Autoflight2018_50 - SDcard&LED updated

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航空研究会 / Mbed 2 deprecated Autoflight2018_50

SDcard&LED updated

Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3

Fork of Autoflight2018_49 by 航空研究会

main.cpp@39:b8d5be233b70, 2018-09-25 (annotated)

Committer:: HARUKIDELTA
Date:: Tue Sep 25 10:27:21 2018 +0000
Revision:: 39:b8d5be233b70
Parent:: 38:ef0f39dfc98a

SDcard updated

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	39:b8d5be233b70	52	#define RIGHTLOOPROLL_APPROACH -17.0
HARUKIDELTA	39:b8d5be233b70	53	#define LEFTLOOPROLL_APPROACH 16.0
HARUKIDELTA	39:b8d5be233b70	54
HARUKIDELTA	0:17f575135219	55
HARUKIDELTA	27:61876b34ded4	56	#define rightloopROLL2 -10.0
HARUKIDELTA	27:61876b34ded4	57
HARUKIDELTA	17:55249ea37dff	58	/*#define rightloopRUD 1300 //1250
HARUKIDELTA	17:55249ea37dff	59	#define rightloopshortRUD 1250
HARUKIDELTA	17:55249ea37dff	60	#define leftloopRUD 1500
HARUKIDELTA	17:55249ea37dff	61	#define leftloopshortRUD 1500
HARUKIDELTA	17:55249ea37dff	62	#define glideloopRUD 1300
HARUKIDELTA	17:55249ea37dff	63	*/
TUATBM	9:f6367b7fd7be	64	#define AIL_R_correctionrightloop 0
HARUKIDELTA	18:cce82f3374fc	65	#define AIL_L_correctionrightloop 0
HARUKIDELTA	3:206b17251f5b	66	#define AIL_L_correctionrightloopshort 0
HARUKIDELTA	3:206b17251f5b	67	#define AIL_L_correctionleftloop -0
HARUKIDELTA	3:206b17251f5b	68	#define AIL_L_correctionleftloopshort 0
HARUKIDELTA	3:206b17251f5b	69
HARUKIDELTA	19:0955311b0db6	70
HARUKIDELTA	8:66bba39b95a9	71	#define RIGHTLOOP_RUD 1250
HARUKIDELTA	8:66bba39b95a9	72	#define RIGHTLOOPSHORT_RUD 1250
HARUKIDELTA	8:66bba39b95a9	73	#define LEFTLOOP_RUD 1500
HARUKIDELTA	8:66bba39b95a9	74	#define LEFTLOOPSHORT_RUD 1500
HARUKIDELTA	39:b8d5be233b70	75	#define GLIDELOOP_RUD 1300
HARUKIDELTA	39:b8d5be233b70	76	#define RIGHTLOOPRUD_APPROACH 1500
HARUKIDELTA	39:b8d5be233b70	77	#define LEFTLOOPRUD_APPROACH 1500
HARUKIDELTA	39:b8d5be233b70	78
HARUKIDELTA	8:66bba39b95a9	79	#define AIL_L_CORRECTION_RIGHTLOOP 0
HARUKIDELTA	8:66bba39b95a9	80	#define AIL_L_CORRECTION_RIGHTLOOPSHORT 0
HARUKIDELTA	8:66bba39b95a9	81	#define AIL_L_CORRECTION_LEFTLOOP 0
HARUKIDELTA	8:66bba39b95a9	82	#define AIL_L_CORRECTION_LEFTLOOPSHORT 0
HARUKIDELTA	3:206b17251f5b	83
HARUKIDELTA	0:17f575135219	84	#define GLIDE_ROLL -12.0
HARUKIDELTA	0:17f575135219	85	#define GLIDE_PITCH -3.0
HARUKIDELTA	0:17f575135219	86
HARUKIDELTA	3:206b17251f5b	87
HARUKIDELTA	3:206b17251f5b	88	#define AIL_L_RatioRising 0.5
HARUKIDELTA	3:206b17251f5b	89	#define AIL_L_RatioDescent 2
HARUKIDELTA	3:206b17251f5b	90
HARUKIDELTA	0:17f575135219	91	//コンパスキャリブレーション
HARUKIDELTA	0:17f575135219	92	//SkipperS2基板
HARUKIDELTA	0:17f575135219	93	/*
HARUKIDELTA	0:17f575135219	94	#define MAGBIAS_X -35.0
HARUKIDELTA	0:17f575135219	95	#define MAGBIAS_Y 535.0
HARUKIDELTA	0:17f575135219	96	#define MAGBIAS_Z -50.0
HARUKIDELTA	0:17f575135219	97	*/
HARUKIDELTA	0:17f575135219	98	//S2v2 1番基板
HARUKIDELTA	0:17f575135219	99	#define MAGBIAS_X 395.0
HARUKIDELTA	0:17f575135219	100	#define MAGBIAS_Y 505.0
HARUKIDELTA	0:17f575135219	101	#define MAGBIAS_Z -725.0
HARUKIDELTA	0:17f575135219	102	//S2v2 2番基板
HARUKIDELTA	0:17f575135219	103	/*
HARUKIDELTA	0:17f575135219	104	#define MAGBIAS_X 185.0
HARUKIDELTA	0:17f575135219	105	#define MAGBIAS_Y 220.0
HARUKIDELTA	0:17f575135219	106	#define MAGBIAS_Z -350.0
HARUKIDELTA	0:17f575135219	107	*/
HARUKIDELTA	0:17f575135219	108
HARUKIDELTA	0:17f575135219	109	#define ELEMENT 1
HARUKIDELTA	0:17f575135219	110	#define LIMIT_STRAIGHT_YAW 5.0
HARUKIDELTA	0:17f575135219	111	#define THRESHOLD_TURNINGRADIUS_YAW 60.0
HARUKIDELTA	0:17f575135219	112	#define ALLOWHEIGHT 15
HARUKIDELTA	0:17f575135219	113
HARUKIDELTA	0:17f575135219	114	#ifndef PI
HARUKIDELTA	0:17f575135219	115	#define PI 3.14159265358979
HARUKIDELTA	0:17f575135219	116	#endif
HARUKIDELTA	0:17f575135219	117
HARUKIDELTA	0:17f575135219	118	const int16_t lengthdivpwm = 320;
HARUKIDELTA	0:17f575135219	119	const int16_t changeModeCount = 6;
HARUKIDELTA	0:17f575135219	120
HARUKIDELTA	0:17f575135219	121
HARUKIDELTA	0:17f575135219	122	SBUS sbus(PA_9, PA_10); //SBUS
HARUKIDELTA	0:17f575135219	123
HARUKIDELTA	0:17f575135219	124	PwmOut servo1(PC_6); // TIM3_CH1 //old echo
HARUKIDELTA	0:17f575135219	125	PwmOut servo2(PC_7); // TIM3_CH2 //PC_7
HARUKIDELTA	0:17f575135219	126	PwmOut servo3(PB_0); // TIM3_CH3
HARUKIDELTA	0:17f575135219	127	PwmOut servo4(PB_1); // TIM3_CH4
HARUKIDELTA	0:17f575135219	128	PwmOut servo5(PB_6); // TIM4_CH1
HARUKIDELTA	0:17f575135219	129	PwmOut servo6(PB_7); // TIM4_CH2 //old trigger
HARUKIDELTA	0:17f575135219	130	//PwmOut servo7(PB_8); // TIM4_CH3 //PB_8 new echo
HARUKIDELTA	0:17f575135219	131	//PwmOut servo8(PB_9); // TIM4_CH4 //new trigger
HARUKIDELTA	0:17f575135219	132
HARUKIDELTA	0:17f575135219	133	RawSerial pc(PA_2,PA_3, 115200); //tx,rx.baudrate pin;PA_2=UART2_TX, PA_3=UART2_RX
taknokolat	1:f383708a5a52	134	//RawSerial pc2(PB_6,PB_7, 115200); //sbus確認用
HARUKIDELTA	0:17f575135219	135	SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
HARUKIDELTA	0:17f575135219	136
HARUKIDELTA	0:17f575135219	137	DigitalOut led1(PA_0); //黄色のコネクタ
HARUKIDELTA	0:17f575135219	138	DigitalOut led2(PA_1);
HARUKIDELTA	0:17f575135219	139	DigitalOut led3(PB_4);
HARUKIDELTA	0:17f575135219	140	DigitalOut led4(PB_5);
HARUKIDELTA	0:17f575135219	141
HARUKIDELTA	0:17f575135219	142	//InterruptIn switch2(PC_14);
HARUKIDELTA	0:17f575135219	143	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
HARUKIDELTA	31:dba3216c2755	144	HCSR04 usensor(PB_9,PB_8); //trig,echo 9,8
HARUKIDELTA	0:17f575135219	145
taknokolat	1:f383708a5a52	146	PID pid_AIL(g_kpAIL,g_kiAIL,g_kdAIL);
HARUKIDELTA	0:17f575135219	147	PID pid_ELE(g_kpELE,g_kiELE,g_kdELE);
HARUKIDELTA	0:17f575135219	148	PID pid_RUD(g_kpRUD,g_kiRUD,g_kdRUD);
HARUKIDELTA	0:17f575135219	149
HARUKIDELTA	0:17f575135219	150	enum Channel{AIL_R, ELE, THR, RUD, DROP, AIL_L, Ch7, Ch8};
HARUKIDELTA	0:17f575135219	151	enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度
HARUKIDELTA	0:17f575135219	152	enum OperationMode{StartUp, SemiAuto, RightLoop, LeftLoop, GoStraight, BombwithPC, ZERO, Moebius, Glide};
HARUKIDELTA	0:17f575135219	153	enum BombingMode{Takeoff, Chicken, Transition, Approach};
HARUKIDELTA	0:17f575135219	154	enum OutputStatus{Manual, Auto};
HARUKIDELTA	0:17f575135219	155
HARUKIDELTA	0:17f575135219	156	static OutputStatus output_status = Manual;
HARUKIDELTA	0:17f575135219	157	OperationMode operation_mode = StartUp;
HARUKIDELTA	0:17f575135219	158	BombingMode bombing_mode = Takeoff;
TUATBM	15:43427b0241d9	159
HARUKIDELTA	35:25e1afadd455	160	static int16_t autopwm[8] = {1455,1450,1176,1628,1512,1452};
HARUKIDELTA	35:25e1afadd455	161	/*
TUATBM	15:43427b0241d9	162	//1号機
taknokolat	30:624cb32e13a3	163	static int16_t trimpwm[6] = {1580,1600,1176,1404,1440,1448};
HARUKIDELTA	18:cce82f3374fc	164	int16_t maxpwm[6] = {1796,1936,1848,1740,1820,1856};
HARUKIDELTA	18:cce82f3374fc	165	int16_t minpwm[6] = {1182,1265,1176,1068,1180,1176};
TUATBM	15:43427b0241d9	166	const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
HARUKIDELTA	35:25e1afadd455	167	*/
taknokolat	26:bc185a3d16b6	168
TUATBM	15:43427b0241d9	169	//2号機
HARUKIDELTA	35:25e1afadd455	170
HARUKIDELTA	35:25e1afadd455	171	static int16_t trimpwm[6] = {1455,1450,1176,1628,1512,1452};
HARUKIDELTA	35:25e1afadd455	172	int16_t maxpwm[6] = {1672,1786,1848,1964,1820,1860};
HARUKIDELTA	35:25e1afadd455	173	int16_t minpwm[6] = {1057,1115,1176,1292,1180,1180};
TUATBM	15:43427b0241d9	174	const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
HARUKIDELTA	35:25e1afadd455	175
TUATBM	15:43427b0241d9	176
HARUKIDELTA	0:17f575135219	177	int16_t oldTHR = 1000;
HARUKIDELTA	0:17f575135219	178
HARUKIDELTA	2:23daa5fa28b4	179	int16_t g_AIL_L_Ratio_rightloop = 0.5;
HARUKIDELTA	2:23daa5fa28b4	180
HARUKIDELTA	2:23daa5fa28b4	181
HARUKIDELTA	0:17f575135219	182	static float nowAngle[3] = {0,0,0};
HARUKIDELTA	0:17f575135219	183	const float trimAngle[3] = {0.0, 0.0, 0.0};
HARUKIDELTA	0:17f575135219	184	const float maxAngle[2] = {90, 90};
HARUKIDELTA	0:17f575135219	185	const float minAngle[2] = {-90, -90};
HARUKIDELTA	0:17f575135219	186
HARUKIDELTA	0:17f575135219	187	float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0;
HARUKIDELTA	0:17f575135219	188
HARUKIDELTA	0:17f575135219	189	unsigned int g_distance;
HARUKIDELTA	31:dba3216c2755	190	Ticker USsensor;
HARUKIDELTA	0:17f575135219	191	static char g_buf[16];
taknokolat	10:652071c20bf6	192	char g_landingcommand='Z';
HARUKIDELTA	0:17f575135219	193	float g_SerialTargetYAW;
HARUKIDELTA	0:17f575135219	194
HARUKIDELTA	0:17f575135219	195	Timer t;
HARUKIDELTA	27:61876b34ded4	196	Timer t2;
HARUKIDELTA	0:17f575135219	197	Timeout RerurnChickenServo1;
HARUKIDELTA	0:17f575135219	198	Timeout RerurnChickenServo2;
HARUKIDELTA	0:17f575135219	199
HARUKIDELTA	0:17f575135219	200	/-----関数のプロトタイプ宣言-----/
HARUKIDELTA	0:17f575135219	201	void setup();
HARUKIDELTA	0:17f575135219	202	void loop();
HARUKIDELTA	0:17f575135219	203
HARUKIDELTA	0:17f575135219	204	void Init_PWM();
HARUKIDELTA	0:17f575135219	205	void Init_servo(); //サーボ初期化
HARUKIDELTA	0:17f575135219	206	void Init_sbus(); //SBUS初期化
HARUKIDELTA	0:17f575135219	207	void Init_sensors();
HARUKIDELTA	0:17f575135219	208	void DisplayClock(); //クロック状態確認
HARUKIDELTA	0:17f575135219	209
HARUKIDELTA	0:17f575135219	210	//センサの値取得
HARUKIDELTA	0:17f575135219	211	void SensingMPU();
HARUKIDELTA	0:17f575135219	212	void UpdateDist();
HARUKIDELTA	0:17f575135219	213
HARUKIDELTA	0:17f575135219	214	//void offsetRollPitch(float FirstROLL, float FirstPITCH);
HARUKIDELTA	0:17f575135219	215	//void TransYaw(float FirstYAW);
HARUKIDELTA	0:17f575135219	216	float TranslateNewYaw(float beforeYaw, float newzeroYaw);
HARUKIDELTA	0:17f575135219	217	void UpdateTargetAngle(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	218	void CalculateControlValue(float targetAngle[3], float controlValue[3]);
HARUKIDELTA	0:17f575135219	219	void UpdateAutoPWM(float controlValue[3]);
HARUKIDELTA	0:17f575135219	220	void ConvertPWMintoRAD(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	221	inline float CalcRatio(float value, float trim, float limit);
HARUKIDELTA	0:17f575135219	222	bool CheckSW_Up(Channel ch);
HARUKIDELTA	0:17f575135219	223	int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min);
HARUKIDELTA	0:17f575135219	224	inline int16_t SetTHRinRatio(float ratio);
HARUKIDELTA	0:17f575135219	225
HARUKIDELTA	0:17f575135219	226	//sbus割り込み
HARUKIDELTA	0:17f575135219	227	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	228	void Output_PWM(int16_t pwm[6]); //pwmをサーボへ出力
HARUKIDELTA	0:17f575135219	229
HARUKIDELTA	0:17f575135219	230	//シリアル割り込み
HARUKIDELTA	0:17f575135219	231	void getSF_Serial();
HARUKIDELTA	0:17f575135219	232	float ConvertByteintoFloat(char high, char low);
TUATBM	15:43427b0241d9	233
HARUKIDELTA	0:17f575135219	234
HARUKIDELTA	0:17f575135219	235	//SD設定
HARUKIDELTA	0:17f575135219	236	int GetParameter(FILE fp, const char paramName,char parameter[]);
HARUKIDELTA	0:17f575135219	237	int SetOptions(float g_kpELE, float g_kiELE, float *g_kdELE,
HARUKIDELTA	0:17f575135219	238	float g_kpRUD, float g_kiRUD, float *g_kdRUD,
HARUKIDELTA	0:17f575135219	239	float g_rightloopROLL, float g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	240	float g_leftloopROLL, float g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	241	float g_gostraightROLL, float g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	242	float g_takeoffTHR, float g_loopTHR,
HARUKIDELTA	0:17f575135219	243	float g_rightloopROLLshort, float g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	244	float g_leftloopROLLshort, float g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	245	float g_glideloopROLL, float g_glideloopPITCH,
HARUKIDELTA	13:77b13d5f4d78	246	float g_kpAIL, float g_kiAIL, float *g_kdAIL,
HARUKIDELTA	13:77b13d5f4d78	247	int g_rightloopRUD, int g_rightloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	248	int g_leftloopRUD, int g_leftloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	249	int *g_glideRUD,
HARUKIDELTA	39:b8d5be233b70	250	float g_rightloopROLL_approach,float g_leftloopROLL_approach,
HARUKIDELTA	39:b8d5be233b70	251	int g_rightloopRUD_approach,int g_leftloopRUD_approach
HARUKIDELTA	13:77b13d5f4d78	252	);
HARUKIDELTA	0:17f575135219	253	//switch2割り込み
HARUKIDELTA	0:17f575135219	254	void ResetTrim();
HARUKIDELTA	0:17f575135219	255
HARUKIDELTA	0:17f575135219	256	//自動操縦
HARUKIDELTA	0:17f575135219	257	void UpdateTargetAngle_GoStraight(float targetAngle[3]);
HARUKIDELTA	19:0955311b0db6	258	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	259	void UpdateTargetAngle_Rightloop(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	260	void UpdateTargetAngle_Rightloop_short(float targetAngle[3]);
HARUKIDELTA	19:0955311b0db6	261	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	262	void UpdateTargetAngle_Leftloop(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	263	void UpdateTargetAngle_Leftloop_short(float targetAngle[3]);
HARUKIDELTA	19:0955311b0db6	264	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	265	void UpdateTargetAngle_Moebius(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	266	void UpdateTargetAngle_Glide(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	267	void UpdateTargetAngle_Takeoff(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	268	void UpdateTargetAngle_Approach(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	269	void Take_off_and_landing(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	270
HARUKIDELTA	0:17f575135219	271	int Rotate(float targetAngle[3], float TargetYAW);
HARUKIDELTA	0:17f575135219	272
HARUKIDELTA	0:17f575135219	273	//投下
HARUKIDELTA	0:17f575135219	274	void Chicken_Drop();
HARUKIDELTA	0:17f575135219	275	void ReturnChickenServo1();
HARUKIDELTA	0:17f575135219	276	void ReturnChickenServo2();
HARUKIDELTA	0:17f575135219	277
HARUKIDELTA	0:17f575135219	278	//超音波による高度補正
HARUKIDELTA	0:17f575135219	279	void checkHeight(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	280	void UpdateTargetAngle_NoseUP(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	281	void UpdateTargetAngle_NoseDOWN(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	282
HARUKIDELTA	0:17f575135219	283	//デバッグ用
HARUKIDELTA	18:cce82f3374fc	284	void Sbusprintf();
HARUKIDELTA	0:17f575135219	285	void DebugPrint();
HARUKIDELTA	0:17f575135219	286
HARUKIDELTA	0:17f575135219	287	/---関数のプロトタイプ宣言終わり---/
HARUKIDELTA	0:17f575135219	288
HARUKIDELTA	0:17f575135219	289	int main()
HARUKIDELTA	0:17f575135219	290	{
HARUKIDELTA	0:17f575135219	291	setup();
HARUKIDELTA	0:17f575135219	292
HARUKIDELTA	0:17f575135219	293
HARUKIDELTA	0:17f575135219	294	while(1){
HARUKIDELTA	0:17f575135219	295
HARUKIDELTA	0:17f575135219	296	loop();
HARUKIDELTA	0:17f575135219	297
taknokolat	10:652071c20bf6	298
taknokolat	29:887a38540508	299	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	300	if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	301	led3=0;
HARUKIDELTA	0:17f575135219	302	}else{
HARUKIDELTA	0:17f575135219	303	led3=1;
HARUKIDELTA	0:17f575135219	304	}
taknokolat	29:887a38540508	305	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	306	}
HARUKIDELTA	0:17f575135219	307
HARUKIDELTA	0:17f575135219	308	}
HARUKIDELTA	0:17f575135219	309
HARUKIDELTA	0:17f575135219	310	void setup(){
HARUKIDELTA	0:17f575135219	311	//buzzer = 0;
HARUKIDELTA	0:17f575135219	312	led1 = 1;
HARUKIDELTA	0:17f575135219	313	led2 = 1;
HARUKIDELTA	0:17f575135219	314	led3 = 1;
HARUKIDELTA	0:17f575135219	315	led4 = 1;
HARUKIDELTA	0:17f575135219	316
HARUKIDELTA	0:17f575135219	317	SetOptions(&g_kpELE, &g_kiELE, &g_kdELE,
HARUKIDELTA	0:17f575135219	318	&g_kpRUD, &g_kiRUD, &g_kdRUD,
HARUKIDELTA	0:17f575135219	319	&g_rightloopROLL, &g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	320	&g_leftloopROLL, &g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	321	&g_gostraightROLL, &g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	322	&g_takeoffTHR, &g_loopTHR,
HARUKIDELTA	0:17f575135219	323	&g_rightloopROLLshort, &g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	324	&g_leftloopROLLshort, &g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	325	&g_glideloopROLL, &g_glideloopPITCH,
HARUKIDELTA	13:77b13d5f4d78	326	&g_kpAIL, &g_kiAIL,&g_kdAIL,
HARUKIDELTA	13:77b13d5f4d78	327	&g_rightloopRUD, &g_rightloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	328	&g_leftloopRUD, &g_leftloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	329	&g_glideloopRUD,
HARUKIDELTA	39:b8d5be233b70	330	&g_rightloopROLL_approach,&g_leftloopROLL_approach,
HARUKIDELTA	39:b8d5be233b70	331	&g_rightloopRUD_approach,&g_leftloopRUD_approach
HARUKIDELTA	13:77b13d5f4d78	332	);
HARUKIDELTA	0:17f575135219	333
HARUKIDELTA	0:17f575135219	334
HARUKIDELTA	0:17f575135219	335	Init_PWM();
HARUKIDELTA	0:17f575135219	336	Init_servo();
HARUKIDELTA	0:17f575135219	337	Init_sbus();
HARUKIDELTA	0:17f575135219	338	Init_sensors();
HARUKIDELTA	0:17f575135219	339	//switch2.rise(ResetTrim);
taknokolat	21:18fe7bf9e187	340
HARUKIDELTA	31:dba3216c2755	341	USsensor.attach(&UpdateDist, 0.05);
HARUKIDELTA	0:17f575135219	342
HARUKIDELTA	0:17f575135219	343	NVIC_SetPriority(USART1_IRQn,0);
HARUKIDELTA	0:17f575135219	344	NVIC_SetPriority(EXTI0_IRQn,1);
HARUKIDELTA	0:17f575135219	345	NVIC_SetPriority(TIM5_IRQn,2);
HARUKIDELTA	0:17f575135219	346	NVIC_SetPriority(EXTI9_5_IRQn,3);
HARUKIDELTA	0:17f575135219	347	DisplayClock();
HARUKIDELTA	0:17f575135219	348	t.start();
HARUKIDELTA	0:17f575135219	349
HARUKIDELTA	0:17f575135219	350
HARUKIDELTA	0:17f575135219	351	pc.printf("MPU calibration start\r\n");
HARUKIDELTA	0:17f575135219	352
HARUKIDELTA	0:17f575135219	353	float offsetstart = t.read();
HARUKIDELTA	0:17f575135219	354	while(t.read() - offsetstart < 26){
HARUKIDELTA	0:17f575135219	355	SensingMPU();
HARUKIDELTA	0:17f575135219	356	for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
HARUKIDELTA	0:17f575135219	357	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	358	led1 = !led1;
HARUKIDELTA	0:17f575135219	359	led2 = !led2;
HARUKIDELTA	0:17f575135219	360	led3 = !led3;
HARUKIDELTA	0:17f575135219	361	led4 = !led4;
HARUKIDELTA	0:17f575135219	362	}
HARUKIDELTA	0:17f575135219	363
taknokolat	21:18fe7bf9e187	364	pc.attach(getSF_Serial, Serial::RxIrq);
taknokolat	21:18fe7bf9e187	365	NVIC_SetPriority(USART2_IRQn,4);
taknokolat	21:18fe7bf9e187	366
HARUKIDELTA	0:17f575135219	367	FirstROLL = nowAngle[ROLL];
HARUKIDELTA	0:17f575135219	368	FirstPITCH = nowAngle[PITCH];
HARUKIDELTA	0:17f575135219	369	nowAngle[ROLL] -=FirstROLL;
HARUKIDELTA	0:17f575135219	370	nowAngle[PITCH] -=FirstPITCH;
HARUKIDELTA	0:17f575135219	371
HARUKIDELTA	0:17f575135219	372	led1 = 0;
HARUKIDELTA	0:17f575135219	373	led2 = 0;
HARUKIDELTA	0:17f575135219	374	led3 = 0;
HARUKIDELTA	0:17f575135219	375	led4 = 0;
HARUKIDELTA	0:17f575135219	376	wait(0.2);
HARUKIDELTA	0:17f575135219	377
HARUKIDELTA	0:17f575135219	378
HARUKIDELTA	0:17f575135219	379	pc.printf("All initialized\r\n");
HARUKIDELTA	0:17f575135219	380	}
HARUKIDELTA	0:17f575135219	381
HARUKIDELTA	0:17f575135219	382	void loop(){
HARUKIDELTA	0:17f575135219	383	static float targetAngle[3] = {0.0, 0.0, 0.0}, controlValue[2] = {0.0, 0.0};
HARUKIDELTA	0:17f575135219	384	SensingMPU();
HARUKIDELTA	0:17f575135219	385	UpdateTargetAngle(targetAngle);
HARUKIDELTA	0:17f575135219	386	CalculateControlValue(targetAngle, controlValue);
HARUKIDELTA	0:17f575135219	387	UpdateAutoPWM(controlValue);
taknokolat	28:aa44903a01e1	388
taknokolat	25:37bee299a276	389
taknokolat	28:aa44903a01e1	390	//NVIC_SetPriority(TIM5_IRQn,4);
taknokolat	28:aa44903a01e1	391	//NVIC_SetPriority(USART2_IRQn,2);
taknokolat	25:37bee299a276	392
taknokolat	11:c0b9ad25d3db	393	wait_ms(23);
taknokolat	25:37bee299a276	394
taknokolat	28:aa44903a01e1	395	//NVIC_SetPriority(TIM5_IRQn,2);
taknokolat	28:aa44903a01e1	396	//NVIC_SetPriority(USART2_IRQn,4);
taknokolat	25:37bee299a276	397
taknokolat	25:37bee299a276	398
taknokolat	25:37bee299a276	399	// pc.printf("6\r\n");
taknokolat	25:37bee299a276	400	//NVIC_DisableIRQ(USART2_IRQn);
taknokolat	25:37bee299a276	401	//pc.printf("%c",g_landingcommand);
taknokolat	25:37bee299a276	402	//NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	403	#if DEBUG_PRINT_INLOOP
taknokolat	30:624cb32e13a3	404	//Sbusprintf();
HARUKIDELTA	31:dba3216c2755	405	DebugPrint();
HARUKIDELTA	0:17f575135219	406	#endif
HARUKIDELTA	0:17f575135219	407	}
HARUKIDELTA	0:17f575135219	408
HARUKIDELTA	0:17f575135219	409	//サーボ初期化関数
HARUKIDELTA	0:17f575135219	410	void Init_servo(){
HARUKIDELTA	0:17f575135219	411
HARUKIDELTA	0:17f575135219	412	servo1.period_ms(14);
HARUKIDELTA	0:17f575135219	413	servo1.pulsewidth_us(trimpwm[AIL_R]);
HARUKIDELTA	0:17f575135219	414
HARUKIDELTA	0:17f575135219	415	servo2.period_ms(14);
HARUKIDELTA	0:17f575135219	416	servo2.pulsewidth_us(trimpwm[ELE]);
HARUKIDELTA	0:17f575135219	417
HARUKIDELTA	0:17f575135219	418	servo3.period_ms(14);
HARUKIDELTA	0:17f575135219	419	servo3.pulsewidth_us(trimpwm[THR]);
HARUKIDELTA	0:17f575135219	420
HARUKIDELTA	0:17f575135219	421	servo4.period_ms(14);
HARUKIDELTA	0:17f575135219	422	servo4.pulsewidth_us(trimpwm[RUD]);
HARUKIDELTA	0:17f575135219	423
HARUKIDELTA	0:17f575135219	424	servo5.period_ms(14);
taknokolat	28:aa44903a01e1	425	servo5.pulsewidth_us(trimpwm[DROP]);
HARUKIDELTA	0:17f575135219	426
HARUKIDELTA	0:17f575135219	427	servo6.period_ms(14);
HARUKIDELTA	0:17f575135219	428	servo6.pulsewidth_us(trimpwm[AIL_L]);
HARUKIDELTA	0:17f575135219	429
HARUKIDELTA	0:17f575135219	430	pc.printf("servo initialized\r\n");
HARUKIDELTA	0:17f575135219	431	}
HARUKIDELTA	0:17f575135219	432
HARUKIDELTA	0:17f575135219	433	//Sbus初期化
HARUKIDELTA	0:17f575135219	434	void Init_sbus(){
HARUKIDELTA	0:17f575135219	435	sbus.initialize();
HARUKIDELTA	0:17f575135219	436	sbus.setLastfuncPoint(Update_PWM);
HARUKIDELTA	0:17f575135219	437	sbus.startInterrupt();
HARUKIDELTA	0:17f575135219	438	}
HARUKIDELTA	0:17f575135219	439
HARUKIDELTA	0:17f575135219	440	void Init_sensors(){
HARUKIDELTA	0:17f575135219	441	if(mpu6050.setup() == -1){
HARUKIDELTA	0:17f575135219	442	pc.printf("failed initialize\r\n");
HARUKIDELTA	0:17f575135219	443	while(1){
HARUKIDELTA	0:17f575135219	444	led1 = 1; led2 = 0; led3 = 1; led4 = 0;
HARUKIDELTA	0:17f575135219	445	wait(1);
HARUKIDELTA	0:17f575135219	446	led1 = 0; led2 = 1; led3 = 0; led4 = 1;
HARUKIDELTA	0:17f575135219	447	wait(1);
HARUKIDELTA	0:17f575135219	448	}
HARUKIDELTA	0:17f575135219	449	}
HARUKIDELTA	0:17f575135219	450	}
HARUKIDELTA	0:17f575135219	451
HARUKIDELTA	0:17f575135219	452	void Init_PWM(){
HARUKIDELTA	0:17f575135219	453	pc.printf("PWM initialized\r\n");
HARUKIDELTA	0:17f575135219	454	}
HARUKIDELTA	0:17f575135219	455
HARUKIDELTA	0:17f575135219	456	void DisplayClock(){
HARUKIDELTA	0:17f575135219	457	pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000);
HARUKIDELTA	0:17f575135219	458	pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000);
HARUKIDELTA	0:17f575135219	459	pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000);
HARUKIDELTA	0:17f575135219	460	pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000);
HARUKIDELTA	0:17f575135219	461	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	462	}
HARUKIDELTA	0:17f575135219	463
HARUKIDELTA	0:17f575135219	464	void UpdateTargetAngle(float targetAngle[3]){
taknokolat	28:aa44903a01e1	465
taknokolat	28:aa44903a01e1	466
HARUKIDELTA	0:17f575135219	467	static int16_t count_op = 0;
HARUKIDELTA	0:17f575135219	468	#if DEBUG_SEMIAUTO
HARUKIDELTA	0:17f575135219	469	switch(operation_mode){
HARUKIDELTA	0:17f575135219	470	case StartUp:
HARUKIDELTA	0:17f575135219	471	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	472	count_op++;
HARUKIDELTA	0:17f575135219	473	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	474	operation_mode = SemiAuto;
HARUKIDELTA	0:17f575135219	475	pc.printf("Goto SemiAuto mode\r\n");
HARUKIDELTA	0:17f575135219	476	count_op = 0;
HARUKIDELTA	0:17f575135219	477	}
HARUKIDELTA	0:17f575135219	478	}else count_op = 0;
HARUKIDELTA	0:17f575135219	479	break;
HARUKIDELTA	0:17f575135219	480
HARUKIDELTA	0:17f575135219	481	case SemiAuto:
HARUKIDELTA	0:17f575135219	482	/* 大会用では以下のif文を入れてoperation_modeを変える
HARUKIDELTA	0:17f575135219	483	if(CheckSW_Up(Ch6)){
HARUKIDELTA	0:17f575135219	484	count_op++;
HARUKIDELTA	0:17f575135219	485	if(count_op>changeModeCount){
HARUKIDELTA	0:17f575135219	486	output_status = XXX;
HARUKIDELTA	0:17f575135219	487	led2 = 0;
HARUKIDELTA	0:17f575135219	488	pc.printf("Goto XXX mode\r\n");
HARUKIDELTA	0:17f575135219	489	count_op = 0;
HARUKIDELTA	0:17f575135219	490	}else count_op = 0;
HARUKIDELTA	0:17f575135219	491	ConvertPWMintoRAD(targetAngle);
HARUKIDELTA	0:17f575135219	492	}
HARUKIDELTA	0:17f575135219	493	*/
HARUKIDELTA	0:17f575135219	494	ConvertPWMintoRAD(targetAngle);
HARUKIDELTA	0:17f575135219	495	break;
HARUKIDELTA	0:17f575135219	496
HARUKIDELTA	0:17f575135219	497	default:
HARUKIDELTA	0:17f575135219	498	operation_mode = SemiAuto;
HARUKIDELTA	0:17f575135219	499	break;
HARUKIDELTA	0:17f575135219	500	}
HARUKIDELTA	0:17f575135219	501
HARUKIDELTA	0:17f575135219	502	#else
HARUKIDELTA	0:17f575135219	503
HARUKIDELTA	0:17f575135219	504	switch(operation_mode){
HARUKIDELTA	0:17f575135219	505	case StartUp:
HARUKIDELTA	0:17f575135219	506	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	507	count_op++;
HARUKIDELTA	0:17f575135219	508	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	509	operation_mode = RightLoop;
HARUKIDELTA	0:17f575135219	510	pc.printf("Goto RightLoop mode\r\n");
HARUKIDELTA	0:17f575135219	511	count_op = 0;
HARUKIDELTA	0:17f575135219	512	}
HARUKIDELTA	0:17f575135219	513	}else count_op = 0;
HARUKIDELTA	0:17f575135219	514	break;
HARUKIDELTA	0:17f575135219	515
HARUKIDELTA	0:17f575135219	516	case RightLoop:
HARUKIDELTA	0:17f575135219	517	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	518	count_op++;
HARUKIDELTA	0:17f575135219	519	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	520	operation_mode = LeftLoop;
HARUKIDELTA	0:17f575135219	521	pc.printf("Goto LeftLoop mode\r\n");
HARUKIDELTA	0:17f575135219	522	count_op = 0;
HARUKIDELTA	0:17f575135219	523	}
HARUKIDELTA	0:17f575135219	524	}else count_op = 0;
HARUKIDELTA	0:17f575135219	525	UpdateTargetAngle_Rightloop(targetAngle);
HARUKIDELTA	0:17f575135219	526
HARUKIDELTA	0:17f575135219	527	break;
HARUKIDELTA	0:17f575135219	528
HARUKIDELTA	0:17f575135219	529	case LeftLoop:
HARUKIDELTA	0:17f575135219	530	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	531	count_op++;
HARUKIDELTA	0:17f575135219	532	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	533	operation_mode = GoStraight;
HARUKIDELTA	0:17f575135219	534	pc.printf("Goto GoStraight mode\r\n");
HARUKIDELTA	0:17f575135219	535	count_op = 0;
HARUKIDELTA	0:17f575135219	536	}
HARUKIDELTA	0:17f575135219	537	}else count_op = 0;
HARUKIDELTA	0:17f575135219	538	UpdateTargetAngle_Leftloop(targetAngle);
HARUKIDELTA	0:17f575135219	539	break;
HARUKIDELTA	0:17f575135219	540
HARUKIDELTA	0:17f575135219	541	case GoStraight:
HARUKIDELTA	0:17f575135219	542	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	543	count_op++;
HARUKIDELTA	0:17f575135219	544	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	545	operation_mode = Moebius;
HARUKIDELTA	0:17f575135219	546	pc.printf("Goto Moebius mode\r\n");
HARUKIDELTA	0:17f575135219	547	count_op = 0;
HARUKIDELTA	0:17f575135219	548	}
HARUKIDELTA	0:17f575135219	549	}else count_op = 0;
HARUKIDELTA	0:17f575135219	550	UpdateTargetAngle_GoStraight(targetAngle);
HARUKIDELTA	0:17f575135219	551	break;
HARUKIDELTA	0:17f575135219	552
HARUKIDELTA	0:17f575135219	553	case Moebius:
HARUKIDELTA	0:17f575135219	554	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	555	count_op++;
HARUKIDELTA	0:17f575135219	556	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	557	operation_mode = Glide;
HARUKIDELTA	0:17f575135219	558	pc.printf("Goto Glide mode\r\n");
HARUKIDELTA	0:17f575135219	559	count_op = 0;
HARUKIDELTA	0:17f575135219	560	}
HARUKIDELTA	0:17f575135219	561	}else count_op = 0;
HARUKIDELTA	0:17f575135219	562	UpdateTargetAngle_Moebius(targetAngle);
HARUKIDELTA	0:17f575135219	563	break;
HARUKIDELTA	0:17f575135219	564
HARUKIDELTA	0:17f575135219	565	case Glide:
HARUKIDELTA	0:17f575135219	566	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	567	count_op++;
HARUKIDELTA	0:17f575135219	568	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	569	operation_mode = BombwithPC;
HARUKIDELTA	0:17f575135219	570	pc.printf("Goto Bombing mode\r\n");
taknokolat	32:48d5d3f77c41	571	pc.attach(getSF_Serial, Serial::RxIrq);
HARUKIDELTA	0:17f575135219	572	count_op = 0;
HARUKIDELTA	0:17f575135219	573	}
HARUKIDELTA	0:17f575135219	574	}else count_op = 0;
HARUKIDELTA	0:17f575135219	575	UpdateTargetAngle_Glide(targetAngle);
HARUKIDELTA	0:17f575135219	576	break;
HARUKIDELTA	0:17f575135219	577
HARUKIDELTA	0:17f575135219	578	case BombwithPC:
HARUKIDELTA	0:17f575135219	579	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	580	count_op++;
HARUKIDELTA	0:17f575135219	581	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	582	operation_mode = RightLoop;
HARUKIDELTA	0:17f575135219	583	pc.printf("Goto RightLoop mode\r\n");
taknokolat	32:48d5d3f77c41	584	pc.attach(NULL, Serial::RxIrq);
HARUKIDELTA	0:17f575135219	585	count_op = 0;
HARUKIDELTA	0:17f575135219	586	}
HARUKIDELTA	0:17f575135219	587	}else count_op = 0;
HARUKIDELTA	0:17f575135219	588	Take_off_and_landing(targetAngle);
HARUKIDELTA	0:17f575135219	589	break;
HARUKIDELTA	0:17f575135219	590
HARUKIDELTA	0:17f575135219	591	default:
HARUKIDELTA	0:17f575135219	592	operation_mode = StartUp;
HARUKIDELTA	0:17f575135219	593	break;
HARUKIDELTA	0:17f575135219	594	}
HARUKIDELTA	0:17f575135219	595	#endif
HARUKIDELTA	0:17f575135219	596
taknokolat	26:bc185a3d16b6	597	if(CheckSW_Up(Ch7)){
taknokolat	26:bc185a3d16b6	598	output_status = Auto;
taknokolat	26:bc185a3d16b6	599	led1 = 1;
taknokolat	26:bc185a3d16b6	600	}else{
taknokolat	26:bc185a3d16b6	601	output_status = Manual;
taknokolat	26:bc185a3d16b6	602	led1 = 0;
taknokolat	26:bc185a3d16b6	603	}
taknokolat	26:bc185a3d16b6	604
taknokolat	28:aa44903a01e1	605
HARUKIDELTA	0:17f575135219	606	}
HARUKIDELTA	0:17f575135219	607
HARUKIDELTA	0:17f575135219	608	int GetParameter(FILE fp, const char paramName,char parameter[]){
HARUKIDELTA	0:17f575135219	609	int i=0, j=0;
HARUKIDELTA	0:17f575135219	610	int strmax = 200;
HARUKIDELTA	0:17f575135219	611	char str[strmax];
HARUKIDELTA	0:17f575135219	612
HARUKIDELTA	0:17f575135219	613	rewind(fp); //ファイル位置を先頭に
HARUKIDELTA	0:17f575135219	614	while(1){
HARUKIDELTA	0:17f575135219	615	if (fgets(str, strmax, fp) == NULL) {
HARUKIDELTA	0:17f575135219	616	return 0;
HARUKIDELTA	0:17f575135219	617	}
HARUKIDELTA	0:17f575135219	618	if (!strncmp(str, paramName, strlen(paramName))) {
HARUKIDELTA	0:17f575135219	619	while (str[i++] != '=') {}
HARUKIDELTA	0:17f575135219	620	while (str[i] != '\n') {
HARUKIDELTA	0:17f575135219	621	parameter[j++] = str[i++];
HARUKIDELTA	0:17f575135219	622	}
HARUKIDELTA	0:17f575135219	623	parameter[j] = '\0';
HARUKIDELTA	0:17f575135219	624	return 1;
HARUKIDELTA	0:17f575135219	625	}
HARUKIDELTA	0:17f575135219	626	}
HARUKIDELTA	0:17f575135219	627	}
HARUKIDELTA	0:17f575135219	628
HARUKIDELTA	0:17f575135219	629
HARUKIDELTA	0:17f575135219	630	//sdによる設定
HARUKIDELTA	0:17f575135219	631	int SetOptions(float g_kpELE, float g_kiELE, float *g_kdELE,
HARUKIDELTA	0:17f575135219	632	float g_kpRUD, float g_kiRUD, float *g_kdRUD,
HARUKIDELTA	0:17f575135219	633	float g_rightloopROLL, float g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	634	float g_leftloopROLL, float g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	635	float g_gostraightROLL, float g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	636	float g_takeoffTHR, float g_loopTHR,
HARUKIDELTA	0:17f575135219	637	float g_rightloopROLLshort, float g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	638	float g_leftloopROLLshort, float g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	639	float g_glideloopROLL, float g_glideloopPITCH,
HARUKIDELTA	13:77b13d5f4d78	640	float g_kpAIL, float g_kiAIL, float *g_kdAIL,
HARUKIDELTA	13:77b13d5f4d78	641	int g_rightloopRUD, int g_rightloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	642	int g_leftloopRUD, int g_leftloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	643	int *g_glideloopRUD,
HARUKIDELTA	39:b8d5be233b70	644	float g_rightloopROLL_approach,float g_leftloopROLL_approach,
HARUKIDELTA	39:b8d5be233b70	645	int g_rightloopRUD_approach,int g_leftloopRUD_approach
HARUKIDELTA	0:17f575135219	646	){
HARUKIDELTA	0:17f575135219	647
HARUKIDELTA	0:17f575135219	648	pc.printf("SDsetup start.\r\n");
HARUKIDELTA	0:17f575135219	649
HARUKIDELTA	0:17f575135219	650	FILE *fp;
HARUKIDELTA	13:77b13d5f4d78	651	char parameter[40]; //文字列渡す用の配列
HARUKIDELTA	0:17f575135219	652	int SDerrorcount = 0; //取得できなかった数を返す
HARUKIDELTA	0:17f575135219	653	const char *paramNames[] = {
HARUKIDELTA	0:17f575135219	654	"KP_ELEVATOR",
HARUKIDELTA	0:17f575135219	655	"KI_ELEVATOR",
HARUKIDELTA	0:17f575135219	656	"KD_ELEVATOR",
HARUKIDELTA	0:17f575135219	657	"KP_RUDDER",
HARUKIDELTA	0:17f575135219	658	"KI_RUDDER",
HARUKIDELTA	0:17f575135219	659	"KD_RUDDER",
HARUKIDELTA	0:17f575135219	660	"RIGHTLOOP_ROLL",
HARUKIDELTA	0:17f575135219	661	"RIGHTLOOP_PITCH",
HARUKIDELTA	0:17f575135219	662	"LEFTLOOP_ROLL",
HARUKIDELTA	0:17f575135219	663	"LEFTLOOP_PITCH",
HARUKIDELTA	0:17f575135219	664	"GOSTRAIGHT_ROLL",
HARUKIDELTA	0:17f575135219	665	"GOSTRAIGHT_PITCH",
HARUKIDELTA	0:17f575135219	666	"TAKEOFF_THR_RATE",
HARUKIDELTA	0:17f575135219	667	"LOOP_THR_RATE",
HARUKIDELTA	0:17f575135219	668	"RIGHTLOOP_ROLL_SHORT",
HARUKIDELTA	0:17f575135219	669	"RIGHTLOOP_PITCH_SHORT",
HARUKIDELTA	0:17f575135219	670	"LEFTLOOP_ROLL_SHORT",
HARUKIDELTA	0:17f575135219	671	"LEFTLOOP_PITCH_SHORT",
HARUKIDELTA	0:17f575135219	672	"AUTOGLIDE_ROLL",
HARUKIDELTA	12:763bf416ba4b	673	"AUTOGLIDE PITCH",
HARUKIDELTA	12:763bf416ba4b	674	"KP_AILERON",
HARUKIDELTA	12:763bf416ba4b	675	"KI_AILERON",
HARUKIDELTA	13:77b13d5f4d78	676	"KD_AILERON",
HARUKIDELTA	13:77b13d5f4d78	677	"RIGHTLOOP_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	678	"RIGHTLOOPSHORT_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	679	"LEFTLOOP_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	680	"LEFTLOOPSHORT_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	681	"GLIDELOOP_RUDDER",
HARUKIDELTA	39:b8d5be233b70	682	"RIGHTLOOP_ROLL_APPROACH",
HARUKIDELTA	39:b8d5be233b70	683	"LEFTLOOP_ROLL_APPROACH",
HARUKIDELTA	39:b8d5be233b70	684	"RIGHTLOOP_RUDDER_APPROACH",
HARUKIDELTA	39:b8d5be233b70	685	"LEFTLOOP_RUDDER_APPROACH"
HARUKIDELTA	0:17f575135219	686	};
HARUKIDELTA	0:17f575135219	687
HARUKIDELTA	0:17f575135219	688	fp = fopen("/sd/option.txt","r");
HARUKIDELTA	0:17f575135219	689
HARUKIDELTA	0:17f575135219	690	if(fp != NULL){ //開けたら
HARUKIDELTA	0:17f575135219	691	pc.printf("File was openned.\r\n");
HARUKIDELTA	0:17f575135219	692	if(GetParameter(fp,paramNames[0],parameter)) *g_kpELE = atof(parameter);
HARUKIDELTA	0:17f575135219	693	else{ *g_kpELE = KP_ELE;
HARUKIDELTA	0:17f575135219	694	SDerrorcount++;
HARUKIDELTA	0:17f575135219	695	}
HARUKIDELTA	0:17f575135219	696	if(GetParameter(fp,paramNames[1],parameter)) *g_kiELE = atof(parameter);
HARUKIDELTA	0:17f575135219	697	else{ *g_kiELE = KI_ELE;
HARUKIDELTA	0:17f575135219	698	SDerrorcount++;
HARUKIDELTA	0:17f575135219	699	}
HARUKIDELTA	0:17f575135219	700	if(GetParameter(fp,paramNames[2],parameter)) *g_kdELE = atof(parameter);
HARUKIDELTA	0:17f575135219	701	else{ *g_kdELE = KD_ELE;
HARUKIDELTA	0:17f575135219	702	SDerrorcount++;
HARUKIDELTA	0:17f575135219	703	}
HARUKIDELTA	0:17f575135219	704	if(GetParameter(fp,paramNames[3],parameter)) *g_kpRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	705	else{ *g_kpRUD = KP_RUD;
HARUKIDELTA	0:17f575135219	706	SDerrorcount++;
HARUKIDELTA	0:17f575135219	707	}
HARUKIDELTA	0:17f575135219	708	if(GetParameter(fp,paramNames[4],parameter)) *g_kiRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	709	else{ *g_kiRUD = KI_RUD;
HARUKIDELTA	0:17f575135219	710	SDerrorcount++;
HARUKIDELTA	0:17f575135219	711	}
HARUKIDELTA	0:17f575135219	712	if(GetParameter(fp,paramNames[5],parameter)) *g_kdRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	713	else{ *g_kdRUD = KD_RUD;
HARUKIDELTA	0:17f575135219	714	SDerrorcount++;
HARUKIDELTA	0:17f575135219	715	}
HARUKIDELTA	0:17f575135219	716	if(GetParameter(fp,paramNames[6],parameter)) *g_rightloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	717	else{ *g_rightloopROLL = RIGHT_ROLL;
HARUKIDELTA	0:17f575135219	718	SDerrorcount++;
HARUKIDELTA	0:17f575135219	719	}
HARUKIDELTA	0:17f575135219	720	if(GetParameter(fp,paramNames[7],parameter)) *g_rightloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	721	else{ *g_rightloopPITCH = RIGHT_PITCH;
HARUKIDELTA	0:17f575135219	722	SDerrorcount++;
HARUKIDELTA	0:17f575135219	723	}
HARUKIDELTA	0:17f575135219	724	if(GetParameter(fp,paramNames[8],parameter)) *g_leftloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	725	else{ *g_leftloopROLL = LEFT_ROLL;
HARUKIDELTA	0:17f575135219	726	SDerrorcount++;
HARUKIDELTA	0:17f575135219	727	}
HARUKIDELTA	0:17f575135219	728	if(GetParameter(fp,paramNames[9],parameter)) *g_leftloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	729	else{ *g_leftloopPITCH = LEFT_PITCH;
HARUKIDELTA	0:17f575135219	730	SDerrorcount++;
HARUKIDELTA	0:17f575135219	731	}
HARUKIDELTA	0:17f575135219	732	if(GetParameter(fp,paramNames[10],parameter)) *g_gostraightROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	733	else{ *g_gostraightROLL = STRAIGHT_ROLL;
HARUKIDELTA	0:17f575135219	734	SDerrorcount++;
HARUKIDELTA	0:17f575135219	735	}
HARUKIDELTA	0:17f575135219	736	if(GetParameter(fp,paramNames[11],parameter)) *g_gostraightPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	737	else{ *g_gostraightPITCH = STRAIGHT_PITCH;
HARUKIDELTA	0:17f575135219	738	SDerrorcount++;
HARUKIDELTA	0:17f575135219	739	}
HARUKIDELTA	0:17f575135219	740	if(GetParameter(fp,paramNames[12],parameter)) *g_takeoffTHR = atof(parameter);
HARUKIDELTA	0:17f575135219	741	else{ *g_takeoffTHR = TAKEOFF_THR;
HARUKIDELTA	0:17f575135219	742	SDerrorcount++;
HARUKIDELTA	0:17f575135219	743	}
HARUKIDELTA	0:17f575135219	744	if(GetParameter(fp,paramNames[13],parameter)) *g_loopTHR = atof(parameter);
HARUKIDELTA	0:17f575135219	745	else{ *g_loopTHR = LOOP_THR;
HARUKIDELTA	0:17f575135219	746	SDerrorcount++;
HARUKIDELTA	0:17f575135219	747	}
HARUKIDELTA	0:17f575135219	748	if(GetParameter(fp,paramNames[14],parameter)) *g_rightloopROLLshort = atof(parameter);
HARUKIDELTA	0:17f575135219	749	else{ *g_rightloopROLLshort = RIGHT_ROLL_SHORT;
HARUKIDELTA	0:17f575135219	750	SDerrorcount++;
HARUKIDELTA	0:17f575135219	751	}
HARUKIDELTA	0:17f575135219	752	if(GetParameter(fp,paramNames[15],parameter)) *g_rightloopPITCHshort = atof(parameter);
HARUKIDELTA	0:17f575135219	753	else{ *g_rightloopPITCHshort = RIGHT_PITCH_SHORT;
HARUKIDELTA	0:17f575135219	754	SDerrorcount++;
HARUKIDELTA	0:17f575135219	755	}
HARUKIDELTA	0:17f575135219	756	if(GetParameter(fp,paramNames[16],parameter)) *g_leftloopROLLshort = atof(parameter);
HARUKIDELTA	0:17f575135219	757	else{ *g_leftloopROLLshort = LEFT_ROLL_SHORT;
HARUKIDELTA	0:17f575135219	758	SDerrorcount++;
HARUKIDELTA	0:17f575135219	759	}
HARUKIDELTA	0:17f575135219	760	if(GetParameter(fp,paramNames[17],parameter)) *g_leftloopPITCHshort = atof(parameter);
HARUKIDELTA	0:17f575135219	761	else{ *g_leftloopPITCHshort = LEFT_PITCH_SHORT;
HARUKIDELTA	0:17f575135219	762	SDerrorcount++;
HARUKIDELTA	0:17f575135219	763	}
HARUKIDELTA	0:17f575135219	764	if(GetParameter(fp,paramNames[18],parameter)) *g_glideloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	765	else{ *g_glideloopROLL = GLIDE_ROLL;
HARUKIDELTA	0:17f575135219	766	SDerrorcount++;
HARUKIDELTA	0:17f575135219	767	}
HARUKIDELTA	0:17f575135219	768	if(GetParameter(fp,paramNames[19],parameter)) *g_glideloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	769	else{ *g_glideloopPITCH = GLIDE_PITCH;
HARUKIDELTA	0:17f575135219	770	SDerrorcount++;
HARUKIDELTA	0:17f575135219	771	}
HARUKIDELTA	18:cce82f3374fc	772	if(GetParameter(fp,paramNames[20],parameter)) *g_kpAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	773	else{ *g_kpAIL = KP_AIL;
HARUKIDELTA	12:763bf416ba4b	774	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	775	}
HARUKIDELTA	12:763bf416ba4b	776	if(GetParameter(fp,paramNames[21],parameter)) *g_kiAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	777	else{ *g_kiAIL = KI_AIL;
HARUKIDELTA	12:763bf416ba4b	778	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	779	}
HARUKIDELTA	12:763bf416ba4b	780	if(GetParameter(fp,paramNames[22],parameter)) *g_kdAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	781	else{ *g_kdAIL = KP_AIL;
HARUKIDELTA	12:763bf416ba4b	782	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	783	}
HARUKIDELTA	13:77b13d5f4d78	784	if(GetParameter(fp,paramNames[23],parameter)) *g_rightloopRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	785	else{ *g_rightloopRUD = RIGHTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	786	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	787	}
HARUKIDELTA	13:77b13d5f4d78	788	if(GetParameter(fp,paramNames[24],parameter)) *g_rightloopshortRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	789	else{ *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	790	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	791	}
HARUKIDELTA	13:77b13d5f4d78	792	if(GetParameter(fp,paramNames[25],parameter)) *g_leftloopRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	793	else{ *g_leftloopshortRUD = LEFTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	794	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	795	}
HARUKIDELTA	13:77b13d5f4d78	796	if(GetParameter(fp,paramNames[26],parameter)) *g_leftloopshortRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	797	else{ *g_leftloopshortRUD = LEFTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	798	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	799	}
HARUKIDELTA	13:77b13d5f4d78	800	if(GetParameter(fp,paramNames[27],parameter)) *g_glideloopRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	801	else{ *g_glideloopRUD = GLIDELOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	802	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	803	}
HARUKIDELTA	39:b8d5be233b70	804	if(GetParameter(fp,paramNames[28],parameter)) *g_rightloopROLL_approach = atof(parameter);
HARUKIDELTA	39:b8d5be233b70	805	else{ *g_rightloopROLL_approach = RIGHTLOOPROLL_APPROACH;
HARUKIDELTA	13:77b13d5f4d78	806	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	807	}
HARUKIDELTA	39:b8d5be233b70	808	if(GetParameter(fp,paramNames[29],parameter)) *g_leftloopROLL_approach= atof(parameter);
HARUKIDELTA	39:b8d5be233b70	809	else{ *g_leftloopROLL_approach = LEFTLOOPROLL_APPROACH;
HARUKIDELTA	13:77b13d5f4d78	810	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	811	}
HARUKIDELTA	39:b8d5be233b70	812	if(GetParameter(fp,paramNames[30],parameter)) *g_rightloopRUD_approach = atof(parameter);
HARUKIDELTA	39:b8d5be233b70	813	else{ *g_rightloopRUD_approach = RIGHTLOOPRUD_APPROACH;
HARUKIDELTA	13:77b13d5f4d78	814	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	815	}
HARUKIDELTA	39:b8d5be233b70	816	if(GetParameter(fp,paramNames[31],parameter)) *g_leftloopRUD= atof(parameter);
HARUKIDELTA	39:b8d5be233b70	817	else{ *g_leftloopRUD= LEFTLOOPRUD_APPROACH;
HARUKIDELTA	13:77b13d5f4d78	818	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	819	}
HARUKIDELTA	13:77b13d5f4d78	820
HARUKIDELTA	0:17f575135219	821	fclose(fp);
HARUKIDELTA	0:17f575135219	822
HARUKIDELTA	0:17f575135219	823	}else{ //ファイルがなかったら
HARUKIDELTA	0:17f575135219	824	pc.printf("fp was null.\r\n");
HARUKIDELTA	0:17f575135219	825	*g_kpELE = KP_ELE;
HARUKIDELTA	0:17f575135219	826	*g_kiELE = KI_ELE;
HARUKIDELTA	0:17f575135219	827	*g_kdELE = KD_ELE;
HARUKIDELTA	0:17f575135219	828	*g_kpRUD = KP_RUD;
HARUKIDELTA	0:17f575135219	829	*g_kiRUD = KI_RUD;
HARUKIDELTA	0:17f575135219	830	*g_kdRUD = KD_RUD;
HARUKIDELTA	0:17f575135219	831	*g_rightloopROLL = RIGHT_ROLL;
HARUKIDELTA	0:17f575135219	832	*g_rightloopPITCH = RIGHT_PITCH;
HARUKIDELTA	0:17f575135219	833	*g_leftloopROLL = LEFT_ROLL;
HARUKIDELTA	0:17f575135219	834	*g_leftloopPITCH = LEFT_PITCH;
HARUKIDELTA	0:17f575135219	835	*g_gostraightROLL = STRAIGHT_ROLL;
HARUKIDELTA	0:17f575135219	836	*g_gostraightPITCH = STRAIGHT_PITCH;
HARUKIDELTA	0:17f575135219	837	*g_takeoffTHR = TAKEOFF_THR;
HARUKIDELTA	0:17f575135219	838	*g_loopTHR = LOOP_THR;
HARUKIDELTA	12:763bf416ba4b	839	*g_kpAIL = KP_AIL; //パラメータ変えるのお忘れなく！！
HARUKIDELTA	12:763bf416ba4b	840	*g_kiAIL = KI_AIL;
HARUKIDELTA	12:763bf416ba4b	841	*g_kdAIL = KD_AIL;
HARUKIDELTA	13:77b13d5f4d78	842	*g_rightloopRUD = RIGHTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	843	*g_rightloopshortRUD = RIGHTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	844	*g_leftloopRUD = LEFTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	845	*g_leftloopshortRUD = LEFTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	846	*g_glideloopRUD = GLIDELOOP_RUD;
HARUKIDELTA	39:b8d5be233b70	847	*g_rightloopROLL_approach = RIGHTLOOPROLL_APPROACH;
HARUKIDELTA	39:b8d5be233b70	848	*g_leftloopROLL_approach = LEFTLOOPROLL_APPROACH;
HARUKIDELTA	39:b8d5be233b70	849	*g_rightloopRUD_approach = RIGHTLOOPRUD_APPROACH;
HARUKIDELTA	39:b8d5be233b70	850	*g_leftloopRUD_approach = LEFTLOOPRUD_APPROACH;
HARUKIDELTA	13:77b13d5f4d78	851
HARUKIDELTA	13:77b13d5f4d78	852
HARUKIDELTA	0:17f575135219	853	SDerrorcount = -1;
HARUKIDELTA	0:17f575135219	854	}
HARUKIDELTA	0:17f575135219	855	pc.printf("SDsetup finished.\r\n");
HARUKIDELTA	0:17f575135219	856	if(SDerrorcount == 0) pc.printf("setting option is success\r\n");
HARUKIDELTA	0:17f575135219	857	else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n");
HARUKIDELTA	0:17f575135219	858	else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount);
HARUKIDELTA	0:17f575135219	859
HARUKIDELTA	0:17f575135219	860	pc.printf("kpELE = %f, kiELE = %f, kdELE = %f\r\n", g_kpRUD, g_kiRUD, *g_kdRUD);
HARUKIDELTA	0:17f575135219	861	pc.printf("kpRUD = %f, kiRUD = %f, kdRUD = %f\r\n", g_kpELE, g_kiELE, *g_kdELE);
HARUKIDELTA	0:17f575135219	862	pc.printf("rightloopROLL = %f, rightloopPITCH = %f\r\n", g_rightloopROLL, g_rightloopPITCH);
HARUKIDELTA	0:17f575135219	863	pc.printf("leftloopROLL = %f, g_leftloopPITCH = %f\r\n", g_leftloopROLL, g_leftloopPITCH);
HARUKIDELTA	0:17f575135219	864	pc.printf("gostraightROLL = %f, g_gostraightPITCH = %f\r\n", g_gostraightROLL, g_gostraightPITCH);
HARUKIDELTA	0:17f575135219	865	pc.printf("g_takeoffTHR = %f, g_loopTHR = %f\r\n", g_takeoffTHR, g_loopTHR);
HARUKIDELTA	0:17f575135219	866	pc.printf("rightloopROLLshort = %f, rightloopPITCHshort = %f\r\n", g_rightloopROLLshort, g_rightloopPITCHshort);
HARUKIDELTA	0:17f575135219	867	pc.printf("leftloopROLLshort = %f, g_leftloopPITCHshort = %f\r\n", g_leftloopROLLshort, g_leftloopPITCHshort);
HARUKIDELTA	0:17f575135219	868	pc.printf("glideROLL = %f, glidePITCH = %f\r\n", g_glideloopROLL, g_glideloopPITCH);
HARUKIDELTA	16:7fca5b938da6	869	pc.printf("kpAIL = %f,kiAIL = %f,kdAIL = %f\r\n ",g_kpAIL,g_kiAIL,*g_kdAIL);
HARUKIDELTA	16:7fca5b938da6	870	pc.printf("RIGHTLOOPRUD = %d,RIGHTLOOPSHORTRUD = %d\r\n",g_rightloopRUD,g_rightloopshortRUD);
HARUKIDELTA	16:7fca5b938da6	871	pc.printf("LEFTTLOOPRUD = %d,LEFTLOOPSHORTRUD = %d\r\n",g_leftloopRUD,g_leftloopshortRUD);
HARUKIDELTA	16:7fca5b938da6	872	pc.printf("GLIDELOOPRUD = %d\r\n",*g_glideloopRUD);
HARUKIDELTA	39:b8d5be233b70	873	pc.printf("RIGHTLOOP_ROLL_APPROACH = %f, LEFTLOOP_ROLL_APPROACH= %f\r\n",g_rightloopROLL_approach,g_leftloopROLL_approach);
HARUKIDELTA	39:b8d5be233b70	874	pc.printf("RIGHTLOOP_RUD_APPROACH = %d, LEFTLOOP_RUD_APPROACH = %d\r\n",g_rightloopRUD_approach,g_leftloopRUD_approach);
HARUKIDELTA	0:17f575135219	875	return SDerrorcount;
HARUKIDELTA	0:17f575135219	876	}
HARUKIDELTA	0:17f575135219	877
HARUKIDELTA	0:17f575135219	878	void CalculateControlValue(float targetAngle[3], float controlValue[3]){
taknokolat	28:aa44903a01e1	879
HARUKIDELTA	0:17f575135219	880	static int t_last;
HARUKIDELTA	0:17f575135219	881	int t_now;
HARUKIDELTA	0:17f575135219	882	float dt;
HARUKIDELTA	0:17f575135219	883
HARUKIDELTA	0:17f575135219	884	t_now = t.read_us();
HARUKIDELTA	0:17f575135219	885	dt = (float)((t_now - t_last)/1000000.0f) ;
HARUKIDELTA	0:17f575135219	886	t_last = t_now;
HARUKIDELTA	0:17f575135219	887
taknokolat	1:f383708a5a52	888
taknokolat	1:f383708a5a52	889	//controlValue[ROLL] = pid_RUD.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt);
taknokolat	1:f383708a5a52	890	controlValue[ROLL] = pid_AIL.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); //エルロンでロール制御
HARUKIDELTA	0:17f575135219	891	controlValue[PITCH] = pid_ELE.calcPID(nowAngle[PITCH], targetAngle[PITCH], dt);
taknokolat	28:aa44903a01e1	892
HARUKIDELTA	0:17f575135219	893	}
HARUKIDELTA	0:17f575135219	894
taknokolat	28:aa44903a01e1	895	void UpdateAutoPWM(float controlValue[3]){
taknokolat	28:aa44903a01e1	896	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	897	int16_t addpwm[2]; //-500~500
HARUKIDELTA	0:17f575135219	898	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	899	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	900
HARUKIDELTA	2:23daa5fa28b4	901	autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH]; //rewrite
HARUKIDELTA	8:66bba39b95a9	902	autopwm[AIL_R] = trimpwm[AIL_R] - reverce[AIL_R] * addpwm[ROLL];
HARUKIDELTA	0:17f575135219	903	//autopwm[THR] = oldTHR;
HARUKIDELTA	0:17f575135219	904
HARUKIDELTA	0:17f575135219	905	autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]);
taknokolat	1:f383708a5a52	906	autopwm[AIL_R] = ThresholdMaxMin(autopwm[AIL_R], maxpwm[AIL_R], minpwm[AIL_R]);
HARUKIDELTA	2:23daa5fa28b4	907
taknokolat	28:aa44903a01e1	908	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	909	}
HARUKIDELTA	0:17f575135219	910
HARUKIDELTA	0:17f575135219	911	inline float CalcRatio(float value, float trim, float limit){
HARUKIDELTA	0:17f575135219	912	return (value - trim) / (limit - trim);
HARUKIDELTA	0:17f575135219	913	}
HARUKIDELTA	0:17f575135219	914
HARUKIDELTA	0:17f575135219	915	bool CheckSW_Up(Channel ch){
taknokolat	28:aa44903a01e1	916
HARUKIDELTA	0:17f575135219	917	if(SWITCH_CHECK < sbus.manualpwm[ch]){
HARUKIDELTA	0:17f575135219	918	return true;
HARUKIDELTA	0:17f575135219	919	}else{
HARUKIDELTA	0:17f575135219	920	return false;
HARUKIDELTA	0:17f575135219	921	}
taknokolat	28:aa44903a01e1	922
HARUKIDELTA	0:17f575135219	923	}
HARUKIDELTA	0:17f575135219	924
HARUKIDELTA	0:17f575135219	925	int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min){
HARUKIDELTA	0:17f575135219	926	if(value > max) return max;
HARUKIDELTA	0:17f575135219	927	if(value < min) return min;
HARUKIDELTA	0:17f575135219	928	return value;
HARUKIDELTA	0:17f575135219	929	}
HARUKIDELTA	0:17f575135219	930
HARUKIDELTA	0:17f575135219	931	inline int16_t SetTHRinRatio(float ratio){
HARUKIDELTA	0:17f575135219	932	return minpwm[THR] + (int16_t)(2 * lengthdivpwm * ratio);
HARUKIDELTA	0:17f575135219	933	}
HARUKIDELTA	0:17f575135219	934
HARUKIDELTA	2:23daa5fa28b4	935
HARUKIDELTA	2:23daa5fa28b4	936
HARUKIDELTA	0:17f575135219	937	/---SBUS割り込み処理---/
HARUKIDELTA	0:17f575135219	938
HARUKIDELTA	0:17f575135219	939	//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	940	//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	941	void Update_PWM()
taknokolat	28:aa44903a01e1	942	{
taknokolat	28:aa44903a01e1	943	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	944	static int16_t pwm[6];
HARUKIDELTA	0:17f575135219	945	static int16_t temppwm[6]={trimpwm[0],trimpwm[1],trimpwm[2],trimpwm[3],trimpwm[4],trimpwm[5]};
taknokolat	33:0f7a35d55316	946	static int16_t FailsafeCounter=0;
taknokolat	33:0f7a35d55316	947	static int16_t OKCounter=0;
taknokolat	33:0f7a35d55316	948
taknokolat	33:0f7a35d55316	949	if(sbus.flg_ch_update == true && sbus.failsafe_status==SBUS_SIGNAL_OK){
taknokolat	33:0f7a35d55316	950
HARUKIDELTA	0:17f575135219	951	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
taknokolat	33:0f7a35d55316	952	case Manual:
taknokolat	33:0f7a35d55316	953	if(OKCounter!=0) break;
HARUKIDELTA	0:17f575135219	954	for(uint8_t i=0;i<6;i++){
taknokolat	1:f383708a5a52	955	pwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	956	}
HARUKIDELTA	0:17f575135219	957	oldTHR = sbus.manualpwm[THR];
HARUKIDELTA	0:17f575135219	958	//pc.printf("update_manual\r\n");
taknokolat	28:aa44903a01e1	959	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	960	break;
HARUKIDELTA	0:17f575135219	961
HARUKIDELTA	0:17f575135219	962	case Auto:
taknokolat	33:0f7a35d55316	963	if(OKCounter!=0) break;
HARUKIDELTA	0:17f575135219	964	pwm[AIL_R] = autopwm[AIL_R]; //sbus.manualpwm[AIL];
HARUKIDELTA	0:17f575135219	965	pwm[ELE] = autopwm[ELE];
HARUKIDELTA	0:17f575135219	966	pwm[THR] = autopwm[THR];
HARUKIDELTA	0:17f575135219	967	pwm[RUD] = autopwm[RUD];
HARUKIDELTA	0:17f575135219	968	pwm[DROP] = autopwm[DROP];
HARUKIDELTA	0:17f575135219	969	pwm[AIL_L] = autopwm[AIL_L];
taknokolat	33:0f7a35d55316	970
taknokolat	28:aa44903a01e1	971	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	972	break;
HARUKIDELTA	0:17f575135219	973
HARUKIDELTA	0:17f575135219	974	default:
taknokolat	33:0f7a35d55316	975	if(OKCounter!=0) break;
HARUKIDELTA	0:17f575135219	976	for(uint8_t i=0;i<6;i++){
HARUKIDELTA	0:17f575135219	977	pwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	978	} //pc.printf("update_manual\r\n");
taknokolat	28:aa44903a01e1	979	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	980	break;
HARUKIDELTA	0:17f575135219	981	}
taknokolat	28:aa44903a01e1	982
HARUKIDELTA	0:17f575135219	983	for(uint8_t i=0;i<6;i++){
taknokolat	33:0f7a35d55316	984	if(pwm[i]<1000 \|\| pwm[i]>2000) pwm[i]=temppwm[i];
taknokolat	33:0f7a35d55316	985	temppwm[i]=pwm[i];
taknokolat	33:0f7a35d55316	986	}
taknokolat	33:0f7a35d55316	987
taknokolat	33:0f7a35d55316	988	}
taknokolat	33:0f7a35d55316	989	//else(sbus.flg_ch_update == false) pc.printf("0\r\n");
taknokolat	33:0f7a35d55316	990	/* if(sbus.failsafe_status==SBUS_SIGNAL_OK){
taknokolat	33:0f7a35d55316	991	pc.printf("OK\r\n");
HARUKIDELTA	0:17f575135219	992	}
taknokolat	33:0f7a35d55316	993	*/
taknokolat	33:0f7a35d55316	994	//pc.printf("%d\r\n",sbus.failsafe_status);
taknokolat	33:0f7a35d55316	995
taknokolat	33:0f7a35d55316	996	if(sbus.failsafe_status==SBUS_SIGNAL_LOST\|\|sbus.failsafe_status==SBUS_SIGNAL_FAILSAFE) FailsafeCounter++;
taknokolat	33:0f7a35d55316	997	else FailsafeCounter=0;
taknokolat	33:0f7a35d55316	998
taknokolat	33:0f7a35d55316	999	if(FailsafeCounter>10){
taknokolat	33:0f7a35d55316	1000	for(uint8_t i=0;i<6;i++) pwm[i] = trimpwm[i];
taknokolat	33:0f7a35d55316	1001
taknokolat	33:0f7a35d55316	1002	if(sbus.failsafe_status==SBUS_SIGNAL_OK) OKCounter++;
taknokolat	33:0f7a35d55316	1003	if(OKCounter>10) {
taknokolat	33:0f7a35d55316	1004	OKCounter=0;
taknokolat	33:0f7a35d55316	1005	}
taknokolat	33:0f7a35d55316	1006
taknokolat	33:0f7a35d55316	1007	//pc.printf("%d\r\n",sbus.failsafe_status);
taknokolat	33:0f7a35d55316	1008	//if(sbus.failsafe_status!=SBUS_SIGNAL_FAILSAFE)break;
taknokolat	33:0f7a35d55316	1009
taknokolat	33:0f7a35d55316	1010	}
taknokolat	33:0f7a35d55316	1011	//if(sbus.failsafe_status==SBUS_SIGNAL_OK){FailsafeCounter=0;}
taknokolat	33:0f7a35d55316	1012
taknokolat	33:0f7a35d55316	1013
HARUKIDELTA	0:17f575135219	1014	sbus.flg_ch_update = false;
HARUKIDELTA	0:17f575135219	1015	Output_PWM(pwm);
HARUKIDELTA	0:17f575135219	1016	}
taknokolat	33:0f7a35d55316	1017
taknokolat	33:0f7a35d55316	1018
HARUKIDELTA	0:17f575135219	1019	//pwmをサーボに出力。
HARUKIDELTA	0:17f575135219	1020	void Output_PWM(int16_t pwm[5])
HARUKIDELTA	0:17f575135219	1021	{
taknokolat	10:652071c20bf6	1022	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	1023	servo1.pulsewidth_us(pwm[0]);
HARUKIDELTA	0:17f575135219	1024	servo2.pulsewidth_us(pwm[1]);
HARUKIDELTA	0:17f575135219	1025	servo3.pulsewidth_us(pwm[2]);
HARUKIDELTA	0:17f575135219	1026	servo4.pulsewidth_us(pwm[3]);
HARUKIDELTA	0:17f575135219	1027	servo5.pulsewidth_us(pwm[4]);
HARUKIDELTA	0:17f575135219	1028	servo6.pulsewidth_us(pwm[5]);
taknokolat	10:652071c20bf6	1029	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	1030
HARUKIDELTA	0:17f575135219	1031	}
HARUKIDELTA	0:17f575135219	1032
HARUKIDELTA	0:17f575135219	1033	void ResetTrim(){
HARUKIDELTA	0:17f575135219	1034	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	1035	trimpwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	1036	}
HARUKIDELTA	0:17f575135219	1037	pc.printf("reset PWM trim\r\n");
HARUKIDELTA	0:17f575135219	1038	}
HARUKIDELTA	0:17f575135219	1039
HARUKIDELTA	0:17f575135219	1040
HARUKIDELTA	0:17f575135219	1041	void SensingMPU(){
HARUKIDELTA	0:17f575135219	1042	//static int16_t deltaT = 0, t_start = 0;
HARUKIDELTA	0:17f575135219	1043	//t_start = t.read_us();
HARUKIDELTA	0:17f575135219	1044
HARUKIDELTA	0:17f575135219	1045	float rpy[3] = {0}, oldrpy[3] = {0};
HARUKIDELTA	0:17f575135219	1046	static uint16_t count_changeRPY = 0;
HARUKIDELTA	0:17f575135219	1047	static bool flg_checkoutlier = false;
HARUKIDELTA	0:17f575135219	1048	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	1049	NVIC_DisableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	1050	NVIC_DisableIRQ(TIM5_IRQn);
taknokolat	10:652071c20bf6	1051	NVIC_DisableIRQ(EXTI0_IRQn);//MPU割り込み禁止
taknokolat	10:652071c20bf6	1052	NVIC_DisableIRQ(EXTI9_5_IRQn);//超音波割り込み禁止
HARUKIDELTA	0:17f575135219	1053
HARUKIDELTA	0:17f575135219	1054	mpu6050.getRollPitchYaw_Skipper(rpy);
HARUKIDELTA	0:17f575135219	1055
HARUKIDELTA	0:17f575135219	1056	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	1057	NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	1058	NVIC_EnableIRQ(TIM5_IRQn);
HARUKIDELTA	0:17f575135219	1059	NVIC_EnableIRQ(EXTI0_IRQn);
HARUKIDELTA	0:17f575135219	1060	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1061
HARUKIDELTA	0:17f575135219	1062
HARUKIDELTA	0:17f575135219	1063	//外れ値対策
HARUKIDELTA	0:17f575135219	1064	for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI;
HARUKIDELTA	0:17f575135219	1065	rpy[ROLL] -= FirstROLL;
HARUKIDELTA	0:17f575135219	1066	rpy[PITCH] -= FirstPITCH;
HARUKIDELTA	0:17f575135219	1067	rpy[YAW] -= FirstYAW;
HARUKIDELTA	0:17f575135219	1068
HARUKIDELTA	0:17f575135219	1069	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	1070	if(!flg_checkoutlier \|\| count_changeRPY >= 2){
HARUKIDELTA	0:17f575135219	1071	for(uint8_t i=0; i<3; i++){
HARUKIDELTA	0:17f575135219	1072	nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均
HARUKIDELTA	0:17f575135219	1073	}
HARUKIDELTA	0:17f575135219	1074	count_changeRPY = 0;
HARUKIDELTA	0:17f575135219	1075	}else count_changeRPY++;
HARUKIDELTA	0:17f575135219	1076	flg_checkoutlier = false;
HARUKIDELTA	0:17f575135219	1077
HARUKIDELTA	0:17f575135219	1078	}
HARUKIDELTA	0:17f575135219	1079
HARUKIDELTA	0:17f575135219	1080	float TranslateNewYaw(float beforeYaw, float newzeroYaw){
HARUKIDELTA	0:17f575135219	1081	float newYaw = beforeYaw - newzeroYaw;
HARUKIDELTA	0:17f575135219	1082
HARUKIDELTA	0:17f575135219	1083	if(newYaw<-180.0f) newYaw += 360.0f;
HARUKIDELTA	0:17f575135219	1084	else if(newYaw>180.0f) newYaw -= 360.0f;
HARUKIDELTA	0:17f575135219	1085	return newYaw;
HARUKIDELTA	0:17f575135219	1086	}
HARUKIDELTA	0:17f575135219	1087
HARUKIDELTA	0:17f575135219	1088
HARUKIDELTA	0:17f575135219	1089	void getSF_Serial(){
taknokolat	25:37bee299a276	1090	//NVIC_DisableIRQ(USART1_IRQn);
taknokolat	28:aa44903a01e1	1091	//NVIC_DisableIRQ(EXTI0_IRQn);
taknokolat	25:37bee299a276	1092	//NVIC_DisableIRQ(TIM5_IRQn);
taknokolat	25:37bee299a276	1093
taknokolat	25:37bee299a276	1094
taknokolat	25:37bee299a276	1095	static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat	25:37bee299a276	1096
HARUKIDELTA	0:17f575135219	1097	static int bufcounter=0;
HARUKIDELTA	0:17f575135219	1098
taknokolat	28:aa44903a01e1	1099
taknokolat	28:aa44903a01e1	1100
taknokolat	14:bbd5ff31fb67	1101	if(pc.readable()) { // 受信確認
taknokolat	25:37bee299a276	1102
taknokolat	14:bbd5ff31fb67	1103	SFbuf[bufcounter] = pc.getc(); // 1文字取り出し
taknokolat	28:aa44903a01e1	1104	if(SFbuf[0]!='S'){
taknokolat	28:aa44903a01e1	1105	//pc.printf("x");
taknokolat	28:aa44903a01e1	1106	return;
taknokolat	28:aa44903a01e1	1107	}
taknokolat	29:887a38540508	1108
taknokolat	25:37bee299a276	1109
taknokolat	11:c0b9ad25d3db	1110
taknokolat	25:37bee299a276	1111	//pc.printf("%c",SFbuf[bufcounter]);
HARUKIDELTA	0:17f575135219	1112
taknokolat	25:37bee299a276	1113	if(SFbuf[0]=='S'&&bufcounter<5)bufcounter++;
taknokolat	25:37bee299a276	1114
taknokolat	25:37bee299a276	1115	if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat	25:37bee299a276	1116
taknokolat	25:37bee299a276	1117	g_landingcommand = SFbuf[1];
taknokolat	25:37bee299a276	1118	//wait_ms(20);
taknokolat	36:197b514eae3b	1119	//if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat	36:197b514eae3b	1120	if(g_landingcommand=='Y')g_SerialTargetYAW =0.0f;
taknokolat	25:37bee299a276	1121	bufcounter = 0;
taknokolat	25:37bee299a276	1122	memset(SFbuf, 0, strlen(SFbuf));
taknokolat	28:aa44903a01e1	1123	NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat	25:37bee299a276	1124	//pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat	25:37bee299a276	1125	}
taknokolat	25:37bee299a276	1126
taknokolat	28:aa44903a01e1	1127	else if(bufcounter>=5){
taknokolat	25:37bee299a276	1128	//pc.printf("Communication Falsed.\r\n");
taknokolat	25:37bee299a276	1129	memset(SFbuf, 0, strlen(SFbuf));
HARUKIDELTA	0:17f575135219	1130	bufcounter = 0;
taknokolat	28:aa44903a01e1	1131	NVIC_ClearPendingIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	1132	}
taknokolat	29:887a38540508	1133	}
taknokolat	25:37bee299a276	1134
taknokolat	25:37bee299a276	1135	//NVIC_EnableIRQ(TIM5_IRQn);
taknokolat	28:aa44903a01e1	1136	//NVIC_EnableIRQ(EXTI0_IRQn);
taknokolat	25:37bee299a276	1137	//NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	1138	}
HARUKIDELTA	0:17f575135219	1139
HARUKIDELTA	0:17f575135219	1140	float ConvertByteintoFloat(char high, char low){
HARUKIDELTA	0:17f575135219	1141
HARUKIDELTA	0:17f575135219	1142	//int16_t intvalue = (int16_t)high*256 + (int16_t)low;
HARUKIDELTA	0:17f575135219	1143	int16_t intvalue = (int16_t)(((int16_t)high << 8) \| low); // Turn the MSB and LSB into a signed 16-bit value
HARUKIDELTA	0:17f575135219	1144	float floatvalue = (float)intvalue;
HARUKIDELTA	0:17f575135219	1145	return floatvalue;
HARUKIDELTA	0:17f575135219	1146	}
HARUKIDELTA	0:17f575135219	1147
HARUKIDELTA	0:17f575135219	1148
HARUKIDELTA	0:17f575135219	1149	//超音波割り込み
HARUKIDELTA	31:dba3216c2755	1150	void UpdateDist(){
HARUKIDELTA	0:17f575135219	1151	g_distance = usensor.get_dist_cm();
HARUKIDELTA	0:17f575135219	1152	usensor.start();
HARUKIDELTA	31:dba3216c2755	1153	}
HARUKIDELTA	0:17f575135219	1154
HARUKIDELTA	0:17f575135219	1155	//8の字旋回
HARUKIDELTA	0:17f575135219	1156	void UpdateTargetAngle_Moebius(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1157	static uint8_t RotateCounter=0;
HARUKIDELTA	0:17f575135219	1158	static bool flg_setInStartAuto = false;
HARUKIDELTA	0:17f575135219	1159	static float FirstYAW_Moebius = 0.0;
HARUKIDELTA	0:17f575135219	1160	float newYaw_Moebius;
HARUKIDELTA	0:17f575135219	1161
HARUKIDELTA	0:17f575135219	1162	if(!flg_setInStartAuto && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1163	FirstYAW_Moebius = nowAngle[YAW];
HARUKIDELTA	0:17f575135219	1164	RotateCounter = 0;
HARUKIDELTA	0:17f575135219	1165	flg_setInStartAuto = true;
HARUKIDELTA	0:17f575135219	1166	}else if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1167	flg_setInStartAuto = false;
HARUKIDELTA	38:ef0f39dfc98a	1168	led4 = 0;
HARUKIDELTA	0:17f575135219	1169	}
HARUKIDELTA	6:ed61ed8b8fab	1170	autopwm[THR]=oldTHR;
HARUKIDELTA	6:ed61ed8b8fab	1171
HARUKIDELTA	0:17f575135219	1172	newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius);
HARUKIDELTA	0:17f575135219	1173
HARUKIDELTA	38:ef0f39dfc98a	1174	if(RotateCounter == 0 && newYaw_Moebius >90.0 && newYaw_Moebius < 180.0) {RotateCounter++; led4 = 1; pc.printf("Rotate 90\r\n");}
HARUKIDELTA	38:ef0f39dfc98a	1175	if(RotateCounter == 1 && newYaw_Moebius >-180.0 && newYaw_Moebius < -90.0) {RotateCounter++; led4 = 0; pc.printf("Rotate 180\r\n");}
HARUKIDELTA	38:ef0f39dfc98a	1176	if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius <-10.0) {RotateCounter++; led4 = 1; pc.printf("Rotate 270\r\n");}
HARUKIDELTA	38:ef0f39dfc98a	1177	if(RotateCounter == 3 && newYaw_Moebius >0.0 && newYaw_Moebius < 90.0) {RotateCounter++; led4 = 0; pc.printf("Change Rotate direction\r\n");}
HARUKIDELTA	0:17f575135219	1178
HARUKIDELTA	0:17f575135219	1179
HARUKIDELTA	0:17f575135219	1180	if(RotateCounter <= 3) UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1181	else UpdateTargetAngle_Leftloop_short(targetAngle); //左旋回
HARUKIDELTA	0:17f575135219	1182
HARUKIDELTA	0:17f575135219	1183	}
HARUKIDELTA	0:17f575135219	1184
HARUKIDELTA	0:17f575135219	1185	//自動滑空
HARUKIDELTA	0:17f575135219	1186	void UpdateTargetAngle_Glide(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1187	static int THRcount = 0;
HARUKIDELTA	0:17f575135219	1188	static int t_start = 0;
HARUKIDELTA	0:17f575135219	1189	static bool flg_tstart = false;
HARUKIDELTA	31:dba3216c2755	1190	static bool flg_ground = false;
HARUKIDELTA	0:17f575135219	1191	int t_diff = 0;
taknokolat	1:f383708a5a52	1192	static int groundcount = 0;
HARUKIDELTA	0:17f575135219	1193
HARUKIDELTA	0:17f575135219	1194	targetAngle[ROLL] = g_glideloopROLL;
HARUKIDELTA	0:17f575135219	1195	targetAngle[PITCH] = g_glideloopPITCH;
HARUKIDELTA	0:17f575135219	1196
HARUKIDELTA	16:7fca5b938da6	1197	autopwm[RUD]=g_glideloopRUD;
HARUKIDELTA	7:53b0eb6f6bd3	1198	// autopwm[THR]=oldTHR;
taknokolat	10:652071c20bf6	1199
taknokolat	1:f383708a5a52	1200
HARUKIDELTA	7:53b0eb6f6bd3	1201
HARUKIDELTA	0:17f575135219	1202	//時間計測開始設定
HARUKIDELTA	0:17f575135219	1203	if(!flg_tstart && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1204	t_start = t.read();
HARUKIDELTA	0:17f575135219	1205	flg_tstart = true;
HARUKIDELTA	0:17f575135219	1206	pc.printf("timer start\r\n");
taknokolat	1:f383708a5a52	1207	}else if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1208	t_start = 0;
HARUKIDELTA	0:17f575135219	1209	flg_tstart = false;
HARUKIDELTA	0:17f575135219	1210	}
HARUKIDELTA	0:17f575135219	1211
taknokolat	1:f383708a5a52	1212
HARUKIDELTA	0:17f575135219	1213	//フラグが偽であれば計測は行わない
HARUKIDELTA	0:17f575135219	1214	if(flg_tstart){
HARUKIDELTA	0:17f575135219	1215	t_diff = t.read() - t_start;
HARUKIDELTA	0:17f575135219	1216	//一定高度or15秒でled点灯
taknokolat	10:652071c20bf6	1217	NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat	1:f383708a5a52	1218	if((groundcount>5 && g_distance>0) \|\| t_diff > 15){
HARUKIDELTA	38:ef0f39dfc98a	1219	led4 = 1;
HARUKIDELTA	0:17f575135219	1220	//pc.printf("Call [Stop!] calling!\r\n");
HARUKIDELTA	0:17f575135219	1221	}
taknokolat	10:652071c20bf6	1222
HARUKIDELTA	38:ef0f39dfc98a	1223	if(g_distance<250 && g_distance > 0) {
HARUKIDELTA	31:dba3216c2755	1224	groundcount++;
HARUKIDELTA	31:dba3216c2755	1225	}
taknokolat	10:652071c20bf6	1226	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1227	}else{
HARUKIDELTA	0:17f575135219	1228	t_diff = 0;
taknokolat	1:f383708a5a52	1229	groundcount = 0;
HARUKIDELTA	38:ef0f39dfc98a	1230	led4 = 0;
HARUKIDELTA	0:17f575135219	1231	}
HARUKIDELTA	0:17f575135219	1232
taknokolat	10:652071c20bf6	1233	NVIC_DisableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	31:dba3216c2755	1234	if(t_diff > 17) autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	31:dba3216c2755	1235
HARUKIDELTA	31:dba3216c2755	1236	else if(g_distance<150 && g_distance>0 ){
HARUKIDELTA	31:dba3216c2755	1237	NVIC_DisableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1238	THRcount++;
HARUKIDELTA	31:dba3216c2755	1239	if(THRcount>5) flg_ground = true;
HARUKIDELTA	31:dba3216c2755	1240	}
HARUKIDELTA	31:dba3216c2755	1241	else THRcount = 0;
HARUKIDELTA	31:dba3216c2755	1242	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	31:dba3216c2755	1243
HARUKIDELTA	31:dba3216c2755	1244	if(flg_ground == true) autopwm[THR] = SetTHRinRatio(0.6);
HARUKIDELTA	31:dba3216c2755	1245	else autopwm[THR] = minpwm[THR];
HARUKIDELTA	31:dba3216c2755	1246
HARUKIDELTA	31:dba3216c2755	1247	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	31:dba3216c2755	1248	if(!CheckSW_Up(Ch7)){
HARUKIDELTA	31:dba3216c2755	1249	flg_ground = false;
HARUKIDELTA	0:17f575135219	1250	}
HARUKIDELTA	31:dba3216c2755	1251	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	1252	}
HARUKIDELTA	31:dba3216c2755	1253
HARUKIDELTA	0:17f575135219	1254	//離陸-投下-着陸一連
HARUKIDELTA	0:17f575135219	1255	void Take_off_and_landing(float targetAngle[3]){
taknokolat	33:0f7a35d55316	1256
HARUKIDELTA	0:17f575135219	1257	if(!CheckSW_Up(Ch7)) bombing_mode = Takeoff;
HARUKIDELTA	0:17f575135219	1258
HARUKIDELTA	0:17f575135219	1259	switch(bombing_mode){
HARUKIDELTA	0:17f575135219	1260	case Takeoff:
HARUKIDELTA	0:17f575135219	1261	static bool flg_setFirstYaw = false;
HARUKIDELTA	0:17f575135219	1262	static int TakeoffCount = 0;
HARUKIDELTA	0:17f575135219	1263
HARUKIDELTA	0:17f575135219	1264	if(!flg_setFirstYaw && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1265	FirstYAW = nowAngle[YAW];
HARUKIDELTA	0:17f575135219	1266	flg_setFirstYaw = true;
HARUKIDELTA	0:17f575135219	1267	}else if(flg_setFirstYaw && !CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1268	flg_setFirstYaw = false;
HARUKIDELTA	0:17f575135219	1269	}
HARUKIDELTA	0:17f575135219	1270
HARUKIDELTA	0:17f575135219	1271	UpdateTargetAngle_Takeoff(targetAngle);
taknokolat	33:0f7a35d55316	1272	NVIC_DisableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1273	if(g_distance>150) TakeoffCount++;
HARUKIDELTA	0:17f575135219	1274	else TakeoffCount = 0;
taknokolat	33:0f7a35d55316	1275	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1276	if(TakeoffCount>5){
HARUKIDELTA	0:17f575135219	1277	autopwm[THR] = 1180+32020.5;
taknokolat	36:197b514eae3b	1278	targetAngle[PITCH]=g_gostraightPITCH;
taknokolat	34:5719e6977ec7	1279	//pc.printf("Now go to Approach mode!!");
HARUKIDELTA	0:17f575135219	1280	bombing_mode = Approach;
HARUKIDELTA	0:17f575135219	1281	}
HARUKIDELTA	0:17f575135219	1282	break;
taknokolat	10:652071c20bf6	1283
taknokolat	10:652071c20bf6	1284	//case Chicken:
taknokolat	10:652071c20bf6	1285	//break;
taknokolat	33:0f7a35d55316	1286	/*
HARUKIDELTA	0:17f575135219	1287	case Transition:
HARUKIDELTA	0:17f575135219	1288	static int ApproachCount = 0;
HARUKIDELTA	0:17f575135219	1289	targetAngle[YAW]=180.0;
HARUKIDELTA	0:17f575135219	1290	int Judge = Rotate(targetAngle, g_SerialTargetYAW);
HARUKIDELTA	0:17f575135219	1291
HARUKIDELTA	0:17f575135219	1292	if(Judge==0) ApproachCount++;
HARUKIDELTA	0:17f575135219	1293	if(ApproachCount>5) bombing_mode = Approach;
HARUKIDELTA	0:17f575135219	1294	break;
taknokolat	33:0f7a35d55316	1295	*/
HARUKIDELTA	0:17f575135219	1296	case Approach:
taknokolat	33:0f7a35d55316	1297
taknokolat	10:652071c20bf6	1298	autopwm[THR] = SetTHRinRatio(g_loopTHR); //0.7;スロットルの割合
HARUKIDELTA	0:17f575135219	1299	UpdateTargetAngle_Approach(targetAngle);
taknokolat	33:0f7a35d55316	1300
HARUKIDELTA	0:17f575135219	1301	break;
HARUKIDELTA	0:17f575135219	1302
HARUKIDELTA	0:17f575135219	1303	default:
HARUKIDELTA	0:17f575135219	1304	bombing_mode = Takeoff;
HARUKIDELTA	0:17f575135219	1305	break;
HARUKIDELTA	0:17f575135219	1306	}
taknokolat	33:0f7a35d55316	1307
HARUKIDELTA	0:17f575135219	1308	}
HARUKIDELTA	0:17f575135219	1309
HARUKIDELTA	0:17f575135219	1310	//離陸モード
HARUKIDELTA	0:17f575135219	1311	void UpdateTargetAngle_Takeoff(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1312	//pc.printf("%d \r\n",g_distance);
taknokolat	34:5719e6977ec7	1313	static int tELE_start = 0;
taknokolat	34:5719e6977ec7	1314	static bool flg_ELEup = false;
taknokolat	34:5719e6977ec7	1315	int t_def = 0;
HARUKIDELTA	35:25e1afadd455	1316
HARUKIDELTA	35:25e1afadd455	1317	autopwm[RUD] = trimpwm[RUD];
HARUKIDELTA	35:25e1afadd455	1318
HARUKIDELTA	35:25e1afadd455	1319
taknokolat	34:5719e6977ec7	1320	if(!flg_ELEup && CheckSW_Up(Ch7)){
taknokolat	34:5719e6977ec7	1321	tELE_start = t.read_ms();
taknokolat	34:5719e6977ec7	1322	flg_ELEup = true;
taknokolat	34:5719e6977ec7	1323	pc.printf("timer start\r\n");
taknokolat	34:5719e6977ec7	1324	}else if(!CheckSW_Up(Ch7)){
taknokolat	34:5719e6977ec7	1325	tELE_start = 0;
taknokolat	34:5719e6977ec7	1326	flg_ELEup = false;
taknokolat	34:5719e6977ec7	1327	}
taknokolat	34:5719e6977ec7	1328	if(flg_ELEup){
taknokolat	34:5719e6977ec7	1329	t_def = t.read_ms() - tELE_start;
taknokolat	34:5719e6977ec7	1330
taknokolat	34:5719e6977ec7	1331	//1.5秒経過すればELE上げ舵へ
taknokolat	36:197b514eae3b	1332	if(t_def>500) targetAngle[PITCH]=-35.0;
taknokolat	34:5719e6977ec7	1333	else{
taknokolat	34:5719e6977ec7	1334	t_def = 0;
taknokolat	34:5719e6977ec7	1335	targetAngle[PITCH]=g_gostraightPITCH;
taknokolat	34:5719e6977ec7	1336	}
taknokolat	34:5719e6977ec7	1337	}
HARUKIDELTA	0:17f575135219	1338	targetAngle[ROLL] = g_gostraightROLL;
taknokolat	34:5719e6977ec7	1339	//targetAngle[PITCH] = g_loopTHR;
HARUKIDELTA	0:17f575135219	1340	autopwm[THR] = SetTHRinRatio(g_takeoffTHR); //0.7;スロットルの割合
HARUKIDELTA	0:17f575135219	1341	}
HARUKIDELTA	0:17f575135219	1342
taknokolat	34:5719e6977ec7	1343
HARUKIDELTA	0:17f575135219	1344	//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	1345	int Rotate(float targetAngle[3], float TargetYAW){
HARUKIDELTA	0:17f575135219	1346	float diffYaw = TranslateNewYaw(TargetYAW, nowAngle[YAW]);
HARUKIDELTA	0:17f575135219	1347
HARUKIDELTA	0:17f575135219	1348	if(diffYaw > LIMIT_STRAIGHT_YAW){
HARUKIDELTA	0:17f575135219	1349	/*
HARUKIDELTA	0:17f575135219	1350	if(diffYaw > THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1351	else UpdateTargetAngle_Rightloop(targetAngle);
HARUKIDELTA	0:17f575135219	1352	*/
HARUKIDELTA	0:17f575135219	1353	UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1354	return 1;
HARUKIDELTA	0:17f575135219	1355	}else if(diffYaw < -LIMIT_STRAIGHT_YAW){
HARUKIDELTA	0:17f575135219	1356	UpdateTargetAngle_Leftloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1357	/*
HARUKIDELTA	0:17f575135219	1358	if(diffYaw < -THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Leftloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1359	else UpdateTargetAngle_Leftloop(targetAngle);
HARUKIDELTA	0:17f575135219	1360	*/
HARUKIDELTA	0:17f575135219	1361	return 1;
HARUKIDELTA	0:17f575135219	1362	}else{
HARUKIDELTA	0:17f575135219	1363	UpdateTargetAngle_GoStraight(targetAngle);
HARUKIDELTA	0:17f575135219	1364	return 0;
HARUKIDELTA	0:17f575135219	1365	}
HARUKIDELTA	0:17f575135219	1366	}
HARUKIDELTA	0:17f575135219	1367
HARUKIDELTA	0:17f575135219	1368	//チキラー投下
HARUKIDELTA	0:17f575135219	1369	void Chicken_Drop(){
HARUKIDELTA	0:17f575135219	1370	if(CheckSW_Up(Ch7)){
taknokolat	30:624cb32e13a3	1371	autopwm[DROP] = 1911;
HARUKIDELTA	0:17f575135219	1372	pc.printf("Bombed!\r\n");
taknokolat	30:624cb32e13a3	1373	//RerurnChickenServo1.attach(&ReturnChickenServo1, 3);
HARUKIDELTA	0:17f575135219	1374	//operation_mode = Approach;
HARUKIDELTA	0:17f575135219	1375	//buzzer = 0;
HARUKIDELTA	0:17f575135219	1376	pc.printf("Goto LeftLoop mode\r\n");
HARUKIDELTA	0:17f575135219	1377	}
HARUKIDELTA	0:17f575135219	1378	}
HARUKIDELTA	0:17f575135219	1379
HARUKIDELTA	0:17f575135219	1380	void ReturnChickenServo1(){
HARUKIDELTA	0:17f575135219	1381	autopwm[DROP] = 1344;
HARUKIDELTA	0:17f575135219	1382	pc.printf("first reverse\r\n");
HARUKIDELTA	0:17f575135219	1383	RerurnChickenServo2.attach(&ReturnChickenServo2, 1);
HARUKIDELTA	0:17f575135219	1384	}
HARUKIDELTA	0:17f575135219	1385
HARUKIDELTA	0:17f575135219	1386	void ReturnChickenServo2(){
HARUKIDELTA	0:17f575135219	1387	autopwm[DROP] = 1392;
HARUKIDELTA	0:17f575135219	1388	pc.printf("second reverse\r\n");
taknokolat	10:652071c20bf6	1389	}
taknokolat	10:652071c20bf6	1390
taknokolat	10:652071c20bf6	1391	//着陸モード（PCからの指令に従う）
taknokolat	28:aa44903a01e1	1392	void UpdateTargetAngle_Approach(float targetAngle[3]){
taknokolat	10:652071c20bf6	1393
taknokolat	26:bc185a3d16b6	1394	static bool zeroTHR=true;//着陸時のスロットル動作確認用
taknokolat	24:2cc7a3a10e72	1395
taknokolat	26:bc185a3d16b6	1396	if(CheckSW_Up(Ch7)){
taknokolat	26:bc185a3d16b6	1397	output_status = Auto;
taknokolat	26:bc185a3d16b6	1398	led1 = 1;
taknokolat	26:bc185a3d16b6	1399	}else{
taknokolat	26:bc185a3d16b6	1400	output_status = Manual;
taknokolat	26:bc185a3d16b6	1401	led1 = 0;
taknokolat	26:bc185a3d16b6	1402	zeroTHR=true;
taknokolat	26:bc185a3d16b6	1403	}
taknokolat	26:bc185a3d16b6	1404
taknokolat	24:2cc7a3a10e72	1405
taknokolat	28:aa44903a01e1	1406	NVIC_DisableIRQ(USART2_IRQn);
taknokolat	10:652071c20bf6	1407	switch(g_landingcommand){
taknokolat	10:652071c20bf6	1408	case 'R': //右旋回セヨ
taknokolat	23:4928a6fd9eee	1409	if(zeroTHR==false){
HARUKIDELTA	19:0955311b0db6	1410	UpdateTargetAngle_Rightloop_zero(targetAngle);
HARUKIDELTA	19:0955311b0db6	1411	}
HARUKIDELTA	19:0955311b0db6	1412	else{
HARUKIDELTA	39:b8d5be233b70	1413	targetAngle[ROLL] = g_rightloopROLL_approach;
taknokolat	10:652071c20bf6	1414	targetAngle[PITCH] = g_rightloopPITCH ;
HARUKIDELTA	39:b8d5be233b70	1415	autopwm[RUD]=g_rightloopRUD_approach; //RUD固定
taknokolat	28:aa44903a01e1	1416	if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節
taknokolat	28:aa44903a01e1	1417	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	28:aa44903a01e1	1418	}
taknokolat	28:aa44903a01e1	1419	else {autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
taknokolat	28:aa44903a01e1	1420	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
taknokolat	10:652071c20bf6	1421	}
taknokolat	20:9393b0cfa44d	1422	}
taknokolat	28:aa44903a01e1	1423	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	10:652071c20bf6	1424	break;
taknokolat	20:9393b0cfa44d	1425
taknokolat	10:652071c20bf6	1426	case 'L': //左旋回セヨ
taknokolat	23:4928a6fd9eee	1427	if(zeroTHR==false){
HARUKIDELTA	19:0955311b0db6	1428	UpdateTargetAngle_Leftloop_zero(targetAngle);
taknokolat	28:aa44903a01e1	1429	}
HARUKIDELTA	19:0955311b0db6	1430	else{
HARUKIDELTA	39:b8d5be233b70	1431	targetAngle[ROLL] = g_leftloopROLL_approach;
taknokolat	28:aa44903a01e1	1432	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	39:b8d5be233b70	1433	autopwm[RUD]=g_leftloopRUD_approach;
taknokolat	28:aa44903a01e1	1434	if(autopwm[AIL_R]<trimpwm[AIL_R]){
taknokolat	28:aa44903a01e1	1435	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	28:aa44903a01e1	1436	}
taknokolat	28:aa44903a01e1	1437	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
taknokolat	28:aa44903a01e1	1438	}
taknokolat	28:aa44903a01e1	1439	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	28:aa44903a01e1	1440	break;
taknokolat	10:652071c20bf6	1441
taknokolat	10:652071c20bf6	1442	case 'G': //直進セヨ
taknokolat	23:4928a6fd9eee	1443	if(zeroTHR==false){
HARUKIDELTA	19:0955311b0db6	1444	UpdateTargetAngle_GoStraight_zero(targetAngle);
HARUKIDELTA	19:0955311b0db6	1445	}
HARUKIDELTA	19:0955311b0db6	1446	else{
taknokolat	10:652071c20bf6	1447	targetAngle[ROLL] = g_gostraightROLL;
taknokolat	10:652071c20bf6	1448	targetAngle[PITCH] = g_gostraightPITCH;
HARUKIDELTA	19:0955311b0db6	1449	}
taknokolat	28:aa44903a01e1	1450	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	10:652071c20bf6	1451	break;
taknokolat	10:652071c20bf6	1452
taknokolat	10:652071c20bf6	1453	case 'Y': //指定ノヨー方向ニ移動セヨ
taknokolat	10:652071c20bf6	1454	Rotate(targetAngle, g_SerialTargetYAW);
taknokolat	28:aa44903a01e1	1455	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	10:652071c20bf6	1456	break;
taknokolat	10:652071c20bf6	1457
taknokolat	29:887a38540508	1458	/*case 'B': //ブザーヲ鳴ラセ
taknokolat	10:652071c20bf6	1459	//buzzer = 1;
taknokolat	28:aa44903a01e1	1460	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	29:887a38540508	1461	break;*/
taknokolat	10:652071c20bf6	1462
taknokolat	29:887a38540508	1463	case 'B': //物資ヲ落トセ
taknokolat	10:652071c20bf6	1464	Chicken_Drop();
taknokolat	28:aa44903a01e1	1465	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	10:652071c20bf6	1466	break;
taknokolat	10:652071c20bf6	1467
taknokolat	10:652071c20bf6	1468	case 'C': //停止セヨ
taknokolat	10:652071c20bf6	1469	targetAngle[ROLL] = 0.0;
taknokolat	10:652071c20bf6	1470	targetAngle[PITCH] = -3.0;
taknokolat	10:652071c20bf6	1471	autopwm[THR] = minpwm[THR];
taknokolat	23:4928a6fd9eee	1472	zeroTHR=false;
taknokolat	28:aa44903a01e1	1473	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	10:652071c20bf6	1474	break;
taknokolat	28:aa44903a01e1	1475
taknokolat	28:aa44903a01e1	1476	default :
taknokolat	28:aa44903a01e1	1477	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	28:aa44903a01e1	1478	break;
taknokolat	28:aa44903a01e1	1479
HARUKIDELTA	0:17f575135219	1480
taknokolat	10:652071c20bf6	1481	}
taknokolat	28:aa44903a01e1	1482
taknokolat	10:652071c20bf6	1483	}
taknokolat	10:652071c20bf6	1484
taknokolat	10:652071c20bf6	1485	void checkHeight(float targetAngle[3]){
taknokolat	10:652071c20bf6	1486
taknokolat	10:652071c20bf6	1487	static int targetHeight = 200;
taknokolat	33:0f7a35d55316	1488
taknokolat	10:652071c20bf6	1489	NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat	10:652071c20bf6	1490	if(g_distance < targetHeight + ALLOWHEIGHT){
taknokolat	10:652071c20bf6	1491	UpdateTargetAngle_NoseUP(targetAngle);
taknokolat	10:652071c20bf6	1492	if(CheckSW_Up(Ch7)) led2 = 1;
taknokolat	10:652071c20bf6	1493	}
taknokolat	10:652071c20bf6	1494	else if(g_distance > targetHeight - ALLOWHEIGHT){
taknokolat	10:652071c20bf6	1495	UpdateTargetAngle_NoseDOWN(targetAngle);
taknokolat	10:652071c20bf6	1496	if(CheckSW_Up(Ch7)) led2 = 1;
taknokolat	10:652071c20bf6	1497	}
taknokolat	10:652071c20bf6	1498	else led2=0;
taknokolat	10:652071c20bf6	1499	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1500	}
HARUKIDELTA	0:17f575135219	1501
taknokolat	10:652071c20bf6	1502	void UpdateTargetAngle_NoseUP(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1503
HARUKIDELTA	0:17f575135219	1504	//targetAngle[PITCH] += 2.0f;
HARUKIDELTA	0:17f575135219	1505	//if(nowAngle[PITCH]<targetAngle[PITCH]) autopwm[THR] = SetTHRinRatio(0.6);
HARUKIDELTA	0:17f575135219	1506	autopwm[THR] = SetTHRinRatio(g_loopTHR+0.05);
HARUKIDELTA	0:17f575135219	1507	//pc.printf("nose UP");
HARUKIDELTA	0:17f575135219	1508	}
HARUKIDELTA	0:17f575135219	1509
HARUKIDELTA	0:17f575135219	1510	void UpdateTargetAngle_NoseDOWN(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1511
HARUKIDELTA	0:17f575135219	1512	//targetAngle[PITCH] -= 2.0f;
HARUKIDELTA	0:17f575135219	1513	autopwm[THR] = SetTHRinRatio(g_loopTHR-0.05);
HARUKIDELTA	0:17f575135219	1514	//pc.printf("nose DOWN");
HARUKIDELTA	0:17f575135219	1515	}
HARUKIDELTA	0:17f575135219	1516
HARUKIDELTA	0:17f575135219	1517	//直進
HARUKIDELTA	0:17f575135219	1518	void UpdateTargetAngle_GoStraight(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1519
HARUKIDELTA	19:0955311b0db6	1520	autopwm[RUD] = trimpwm[RUD];
HARUKIDELTA	0:17f575135219	1521	targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA	0:17f575135219	1522	targetAngle[PITCH] = g_gostraightPITCH;
HARUKIDELTA	0:17f575135219	1523	autopwm[THR] = SetTHRinRatio(g_loopTHR);
HARUKIDELTA	0:17f575135219	1524
HARUKIDELTA	0:17f575135219	1525	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1526	}
HARUKIDELTA	0:17f575135219	1527
HARUKIDELTA	19:0955311b0db6	1528	//直進(着陸時スロットル０のとき）
HARUKIDELTA	19:0955311b0db6	1529	void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]){
HARUKIDELTA	19:0955311b0db6	1530
HARUKIDELTA	19:0955311b0db6	1531	autopwm[RUD] = trimpwm[RUD];
HARUKIDELTA	19:0955311b0db6	1532	targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA	19:0955311b0db6	1533	targetAngle[PITCH] = g_gostraightPITCH;
HARUKIDELTA	19:0955311b0db6	1534	autopwm[THR] = minpwm[THR];
HARUKIDELTA	19:0955311b0db6	1535
HARUKIDELTA	19:0955311b0db6	1536	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	19:0955311b0db6	1537	}
HARUKIDELTA	3:206b17251f5b	1538
HARUKIDELTA	0:17f575135219	1539	//右旋回
HARUKIDELTA	0:17f575135219	1540	void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回
HARUKIDELTA	0:17f575135219	1541
HARUKIDELTA	0:17f575135219	1542	targetAngle[PITCH] = g_rightloopPITCH ;
HARUKIDELTA	16:7fca5b938da6	1543	autopwm[RUD]=g_rightloopRUD; //RUD固定
TUATBM	9:f6367b7fd7be	1544	autopwm[THR] = SetTHRinRatio(0.5); //手動スロットル記憶
HARUKIDELTA	27:61876b34ded4	1545
taknokolat	28:aa44903a01e1	1546	/*
HARUKIDELTA	27:61876b34ded4	1547	if (nowAngle[ROLL]>20.0\|\|nowAngle[ROLL]<-20.0){
HARUKIDELTA	27:61876b34ded4	1548	t2.start();
HARUKIDELTA	27:61876b34ded4	1549	pc.printf("Timer start.");
HARUKIDELTA	27:61876b34ded4	1550	}
HARUKIDELTA	27:61876b34ded4	1551	if(0.0<t2.read()<5.0){
taknokolat	28:aa44903a01e1	1552	//pc.printf("tagetAngle is changed.");
HARUKIDELTA	27:61876b34ded4	1553	targetAngle[ROLL] = rightloopROLL2;
HARUKIDELTA	27:61876b34ded4	1554	}
HARUKIDELTA	27:61876b34ded4	1555	else {
HARUKIDELTA	27:61876b34ded4	1556	t2.stop();
HARUKIDELTA	27:61876b34ded4	1557	t2.reset();
HARUKIDELTA	27:61876b34ded4	1558	pc.printf("Timer stopped.");
HARUKIDELTA	27:61876b34ded4	1559	targetAngle[ROLL] = g_rightloopROLL;
HARUKIDELTA	27:61876b34ded4	1560	}
taknokolat	28:aa44903a01e1	1561	*/
HARUKIDELTA	22:438bedf24707	1562	if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節
HARUKIDELTA	3:206b17251f5b	1563	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	3:206b17251f5b	1564	}
HARUKIDELTA	3:206b17251f5b	1565	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
TUATBM	9:f6367b7fd7be	1566	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
TUATBM	9:f6367b7fd7be	1567
HARUKIDELTA	27:61876b34ded4	1568
HARUKIDELTA	0:17f575135219	1569	//checkHeight(targetAngle);
HARUKIDELTA	0:17f575135219	1570	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1571	}
HARUKIDELTA	0:17f575135219	1572
HARUKIDELTA	4:fff1165ca50c	1573	//右旋回（着陸時スロットル０の時）
HARUKIDELTA	4:fff1165ca50c	1574	void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]){ //右旋回
taknokolat	20:9393b0cfa44d	1575	autopwm[THR]=minpwm[THR];
HARUKIDELTA	39:b8d5be233b70	1576	targetAngle[ROLL] = g_rightloopROLL_approach;
HARUKIDELTA	4:fff1165ca50c	1577	targetAngle[PITCH] = g_rightloopPITCH ;
HARUKIDELTA	39:b8d5be233b70	1578	autopwm[RUD]=g_rightloopRUD_approach; //RUD固定
HARUKIDELTA	22:438bedf24707	1579	if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節
taknokolat	20:9393b0cfa44d	1580	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	20:9393b0cfa44d	1581	}
taknokolat	20:9393b0cfa44d	1582	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
taknokolat	20:9393b0cfa44d	1583	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
HARUKIDELTA	4:fff1165ca50c	1584
HARUKIDELTA	4:fff1165ca50c	1585	//checkHeight(targetAngle);
HARUKIDELTA	4:fff1165ca50c	1586	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	4:fff1165ca50c	1587	}
HARUKIDELTA	4:fff1165ca50c	1588
HARUKIDELTA	0:17f575135219	1589	void UpdateTargetAngle_Rightloop_short(float targetAngle[3]){ //右旋回
HARUKIDELTA	0:17f575135219	1590
HARUKIDELTA	0:17f575135219	1591	targetAngle[ROLL] = g_rightloopROLLshort;
HARUKIDELTA	0:17f575135219	1592	targetAngle[PITCH] = g_rightloopPITCHshort;
HARUKIDELTA	16:7fca5b938da6	1593	autopwm[RUD]=g_rightloopshortRUD;
HARUKIDELTA	19:0955311b0db6	1594	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	22:438bedf24707	1595	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	3:206b17251f5b	1596	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	3:206b17251f5b	1597	}
HARUKIDELTA	3:206b17251f5b	1598	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	0:17f575135219	1599
HARUKIDELTA	0:17f575135219	1600	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1601	}
HARUKIDELTA	0:17f575135219	1602
HARUKIDELTA	0:17f575135219	1603	//左旋回
HARUKIDELTA	0:17f575135219	1604	void UpdateTargetAngle_Leftloop(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1605
HARUKIDELTA	0:17f575135219	1606	targetAngle[ROLL] = g_leftloopROLL;
HARUKIDELTA	0:17f575135219	1607	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	16:7fca5b938da6	1608	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	19:0955311b0db6	1609	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	22:438bedf24707	1610	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	17:55249ea37dff	1611	autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1612	}
HARUKIDELTA	17:55249ea37dff	1613	else autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1614	//checkHeight(targetAngle);
HARUKIDELTA	4:fff1165ca50c	1615
HARUKIDELTA	4:fff1165ca50c	1616	//printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	4:fff1165ca50c	1617	}
HARUKIDELTA	4:fff1165ca50c	1618
HARUKIDELTA	4:fff1165ca50c	1619	//左旋回（着陸時スロットル０のとき）
HARUKIDELTA	4:fff1165ca50c	1620	void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]){
HARUKIDELTA	4:fff1165ca50c	1621
HARUKIDELTA	39:b8d5be233b70	1622	targetAngle[ROLL] = g_leftloopROLL_approach;
HARUKIDELTA	4:fff1165ca50c	1623	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	39:b8d5be233b70	1624	autopwm[RUD]=g_leftloopRUD_approach;
HARUKIDELTA	4:fff1165ca50c	1625	autopwm[THR] = minpwm[THR];
HARUKIDELTA	22:438bedf24707	1626	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	4:fff1165ca50c	1627	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1628	}
HARUKIDELTA	4:fff1165ca50c	1629	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1630	//autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_Ratio_leftloop;
HARUKIDELTA	0:17f575135219	1631	//checkHeight(targetAngle);
HARUKIDELTA	0:17f575135219	1632
HARUKIDELTA	2:23daa5fa28b4	1633	//printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1634	}
HARUKIDELTA	0:17f575135219	1635
HARUKIDELTA	0:17f575135219	1636	void UpdateTargetAngle_Leftloop_short(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1637
HARUKIDELTA	0:17f575135219	1638	targetAngle[ROLL] = g_leftloopROLLshort;
HARUKIDELTA	0:17f575135219	1639	targetAngle[PITCH] = g_leftloopPITCHshort;
HARUKIDELTA	16:7fca5b938da6	1640	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	19:0955311b0db6	1641	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	22:438bedf24707	1642	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	4:fff1165ca50c	1643	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1644	}
HARUKIDELTA	4:fff1165ca50c	1645	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1646
HARUKIDELTA	0:17f575135219	1647	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1648	}
taknokolat	10:652071c20bf6	1649
HARUKIDELTA	18:cce82f3374fc	1650	void Sbusprintf(){
HARUKIDELTA	18:cce82f3374fc	1651
HARUKIDELTA	18:cce82f3374fc	1652	for(uint8_t i=0; i<8; i++) pc.printf("ch.%d = %d ",i+1,sbus.manualpwm[i]);
HARUKIDELTA	18:cce82f3374fc	1653	pc.printf("\r\n");
HARUKIDELTA	18:cce82f3374fc	1654
HARUKIDELTA	18:cce82f3374fc	1655	}
HARUKIDELTA	18:cce82f3374fc	1656
HARUKIDELTA	0:17f575135219	1657
taknokolat	36:197b514eae3b	1658
HARUKIDELTA	0:17f575135219	1659	//デバッグ用
HARUKIDELTA	0:17f575135219	1660	void DebugPrint(){
HARUKIDELTA	0:17f575135219	1661	/*
HARUKIDELTA	0:17f575135219	1662	static int16_t deltaT = 0, t_start = 0;
HARUKIDELTA	0:17f575135219	1663	deltaT = t.read_u2s() - t_start;
HARUKIDELTA	0:17f575135219	1664	pc.printf("t:%d us, ",deltaT);
HARUKIDELTA	0:17f575135219	1665	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	1666	t_start = t.read_us();
HARUKIDELTA	0:17f575135219	1667	*/
HARUKIDELTA	0:17f575135219	1668	//for(uint8_t i=0; i<8; i++) pc.printf("%d ",sbus.manualpwm[i]);
HARUKIDELTA	0:17f575135219	1669	//for(uint8_t i=1; i<4; i++) pc.printf("%d ",sbus.manualpwm[i]);
HARUKIDELTA	0:17f575135219	1670	//pc.printf("\r\n");
taknokolat	28:aa44903a01e1	1671	//for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
HARUKIDELTA	0:17f575135219	1672	//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
HARUKIDELTA	35:25e1afadd455	1673	//pc.printf("%d\t",autopwm[AIL_L]);
HARUKIDELTA	35:25e1afadd455	1674	//pc.printf("%d\t",autopwm[RUD]);
HARUKIDELTA	0:17f575135219	1675	//pc.printf("%d",g_distance);
taknokolat	33:0f7a35d55316	1676	//NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat	33:0f7a35d55316	1677	//pc.printf("g_distance = %d",g_distance);
taknokolat	33:0f7a35d55316	1678	//NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1679	//pc.printf("Mode: %c: ",g_buf[0]);
HARUKIDELTA	0:17f575135219	1680	//if(g_buf[0] == 'Y') pc.printf(" %3.1f",g_SerialTargetYAW);
taknokolat	33:0f7a35d55316	1681	//pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	1682	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	25 Sep 2018
Imports:	1
Forks:	1
Commits:	40
Dependents:	0
Dependencies:	4
Followers:	23

main.cpp@39:b8d5be233b70, 2018-09-25 (annotated)

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