Autoflight2018_54 - フェイルセーフ完成版

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航空研究会 / Mbed 2 deprecated Autoflight2018_54

フェイルセーフ完成版

Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3

Fork of Autoflight2018_53 by 航空研究会

main.cpp@25:37bee299a276, 2018-09-20 (annotated)

Committer:: taknokolat
Date:: Thu Sep 20 15:18:19 2018 +0000
Revision:: 25:37bee299a276
Parent:: 24:2cc7a3a10e72
Child:: 26:bc185a3d16b6

Who changed what in which revision?

User	Revision	Line number	New contents of line
HARUKIDELTA	0:17f575135219	1	//mbed
HARUKIDELTA	0:17f575135219	2	#include "mbed.h"
HARUKIDELTA	0:17f575135219	3	#include "FATFileSystem.h"
HARUKIDELTA	0:17f575135219	4	#include "SDFileSystem.h"
HARUKIDELTA	0:17f575135219	5	//C
HARUKIDELTA	0:17f575135219	6	#include "math.h"
HARUKIDELTA	0:17f575135219	7	//sensor
HARUKIDELTA	0:17f575135219	8	#include "MPU6050_DMP6.h"
HARUKIDELTA	0:17f575135219	9	//#include "MPU9250.h"
HARUKIDELTA	0:17f575135219	10	//#include "BMP280.h"
HARUKIDELTA	0:17f575135219	11	#include "hcsr04.h"
HARUKIDELTA	0:17f575135219	12	//device
HARUKIDELTA	0:17f575135219	13	#include "sbus.h"
HARUKIDELTA	0:17f575135219	14	//config
HARUKIDELTA	0:17f575135219	15	#include "SkipperSv2.h"
HARUKIDELTA	0:17f575135219	16	#include "falfalla.h"
HARUKIDELTA	0:17f575135219	17	//other
HARUKIDELTA	0:17f575135219	18	#include "pid.h"
HARUKIDELTA	0:17f575135219	19
HARUKIDELTA	0:17f575135219	20	#define DEBUG_SEMIAUTO 0
HARUKIDELTA	0:17f575135219	21	#define DEBUG_PRINT_INLOOP 1
HARUKIDELTA	0:17f575135219	22
TUATBM	9:f6367b7fd7be	23	#define KP_ELE 15.0 //2.0
HARUKIDELTA	0:17f575135219	24	#define KI_ELE 0.0
TUATBM	9:f6367b7fd7be	25	#define KD_ELE 0.0 //0/0
HARUKIDELTA	0:17f575135219	26	#define KP_RUD 3.0
HARUKIDELTA	0:17f575135219	27	#define KI_RUD 0.0
HARUKIDELTA	0:17f575135219	28	#define KD_RUD 0.0
HARUKIDELTA	2:23daa5fa28b4	29	#define KP_AIL 0.1
HARUKIDELTA	2:23daa5fa28b4	30	#define KI_AIL 0.2
HARUKIDELTA	2:23daa5fa28b4	31	#define KD_AIL 0.2
taknokolat	1:f383708a5a52	32
HARUKIDELTA	2:23daa5fa28b4	33	//#define g_AIL_L_Ratio_rightloop 0.5
HARUKIDELTA	0:17f575135219	34
HARUKIDELTA	0:17f575135219	35	#define GAIN_CONTROLVALUE_TO_PWM 3.0
HARUKIDELTA	0:17f575135219	36
HARUKIDELTA	0:17f575135219	37	#define RIGHT_ROLL -12.0
TUATBM	9:f6367b7fd7be	38	#define RIGHT_PITCH -10.0 //5.0
HARUKIDELTA	0:17f575135219	39	#define LEFT_ROLL 12.0
HARUKIDELTA	0:17f575135219	40	#define LEFT_PITCH -5.0
HARUKIDELTA	0:17f575135219	41	#define STRAIGHT_ROLL 4.0
HARUKIDELTA	0:17f575135219	42	#define STRAIGHT_PITCH 3.0
HARUKIDELTA	0:17f575135219	43	#define TAKEOFF_THR 0.8
HARUKIDELTA	0:17f575135219	44	#define LOOP_THR 0.6
HARUKIDELTA	0:17f575135219	45
HARUKIDELTA	13:77b13d5f4d78	46	//#define g_rightloopRUD 1500
HARUKIDELTA	2:23daa5fa28b4	47
HARUKIDELTA	0:17f575135219	48	#define RIGHT_ROLL_SHORT -12.0
HARUKIDELTA	0:17f575135219	49	#define RIGHT_PITCH_SHORT -5.0
HARUKIDELTA	0:17f575135219	50	#define LEFT_ROLL_SHORT 12.0
HARUKIDELTA	0:17f575135219	51	#define LEFT_PITCH_SHORT -5.0
HARUKIDELTA	0:17f575135219	52
HARUKIDELTA	17:55249ea37dff	53	/*#define rightloopRUD 1300 //1250
HARUKIDELTA	17:55249ea37dff	54	#define rightloopshortRUD 1250
HARUKIDELTA	17:55249ea37dff	55	#define leftloopRUD 1500
HARUKIDELTA	17:55249ea37dff	56	#define leftloopshortRUD 1500
HARUKIDELTA	17:55249ea37dff	57	#define glideloopRUD 1300
HARUKIDELTA	17:55249ea37dff	58	*/
TUATBM	9:f6367b7fd7be	59	#define AIL_R_correctionrightloop 0
HARUKIDELTA	18:cce82f3374fc	60	#define AIL_L_correctionrightloop 0
HARUKIDELTA	3:206b17251f5b	61	#define AIL_L_correctionrightloopshort 0
HARUKIDELTA	3:206b17251f5b	62	#define AIL_L_correctionleftloop -0
HARUKIDELTA	3:206b17251f5b	63	#define AIL_L_correctionleftloopshort 0
HARUKIDELTA	3:206b17251f5b	64
HARUKIDELTA	19:0955311b0db6	65
HARUKIDELTA	8:66bba39b95a9	66	#define RIGHTLOOP_RUD 1250
HARUKIDELTA	8:66bba39b95a9	67	#define RIGHTLOOPSHORT_RUD 1250
HARUKIDELTA	8:66bba39b95a9	68	#define LEFTLOOP_RUD 1500
HARUKIDELTA	8:66bba39b95a9	69	#define LEFTLOOPSHORT_RUD 1500
HARUKIDELTA	8:66bba39b95a9	70	#define GLIDELOOP_RUD 1300
HARUKIDELTA	8:66bba39b95a9	71	#define AIL_L_CORRECTION_RIGHTLOOP 0
HARUKIDELTA	8:66bba39b95a9	72	#define AIL_L_CORRECTION_RIGHTLOOPSHORT 0
HARUKIDELTA	8:66bba39b95a9	73	#define AIL_L_CORRECTION_LEFTLOOP 0
HARUKIDELTA	8:66bba39b95a9	74	#define AIL_L_CORRECTION_LEFTLOOPSHORT 0
HARUKIDELTA	3:206b17251f5b	75
HARUKIDELTA	0:17f575135219	76	#define GLIDE_ROLL -12.0
HARUKIDELTA	0:17f575135219	77	#define GLIDE_PITCH -3.0
HARUKIDELTA	0:17f575135219	78
HARUKIDELTA	3:206b17251f5b	79
HARUKIDELTA	3:206b17251f5b	80	#define AIL_L_RatioRising 0.5
HARUKIDELTA	3:206b17251f5b	81	#define AIL_L_RatioDescent 2
HARUKIDELTA	3:206b17251f5b	82
HARUKIDELTA	0:17f575135219	83	//コンパスキャリブレーション
HARUKIDELTA	0:17f575135219	84	//SkipperS2基板
HARUKIDELTA	0:17f575135219	85	/*
HARUKIDELTA	0:17f575135219	86	#define MAGBIAS_X -35.0
HARUKIDELTA	0:17f575135219	87	#define MAGBIAS_Y 535.0
HARUKIDELTA	0:17f575135219	88	#define MAGBIAS_Z -50.0
HARUKIDELTA	0:17f575135219	89	*/
HARUKIDELTA	0:17f575135219	90	//S2v2 1番基板
HARUKIDELTA	0:17f575135219	91	#define MAGBIAS_X 395.0
HARUKIDELTA	0:17f575135219	92	#define MAGBIAS_Y 505.0
HARUKIDELTA	0:17f575135219	93	#define MAGBIAS_Z -725.0
HARUKIDELTA	0:17f575135219	94	//S2v2 2番基板
HARUKIDELTA	0:17f575135219	95	/*
HARUKIDELTA	0:17f575135219	96	#define MAGBIAS_X 185.0
HARUKIDELTA	0:17f575135219	97	#define MAGBIAS_Y 220.0
HARUKIDELTA	0:17f575135219	98	#define MAGBIAS_Z -350.0
HARUKIDELTA	0:17f575135219	99	*/
HARUKIDELTA	0:17f575135219	100
HARUKIDELTA	0:17f575135219	101	#define ELEMENT 1
HARUKIDELTA	0:17f575135219	102	#define LIMIT_STRAIGHT_YAW 5.0
HARUKIDELTA	0:17f575135219	103	#define THRESHOLD_TURNINGRADIUS_YAW 60.0
HARUKIDELTA	0:17f575135219	104	#define ALLOWHEIGHT 15
HARUKIDELTA	0:17f575135219	105
HARUKIDELTA	0:17f575135219	106	#ifndef PI
HARUKIDELTA	0:17f575135219	107	#define PI 3.14159265358979
HARUKIDELTA	0:17f575135219	108	#endif
HARUKIDELTA	0:17f575135219	109
HARUKIDELTA	0:17f575135219	110	const int16_t lengthdivpwm = 320;
HARUKIDELTA	0:17f575135219	111	const int16_t changeModeCount = 6;
HARUKIDELTA	0:17f575135219	112
HARUKIDELTA	0:17f575135219	113
HARUKIDELTA	0:17f575135219	114	SBUS sbus(PA_9, PA_10); //SBUS
HARUKIDELTA	0:17f575135219	115
HARUKIDELTA	0:17f575135219	116	PwmOut servo1(PC_6); // TIM3_CH1 //old echo
HARUKIDELTA	0:17f575135219	117	PwmOut servo2(PC_7); // TIM3_CH2 //PC_7
HARUKIDELTA	0:17f575135219	118	PwmOut servo3(PB_0); // TIM3_CH3
HARUKIDELTA	0:17f575135219	119	PwmOut servo4(PB_1); // TIM3_CH4
HARUKIDELTA	0:17f575135219	120	PwmOut servo5(PB_6); // TIM4_CH1
HARUKIDELTA	0:17f575135219	121	PwmOut servo6(PB_7); // TIM4_CH2 //old trigger
HARUKIDELTA	0:17f575135219	122	//PwmOut servo7(PB_8); // TIM4_CH3 //PB_8 new echo
HARUKIDELTA	0:17f575135219	123	//PwmOut servo8(PB_9); // TIM4_CH4 //new trigger
HARUKIDELTA	0:17f575135219	124
HARUKIDELTA	0:17f575135219	125	RawSerial pc(PA_2,PA_3, 115200); //tx,rx.baudrate pin;PA_2=UART2_TX, PA_3=UART2_RX
taknokolat	1:f383708a5a52	126	//RawSerial pc2(PB_6,PB_7, 115200); //sbus確認用
HARUKIDELTA	0:17f575135219	127	SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
HARUKIDELTA	0:17f575135219	128
HARUKIDELTA	0:17f575135219	129	DigitalOut led1(PA_0); //黄色のコネクタ
HARUKIDELTA	0:17f575135219	130	DigitalOut led2(PA_1);
HARUKIDELTA	0:17f575135219	131	DigitalOut led3(PB_4);
HARUKIDELTA	0:17f575135219	132	DigitalOut led4(PB_5);
HARUKIDELTA	0:17f575135219	133
HARUKIDELTA	0:17f575135219	134	//InterruptIn switch2(PC_14);
HARUKIDELTA	0:17f575135219	135	MPU6050DMP6 mpu6050(PC_0,&pc); //割り込みピン，シリアルポインタ i2cのピン指定は MPU6050>>I2Cdev.h 内のdefine
taknokolat	10:652071c20bf6	136	//HCSR04 usensor(PB_9,PB_8); //trig,echo 9,8
HARUKIDELTA	0:17f575135219	137
taknokolat	1:f383708a5a52	138	PID pid_AIL(g_kpAIL,g_kiAIL,g_kdAIL);
HARUKIDELTA	0:17f575135219	139	PID pid_ELE(g_kpELE,g_kiELE,g_kdELE);
HARUKIDELTA	0:17f575135219	140	PID pid_RUD(g_kpRUD,g_kiRUD,g_kdRUD);
HARUKIDELTA	0:17f575135219	141
HARUKIDELTA	0:17f575135219	142	enum Channel{AIL_R, ELE, THR, RUD, DROP, AIL_L, Ch7, Ch8};
HARUKIDELTA	0:17f575135219	143	enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度
HARUKIDELTA	0:17f575135219	144	enum OperationMode{StartUp, SemiAuto, RightLoop, LeftLoop, GoStraight, BombwithPC, ZERO, Moebius, Glide};
HARUKIDELTA	0:17f575135219	145	enum BombingMode{Takeoff, Chicken, Transition, Approach};
HARUKIDELTA	0:17f575135219	146	enum OutputStatus{Manual, Auto};
HARUKIDELTA	0:17f575135219	147
HARUKIDELTA	0:17f575135219	148	static OutputStatus output_status = Manual;
HARUKIDELTA	0:17f575135219	149	OperationMode operation_mode = StartUp;
HARUKIDELTA	0:17f575135219	150	BombingMode bombing_mode = Takeoff;
TUATBM	15:43427b0241d9	151
HARUKIDELTA	0:17f575135219	152	static int16_t autopwm[8] = {1500,1500,1180,1500,1392,1500};
TUATBM	15:43427b0241d9	153
TUATBM	15:43427b0241d9	154	//1号機
HARUKIDELTA	18:cce82f3374fc	155	static int16_t trimpwm[6] = {1580,1600,1176,1404,1512,1448};
HARUKIDELTA	18:cce82f3374fc	156	int16_t maxpwm[6] = {1796,1936,1848,1740,1820,1856};
HARUKIDELTA	18:cce82f3374fc	157	int16_t minpwm[6] = {1182,1265,1176,1068,1180,1176};
TUATBM	15:43427b0241d9	158	const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
TUATBM	15:43427b0241d9	159
TUATBM	15:43427b0241d9	160	//2号機
TUATBM	15:43427b0241d9	161	/*
TUATBM	15:43427b0241d9	162	static int16_t trimpwm[6] = {1500,1500,1180,1500,1392,1600};
TUATBM	15:43427b0241d9	163	int16_t maxpwm[6] = {1820,1820,1820,1820,1820,1820};
TUATBM	15:43427b0241d9	164	int16_t minpwm[6] = {1180,1180,1180,1180,1180,1180};
TUATBM	15:43427b0241d9	165	const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
TUATBM	15:43427b0241d9	166	*/
TUATBM	15:43427b0241d9	167
HARUKIDELTA	0:17f575135219	168	int16_t oldTHR = 1000;
HARUKIDELTA	0:17f575135219	169
HARUKIDELTA	2:23daa5fa28b4	170	int16_t g_AIL_L_Ratio_rightloop = 0.5;
HARUKIDELTA	2:23daa5fa28b4	171
HARUKIDELTA	2:23daa5fa28b4	172
HARUKIDELTA	0:17f575135219	173	static float nowAngle[3] = {0,0,0};
HARUKIDELTA	0:17f575135219	174	const float trimAngle[3] = {0.0, 0.0, 0.0};
HARUKIDELTA	0:17f575135219	175	const float maxAngle[2] = {90, 90};
HARUKIDELTA	0:17f575135219	176	const float minAngle[2] = {-90, -90};
HARUKIDELTA	0:17f575135219	177
HARUKIDELTA	0:17f575135219	178	float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0;
HARUKIDELTA	0:17f575135219	179
HARUKIDELTA	0:17f575135219	180	unsigned int g_distance;
taknokolat	10:652071c20bf6	181	//Ticker USsensor;
HARUKIDELTA	0:17f575135219	182	static char g_buf[16];
taknokolat	10:652071c20bf6	183	char g_landingcommand='Z';
HARUKIDELTA	0:17f575135219	184	float g_SerialTargetYAW;
HARUKIDELTA	0:17f575135219	185
HARUKIDELTA	0:17f575135219	186	Timer t;
HARUKIDELTA	0:17f575135219	187	Timeout RerurnChickenServo1;
HARUKIDELTA	0:17f575135219	188	Timeout RerurnChickenServo2;
HARUKIDELTA	0:17f575135219	189
HARUKIDELTA	0:17f575135219	190	/-----関数のプロトタイプ宣言-----/
HARUKIDELTA	0:17f575135219	191	void setup();
HARUKIDELTA	0:17f575135219	192	void loop();
HARUKIDELTA	0:17f575135219	193
HARUKIDELTA	0:17f575135219	194	void Init_PWM();
HARUKIDELTA	0:17f575135219	195	void Init_servo(); //サーボ初期化
HARUKIDELTA	0:17f575135219	196	void Init_sbus(); //SBUS初期化
HARUKIDELTA	0:17f575135219	197	void Init_sensors();
HARUKIDELTA	0:17f575135219	198	void DisplayClock(); //クロック状態確認
HARUKIDELTA	0:17f575135219	199
HARUKIDELTA	0:17f575135219	200	//センサの値取得
HARUKIDELTA	0:17f575135219	201	void SensingMPU();
HARUKIDELTA	0:17f575135219	202	void UpdateDist();
HARUKIDELTA	0:17f575135219	203
HARUKIDELTA	0:17f575135219	204	//void offsetRollPitch(float FirstROLL, float FirstPITCH);
HARUKIDELTA	0:17f575135219	205	//void TransYaw(float FirstYAW);
HARUKIDELTA	0:17f575135219	206	float TranslateNewYaw(float beforeYaw, float newzeroYaw);
HARUKIDELTA	0:17f575135219	207	void UpdateTargetAngle(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	208	void CalculateControlValue(float targetAngle[3], float controlValue[3]);
HARUKIDELTA	0:17f575135219	209	void UpdateAutoPWM(float controlValue[3]);
HARUKIDELTA	0:17f575135219	210	void ConvertPWMintoRAD(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	211	inline float CalcRatio(float value, float trim, float limit);
HARUKIDELTA	0:17f575135219	212	bool CheckSW_Up(Channel ch);
HARUKIDELTA	0:17f575135219	213	int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min);
HARUKIDELTA	0:17f575135219	214	inline int16_t SetTHRinRatio(float ratio);
HARUKIDELTA	0:17f575135219	215
HARUKIDELTA	0:17f575135219	216	//sbus割り込み
HARUKIDELTA	0:17f575135219	217	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	218	void Output_PWM(int16_t pwm[6]); //pwmをサーボへ出力
HARUKIDELTA	0:17f575135219	219
HARUKIDELTA	0:17f575135219	220	//シリアル割り込み
HARUKIDELTA	0:17f575135219	221	void getSF_Serial();
HARUKIDELTA	0:17f575135219	222	float ConvertByteintoFloat(char high, char low);
TUATBM	15:43427b0241d9	223
HARUKIDELTA	0:17f575135219	224
HARUKIDELTA	0:17f575135219	225	//SD設定
HARUKIDELTA	0:17f575135219	226	int GetParameter(FILE fp, const char paramName,char parameter[]);
HARUKIDELTA	0:17f575135219	227	int SetOptions(float g_kpELE, float g_kiELE, float *g_kdELE,
HARUKIDELTA	0:17f575135219	228	float g_kpRUD, float g_kiRUD, float *g_kdRUD,
HARUKIDELTA	0:17f575135219	229	float g_rightloopROLL, float g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	230	float g_leftloopROLL, float g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	231	float g_gostraightROLL, float g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	232	float g_takeoffTHR, float g_loopTHR,
HARUKIDELTA	0:17f575135219	233	float g_rightloopROLLshort, float g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	234	float g_leftloopROLLshort, float g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	235	float g_glideloopROLL, float g_glideloopPITCH,
HARUKIDELTA	13:77b13d5f4d78	236	float g_kpAIL, float g_kiAIL, float *g_kdAIL,
HARUKIDELTA	13:77b13d5f4d78	237	int g_rightloopRUD, int g_rightloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	238	int g_leftloopRUD, int g_leftloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	239	int *g_glideRUD,
HARUKIDELTA	13:77b13d5f4d78	240	int g_AIL_L_correctionrightloop,int g_AIL_L_correctionrightloopshort,
HARUKIDELTA	13:77b13d5f4d78	241	int g_AIL_L_correctionlefttloop,int g_AIL_L_correctionleftloopshort
HARUKIDELTA	13:77b13d5f4d78	242	);
HARUKIDELTA	0:17f575135219	243	//switch2割り込み
HARUKIDELTA	0:17f575135219	244	void ResetTrim();
HARUKIDELTA	0:17f575135219	245
HARUKIDELTA	0:17f575135219	246	//自動操縦
HARUKIDELTA	0:17f575135219	247	void UpdateTargetAngle_GoStraight(float targetAngle[3]);
HARUKIDELTA	19:0955311b0db6	248	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	249	void UpdateTargetAngle_Rightloop(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	250	void UpdateTargetAngle_Rightloop_short(float targetAngle[3]);
HARUKIDELTA	19:0955311b0db6	251	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	252	void UpdateTargetAngle_Leftloop(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	253	void UpdateTargetAngle_Leftloop_short(float targetAngle[3]);
HARUKIDELTA	19:0955311b0db6	254	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	255	void UpdateTargetAngle_Moebius(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	256	void UpdateTargetAngle_Glide(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	257	void UpdateTargetAngle_Takeoff(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	258	void UpdateTargetAngle_Approach(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	259	void Take_off_and_landing(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	260
HARUKIDELTA	0:17f575135219	261	int Rotate(float targetAngle[3], float TargetYAW);
HARUKIDELTA	0:17f575135219	262
HARUKIDELTA	0:17f575135219	263	//投下
HARUKIDELTA	0:17f575135219	264	void Chicken_Drop();
HARUKIDELTA	0:17f575135219	265	void ReturnChickenServo1();
HARUKIDELTA	0:17f575135219	266	void ReturnChickenServo2();
HARUKIDELTA	0:17f575135219	267
HARUKIDELTA	0:17f575135219	268	//超音波による高度補正
HARUKIDELTA	0:17f575135219	269	void checkHeight(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	270	void UpdateTargetAngle_NoseUP(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	271	void UpdateTargetAngle_NoseDOWN(float targetAngle[3]);
HARUKIDELTA	0:17f575135219	272
HARUKIDELTA	0:17f575135219	273	//デバッグ用
HARUKIDELTA	18:cce82f3374fc	274	void Sbusprintf();
HARUKIDELTA	0:17f575135219	275	void DebugPrint();
HARUKIDELTA	0:17f575135219	276
HARUKIDELTA	0:17f575135219	277	/---関数のプロトタイプ宣言終わり---/
HARUKIDELTA	0:17f575135219	278
HARUKIDELTA	0:17f575135219	279	int main()
HARUKIDELTA	0:17f575135219	280	{
HARUKIDELTA	0:17f575135219	281	setup();
HARUKIDELTA	0:17f575135219	282
HARUKIDELTA	0:17f575135219	283
HARUKIDELTA	0:17f575135219	284	while(1){
HARUKIDELTA	0:17f575135219	285
HARUKIDELTA	0:17f575135219	286	loop();
HARUKIDELTA	0:17f575135219	287
taknokolat	10:652071c20bf6	288
taknokolat	23:4928a6fd9eee	289	//NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	290	if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	291	led3=0;
HARUKIDELTA	0:17f575135219	292	}else{
HARUKIDELTA	0:17f575135219	293	led3=1;
HARUKIDELTA	0:17f575135219	294	}
taknokolat	23:4928a6fd9eee	295	//NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	296	}
HARUKIDELTA	0:17f575135219	297
HARUKIDELTA	0:17f575135219	298	}
HARUKIDELTA	0:17f575135219	299
HARUKIDELTA	0:17f575135219	300	void setup(){
HARUKIDELTA	0:17f575135219	301	//buzzer = 0;
HARUKIDELTA	0:17f575135219	302	led1 = 1;
HARUKIDELTA	0:17f575135219	303	led2 = 1;
HARUKIDELTA	0:17f575135219	304	led3 = 1;
HARUKIDELTA	0:17f575135219	305	led4 = 1;
HARUKIDELTA	0:17f575135219	306
HARUKIDELTA	0:17f575135219	307	SetOptions(&g_kpELE, &g_kiELE, &g_kdELE,
HARUKIDELTA	0:17f575135219	308	&g_kpRUD, &g_kiRUD, &g_kdRUD,
HARUKIDELTA	0:17f575135219	309	&g_rightloopROLL, &g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	310	&g_leftloopROLL, &g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	311	&g_gostraightROLL, &g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	312	&g_takeoffTHR, &g_loopTHR,
HARUKIDELTA	0:17f575135219	313	&g_rightloopROLLshort, &g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	314	&g_leftloopROLLshort, &g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	315	&g_glideloopROLL, &g_glideloopPITCH,
HARUKIDELTA	13:77b13d5f4d78	316	&g_kpAIL, &g_kiAIL,&g_kdAIL,
HARUKIDELTA	13:77b13d5f4d78	317	&g_rightloopRUD, &g_rightloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	318	&g_leftloopRUD, &g_leftloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	319	&g_glideloopRUD,
HARUKIDELTA	13:77b13d5f4d78	320	&g_AIL_L_correctionrightloop,&g_AIL_L_correctionrightloopshort,
HARUKIDELTA	13:77b13d5f4d78	321	&g_AIL_L_correctionleftloop,&g_AIL_L_correctionleftloopshort
HARUKIDELTA	13:77b13d5f4d78	322	);
HARUKIDELTA	0:17f575135219	323
HARUKIDELTA	0:17f575135219	324
HARUKIDELTA	0:17f575135219	325	Init_PWM();
HARUKIDELTA	0:17f575135219	326	Init_servo();
HARUKIDELTA	0:17f575135219	327	Init_sbus();
HARUKIDELTA	0:17f575135219	328	Init_sensors();
HARUKIDELTA	0:17f575135219	329	//switch2.rise(ResetTrim);
taknokolat	21:18fe7bf9e187	330
taknokolat	10:652071c20bf6	331	//USsensor.attach(&UpdateDist, 0.05);
HARUKIDELTA	0:17f575135219	332
HARUKIDELTA	0:17f575135219	333	NVIC_SetPriority(USART1_IRQn,0);
HARUKIDELTA	0:17f575135219	334	NVIC_SetPriority(EXTI0_IRQn,1);
HARUKIDELTA	0:17f575135219	335	NVIC_SetPriority(TIM5_IRQn,2);
HARUKIDELTA	0:17f575135219	336	NVIC_SetPriority(EXTI9_5_IRQn,3);
HARUKIDELTA	0:17f575135219	337	DisplayClock();
HARUKIDELTA	0:17f575135219	338	t.start();
HARUKIDELTA	0:17f575135219	339
HARUKIDELTA	0:17f575135219	340
HARUKIDELTA	0:17f575135219	341	pc.printf("MPU calibration start\r\n");
HARUKIDELTA	0:17f575135219	342
HARUKIDELTA	0:17f575135219	343	float offsetstart = t.read();
HARUKIDELTA	0:17f575135219	344	while(t.read() - offsetstart < 26){
HARUKIDELTA	0:17f575135219	345	SensingMPU();
HARUKIDELTA	0:17f575135219	346	for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
HARUKIDELTA	0:17f575135219	347	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	348	led1 = !led1;
HARUKIDELTA	0:17f575135219	349	led2 = !led2;
HARUKIDELTA	0:17f575135219	350	led3 = !led3;
HARUKIDELTA	0:17f575135219	351	led4 = !led4;
HARUKIDELTA	0:17f575135219	352	}
HARUKIDELTA	0:17f575135219	353
taknokolat	21:18fe7bf9e187	354	pc.attach(getSF_Serial, Serial::RxIrq);
taknokolat	21:18fe7bf9e187	355	NVIC_SetPriority(USART2_IRQn,4);
taknokolat	21:18fe7bf9e187	356
HARUKIDELTA	0:17f575135219	357	FirstROLL = nowAngle[ROLL];
HARUKIDELTA	0:17f575135219	358	FirstPITCH = nowAngle[PITCH];
HARUKIDELTA	0:17f575135219	359	nowAngle[ROLL] -=FirstROLL;
HARUKIDELTA	0:17f575135219	360	nowAngle[PITCH] -=FirstPITCH;
HARUKIDELTA	0:17f575135219	361
HARUKIDELTA	0:17f575135219	362	led1 = 0;
HARUKIDELTA	0:17f575135219	363	led2 = 0;
HARUKIDELTA	0:17f575135219	364	led3 = 0;
HARUKIDELTA	0:17f575135219	365	led4 = 0;
HARUKIDELTA	0:17f575135219	366	wait(0.2);
HARUKIDELTA	0:17f575135219	367
HARUKIDELTA	0:17f575135219	368
HARUKIDELTA	0:17f575135219	369	pc.printf("All initialized\r\n");
HARUKIDELTA	0:17f575135219	370	}
HARUKIDELTA	0:17f575135219	371
HARUKIDELTA	0:17f575135219	372	void loop(){
HARUKIDELTA	0:17f575135219	373	static float targetAngle[3] = {0.0, 0.0, 0.0}, controlValue[2] = {0.0, 0.0};
HARUKIDELTA	0:17f575135219	374	SensingMPU();
taknokolat	10:652071c20bf6	375	NVIC_DisableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	376	UpdateTargetAngle(targetAngle);
HARUKIDELTA	0:17f575135219	377	CalculateControlValue(targetAngle, controlValue);
taknokolat	10:652071c20bf6	378	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	379	UpdateAutoPWM(controlValue);
taknokolat	10:652071c20bf6	380	NVIC_EnableIRQ(USART1_IRQn);
taknokolat	10:652071c20bf6	381	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	25:37bee299a276	382
taknokolat	25:37bee299a276	383	NVIC_SetPriority(TIM5_IRQn,4);
taknokolat	25:37bee299a276	384	NVIC_SetPriority(USART2_IRQn,2);
taknokolat	25:37bee299a276	385
taknokolat	11:c0b9ad25d3db	386	wait_ms(23);
taknokolat	25:37bee299a276	387
taknokolat	25:37bee299a276	388	NVIC_SetPriority(TIM5_IRQn,2);
taknokolat	25:37bee299a276	389	NVIC_SetPriority(USART2_IRQn,4);
taknokolat	25:37bee299a276	390
taknokolat	25:37bee299a276	391
taknokolat	25:37bee299a276	392	// pc.printf("6\r\n");
taknokolat	25:37bee299a276	393	//NVIC_DisableIRQ(USART2_IRQn);
taknokolat	25:37bee299a276	394	//pc.printf("%c",g_landingcommand);
taknokolat	25:37bee299a276	395	//NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	396	#if DEBUG_PRINT_INLOOP
HARUKIDELTA	18:cce82f3374fc	397	//Sbusprintf();
HARUKIDELTA	0:17f575135219	398	DebugPrint();
HARUKIDELTA	0:17f575135219	399	#endif
HARUKIDELTA	0:17f575135219	400	}
HARUKIDELTA	0:17f575135219	401
HARUKIDELTA	0:17f575135219	402	//サーボ初期化関数
HARUKIDELTA	0:17f575135219	403	void Init_servo(){
HARUKIDELTA	0:17f575135219	404
HARUKIDELTA	0:17f575135219	405	servo1.period_ms(14);
HARUKIDELTA	0:17f575135219	406	servo1.pulsewidth_us(trimpwm[AIL_R]);
HARUKIDELTA	0:17f575135219	407
HARUKIDELTA	0:17f575135219	408	servo2.period_ms(14);
HARUKIDELTA	0:17f575135219	409	servo2.pulsewidth_us(trimpwm[ELE]);
HARUKIDELTA	0:17f575135219	410
HARUKIDELTA	0:17f575135219	411	servo3.period_ms(14);
HARUKIDELTA	0:17f575135219	412	servo3.pulsewidth_us(trimpwm[THR]);
HARUKIDELTA	0:17f575135219	413
HARUKIDELTA	0:17f575135219	414	servo4.period_ms(14);
HARUKIDELTA	0:17f575135219	415	servo4.pulsewidth_us(trimpwm[RUD]);
HARUKIDELTA	0:17f575135219	416
HARUKIDELTA	0:17f575135219	417	servo5.period_ms(14);
HARUKIDELTA	0:17f575135219	418	servo5.pulsewidth_us(1392);
HARUKIDELTA	0:17f575135219	419
HARUKIDELTA	0:17f575135219	420	servo6.period_ms(14);
HARUKIDELTA	0:17f575135219	421	servo6.pulsewidth_us(trimpwm[AIL_L]);
HARUKIDELTA	0:17f575135219	422
HARUKIDELTA	0:17f575135219	423	pc.printf("servo initialized\r\n");
HARUKIDELTA	0:17f575135219	424	}
HARUKIDELTA	0:17f575135219	425
HARUKIDELTA	0:17f575135219	426	//Sbus初期化
HARUKIDELTA	0:17f575135219	427	void Init_sbus(){
HARUKIDELTA	0:17f575135219	428	sbus.initialize();
HARUKIDELTA	0:17f575135219	429	sbus.setLastfuncPoint(Update_PWM);
HARUKIDELTA	0:17f575135219	430	sbus.startInterrupt();
HARUKIDELTA	0:17f575135219	431	}
HARUKIDELTA	0:17f575135219	432
HARUKIDELTA	0:17f575135219	433	void Init_sensors(){
HARUKIDELTA	0:17f575135219	434	if(mpu6050.setup() == -1){
HARUKIDELTA	0:17f575135219	435	pc.printf("failed initialize\r\n");
HARUKIDELTA	0:17f575135219	436	while(1){
HARUKIDELTA	0:17f575135219	437	led1 = 1; led2 = 0; led3 = 1; led4 = 0;
HARUKIDELTA	0:17f575135219	438	wait(1);
HARUKIDELTA	0:17f575135219	439	led1 = 0; led2 = 1; led3 = 0; led4 = 1;
HARUKIDELTA	0:17f575135219	440	wait(1);
HARUKIDELTA	0:17f575135219	441	}
HARUKIDELTA	0:17f575135219	442	}
HARUKIDELTA	0:17f575135219	443	}
HARUKIDELTA	0:17f575135219	444
HARUKIDELTA	0:17f575135219	445	void Init_PWM(){
HARUKIDELTA	0:17f575135219	446	pc.printf("PWM initialized\r\n");
HARUKIDELTA	0:17f575135219	447	}
HARUKIDELTA	0:17f575135219	448
HARUKIDELTA	0:17f575135219	449	void DisplayClock(){
HARUKIDELTA	0:17f575135219	450	pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000);
HARUKIDELTA	0:17f575135219	451	pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000);
HARUKIDELTA	0:17f575135219	452	pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000);
HARUKIDELTA	0:17f575135219	453	pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000);
HARUKIDELTA	0:17f575135219	454	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	455	}
HARUKIDELTA	0:17f575135219	456
HARUKIDELTA	0:17f575135219	457	void UpdateTargetAngle(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	458	static int16_t count_op = 0;
HARUKIDELTA	0:17f575135219	459	#if DEBUG_SEMIAUTO
HARUKIDELTA	0:17f575135219	460	switch(operation_mode){
HARUKIDELTA	0:17f575135219	461	case StartUp:
HARUKIDELTA	0:17f575135219	462	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	463	count_op++;
HARUKIDELTA	0:17f575135219	464	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	465	operation_mode = SemiAuto;
HARUKIDELTA	0:17f575135219	466	pc.printf("Goto SemiAuto mode\r\n");
HARUKIDELTA	0:17f575135219	467	count_op = 0;
HARUKIDELTA	0:17f575135219	468	}
HARUKIDELTA	0:17f575135219	469	}else count_op = 0;
HARUKIDELTA	0:17f575135219	470	break;
HARUKIDELTA	0:17f575135219	471
HARUKIDELTA	0:17f575135219	472	case SemiAuto:
HARUKIDELTA	0:17f575135219	473	/* 大会用では以下のif文を入れてoperation_modeを変える
HARUKIDELTA	0:17f575135219	474	if(CheckSW_Up(Ch6)){
HARUKIDELTA	0:17f575135219	475	count_op++;
HARUKIDELTA	0:17f575135219	476	if(count_op>changeModeCount){
HARUKIDELTA	0:17f575135219	477	output_status = XXX;
HARUKIDELTA	0:17f575135219	478	led2 = 0;
HARUKIDELTA	0:17f575135219	479	pc.printf("Goto XXX mode\r\n");
HARUKIDELTA	0:17f575135219	480	count_op = 0;
HARUKIDELTA	0:17f575135219	481	}else count_op = 0;
HARUKIDELTA	0:17f575135219	482	ConvertPWMintoRAD(targetAngle);
HARUKIDELTA	0:17f575135219	483	}
HARUKIDELTA	0:17f575135219	484	*/
HARUKIDELTA	0:17f575135219	485	ConvertPWMintoRAD(targetAngle);
HARUKIDELTA	0:17f575135219	486	break;
HARUKIDELTA	0:17f575135219	487
HARUKIDELTA	0:17f575135219	488	default:
HARUKIDELTA	0:17f575135219	489	operation_mode = SemiAuto;
HARUKIDELTA	0:17f575135219	490	break;
HARUKIDELTA	0:17f575135219	491	}
HARUKIDELTA	0:17f575135219	492
HARUKIDELTA	0:17f575135219	493	#else
HARUKIDELTA	0:17f575135219	494
HARUKIDELTA	0:17f575135219	495	switch(operation_mode){
HARUKIDELTA	0:17f575135219	496	case StartUp:
HARUKIDELTA	0:17f575135219	497	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	498	count_op++;
HARUKIDELTA	0:17f575135219	499	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	500	operation_mode = RightLoop;
HARUKIDELTA	0:17f575135219	501	pc.printf("Goto RightLoop mode\r\n");
HARUKIDELTA	0:17f575135219	502	count_op = 0;
HARUKIDELTA	0:17f575135219	503	}
HARUKIDELTA	0:17f575135219	504	}else count_op = 0;
HARUKIDELTA	0:17f575135219	505	break;
HARUKIDELTA	0:17f575135219	506
HARUKIDELTA	0:17f575135219	507	case RightLoop:
HARUKIDELTA	0:17f575135219	508	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	509	count_op++;
HARUKIDELTA	0:17f575135219	510	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	511	operation_mode = LeftLoop;
HARUKIDELTA	0:17f575135219	512	pc.printf("Goto LeftLoop mode\r\n");
HARUKIDELTA	0:17f575135219	513	count_op = 0;
HARUKIDELTA	0:17f575135219	514	}
HARUKIDELTA	0:17f575135219	515	}else count_op = 0;
HARUKIDELTA	0:17f575135219	516	UpdateTargetAngle_Rightloop(targetAngle);
HARUKIDELTA	0:17f575135219	517
HARUKIDELTA	0:17f575135219	518	break;
HARUKIDELTA	0:17f575135219	519
HARUKIDELTA	0:17f575135219	520	case LeftLoop:
HARUKIDELTA	0:17f575135219	521	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	522	count_op++;
HARUKIDELTA	0:17f575135219	523	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	524	operation_mode = GoStraight;
HARUKIDELTA	0:17f575135219	525	pc.printf("Goto GoStraight mode\r\n");
HARUKIDELTA	0:17f575135219	526	count_op = 0;
HARUKIDELTA	0:17f575135219	527	}
HARUKIDELTA	0:17f575135219	528	}else count_op = 0;
HARUKIDELTA	0:17f575135219	529	UpdateTargetAngle_Leftloop(targetAngle);
HARUKIDELTA	0:17f575135219	530	break;
HARUKIDELTA	0:17f575135219	531
HARUKIDELTA	0:17f575135219	532	case GoStraight:
HARUKIDELTA	0:17f575135219	533	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	534	count_op++;
HARUKIDELTA	0:17f575135219	535	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	536	operation_mode = Moebius;
HARUKIDELTA	0:17f575135219	537	pc.printf("Goto Moebius mode\r\n");
HARUKIDELTA	0:17f575135219	538	count_op = 0;
HARUKIDELTA	0:17f575135219	539	}
HARUKIDELTA	0:17f575135219	540	}else count_op = 0;
HARUKIDELTA	0:17f575135219	541	UpdateTargetAngle_GoStraight(targetAngle);
HARUKIDELTA	0:17f575135219	542	break;
HARUKIDELTA	0:17f575135219	543
HARUKIDELTA	0:17f575135219	544	case Moebius:
HARUKIDELTA	0:17f575135219	545	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	546	count_op++;
HARUKIDELTA	0:17f575135219	547	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	548	operation_mode = Glide;
HARUKIDELTA	0:17f575135219	549	pc.printf("Goto Glide mode\r\n");
HARUKIDELTA	0:17f575135219	550	count_op = 0;
HARUKIDELTA	0:17f575135219	551	}
HARUKIDELTA	0:17f575135219	552	}else count_op = 0;
HARUKIDELTA	0:17f575135219	553	UpdateTargetAngle_Moebius(targetAngle);
HARUKIDELTA	0:17f575135219	554	break;
HARUKIDELTA	0:17f575135219	555
HARUKIDELTA	0:17f575135219	556	case Glide:
HARUKIDELTA	0:17f575135219	557	if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	558	count_op++;
HARUKIDELTA	0:17f575135219	559	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	560	operation_mode = BombwithPC;
HARUKIDELTA	0:17f575135219	561	pc.printf("Goto Bombing mode\r\n");
HARUKIDELTA	0:17f575135219	562	count_op = 0;
HARUKIDELTA	0:17f575135219	563	}
HARUKIDELTA	0:17f575135219	564	}else count_op = 0;
HARUKIDELTA	0:17f575135219	565	UpdateTargetAngle_Glide(targetAngle);
HARUKIDELTA	0:17f575135219	566	break;
HARUKIDELTA	0:17f575135219	567
HARUKIDELTA	0:17f575135219	568	case BombwithPC:
HARUKIDELTA	0:17f575135219	569	if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
HARUKIDELTA	0:17f575135219	570	count_op++;
HARUKIDELTA	0:17f575135219	571	if(count_op > changeModeCount){
HARUKIDELTA	0:17f575135219	572	operation_mode = RightLoop;
HARUKIDELTA	0:17f575135219	573	pc.printf("Goto RightLoop mode\r\n");
HARUKIDELTA	0:17f575135219	574	count_op = 0;
HARUKIDELTA	0:17f575135219	575	}
HARUKIDELTA	0:17f575135219	576	}else count_op = 0;
HARUKIDELTA	0:17f575135219	577	Take_off_and_landing(targetAngle);
HARUKIDELTA	0:17f575135219	578	break;
HARUKIDELTA	0:17f575135219	579
HARUKIDELTA	0:17f575135219	580	default:
HARUKIDELTA	0:17f575135219	581	operation_mode = StartUp;
HARUKIDELTA	0:17f575135219	582	break;
HARUKIDELTA	0:17f575135219	583	}
HARUKIDELTA	0:17f575135219	584	#endif
HARUKIDELTA	0:17f575135219	585
HARUKIDELTA	0:17f575135219	586	}
HARUKIDELTA	0:17f575135219	587
HARUKIDELTA	0:17f575135219	588	int GetParameter(FILE fp, const char paramName,char parameter[]){
HARUKIDELTA	0:17f575135219	589	int i=0, j=0;
HARUKIDELTA	0:17f575135219	590	int strmax = 200;
HARUKIDELTA	0:17f575135219	591	char str[strmax];
HARUKIDELTA	0:17f575135219	592
HARUKIDELTA	0:17f575135219	593	rewind(fp); //ファイル位置を先頭に
HARUKIDELTA	0:17f575135219	594	while(1){
HARUKIDELTA	0:17f575135219	595	if (fgets(str, strmax, fp) == NULL) {
HARUKIDELTA	0:17f575135219	596	return 0;
HARUKIDELTA	0:17f575135219	597	}
HARUKIDELTA	0:17f575135219	598	if (!strncmp(str, paramName, strlen(paramName))) {
HARUKIDELTA	0:17f575135219	599	while (str[i++] != '=') {}
HARUKIDELTA	0:17f575135219	600	while (str[i] != '\n') {
HARUKIDELTA	0:17f575135219	601	parameter[j++] = str[i++];
HARUKIDELTA	0:17f575135219	602	}
HARUKIDELTA	0:17f575135219	603	parameter[j] = '\0';
HARUKIDELTA	0:17f575135219	604	return 1;
HARUKIDELTA	0:17f575135219	605	}
HARUKIDELTA	0:17f575135219	606	}
HARUKIDELTA	0:17f575135219	607	return 0;
HARUKIDELTA	0:17f575135219	608	}
HARUKIDELTA	0:17f575135219	609
HARUKIDELTA	0:17f575135219	610
HARUKIDELTA	0:17f575135219	611	//sdによる設定
HARUKIDELTA	0:17f575135219	612	int SetOptions(float g_kpELE, float g_kiELE, float *g_kdELE,
HARUKIDELTA	0:17f575135219	613	float g_kpRUD, float g_kiRUD, float *g_kdRUD,
HARUKIDELTA	0:17f575135219	614	float g_rightloopROLL, float g_rightloopPITCH,
HARUKIDELTA	0:17f575135219	615	float g_leftloopROLL, float g_leftloopPITCH,
HARUKIDELTA	0:17f575135219	616	float g_gostraightROLL, float g_gostraightPITCH,
HARUKIDELTA	0:17f575135219	617	float g_takeoffTHR, float g_loopTHR,
HARUKIDELTA	0:17f575135219	618	float g_rightloopROLLshort, float g_rightloopPITCHshort,
HARUKIDELTA	0:17f575135219	619	float g_leftloopROLLshort, float g_leftloopPITCHshort,
HARUKIDELTA	12:763bf416ba4b	620	float g_glideloopROLL, float g_glideloopPITCH,
HARUKIDELTA	13:77b13d5f4d78	621	float g_kpAIL, float g_kiAIL, float *g_kdAIL,
HARUKIDELTA	13:77b13d5f4d78	622	int g_rightloopRUD, int g_rightloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	623	int g_leftloopRUD, int g_leftloopshortRUD,
HARUKIDELTA	13:77b13d5f4d78	624	int *g_glideloopRUD,
HARUKIDELTA	13:77b13d5f4d78	625	int g_AIL_L_correctionrightloop,int g_AIL_L_correctionrightloopshort,
HARUKIDELTA	13:77b13d5f4d78	626	int g_AIL_L_correctionleftloop,int g_AIL_L_correctionleftloopshort
HARUKIDELTA	0:17f575135219	627	){
HARUKIDELTA	0:17f575135219	628
HARUKIDELTA	0:17f575135219	629	pc.printf("SDsetup start.\r\n");
HARUKIDELTA	0:17f575135219	630
HARUKIDELTA	0:17f575135219	631	FILE *fp;
HARUKIDELTA	13:77b13d5f4d78	632	char parameter[40]; //文字列渡す用の配列
HARUKIDELTA	0:17f575135219	633	int SDerrorcount = 0; //取得できなかった数を返す
HARUKIDELTA	0:17f575135219	634	const char *paramNames[] = {
HARUKIDELTA	0:17f575135219	635	"KP_ELEVATOR",
HARUKIDELTA	0:17f575135219	636	"KI_ELEVATOR",
HARUKIDELTA	0:17f575135219	637	"KD_ELEVATOR",
HARUKIDELTA	0:17f575135219	638	"KP_RUDDER",
HARUKIDELTA	0:17f575135219	639	"KI_RUDDER",
HARUKIDELTA	0:17f575135219	640	"KD_RUDDER",
HARUKIDELTA	0:17f575135219	641	"RIGHTLOOP_ROLL",
HARUKIDELTA	0:17f575135219	642	"RIGHTLOOP_PITCH",
HARUKIDELTA	0:17f575135219	643	"LEFTLOOP_ROLL",
HARUKIDELTA	0:17f575135219	644	"LEFTLOOP_PITCH",
HARUKIDELTA	0:17f575135219	645	"GOSTRAIGHT_ROLL",
HARUKIDELTA	0:17f575135219	646	"GOSTRAIGHT_PITCH",
HARUKIDELTA	0:17f575135219	647	"TAKEOFF_THR_RATE",
HARUKIDELTA	0:17f575135219	648	"LOOP_THR_RATE",
HARUKIDELTA	0:17f575135219	649	"RIGHTLOOP_ROLL_SHORT",
HARUKIDELTA	0:17f575135219	650	"RIGHTLOOP_PITCH_SHORT",
HARUKIDELTA	0:17f575135219	651	"LEFTLOOP_ROLL_SHORT",
HARUKIDELTA	0:17f575135219	652	"LEFTLOOP_PITCH_SHORT",
HARUKIDELTA	0:17f575135219	653	"AUTOGLIDE_ROLL",
HARUKIDELTA	12:763bf416ba4b	654	"AUTOGLIDE PITCH",
HARUKIDELTA	12:763bf416ba4b	655	"KP_AILERON",
HARUKIDELTA	12:763bf416ba4b	656	"KI_AILERON",
HARUKIDELTA	13:77b13d5f4d78	657	"KD_AILERON",
HARUKIDELTA	13:77b13d5f4d78	658	"RIGHTLOOP_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	659	"RIGHTLOOPSHORT_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	660	"LEFTLOOP_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	661	"LEFTLOOPSHORT_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	662	"GLIDELOOP_RUDDER",
HARUKIDELTA	13:77b13d5f4d78	663	"AILERON_LEFT_CORRECTION_RIGHTLOOP",
HARUKIDELTA	13:77b13d5f4d78	664	"AILERON_LEFT_CORRECTION_RIGHTLOOPSHORT",
HARUKIDELTA	13:77b13d5f4d78	665	"AILERON_LEFT_CORRECTION_LEFTLOOP",
HARUKIDELTA	13:77b13d5f4d78	666	"AILERON_LEFT_CORRECTION_LEFTLOOPSHORT"
HARUKIDELTA	0:17f575135219	667	};
HARUKIDELTA	0:17f575135219	668
HARUKIDELTA	0:17f575135219	669	fp = fopen("/sd/option.txt","r");
HARUKIDELTA	0:17f575135219	670
HARUKIDELTA	0:17f575135219	671	if(fp != NULL){ //開けたら
HARUKIDELTA	0:17f575135219	672	pc.printf("File was openned.\r\n");
HARUKIDELTA	0:17f575135219	673	if(GetParameter(fp,paramNames[0],parameter)) *g_kpELE = atof(parameter);
HARUKIDELTA	0:17f575135219	674	else{ *g_kpELE = KP_ELE;
HARUKIDELTA	0:17f575135219	675	SDerrorcount++;
HARUKIDELTA	0:17f575135219	676	}
HARUKIDELTA	0:17f575135219	677	if(GetParameter(fp,paramNames[1],parameter)) *g_kiELE = atof(parameter);
HARUKIDELTA	0:17f575135219	678	else{ *g_kiELE = KI_ELE;
HARUKIDELTA	0:17f575135219	679	SDerrorcount++;
HARUKIDELTA	0:17f575135219	680	}
HARUKIDELTA	0:17f575135219	681	if(GetParameter(fp,paramNames[2],parameter)) *g_kdELE = atof(parameter);
HARUKIDELTA	0:17f575135219	682	else{ *g_kdELE = KD_ELE;
HARUKIDELTA	0:17f575135219	683	SDerrorcount++;
HARUKIDELTA	0:17f575135219	684	}
HARUKIDELTA	0:17f575135219	685	if(GetParameter(fp,paramNames[3],parameter)) *g_kpRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	686	else{ *g_kpRUD = KP_RUD;
HARUKIDELTA	0:17f575135219	687	SDerrorcount++;
HARUKIDELTA	0:17f575135219	688	}
HARUKIDELTA	0:17f575135219	689	if(GetParameter(fp,paramNames[4],parameter)) *g_kiRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	690	else{ *g_kiRUD = KI_RUD;
HARUKIDELTA	0:17f575135219	691	SDerrorcount++;
HARUKIDELTA	0:17f575135219	692	}
HARUKIDELTA	0:17f575135219	693	if(GetParameter(fp,paramNames[5],parameter)) *g_kdRUD = atof(parameter);
HARUKIDELTA	0:17f575135219	694	else{ *g_kdRUD = KD_RUD;
HARUKIDELTA	0:17f575135219	695	SDerrorcount++;
HARUKIDELTA	0:17f575135219	696	}
HARUKIDELTA	0:17f575135219	697	if(GetParameter(fp,paramNames[6],parameter)) *g_rightloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	698	else{ *g_rightloopROLL = RIGHT_ROLL;
HARUKIDELTA	0:17f575135219	699	SDerrorcount++;
HARUKIDELTA	0:17f575135219	700	}
HARUKIDELTA	0:17f575135219	701	if(GetParameter(fp,paramNames[7],parameter)) *g_rightloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	702	else{ *g_rightloopPITCH = RIGHT_PITCH;
HARUKIDELTA	0:17f575135219	703	SDerrorcount++;
HARUKIDELTA	0:17f575135219	704	}
HARUKIDELTA	0:17f575135219	705	if(GetParameter(fp,paramNames[8],parameter)) *g_leftloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	706	else{ *g_leftloopROLL = LEFT_ROLL;
HARUKIDELTA	0:17f575135219	707	SDerrorcount++;
HARUKIDELTA	0:17f575135219	708	}
HARUKIDELTA	0:17f575135219	709	if(GetParameter(fp,paramNames[9],parameter)) *g_leftloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	710	else{ *g_leftloopPITCH = LEFT_PITCH;
HARUKIDELTA	0:17f575135219	711	SDerrorcount++;
HARUKIDELTA	0:17f575135219	712	}
HARUKIDELTA	0:17f575135219	713	if(GetParameter(fp,paramNames[10],parameter)) *g_gostraightROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	714	else{ *g_gostraightROLL = STRAIGHT_ROLL;
HARUKIDELTA	0:17f575135219	715	SDerrorcount++;
HARUKIDELTA	0:17f575135219	716	}
HARUKIDELTA	0:17f575135219	717	if(GetParameter(fp,paramNames[11],parameter)) *g_gostraightPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	718	else{ *g_gostraightPITCH = STRAIGHT_PITCH;
HARUKIDELTA	0:17f575135219	719	SDerrorcount++;
HARUKIDELTA	0:17f575135219	720	}
HARUKIDELTA	0:17f575135219	721	if(GetParameter(fp,paramNames[12],parameter)) *g_takeoffTHR = atof(parameter);
HARUKIDELTA	0:17f575135219	722	else{ *g_takeoffTHR = TAKEOFF_THR;
HARUKIDELTA	0:17f575135219	723	SDerrorcount++;
HARUKIDELTA	0:17f575135219	724	}
HARUKIDELTA	0:17f575135219	725	if(GetParameter(fp,paramNames[13],parameter)) *g_loopTHR = atof(parameter);
HARUKIDELTA	0:17f575135219	726	else{ *g_loopTHR = LOOP_THR;
HARUKIDELTA	0:17f575135219	727	SDerrorcount++;
HARUKIDELTA	0:17f575135219	728	}
HARUKIDELTA	0:17f575135219	729	if(GetParameter(fp,paramNames[14],parameter)) *g_rightloopROLLshort = atof(parameter);
HARUKIDELTA	0:17f575135219	730	else{ *g_rightloopROLLshort = RIGHT_ROLL_SHORT;
HARUKIDELTA	0:17f575135219	731	SDerrorcount++;
HARUKIDELTA	0:17f575135219	732	}
HARUKIDELTA	0:17f575135219	733	if(GetParameter(fp,paramNames[15],parameter)) *g_rightloopPITCHshort = atof(parameter);
HARUKIDELTA	0:17f575135219	734	else{ *g_rightloopPITCHshort = RIGHT_PITCH_SHORT;
HARUKIDELTA	0:17f575135219	735	SDerrorcount++;
HARUKIDELTA	0:17f575135219	736	}
HARUKIDELTA	0:17f575135219	737	if(GetParameter(fp,paramNames[16],parameter)) *g_leftloopROLLshort = atof(parameter);
HARUKIDELTA	0:17f575135219	738	else{ *g_leftloopROLLshort = LEFT_ROLL_SHORT;
HARUKIDELTA	0:17f575135219	739	SDerrorcount++;
HARUKIDELTA	0:17f575135219	740	}
HARUKIDELTA	0:17f575135219	741	if(GetParameter(fp,paramNames[17],parameter)) *g_leftloopPITCHshort = atof(parameter);
HARUKIDELTA	0:17f575135219	742	else{ *g_leftloopPITCHshort = LEFT_PITCH_SHORT;
HARUKIDELTA	0:17f575135219	743	SDerrorcount++;
HARUKIDELTA	0:17f575135219	744	}
HARUKIDELTA	0:17f575135219	745	if(GetParameter(fp,paramNames[18],parameter)) *g_glideloopROLL = atof(parameter);
HARUKIDELTA	0:17f575135219	746	else{ *g_glideloopROLL = GLIDE_ROLL;
HARUKIDELTA	0:17f575135219	747	SDerrorcount++;
HARUKIDELTA	0:17f575135219	748	}
HARUKIDELTA	0:17f575135219	749	if(GetParameter(fp,paramNames[19],parameter)) *g_glideloopPITCH = atof(parameter);
HARUKIDELTA	0:17f575135219	750	else{ *g_glideloopPITCH = GLIDE_PITCH;
HARUKIDELTA	0:17f575135219	751	SDerrorcount++;
HARUKIDELTA	0:17f575135219	752	}
HARUKIDELTA	18:cce82f3374fc	753	if(GetParameter(fp,paramNames[20],parameter)) *g_kpAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	754	else{ *g_kpAIL = KP_AIL;
HARUKIDELTA	12:763bf416ba4b	755	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	756	}
HARUKIDELTA	12:763bf416ba4b	757	if(GetParameter(fp,paramNames[21],parameter)) *g_kiAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	758	else{ *g_kiAIL = KI_AIL;
HARUKIDELTA	12:763bf416ba4b	759	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	760	}
HARUKIDELTA	12:763bf416ba4b	761	if(GetParameter(fp,paramNames[22],parameter)) *g_kdAIL = atof(parameter);
HARUKIDELTA	12:763bf416ba4b	762	else{ *g_kdAIL = KP_AIL;
HARUKIDELTA	12:763bf416ba4b	763	SDerrorcount++;
HARUKIDELTA	12:763bf416ba4b	764	}
HARUKIDELTA	13:77b13d5f4d78	765	if(GetParameter(fp,paramNames[23],parameter)) *g_rightloopRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	766	else{ *g_rightloopRUD = RIGHTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	767	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	768	}
HARUKIDELTA	13:77b13d5f4d78	769	if(GetParameter(fp,paramNames[24],parameter)) *g_rightloopshortRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	770	else{ *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	771	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	772	}
HARUKIDELTA	13:77b13d5f4d78	773	if(GetParameter(fp,paramNames[25],parameter)) *g_leftloopRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	774	else{ *g_leftloopshortRUD = LEFTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	775	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	776	}
HARUKIDELTA	13:77b13d5f4d78	777	if(GetParameter(fp,paramNames[26],parameter)) *g_leftloopshortRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	778	else{ *g_leftloopshortRUD = LEFTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	779	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	780	}
HARUKIDELTA	13:77b13d5f4d78	781	if(GetParameter(fp,paramNames[27],parameter)) *g_glideloopRUD = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	782	else{ *g_glideloopRUD = GLIDELOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	783	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	784	}
HARUKIDELTA	13:77b13d5f4d78	785	if(GetParameter(fp,paramNames[28],parameter)) *g_AIL_L_correctionrightloop = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	786	else{ *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP;
HARUKIDELTA	13:77b13d5f4d78	787	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	788	}
HARUKIDELTA	13:77b13d5f4d78	789	if(GetParameter(fp,paramNames[29],parameter)) *g_AIL_L_correctionrightloopshort = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	790	else{ *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	791	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	792	}
HARUKIDELTA	13:77b13d5f4d78	793	if(GetParameter(fp,paramNames[30],parameter)) *g_AIL_L_correctionleftloop = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	794	else{ *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP;
HARUKIDELTA	13:77b13d5f4d78	795	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	796	}
HARUKIDELTA	13:77b13d5f4d78	797	if(GetParameter(fp,paramNames[31],parameter)) *g_AIL_L_correctionleftloopshort = atof(parameter);
HARUKIDELTA	13:77b13d5f4d78	798	else{ *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	799	SDerrorcount++;
HARUKIDELTA	13:77b13d5f4d78	800	}
HARUKIDELTA	13:77b13d5f4d78	801
HARUKIDELTA	0:17f575135219	802	fclose(fp);
HARUKIDELTA	0:17f575135219	803
HARUKIDELTA	0:17f575135219	804	}else{ //ファイルがなかったら
HARUKIDELTA	0:17f575135219	805	pc.printf("fp was null.\r\n");
HARUKIDELTA	0:17f575135219	806	*g_kpELE = KP_ELE;
HARUKIDELTA	0:17f575135219	807	*g_kiELE = KI_ELE;
HARUKIDELTA	0:17f575135219	808	*g_kdELE = KD_ELE;
HARUKIDELTA	0:17f575135219	809	*g_kpRUD = KP_RUD;
HARUKIDELTA	0:17f575135219	810	*g_kiRUD = KI_RUD;
HARUKIDELTA	0:17f575135219	811	*g_kdRUD = KD_RUD;
HARUKIDELTA	0:17f575135219	812	*g_rightloopROLL = RIGHT_ROLL;
HARUKIDELTA	0:17f575135219	813	*g_rightloopPITCH = RIGHT_PITCH;
HARUKIDELTA	0:17f575135219	814	*g_leftloopROLL = LEFT_ROLL;
HARUKIDELTA	0:17f575135219	815	*g_leftloopPITCH = LEFT_PITCH;
HARUKIDELTA	0:17f575135219	816	*g_gostraightROLL = STRAIGHT_ROLL;
HARUKIDELTA	0:17f575135219	817	*g_gostraightPITCH = STRAIGHT_PITCH;
HARUKIDELTA	0:17f575135219	818	*g_takeoffTHR = TAKEOFF_THR;
HARUKIDELTA	0:17f575135219	819	*g_loopTHR = LOOP_THR;
HARUKIDELTA	12:763bf416ba4b	820	*g_kpAIL = KP_AIL; //パラメータ変えるのお忘れなく！！
HARUKIDELTA	12:763bf416ba4b	821	*g_kiAIL = KI_AIL;
HARUKIDELTA	12:763bf416ba4b	822	*g_kdAIL = KD_AIL;
HARUKIDELTA	13:77b13d5f4d78	823	*g_rightloopRUD = RIGHTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	824	*g_rightloopshortRUD = RIGHTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	825	*g_leftloopRUD = LEFTLOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	826	*g_leftloopshortRUD = LEFTLOOPSHORT_RUD;
HARUKIDELTA	13:77b13d5f4d78	827	*g_glideloopRUD = GLIDELOOP_RUD;
HARUKIDELTA	13:77b13d5f4d78	828	*g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP;
HARUKIDELTA	13:77b13d5f4d78	829	*g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	830	*g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP;
HARUKIDELTA	13:77b13d5f4d78	831	*g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT;
HARUKIDELTA	13:77b13d5f4d78	832
HARUKIDELTA	13:77b13d5f4d78	833
HARUKIDELTA	0:17f575135219	834	SDerrorcount = -1;
HARUKIDELTA	0:17f575135219	835	}
HARUKIDELTA	0:17f575135219	836	pc.printf("SDsetup finished.\r\n");
HARUKIDELTA	0:17f575135219	837	if(SDerrorcount == 0) pc.printf("setting option is success\r\n");
HARUKIDELTA	0:17f575135219	838	else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n");
HARUKIDELTA	0:17f575135219	839	else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount);
HARUKIDELTA	0:17f575135219	840
HARUKIDELTA	0:17f575135219	841	pc.printf("kpELE = %f, kiELE = %f, kdELE = %f\r\n", g_kpRUD, g_kiRUD, *g_kdRUD);
HARUKIDELTA	0:17f575135219	842	pc.printf("kpRUD = %f, kiRUD = %f, kdRUD = %f\r\n", g_kpELE, g_kiELE, *g_kdELE);
HARUKIDELTA	0:17f575135219	843	pc.printf("rightloopROLL = %f, rightloopPITCH = %f\r\n", g_rightloopROLL, g_rightloopPITCH);
HARUKIDELTA	0:17f575135219	844	pc.printf("leftloopROLL = %f, g_leftloopPITCH = %f\r\n", g_leftloopROLL, g_leftloopPITCH);
HARUKIDELTA	0:17f575135219	845	pc.printf("gostraightROLL = %f, g_gostraightPITCH = %f\r\n", g_gostraightROLL, g_gostraightPITCH);
HARUKIDELTA	0:17f575135219	846	pc.printf("g_takeoffTHR = %f, g_loopTHR = %f\r\n", g_takeoffTHR, g_loopTHR);
HARUKIDELTA	0:17f575135219	847	pc.printf("rightloopROLLshort = %f, rightloopPITCHshort = %f\r\n", g_rightloopROLLshort, g_rightloopPITCHshort);
HARUKIDELTA	0:17f575135219	848	pc.printf("leftloopROLLshort = %f, g_leftloopPITCHshort = %f\r\n", g_leftloopROLLshort, g_leftloopPITCHshort);
HARUKIDELTA	0:17f575135219	849	pc.printf("glideROLL = %f, glidePITCH = %f\r\n", g_glideloopROLL, g_glideloopPITCH);
HARUKIDELTA	16:7fca5b938da6	850	pc.printf("kpAIL = %f,kiAIL = %f,kdAIL = %f\r\n ",g_kpAIL,g_kiAIL,*g_kdAIL);
HARUKIDELTA	16:7fca5b938da6	851	pc.printf("RIGHTLOOPRUD = %d,RIGHTLOOPSHORTRUD = %d\r\n",g_rightloopRUD,g_rightloopshortRUD);
HARUKIDELTA	16:7fca5b938da6	852	pc.printf("LEFTTLOOPRUD = %d,LEFTLOOPSHORTRUD = %d\r\n",g_leftloopRUD,g_leftloopshortRUD);
HARUKIDELTA	16:7fca5b938da6	853	pc.printf("GLIDELOOPRUD = %d\r\n",*g_glideloopRUD);
HARUKIDELTA	16:7fca5b938da6	854	pc.printf("AIL_L_CORRECTION_RIGHTLOOP = %d, AIL_L_CORRECTION_RIGHTLOOPSHORT = %d\r\n",g_AIL_L_correctionrightloop,g_AIL_L_correctionrightloopshort);
HARUKIDELTA	16:7fca5b938da6	855	pc.printf("AIL_L_CORRECTION_LEFTLOOP = %d, AIL_L_CORRECTION_LEFTLOOPSHORT = %d\r\n",g_AIL_L_correctionleftloop,g_AIL_L_correctionleftloopshort);
HARUKIDELTA	0:17f575135219	856	return SDerrorcount;
HARUKIDELTA	0:17f575135219	857	}
HARUKIDELTA	0:17f575135219	858
HARUKIDELTA	0:17f575135219	859	void CalculateControlValue(float targetAngle[3], float controlValue[3]){
HARUKIDELTA	0:17f575135219	860	static int t_last;
HARUKIDELTA	0:17f575135219	861	int t_now;
HARUKIDELTA	0:17f575135219	862	float dt;
HARUKIDELTA	0:17f575135219	863
HARUKIDELTA	0:17f575135219	864	t_now = t.read_us();
HARUKIDELTA	0:17f575135219	865	dt = (float)((t_now - t_last)/1000000.0f) ;
HARUKIDELTA	0:17f575135219	866	t_last = t_now;
HARUKIDELTA	0:17f575135219	867
taknokolat	1:f383708a5a52	868
taknokolat	1:f383708a5a52	869	//controlValue[ROLL] = pid_RUD.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt);
taknokolat	1:f383708a5a52	870	controlValue[ROLL] = pid_AIL.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt); //エルロンでロール制御
HARUKIDELTA	0:17f575135219	871	controlValue[PITCH] = pid_ELE.calcPID(nowAngle[PITCH], targetAngle[PITCH], dt);
HARUKIDELTA	0:17f575135219	872	}
HARUKIDELTA	0:17f575135219	873
HARUKIDELTA	0:17f575135219	874	void UpdateAutoPWM(float controlValue[3]){
HARUKIDELTA	0:17f575135219	875	int16_t addpwm[2]; //-500~500
HARUKIDELTA	0:17f575135219	876	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	877	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	878
HARUKIDELTA	2:23daa5fa28b4	879	autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH]; //rewrite
HARUKIDELTA	8:66bba39b95a9	880	autopwm[AIL_R] = trimpwm[AIL_R] - reverce[AIL_R] * addpwm[ROLL];
HARUKIDELTA	0:17f575135219	881	//autopwm[THR] = oldTHR;
HARUKIDELTA	0:17f575135219	882
HARUKIDELTA	0:17f575135219	883	autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]);
taknokolat	1:f383708a5a52	884	autopwm[AIL_R] = ThresholdMaxMin(autopwm[AIL_R], maxpwm[AIL_R], minpwm[AIL_R]);
HARUKIDELTA	2:23daa5fa28b4	885
HARUKIDELTA	0:17f575135219	886	}
HARUKIDELTA	0:17f575135219	887
HARUKIDELTA	0:17f575135219	888	inline float CalcRatio(float value, float trim, float limit){
HARUKIDELTA	0:17f575135219	889	return (value - trim) / (limit - trim);
HARUKIDELTA	0:17f575135219	890	}
HARUKIDELTA	0:17f575135219	891
HARUKIDELTA	0:17f575135219	892	bool CheckSW_Up(Channel ch){
taknokolat	23:4928a6fd9eee	893	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	894	if(SWITCH_CHECK < sbus.manualpwm[ch]){
HARUKIDELTA	0:17f575135219	895	return true;
HARUKIDELTA	0:17f575135219	896	}else{
HARUKIDELTA	0:17f575135219	897	return false;
HARUKIDELTA	0:17f575135219	898	}
taknokolat	23:4928a6fd9eee	899	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	900	}
HARUKIDELTA	0:17f575135219	901
HARUKIDELTA	0:17f575135219	902	int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min){
HARUKIDELTA	0:17f575135219	903	if(value > max) return max;
HARUKIDELTA	0:17f575135219	904	if(value < min) return min;
HARUKIDELTA	0:17f575135219	905	return value;
HARUKIDELTA	0:17f575135219	906	}
HARUKIDELTA	0:17f575135219	907
HARUKIDELTA	0:17f575135219	908	inline int16_t SetTHRinRatio(float ratio){
HARUKIDELTA	0:17f575135219	909	return minpwm[THR] + (int16_t)(2 * lengthdivpwm * ratio);
HARUKIDELTA	0:17f575135219	910	}
HARUKIDELTA	0:17f575135219	911
HARUKIDELTA	2:23daa5fa28b4	912
HARUKIDELTA	2:23daa5fa28b4	913
HARUKIDELTA	0:17f575135219	914	/---SBUS割り込み処理---/
HARUKIDELTA	0:17f575135219	915
HARUKIDELTA	0:17f575135219	916	//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	917	//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	918	void Update_PWM()
HARUKIDELTA	0:17f575135219	919	{
HARUKIDELTA	0:17f575135219	920	static int16_t pwm[6];
HARUKIDELTA	0:17f575135219	921	static int16_t temppwm[6]={trimpwm[0],trimpwm[1],trimpwm[2],trimpwm[3],trimpwm[4],trimpwm[5]};
HARUKIDELTA	0:17f575135219	922	if(sbus.flg_ch_update == true){
taknokolat	10:652071c20bf6	923	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	924	switch(output_status){ //マニュアルモード,自動モード,自動着陸もモードを切替
HARUKIDELTA	0:17f575135219	925	case Manual:
HARUKIDELTA	0:17f575135219	926	for(uint8_t i=0;i<6;i++){
taknokolat	1:f383708a5a52	927	pwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	928	}
HARUKIDELTA	2:23daa5fa28b4	929	/*pc.printf("%d ,",pwm[0]);//R
HARUKIDELTA	2:23daa5fa28b4	930	pc.printf("%d ,\r\n",pwm[5]);//L*/
HARUKIDELTA	0:17f575135219	931	oldTHR = sbus.manualpwm[THR];
HARUKIDELTA	0:17f575135219	932	//pc.printf("update_manual\r\n");
HARUKIDELTA	0:17f575135219	933	break;
HARUKIDELTA	0:17f575135219	934
HARUKIDELTA	0:17f575135219	935	case Auto:
HARUKIDELTA	0:17f575135219	936	pwm[AIL_R] = autopwm[AIL_R]; //sbus.manualpwm[AIL];
HARUKIDELTA	0:17f575135219	937	pwm[ELE] = autopwm[ELE];
HARUKIDELTA	0:17f575135219	938	pwm[THR] = autopwm[THR];
HARUKIDELTA	0:17f575135219	939	pwm[RUD] = autopwm[RUD];
HARUKIDELTA	0:17f575135219	940	pwm[DROP] = autopwm[DROP];
HARUKIDELTA	0:17f575135219	941	pwm[AIL_L] = autopwm[AIL_L];
taknokolat	10:652071c20bf6	942	//pc.printf("%d ,",pwm[AIL_R]);//R
taknokolat	10:652071c20bf6	943	//pc.printf("%d ,\r\n",pwm[AIL_L]);//L
HARUKIDELTA	0:17f575135219	944	//pc.printf("update_auto\r\n");
HARUKIDELTA	2:23daa5fa28b4	945
HARUKIDELTA	0:17f575135219	946	break;
HARUKIDELTA	0:17f575135219	947
HARUKIDELTA	0:17f575135219	948	default:
HARUKIDELTA	0:17f575135219	949	for(uint8_t i=0;i<6;i++){
HARUKIDELTA	0:17f575135219	950	pwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	951	} //pc.printf("update_manual\r\n");
HARUKIDELTA	0:17f575135219	952	break;
taknokolat	10:652071c20bf6	953	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	954	}
HARUKIDELTA	0:17f575135219	955	for(uint8_t i=0;i<6;i++){
HARUKIDELTA	0:17f575135219	956	if(pwm[i]<1000 \|\| pwm[i]>2000) pwm[i]=temppwm[i];
HARUKIDELTA	0:17f575135219	957	temppwm[i]=pwm[i];
HARUKIDELTA	0:17f575135219	958	}
HARUKIDELTA	0:17f575135219	959	}else{
HARUKIDELTA	0:17f575135219	960	pc.printf("0\r\n");
HARUKIDELTA	0:17f575135219	961	}
HARUKIDELTA	0:17f575135219	962	sbus.flg_ch_update = false;
HARUKIDELTA	0:17f575135219	963	Output_PWM(pwm);
HARUKIDELTA	0:17f575135219	964	}
HARUKIDELTA	0:17f575135219	965
HARUKIDELTA	0:17f575135219	966
HARUKIDELTA	0:17f575135219	967	//pwmをサーボに出力。
HARUKIDELTA	0:17f575135219	968	void Output_PWM(int16_t pwm[5])
HARUKIDELTA	0:17f575135219	969	{
taknokolat	10:652071c20bf6	970	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	971	servo1.pulsewidth_us(pwm[0]);
HARUKIDELTA	0:17f575135219	972	servo2.pulsewidth_us(pwm[1]);
HARUKIDELTA	0:17f575135219	973	servo3.pulsewidth_us(pwm[2]);
HARUKIDELTA	0:17f575135219	974	servo4.pulsewidth_us(pwm[3]);
HARUKIDELTA	0:17f575135219	975	servo5.pulsewidth_us(pwm[4]);
HARUKIDELTA	0:17f575135219	976	servo6.pulsewidth_us(pwm[5]);
taknokolat	10:652071c20bf6	977	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	978
HARUKIDELTA	0:17f575135219	979	}
HARUKIDELTA	0:17f575135219	980
HARUKIDELTA	0:17f575135219	981	void ResetTrim(){
HARUKIDELTA	0:17f575135219	982	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	983	trimpwm[i] = sbus.manualpwm[i];
HARUKIDELTA	0:17f575135219	984	}
HARUKIDELTA	0:17f575135219	985	pc.printf("reset PWM trim\r\n");
HARUKIDELTA	0:17f575135219	986	}
HARUKIDELTA	0:17f575135219	987
HARUKIDELTA	0:17f575135219	988
HARUKIDELTA	0:17f575135219	989	void SensingMPU(){
HARUKIDELTA	0:17f575135219	990	//static int16_t deltaT = 0, t_start = 0;
HARUKIDELTA	0:17f575135219	991	//t_start = t.read_us();
HARUKIDELTA	0:17f575135219	992
HARUKIDELTA	0:17f575135219	993	float rpy[3] = {0}, oldrpy[3] = {0};
HARUKIDELTA	0:17f575135219	994	static uint16_t count_changeRPY = 0;
HARUKIDELTA	0:17f575135219	995	static bool flg_checkoutlier = false;
HARUKIDELTA	0:17f575135219	996	NVIC_DisableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	997	NVIC_DisableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	998	NVIC_DisableIRQ(TIM5_IRQn);
taknokolat	10:652071c20bf6	999	NVIC_DisableIRQ(EXTI0_IRQn);//MPU割り込み禁止
taknokolat	10:652071c20bf6	1000	NVIC_DisableIRQ(EXTI9_5_IRQn);//超音波割り込み禁止
HARUKIDELTA	0:17f575135219	1001
HARUKIDELTA	0:17f575135219	1002	mpu6050.getRollPitchYaw_Skipper(rpy);
HARUKIDELTA	0:17f575135219	1003
HARUKIDELTA	0:17f575135219	1004	NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	1005	NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA	0:17f575135219	1006	NVIC_EnableIRQ(TIM5_IRQn);
HARUKIDELTA	0:17f575135219	1007	NVIC_EnableIRQ(EXTI0_IRQn);
HARUKIDELTA	0:17f575135219	1008	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1009
HARUKIDELTA	0:17f575135219	1010
HARUKIDELTA	0:17f575135219	1011	//外れ値対策
HARUKIDELTA	0:17f575135219	1012	for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI;
HARUKIDELTA	0:17f575135219	1013	rpy[ROLL] -= FirstROLL;
HARUKIDELTA	0:17f575135219	1014	rpy[PITCH] -= FirstPITCH;
HARUKIDELTA	0:17f575135219	1015	rpy[YAW] -= FirstYAW;
HARUKIDELTA	0:17f575135219	1016
HARUKIDELTA	0:17f575135219	1017	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	1018	if(!flg_checkoutlier \|\| count_changeRPY >= 2){
HARUKIDELTA	0:17f575135219	1019	for(uint8_t i=0; i<3; i++){
HARUKIDELTA	0:17f575135219	1020	nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均
HARUKIDELTA	0:17f575135219	1021	}
HARUKIDELTA	0:17f575135219	1022	count_changeRPY = 0;
HARUKIDELTA	0:17f575135219	1023	}else count_changeRPY++;
HARUKIDELTA	0:17f575135219	1024	flg_checkoutlier = false;
HARUKIDELTA	0:17f575135219	1025
HARUKIDELTA	0:17f575135219	1026	}
HARUKIDELTA	0:17f575135219	1027
HARUKIDELTA	0:17f575135219	1028	float TranslateNewYaw(float beforeYaw, float newzeroYaw){
HARUKIDELTA	0:17f575135219	1029	float newYaw = beforeYaw - newzeroYaw;
HARUKIDELTA	0:17f575135219	1030
HARUKIDELTA	0:17f575135219	1031	if(newYaw<-180.0f) newYaw += 360.0f;
HARUKIDELTA	0:17f575135219	1032	else if(newYaw>180.0f) newYaw -= 360.0f;
HARUKIDELTA	0:17f575135219	1033	return newYaw;
HARUKIDELTA	0:17f575135219	1034	}
HARUKIDELTA	0:17f575135219	1035
HARUKIDELTA	0:17f575135219	1036
HARUKIDELTA	0:17f575135219	1037	void getSF_Serial(){
taknokolat	25:37bee299a276	1038	//NVIC_DisableIRQ(USART1_IRQn);
taknokolat	25:37bee299a276	1039	NVIC_DisableIRQ(EXTI0_IRQn);
taknokolat	25:37bee299a276	1040	//NVIC_DisableIRQ(TIM5_IRQn);
taknokolat	25:37bee299a276	1041
taknokolat	25:37bee299a276	1042
taknokolat	25:37bee299a276	1043	static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat	25:37bee299a276	1044
HARUKIDELTA	0:17f575135219	1045	static int bufcounter=0;
HARUKIDELTA	0:17f575135219	1046
taknokolat	14:bbd5ff31fb67	1047	if(pc.readable()) { // 受信確認
taknokolat	25:37bee299a276	1048
taknokolat	14:bbd5ff31fb67	1049	SFbuf[bufcounter] = pc.getc(); // 1文字取り出し
taknokolat	25:37bee299a276	1050	if(SFbuf[0]!='S') return;
taknokolat	25:37bee299a276	1051	}
taknokolat	25:37bee299a276	1052
taknokolat	11:c0b9ad25d3db	1053
taknokolat	25:37bee299a276	1054	//pc.printf("%c",SFbuf[bufcounter]);
HARUKIDELTA	0:17f575135219	1055
taknokolat	25:37bee299a276	1056	if(SFbuf[0]=='S'&&bufcounter<5)bufcounter++;
taknokolat	25:37bee299a276	1057
taknokolat	25:37bee299a276	1058	if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat	25:37bee299a276	1059
taknokolat	25:37bee299a276	1060	g_landingcommand = SFbuf[1];
taknokolat	25:37bee299a276	1061	//wait_ms(20);
taknokolat	25:37bee299a276	1062	if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat	25:37bee299a276	1063	bufcounter = 0;
taknokolat	25:37bee299a276	1064	memset(SFbuf, 0, strlen(SFbuf));
taknokolat	25:37bee299a276	1065	//pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat	25:37bee299a276	1066	}
taknokolat	25:37bee299a276	1067
taknokolat	10:652071c20bf6	1068	else if(bufcounter>=5 ){
taknokolat	25:37bee299a276	1069	//pc.printf("Communication Falsed.\r\n");
taknokolat	25:37bee299a276	1070	memset(SFbuf, 0, strlen(SFbuf));
HARUKIDELTA	0:17f575135219	1071	bufcounter = 0;
HARUKIDELTA	0:17f575135219	1072	}
taknokolat	25:37bee299a276	1073
taknokolat	25:37bee299a276	1074
taknokolat	25:37bee299a276	1075	//NVIC_EnableIRQ(TIM5_IRQn);
taknokolat	25:37bee299a276	1076	NVIC_EnableIRQ(EXTI0_IRQn);
taknokolat	25:37bee299a276	1077	//NVIC_EnableIRQ(USART1_IRQn);
HARUKIDELTA	0:17f575135219	1078	}
HARUKIDELTA	0:17f575135219	1079
HARUKIDELTA	0:17f575135219	1080	float ConvertByteintoFloat(char high, char low){
HARUKIDELTA	0:17f575135219	1081
HARUKIDELTA	0:17f575135219	1082	//int16_t intvalue = (int16_t)high*256 + (int16_t)low;
HARUKIDELTA	0:17f575135219	1083	int16_t intvalue = (int16_t)(((int16_t)high << 8) \| low); // Turn the MSB and LSB into a signed 16-bit value
HARUKIDELTA	0:17f575135219	1084	float floatvalue = (float)intvalue;
HARUKIDELTA	0:17f575135219	1085	return floatvalue;
HARUKIDELTA	0:17f575135219	1086	}
HARUKIDELTA	0:17f575135219	1087
HARUKIDELTA	0:17f575135219	1088
HARUKIDELTA	0:17f575135219	1089	//超音波割り込み
taknokolat	10:652071c20bf6	1090	/*void UpdateDist(){
HARUKIDELTA	0:17f575135219	1091	g_distance = usensor.get_dist_cm();
HARUKIDELTA	0:17f575135219	1092	usensor.start();
taknokolat	10:652071c20bf6	1093	}*/
HARUKIDELTA	0:17f575135219	1094
HARUKIDELTA	0:17f575135219	1095	//8の字旋回
HARUKIDELTA	0:17f575135219	1096	void UpdateTargetAngle_Moebius(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1097	static uint8_t RotateCounter=0;
HARUKIDELTA	0:17f575135219	1098	static bool flg_setInStartAuto = false;
HARUKIDELTA	0:17f575135219	1099	static float FirstYAW_Moebius = 0.0;
HARUKIDELTA	0:17f575135219	1100	float newYaw_Moebius;
HARUKIDELTA	0:17f575135219	1101
HARUKIDELTA	0:17f575135219	1102	if(!flg_setInStartAuto && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1103	FirstYAW_Moebius = nowAngle[YAW];
HARUKIDELTA	0:17f575135219	1104	RotateCounter = 0;
HARUKIDELTA	0:17f575135219	1105	flg_setInStartAuto = true;
HARUKIDELTA	0:17f575135219	1106	}else if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1107	flg_setInStartAuto = false;
HARUKIDELTA	0:17f575135219	1108	led2 = 0;
HARUKIDELTA	0:17f575135219	1109	}
HARUKIDELTA	6:ed61ed8b8fab	1110	autopwm[THR]=oldTHR;
HARUKIDELTA	6:ed61ed8b8fab	1111
HARUKIDELTA	0:17f575135219	1112	newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius);
HARUKIDELTA	0:17f575135219	1113
HARUKIDELTA	0:17f575135219	1114	if(RotateCounter == 0 && newYaw_Moebius >90.0 && newYaw_Moebius < 180.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n");}
HARUKIDELTA	0:17f575135219	1115	if(RotateCounter == 1 && newYaw_Moebius >-180.0 && newYaw_Moebius < -90.0) {RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n");}
HARUKIDELTA	6:ed61ed8b8fab	1116	if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius <-10.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n");}
HARUKIDELTA	6:ed61ed8b8fab	1117	if(RotateCounter == 3 && newYaw_Moebius >0.0 && newYaw_Moebius < 90.0) {RotateCounter++; led2 = 0; pc.printf("Change Rotate direction\r\n");}
HARUKIDELTA	0:17f575135219	1118
HARUKIDELTA	0:17f575135219	1119
HARUKIDELTA	0:17f575135219	1120	if(RotateCounter <= 3) UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1121	else UpdateTargetAngle_Leftloop_short(targetAngle); //左旋回
HARUKIDELTA	0:17f575135219	1122
HARUKIDELTA	0:17f575135219	1123	}
HARUKIDELTA	0:17f575135219	1124
HARUKIDELTA	0:17f575135219	1125	//自動滑空
HARUKIDELTA	0:17f575135219	1126	void UpdateTargetAngle_Glide(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1127	static int THRcount = 0;
HARUKIDELTA	0:17f575135219	1128	static int t_start = 0;
HARUKIDELTA	0:17f575135219	1129	static bool flg_tstart = false;
HARUKIDELTA	0:17f575135219	1130	int t_diff = 0;
taknokolat	1:f383708a5a52	1131	static int groundcount = 0;
HARUKIDELTA	0:17f575135219	1132
HARUKIDELTA	0:17f575135219	1133	targetAngle[ROLL] = g_glideloopROLL;
HARUKIDELTA	0:17f575135219	1134	targetAngle[PITCH] = g_glideloopPITCH;
HARUKIDELTA	0:17f575135219	1135
HARUKIDELTA	16:7fca5b938da6	1136	autopwm[RUD]=g_glideloopRUD;
HARUKIDELTA	7:53b0eb6f6bd3	1137	// autopwm[THR]=oldTHR;
taknokolat	10:652071c20bf6	1138
taknokolat	1:f383708a5a52	1139
HARUKIDELTA	7:53b0eb6f6bd3	1140
HARUKIDELTA	0:17f575135219	1141	//時間計測開始設定
HARUKIDELTA	0:17f575135219	1142	if(!flg_tstart && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1143	t_start = t.read();
HARUKIDELTA	0:17f575135219	1144	flg_tstart = true;
HARUKIDELTA	0:17f575135219	1145	pc.printf("timer start\r\n");
taknokolat	1:f383708a5a52	1146	}else if(!CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1147	t_start = 0;
HARUKIDELTA	0:17f575135219	1148	flg_tstart = false;
HARUKIDELTA	0:17f575135219	1149	}
HARUKIDELTA	0:17f575135219	1150
taknokolat	1:f383708a5a52	1151
HARUKIDELTA	0:17f575135219	1152	//フラグが偽であれば計測は行わない
HARUKIDELTA	0:17f575135219	1153	if(flg_tstart){
HARUKIDELTA	0:17f575135219	1154	t_diff = t.read() - t_start;
HARUKIDELTA	0:17f575135219	1155	//一定高度or15秒でled点灯
taknokolat	10:652071c20bf6	1156	NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat	1:f383708a5a52	1157	if((groundcount>5 && g_distance>0) \|\| t_diff > 15){
HARUKIDELTA	0:17f575135219	1158	led2 = 1;
HARUKIDELTA	0:17f575135219	1159	//pc.printf("Call [Stop!] calling!\r\n");
HARUKIDELTA	0:17f575135219	1160	}
taknokolat	10:652071c20bf6	1161
taknokolat	1:f383708a5a52	1162	if(g_distance<180 && g_distance > 0) groundcount++;
taknokolat	10:652071c20bf6	1163	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1164	}else{
HARUKIDELTA	0:17f575135219	1165	t_diff = 0;
taknokolat	1:f383708a5a52	1166	groundcount = 0;
HARUKIDELTA	0:17f575135219	1167	led2 = 0;
HARUKIDELTA	0:17f575135219	1168	}
HARUKIDELTA	0:17f575135219	1169
taknokolat	1:f383708a5a52	1170	if(t_diff > 17){
HARUKIDELTA	0:17f575135219	1171	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	0:17f575135219	1172	}else{
taknokolat	10:652071c20bf6	1173	NVIC_DisableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1174	if(g_distance<150 && g_distance>0 ){
taknokolat	10:652071c20bf6	1175	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1176	THRcount++;
HARUKIDELTA	0:17f575135219	1177	if(THRcount>5){
taknokolat	1:f383708a5a52	1178	autopwm[THR] = SetTHRinRatio(0.6);
HARUKIDELTA	0:17f575135219	1179	//pc.printf("throttle ON\r\n");
HARUKIDELTA	0:17f575135219	1180	}
HARUKIDELTA	0:17f575135219	1181	}else{
HARUKIDELTA	0:17f575135219	1182	autopwm[THR] = 1180;
HARUKIDELTA	0:17f575135219	1183	THRcount = 0;
HARUKIDELTA	0:17f575135219	1184	}
HARUKIDELTA	7:53b0eb6f6bd3	1185	}
HARUKIDELTA	0:17f575135219	1186	}
HARUKIDELTA	0:17f575135219	1187	//離陸-投下-着陸一連
HARUKIDELTA	0:17f575135219	1188	void Take_off_and_landing(float targetAngle[3]){
taknokolat	10:652071c20bf6	1189	/*
HARUKIDELTA	0:17f575135219	1190	if(!CheckSW_Up(Ch7)) bombing_mode = Takeoff;
HARUKIDELTA	0:17f575135219	1191
HARUKIDELTA	0:17f575135219	1192	switch(bombing_mode){
HARUKIDELTA	0:17f575135219	1193	case Takeoff:
HARUKIDELTA	0:17f575135219	1194	static bool flg_setFirstYaw = false;
HARUKIDELTA	0:17f575135219	1195	static int TakeoffCount = 0;
HARUKIDELTA	0:17f575135219	1196
HARUKIDELTA	0:17f575135219	1197	if(!flg_setFirstYaw && CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1198	FirstYAW = nowAngle[YAW];
HARUKIDELTA	0:17f575135219	1199	flg_setFirstYaw = true;
HARUKIDELTA	0:17f575135219	1200	}else if(flg_setFirstYaw && !CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1201	flg_setFirstYaw = false;
HARUKIDELTA	0:17f575135219	1202	}
HARUKIDELTA	0:17f575135219	1203
HARUKIDELTA	0:17f575135219	1204	UpdateTargetAngle_Takeoff(targetAngle);
HARUKIDELTA	0:17f575135219	1205
HARUKIDELTA	0:17f575135219	1206	if(g_distance>150) TakeoffCount++;
HARUKIDELTA	0:17f575135219	1207	else TakeoffCount = 0;
HARUKIDELTA	0:17f575135219	1208	if(TakeoffCount>5){
HARUKIDELTA	0:17f575135219	1209	autopwm[THR] = 1180+32020.5;
HARUKIDELTA	0:17f575135219	1210	pc.printf("Now go to Approach mode!!");
HARUKIDELTA	0:17f575135219	1211	bombing_mode = Approach;
HARUKIDELTA	0:17f575135219	1212	}
HARUKIDELTA	0:17f575135219	1213	break;
taknokolat	10:652071c20bf6	1214
taknokolat	10:652071c20bf6	1215	//case Chicken:
taknokolat	10:652071c20bf6	1216	//break;
taknokolat	10:652071c20bf6	1217
HARUKIDELTA	0:17f575135219	1218	case Transition:
HARUKIDELTA	0:17f575135219	1219	static int ApproachCount = 0;
HARUKIDELTA	0:17f575135219	1220	targetAngle[YAW]=180.0;
HARUKIDELTA	0:17f575135219	1221	int Judge = Rotate(targetAngle, g_SerialTargetYAW);
HARUKIDELTA	0:17f575135219	1222
HARUKIDELTA	0:17f575135219	1223	if(Judge==0) ApproachCount++;
HARUKIDELTA	0:17f575135219	1224	if(ApproachCount>5) bombing_mode = Approach;
HARUKIDELTA	0:17f575135219	1225	break;
HARUKIDELTA	0:17f575135219	1226
HARUKIDELTA	0:17f575135219	1227	case Approach:
taknokolat	10:652071c20bf6	1228	*/
taknokolat	10:652071c20bf6	1229	autopwm[THR] = SetTHRinRatio(g_loopTHR); //0.7;スロットルの割合
HARUKIDELTA	0:17f575135219	1230	UpdateTargetAngle_Approach(targetAngle);
taknokolat	10:652071c20bf6	1231	/*
HARUKIDELTA	0:17f575135219	1232	break;
HARUKIDELTA	0:17f575135219	1233
HARUKIDELTA	0:17f575135219	1234	default:
HARUKIDELTA	0:17f575135219	1235	bombing_mode = Takeoff;
HARUKIDELTA	0:17f575135219	1236	break;
HARUKIDELTA	0:17f575135219	1237	}
taknokolat	10:652071c20bf6	1238	*/
HARUKIDELTA	0:17f575135219	1239	}
HARUKIDELTA	0:17f575135219	1240
HARUKIDELTA	0:17f575135219	1241	//離陸モード
HARUKIDELTA	0:17f575135219	1242	void UpdateTargetAngle_Takeoff(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1243	//pc.printf("%d \r\n",g_distance);
HARUKIDELTA	0:17f575135219	1244	targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA	0:17f575135219	1245	targetAngle[PITCH] = g_loopTHR;
HARUKIDELTA	0:17f575135219	1246	autopwm[THR] = SetTHRinRatio(g_takeoffTHR); //0.7;スロットルの割合
HARUKIDELTA	0:17f575135219	1247	}
HARUKIDELTA	0:17f575135219	1248
HARUKIDELTA	0:17f575135219	1249	//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	1250	int Rotate(float targetAngle[3], float TargetYAW){
HARUKIDELTA	0:17f575135219	1251	float diffYaw = TranslateNewYaw(TargetYAW, nowAngle[YAW]);
HARUKIDELTA	0:17f575135219	1252
HARUKIDELTA	0:17f575135219	1253	if(diffYaw > LIMIT_STRAIGHT_YAW){
HARUKIDELTA	0:17f575135219	1254	/*
HARUKIDELTA	0:17f575135219	1255	if(diffYaw > THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1256	else UpdateTargetAngle_Rightloop(targetAngle);
HARUKIDELTA	0:17f575135219	1257	*/
HARUKIDELTA	0:17f575135219	1258	UpdateTargetAngle_Rightloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1259	return 1;
HARUKIDELTA	0:17f575135219	1260	}else if(diffYaw < -LIMIT_STRAIGHT_YAW){
HARUKIDELTA	0:17f575135219	1261	UpdateTargetAngle_Leftloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1262	/*
HARUKIDELTA	0:17f575135219	1263	if(diffYaw < -THRESHOLD_TURNINGRADIUS_YAW) UpdateTargetAngle_Leftloop_short(targetAngle);
HARUKIDELTA	0:17f575135219	1264	else UpdateTargetAngle_Leftloop(targetAngle);
HARUKIDELTA	0:17f575135219	1265	*/
HARUKIDELTA	0:17f575135219	1266	return 1;
HARUKIDELTA	0:17f575135219	1267	}else{
HARUKIDELTA	0:17f575135219	1268	UpdateTargetAngle_GoStraight(targetAngle);
HARUKIDELTA	0:17f575135219	1269	return 0;
HARUKIDELTA	0:17f575135219	1270	}
HARUKIDELTA	0:17f575135219	1271	}
HARUKIDELTA	0:17f575135219	1272
HARUKIDELTA	0:17f575135219	1273	//チキラー投下
HARUKIDELTA	0:17f575135219	1274	void Chicken_Drop(){
HARUKIDELTA	0:17f575135219	1275	if(CheckSW_Up(Ch7)){
HARUKIDELTA	0:17f575135219	1276	autopwm[DROP] = 1512;
HARUKIDELTA	0:17f575135219	1277	pc.printf("Bombed!\r\n");
HARUKIDELTA	0:17f575135219	1278	RerurnChickenServo1.attach(&ReturnChickenServo1, 3);
HARUKIDELTA	0:17f575135219	1279	//operation_mode = Approach;
HARUKIDELTA	0:17f575135219	1280	//buzzer = 0;
HARUKIDELTA	0:17f575135219	1281	pc.printf("Goto LeftLoop mode\r\n");
HARUKIDELTA	0:17f575135219	1282	}
HARUKIDELTA	0:17f575135219	1283	}
HARUKIDELTA	0:17f575135219	1284
HARUKIDELTA	0:17f575135219	1285	void ReturnChickenServo1(){
HARUKIDELTA	0:17f575135219	1286	autopwm[DROP] = 1344;
HARUKIDELTA	0:17f575135219	1287	pc.printf("first reverse\r\n");
HARUKIDELTA	0:17f575135219	1288	RerurnChickenServo2.attach(&ReturnChickenServo2, 1);
HARUKIDELTA	0:17f575135219	1289	}
HARUKIDELTA	0:17f575135219	1290
HARUKIDELTA	0:17f575135219	1291	void ReturnChickenServo2(){
HARUKIDELTA	0:17f575135219	1292	autopwm[DROP] = 1392;
HARUKIDELTA	0:17f575135219	1293	pc.printf("second reverse\r\n");
taknokolat	10:652071c20bf6	1294	}
taknokolat	10:652071c20bf6	1295
taknokolat	10:652071c20bf6	1296	//着陸モード（PCからの指令に従う）
taknokolat	10:652071c20bf6	1297	void UpdateTargetAngle_Approach(float targetAngle[3]){
taknokolat	10:652071c20bf6	1298
taknokolat	24:2cc7a3a10e72	1299	static bool zeroTHR=true;
taknokolat	24:2cc7a3a10e72	1300
taknokolat	24:2cc7a3a10e72	1301	if(CheckSW_Up(Ch7)){
taknokolat	24:2cc7a3a10e72	1302	output_status = Auto;
taknokolat	24:2cc7a3a10e72	1303	led1 = 1;
taknokolat	24:2cc7a3a10e72	1304	}else{
taknokolat	24:2cc7a3a10e72	1305	output_status = Manual;
taknokolat	24:2cc7a3a10e72	1306	led1 = 0;
taknokolat	24:2cc7a3a10e72	1307	zeroTHR=true;
taknokolat	24:2cc7a3a10e72	1308	}
taknokolat	24:2cc7a3a10e72	1309
taknokolat	10:652071c20bf6	1310	NVIC_DisableIRQ(USART2_IRQn);
taknokolat	10:652071c20bf6	1311
taknokolat	10:652071c20bf6	1312	switch(g_landingcommand){
taknokolat	10:652071c20bf6	1313	case 'R': //右旋回セヨ
taknokolat	23:4928a6fd9eee	1314	if(zeroTHR==false){
HARUKIDELTA	19:0955311b0db6	1315	UpdateTargetAngle_Rightloop_zero(targetAngle);
HARUKIDELTA	19:0955311b0db6	1316	}
HARUKIDELTA	19:0955311b0db6	1317	else{
taknokolat	10:652071c20bf6	1318	targetAngle[ROLL] = g_rightloopROLL;
taknokolat	10:652071c20bf6	1319	targetAngle[PITCH] = g_rightloopPITCH ;
HARUKIDELTA	17:55249ea37dff	1320	autopwm[RUD]=g_rightloopRUD; //RUD固定
HARUKIDELTA	22:438bedf24707	1321	if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節
taknokolat	10:652071c20bf6	1322	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	10:652071c20bf6	1323	}
taknokolat	20:9393b0cfa44d	1324	else {autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
taknokolat	10:652071c20bf6	1325	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
taknokolat	20:9393b0cfa44d	1326	}
taknokolat	20:9393b0cfa44d	1327	}
taknokolat	10:652071c20bf6	1328	break;
taknokolat	20:9393b0cfa44d	1329
taknokolat	10:652071c20bf6	1330	case 'L': //左旋回セヨ
taknokolat	23:4928a6fd9eee	1331	if(zeroTHR==false){
HARUKIDELTA	19:0955311b0db6	1332	UpdateTargetAngle_Leftloop_zero(targetAngle);
HARUKIDELTA	19:0955311b0db6	1333	}
HARUKIDELTA	19:0955311b0db6	1334	else{
taknokolat	10:652071c20bf6	1335	targetAngle[ROLL] = g_leftloopROLL;
taknokolat	10:652071c20bf6	1336	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	17:55249ea37dff	1337	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	22:438bedf24707	1338	if(autopwm[AIL_R]<trimpwm[AIL_R]){
taknokolat	10:652071c20bf6	1339	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	10:652071c20bf6	1340	}
taknokolat	10:652071c20bf6	1341	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	19:0955311b0db6	1342	}
taknokolat	10:652071c20bf6	1343	break;
taknokolat	10:652071c20bf6	1344
taknokolat	10:652071c20bf6	1345	case 'G': //直進セヨ
taknokolat	23:4928a6fd9eee	1346	if(zeroTHR==false){
HARUKIDELTA	19:0955311b0db6	1347	UpdateTargetAngle_GoStraight_zero(targetAngle);
HARUKIDELTA	19:0955311b0db6	1348	}
HARUKIDELTA	19:0955311b0db6	1349	else{
taknokolat	10:652071c20bf6	1350	targetAngle[ROLL] = g_gostraightROLL;
taknokolat	10:652071c20bf6	1351	targetAngle[PITCH] = g_gostraightPITCH;
HARUKIDELTA	19:0955311b0db6	1352	}
taknokolat	10:652071c20bf6	1353
taknokolat	10:652071c20bf6	1354	break;
taknokolat	10:652071c20bf6	1355
taknokolat	10:652071c20bf6	1356	case 'Y': //指定ノヨー方向ニ移動セヨ
taknokolat	10:652071c20bf6	1357	Rotate(targetAngle, g_SerialTargetYAW);
taknokolat	10:652071c20bf6	1358	break;
taknokolat	10:652071c20bf6	1359
taknokolat	10:652071c20bf6	1360	case 'B': //ブザーヲ鳴ラセ
taknokolat	10:652071c20bf6	1361	//buzzer = 1;
taknokolat	10:652071c20bf6	1362	break;
taknokolat	10:652071c20bf6	1363
taknokolat	10:652071c20bf6	1364	case 'D': //物資ヲ落トセ
taknokolat	10:652071c20bf6	1365	Chicken_Drop();
taknokolat	10:652071c20bf6	1366	break;
taknokolat	10:652071c20bf6	1367
taknokolat	10:652071c20bf6	1368	case 'C': //停止セヨ
taknokolat	10:652071c20bf6	1369	targetAngle[ROLL] = 0.0;
taknokolat	10:652071c20bf6	1370	targetAngle[PITCH] = -3.0;
taknokolat	10:652071c20bf6	1371	autopwm[THR] = minpwm[THR];
taknokolat	23:4928a6fd9eee	1372	zeroTHR=false;
taknokolat	10:652071c20bf6	1373	break;
HARUKIDELTA	0:17f575135219	1374
taknokolat	10:652071c20bf6	1375	}
taknokolat	10:652071c20bf6	1376	NVIC_EnableIRQ(USART2_IRQn);
taknokolat	10:652071c20bf6	1377	}
taknokolat	10:652071c20bf6	1378
taknokolat	10:652071c20bf6	1379	void checkHeight(float targetAngle[3]){
taknokolat	10:652071c20bf6	1380
taknokolat	10:652071c20bf6	1381	static int targetHeight = 200;
taknokolat	10:652071c20bf6	1382	NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat	10:652071c20bf6	1383	if(g_distance < targetHeight + ALLOWHEIGHT){
taknokolat	10:652071c20bf6	1384	UpdateTargetAngle_NoseUP(targetAngle);
taknokolat	10:652071c20bf6	1385	if(CheckSW_Up(Ch7)) led2 = 1;
taknokolat	10:652071c20bf6	1386	}
taknokolat	10:652071c20bf6	1387	else if(g_distance > targetHeight - ALLOWHEIGHT){
taknokolat	10:652071c20bf6	1388	UpdateTargetAngle_NoseDOWN(targetAngle);
taknokolat	10:652071c20bf6	1389	if(CheckSW_Up(Ch7)) led2 = 1;
taknokolat	10:652071c20bf6	1390	}
taknokolat	10:652071c20bf6	1391	else led2=0;
taknokolat	10:652071c20bf6	1392	NVIC_EnableIRQ(EXTI9_5_IRQn);
HARUKIDELTA	0:17f575135219	1393	}
HARUKIDELTA	0:17f575135219	1394
taknokolat	10:652071c20bf6	1395	void UpdateTargetAngle_NoseUP(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1396
HARUKIDELTA	0:17f575135219	1397	//targetAngle[PITCH] += 2.0f;
HARUKIDELTA	0:17f575135219	1398	//if(nowAngle[PITCH]<targetAngle[PITCH]) autopwm[THR] = SetTHRinRatio(0.6);
HARUKIDELTA	0:17f575135219	1399	autopwm[THR] = SetTHRinRatio(g_loopTHR+0.05);
HARUKIDELTA	0:17f575135219	1400	//pc.printf("nose UP");
HARUKIDELTA	0:17f575135219	1401	}
HARUKIDELTA	0:17f575135219	1402
HARUKIDELTA	0:17f575135219	1403	void UpdateTargetAngle_NoseDOWN(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1404
HARUKIDELTA	0:17f575135219	1405	//targetAngle[PITCH] -= 2.0f;
HARUKIDELTA	0:17f575135219	1406	autopwm[THR] = SetTHRinRatio(g_loopTHR-0.05);
HARUKIDELTA	0:17f575135219	1407	//pc.printf("nose DOWN");
HARUKIDELTA	0:17f575135219	1408	}
HARUKIDELTA	0:17f575135219	1409
HARUKIDELTA	0:17f575135219	1410	//直進
HARUKIDELTA	0:17f575135219	1411	void UpdateTargetAngle_GoStraight(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1412
HARUKIDELTA	19:0955311b0db6	1413	autopwm[RUD] = trimpwm[RUD];
HARUKIDELTA	0:17f575135219	1414	targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA	0:17f575135219	1415	targetAngle[PITCH] = g_gostraightPITCH;
HARUKIDELTA	0:17f575135219	1416	autopwm[THR] = SetTHRinRatio(g_loopTHR);
HARUKIDELTA	0:17f575135219	1417
HARUKIDELTA	0:17f575135219	1418	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1419	}
HARUKIDELTA	0:17f575135219	1420
HARUKIDELTA	19:0955311b0db6	1421	//直進(着陸時スロットル０のとき）
HARUKIDELTA	19:0955311b0db6	1422	void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]){
HARUKIDELTA	19:0955311b0db6	1423
HARUKIDELTA	19:0955311b0db6	1424	autopwm[RUD] = trimpwm[RUD];
HARUKIDELTA	19:0955311b0db6	1425	targetAngle[ROLL] = g_gostraightROLL;
HARUKIDELTA	19:0955311b0db6	1426	targetAngle[PITCH] = g_gostraightPITCH;
HARUKIDELTA	19:0955311b0db6	1427	autopwm[THR] = minpwm[THR];
HARUKIDELTA	19:0955311b0db6	1428
HARUKIDELTA	19:0955311b0db6	1429	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	19:0955311b0db6	1430	}
HARUKIDELTA	3:206b17251f5b	1431
HARUKIDELTA	0:17f575135219	1432	//右旋回
HARUKIDELTA	0:17f575135219	1433	void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回
HARUKIDELTA	0:17f575135219	1434
HARUKIDELTA	0:17f575135219	1435	targetAngle[ROLL] = g_rightloopROLL;
HARUKIDELTA	0:17f575135219	1436	targetAngle[PITCH] = g_rightloopPITCH ;
HARUKIDELTA	16:7fca5b938da6	1437	autopwm[RUD]=g_rightloopRUD; //RUD固定
TUATBM	9:f6367b7fd7be	1438	autopwm[THR] = SetTHRinRatio(0.5); //手動スロットル記憶
HARUKIDELTA	22:438bedf24707	1439	if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節
HARUKIDELTA	3:206b17251f5b	1440	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	3:206b17251f5b	1441	}
HARUKIDELTA	3:206b17251f5b	1442	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
TUATBM	9:f6367b7fd7be	1443	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
TUATBM	9:f6367b7fd7be	1444
HARUKIDELTA	0:17f575135219	1445	//checkHeight(targetAngle);
HARUKIDELTA	0:17f575135219	1446	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1447	}
HARUKIDELTA	0:17f575135219	1448
HARUKIDELTA	4:fff1165ca50c	1449	//右旋回（着陸時スロットル０の時）
HARUKIDELTA	4:fff1165ca50c	1450	void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]){ //右旋回
taknokolat	20:9393b0cfa44d	1451	autopwm[THR]=minpwm[THR];
HARUKIDELTA	4:fff1165ca50c	1452	targetAngle[ROLL] = g_rightloopROLL;
HARUKIDELTA	4:fff1165ca50c	1453	targetAngle[PITCH] = g_rightloopPITCH ;
taknokolat	20:9393b0cfa44d	1454	autopwm[RUD]=g_rightloopRUD; //RUD固定
HARUKIDELTA	22:438bedf24707	1455	if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節
taknokolat	20:9393b0cfa44d	1456	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
taknokolat	20:9393b0cfa44d	1457	}
taknokolat	20:9393b0cfa44d	1458	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
taknokolat	20:9393b0cfa44d	1459	autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
HARUKIDELTA	4:fff1165ca50c	1460
HARUKIDELTA	4:fff1165ca50c	1461	//checkHeight(targetAngle);
HARUKIDELTA	4:fff1165ca50c	1462	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	4:fff1165ca50c	1463	}
HARUKIDELTA	4:fff1165ca50c	1464
HARUKIDELTA	0:17f575135219	1465	void UpdateTargetAngle_Rightloop_short(float targetAngle[3]){ //右旋回
HARUKIDELTA	0:17f575135219	1466
HARUKIDELTA	0:17f575135219	1467	targetAngle[ROLL] = g_rightloopROLLshort;
HARUKIDELTA	0:17f575135219	1468	targetAngle[PITCH] = g_rightloopPITCHshort;
HARUKIDELTA	16:7fca5b938da6	1469	autopwm[RUD]=g_rightloopshortRUD;
HARUKIDELTA	19:0955311b0db6	1470	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	22:438bedf24707	1471	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	3:206b17251f5b	1472	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	3:206b17251f5b	1473	}
HARUKIDELTA	3:206b17251f5b	1474	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	0:17f575135219	1475
HARUKIDELTA	0:17f575135219	1476	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1477	}
HARUKIDELTA	0:17f575135219	1478
HARUKIDELTA	0:17f575135219	1479	//左旋回
HARUKIDELTA	0:17f575135219	1480	void UpdateTargetAngle_Leftloop(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1481
HARUKIDELTA	0:17f575135219	1482	targetAngle[ROLL] = g_leftloopROLL;
HARUKIDELTA	0:17f575135219	1483	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	16:7fca5b938da6	1484	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	19:0955311b0db6	1485	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	22:438bedf24707	1486	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	17:55249ea37dff	1487	autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1488	}
HARUKIDELTA	17:55249ea37dff	1489	else autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1490	//checkHeight(targetAngle);
HARUKIDELTA	4:fff1165ca50c	1491
HARUKIDELTA	4:fff1165ca50c	1492	//printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	4:fff1165ca50c	1493	}
HARUKIDELTA	4:fff1165ca50c	1494
HARUKIDELTA	4:fff1165ca50c	1495	//左旋回（着陸時スロットル０のとき）
HARUKIDELTA	4:fff1165ca50c	1496	void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]){
HARUKIDELTA	4:fff1165ca50c	1497
HARUKIDELTA	4:fff1165ca50c	1498	targetAngle[ROLL] = g_leftloopROLL;
HARUKIDELTA	4:fff1165ca50c	1499	targetAngle[PITCH] = g_leftloopPITCH;
HARUKIDELTA	16:7fca5b938da6	1500	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	4:fff1165ca50c	1501	autopwm[THR] = minpwm[THR];
HARUKIDELTA	22:438bedf24707	1502	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	4:fff1165ca50c	1503	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1504	}
HARUKIDELTA	4:fff1165ca50c	1505	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1506	//autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_Ratio_leftloop;
HARUKIDELTA	0:17f575135219	1507	//checkHeight(targetAngle);
HARUKIDELTA	0:17f575135219	1508
HARUKIDELTA	2:23daa5fa28b4	1509	//printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1510	}
HARUKIDELTA	0:17f575135219	1511
HARUKIDELTA	0:17f575135219	1512	void UpdateTargetAngle_Leftloop_short(float targetAngle[3]){
HARUKIDELTA	0:17f575135219	1513
HARUKIDELTA	0:17f575135219	1514	targetAngle[ROLL] = g_leftloopROLLshort;
HARUKIDELTA	0:17f575135219	1515	targetAngle[PITCH] = g_leftloopPITCHshort;
HARUKIDELTA	16:7fca5b938da6	1516	autopwm[RUD]=g_leftloopRUD;
HARUKIDELTA	19:0955311b0db6	1517	autopwm[THR] = SetTHRinRatio(0.5);
HARUKIDELTA	22:438bedf24707	1518	if(autopwm[AIL_R]<trimpwm[AIL_R]){
HARUKIDELTA	4:fff1165ca50c	1519	autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
HARUKIDELTA	4:fff1165ca50c	1520	}
HARUKIDELTA	4:fff1165ca50c	1521	else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
HARUKIDELTA	4:fff1165ca50c	1522
HARUKIDELTA	0:17f575135219	1523	//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
HARUKIDELTA	0:17f575135219	1524	}
taknokolat	10:652071c20bf6	1525
HARUKIDELTA	18:cce82f3374fc	1526	void Sbusprintf(){
HARUKIDELTA	18:cce82f3374fc	1527
HARUKIDELTA	18:cce82f3374fc	1528	for(uint8_t i=0; i<8; i++) pc.printf("ch.%d = %d ",i+1,sbus.manualpwm[i]);
HARUKIDELTA	18:cce82f3374fc	1529	pc.printf("\r\n");
HARUKIDELTA	18:cce82f3374fc	1530
HARUKIDELTA	18:cce82f3374fc	1531	}
HARUKIDELTA	18:cce82f3374fc	1532
HARUKIDELTA	0:17f575135219	1533
HARUKIDELTA	0:17f575135219	1534	//デバッグ用
HARUKIDELTA	0:17f575135219	1535	void DebugPrint(){
HARUKIDELTA	0:17f575135219	1536	/*
HARUKIDELTA	0:17f575135219	1537	static int16_t deltaT = 0, t_start = 0;
HARUKIDELTA	0:17f575135219	1538	deltaT = t.read_u2s() - t_start;
HARUKIDELTA	0:17f575135219	1539	pc.printf("t:%d us, ",deltaT);
HARUKIDELTA	0:17f575135219	1540	pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	1541	t_start = t.read_us();
HARUKIDELTA	0:17f575135219	1542	*/
HARUKIDELTA	0:17f575135219	1543	//for(uint8_t i=0; i<8; i++) pc.printf("%d ",sbus.manualpwm[i]);
HARUKIDELTA	0:17f575135219	1544	//for(uint8_t i=1; i<4; i++) pc.printf("%d ",sbus.manualpwm[i]);
HARUKIDELTA	0:17f575135219	1545	//pc.printf("\r\n");
HARUKIDELTA	2:23daa5fa28b4	1546	//for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
HARUKIDELTA	0:17f575135219	1547	//for(uint8_t i=0; i<2; i++) pc.printf("%3.2f\t",nowAngle[i]); //ロール、ピッチのみ　小数点以下2ケタ
taknokolat	10:652071c20bf6	1548	//pc.printf("%d\t",autopwm[AIL_L]); // pc.printf("%d\t",autopwm[RUD]);
HARUKIDELTA	0:17f575135219	1549	//pc.printf("%d",g_distance);
HARUKIDELTA	0:17f575135219	1550
HARUKIDELTA	0:17f575135219	1551	//pc.printf("Mode: %c: ",g_buf[0]);
HARUKIDELTA	0:17f575135219	1552	//if(g_buf[0] == 'Y') pc.printf(" %3.1f",g_SerialTargetYAW);
taknokolat	10:652071c20bf6	1553	//pc.printf("\r\n");
HARUKIDELTA	0:17f575135219	1554	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	26 Sep 2018
Imports:	2
Forks:	1
Commits:	44
Dependents:	0
Dependencies:	4
Followers:	23

main.cpp@25:37bee299a276, 2018-09-20 (annotated)

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