01426 targetAngle[PITCH] = g_leftloopPITCH; 01427 autopwm[RUD]=g_leftloopRUD; 01428 if(autopwm[AIL_R]<trimpwm[AIL_R]){ 01429 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01430 } 01431 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01432 } 01433 NVIC_EnableIRQ(USART2_IRQn); 01434 break; 01435 01436 case 'G': //直進セヨ 01437 if(zeroTHR==false){ 01438 UpdateTargetAngle_GoStraight_zero(targetAngle); 01439 } 01440 else{ 01441 targetAngle[ROLL] = g_gostraightROLL; 01442 targetAngle[PITCH] = g_gostraightPITCH; 01443 } 01444 NVIC_EnableIRQ(USART2_IRQn); 01445 break; 01446 01447 case 'Y': //指定ノヨー方向ニ移動セヨ 01448 Rotate(targetAngle, g_SerialTargetYAW); 01449 NVIC_EnableIRQ(USART2_IRQn); 01450 break; 01451 01452 /*case 'B': //ブザーヲ鳴ラセ 01453 //buzzer = 1; 01454 NVIC_EnableIRQ(USART2_IRQn); 01455 break;*/ 01456 01457 case 'B': //物資ヲ落トセ 01458 Chicken_Drop(); 01459 NVIC_EnableIRQ(USART2_IRQn); 01460 break; 01461 01462 case 'C': //停止セヨ 01463 targetAngle[ROLL] = 0.0; 01464 targetAngle[PITCH] = -3.0; 01465 autopwm[THR] = minpwm[THR]; 01466 zeroTHR=false; 01467 NVIC_EnableIRQ(USART2_IRQn); 01468 break; 01469 01470 default : 01471 NVIC_EnableIRQ(USART2_IRQn); 01472 break; 01473 01474 01475 } 01476 01477 } 01478 01479 void checkHeight(float targetAngle[3]){ 01480 01481 static int targetHeight = 200; 01482 01483 NVIC_DisableIRQ(EXTI9_5_IRQn); 01484 if(g_distance < targetHeight + ALLOWHEIGHT){ 01485 UpdateTargetAngle_NoseUP(targetAngle); 01486 if(CheckSW_Up(Ch7)) led2 = 1; 01487 } 01488 else if(g_distance > targetHeight - ALLOWHEIGHT){ 01489 UpdateTargetAngle_NoseDOWN(targetAngle); 01490 if(CheckSW_Up(Ch7)) led2 = 1; 01491 } 01492 else led2=0; 01493 NVIC_EnableIRQ(EXTI9_5_IRQn); 01494 } 01495 01496 void UpdateTargetAngle_NoseUP(float targetAngle[3]){ 01497 01498 //targetAngle[PITCH] += 2.0f; 01499 //if(nowAngle[PITCH]<targetAngle[PITCH]) autopwm[THR] = SetTHRinRatio(0.6); 01500 autopwm[THR] = SetTHRinRatio(g_loopTHR+0.05); 01501 //pc.printf("nose UP"); 01502 } 01503 01504 void UpdateTargetAngle_NoseDOWN(float targetAngle[3]){ 01505 01506 //targetAngle[PITCH] -= 2.0f; 01507 autopwm[THR] = SetTHRinRatio(g_loopTHR-0.05); 01508 //pc.printf("nose DOWN"); 01509 } 01510 01511 //直進 01512 void UpdateTargetAngle_GoStraight(float targetAngle[3]){ 01513 01514 autopwm[RUD] = trimpwm[RUD]; 01515 targetAngle[ROLL] = g_gostraightROLL; 01516 targetAngle[PITCH] = g_gostraightPITCH; 01517 autopwm[THR] = SetTHRinRatio(g_loopTHR); 01518 01519 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01520 } 01521 01522 //直進(着陸時スロットル０のとき） 01523 void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]){ 01524 01525 autopwm[RUD] = trimpwm[RUD]; 01526 targetAngle[ROLL] = g_gostraightROLL; 01527 targetAngle[PITCH] = g_gostraightPITCH; 01528 autopwm[THR] = minpwm[THR]; 01529 01530 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01531 } 01532 01533 //右旋回 01534 void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回 01535 01536 targetAngle[PITCH] = g_rightloopPITCH ; 01537 autopwm[RUD]=g_rightloopRUD; //RUD固定 01538 autopwm[THR] = SetTHRinRatio(0.5); //手動スロットル記憶 01539 01540 /* 01541 if (nowAngle[ROLL]>20.0||nowAngle[ROLL]<-20.0){ 01542 t2.start(); 01543 pc.printf("Timer start."); 01544 } 01545 if(0.0<t2.read()<5.0){ 01546 //pc.printf("tagetAngle is changed."); 01547 targetAngle[ROLL] = rightloopROLL2; 01548 } 01549 else { 01550 t2.stop(); 01551 t2.reset(); 01552 pc.printf("Timer stopped."); 01553 targetAngle[ROLL] = g_rightloopROLL; 01554 } 01555 */ 01556 if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節 01557 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01558 } 01559 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01560 autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop; 01561 01562 01563 //checkHeight(targetAngle); 01564 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01565 } 01566 01567 //右旋回（着陸時スロットル０の時） 01568 void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]){ //右旋回 01569 autopwm[THR]=minpwm[THR]; 01570 targetAngle[ROLL] = g_rightloopROLL; 01571 targetAngle[PITCH] = g_rightloopPITCH ; 01572 autopwm[RUD]=g_rightloopRUD; //RUD固定 01573 if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節 01574 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01575 } 01576 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01577 autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop; 01578 01579 //checkHeight(targetAngle); 01580 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01581 } 01582 01583 void UpdateTargetAngle_Rightloop_short(float targetAngle[3]){ //右旋回 01584 01585 targetAngle[ROLL] = g_rightloopROLLshort; 01586 targetAngle[PITCH] = g_rightloopPITCHshort; 01587 autopwm[RUD]=g_rightloopshortRUD; 01588 autopwm[THR] = SetTHRinRatio(0.5); 01589 if(autopwm[AIL_R]<trimpwm[AIL_R]){ 01590 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01591 } 01592 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01593 01594 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01595 } 01596 01597 //左旋回 01598 void UpdateTargetAngle_Leftloop(float targetAngle[3]){ 01599 01600 targetAngle[ROLL] = g_leftloopROLL; 01601 targetAngle[PITCH] = g_leftloopPITCH; 01602 autopwm[RUD]=g_leftloopRUD; 01603 autopwm[THR] = SetTHRinRatio(0.5); 01604 if(autopwm[AIL_R]<trimpwm[AIL_R]){ 01605 autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01606 } 01607 else autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01608 //checkHeight(targetAngle); 01609 01610 //printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]); 01611 } 01612 01613 //左旋回（着陸時スロットル０のとき） 01614 void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]){ 01615 01616 targetAngle[ROLL] = g_leftloopROLL; 01617 targetAngle[PITCH] = g_leftloopPITCH; 01618 autopwm[RUD]=g_leftloopRUD; 01619 autopwm[THR] = minpwm[THR]; 01620 if(autopwm[AIL_R]<trimpwm[AIL_R]){ 01621 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01622 } 01623 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01624 //autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_Ratio_leftloop; 01625 //checkHeight(targetAngle); 01626 01627 //printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]); 01628 } 01629 01630 void UpdateTargetAngle_Leftloop_short(float targetAngle[3]){ 01631 01632 targetAngle[ROLL] = g_leftloopROLLshort; 01633 targetAngle[PITCH] = g_leftloopPITCHshort; 01634 autopwm[RUD]=g_leftloopRUD; 01635 autopwm[THR] = SetTHRinRatio(0.5); 01636 if(autopwm[AIL_R]<trimpwm[AIL_R]){ 01637 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; 01638 } 01639 else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; 01640 01641 //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); 01642 } 01643 01644 void Sbusprintf(){ 01645 01646 for(uint8_t i=0; i<8; i++) pc.printf("ch.%d = %d ",i+1,sbus.manualpwm[i]); 01647 pc.printf("\r\n"); 01648 01649 } 01650 01651 01652 01653 //デバッグ用 01654 void DebugPrint(){ 01655 /* 01656 static int16_t deltaT = 0, t_start = 0; 01657 deltaT = t.read_u2s() - t_start; 01658 pc.printf("t:%d us, ",deltaT); 01659 pc.printf("\r\n"); 01660 t_start = t.read_us(); 01661 */ 01662 //for(uint8_t i=0; i<8; i++) pc.printf("%d ",sbus.manualpwm[i]); 01663 //for(uint8_t i=1; i<4; i++) pc.printf("%d ",sbus.manualpwm[i]); 01664 //pc.printf("\r\n"); 01665 //for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]); 01666 //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 01667 //pc.printf("%d\t",autopwm[AIL_L]); 01668 //pc.printf("%d\t",autopwm[RUD]); 01669 //pc.printf("%d",g_distance); 01670 //NVIC_DisableIRQ(EXTI9_5_IRQn); 01671 //pc.printf("g_distance = %d",g_distance); 01672 //NVIC_EnableIRQ(EXTI9_5_IRQn); 01673 //pc.printf("Mode: %c: ",g_buf[0]); 01674 //if(g_buf[0] == 'Y') pc.printf(" %3.1f",g_SerialTargetYAW); 01675 //pc.printf("\r\n"); 01676 }
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