航空研究会
a
Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
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AutoFlight2018_Control
by 
航空研究会
main.cpp
- Committer:
- TUATBM
- Date:
- 2018-09-07
- Revision:
- 1:09a162f4f6ce
- Parent:
- 0:813f5cd20cf1
File content as of revision 1:09a162f4f6ce:
//mbed
#include "mbed.h"
#include "FATFileSystem.h"
#include "SDFileSystem.h"
//C
#include "math.h"
//sensor
#include "MPU6050_DMP6.h"
//#include "MPU9250.h"
//#include "BMP280.h"
#include "hcsr04.h"
//device
#include "sbus.h"
//config
#include "SkipperSv2.h"
#include "falfalla.h"
//other
#include "pid.h"
#define DEBUG_SEMIAUTO 0
#define DEBUG_PRINT_INLOOP
#define KP_ELE 2.0
#define KI_ELE 0.0
#define KD_ELE 0.0
#define KP_RUD 8.0
#define KI_RUD 0.0
#define KD_RUD 0.0
#define GAIN_CONTROLVALUE_TO_PWM 3.0
#define RIGHT_ROLL -17.0
#define RIGHT_PITCH -6.3
#define LEFT_ROLL 16.0
#define LEFT_PITCH -6.0
#define STRAIGHT_ROLL 2.0
#define STRAIGHT_PITCH -3.0
#define TAKEOFF_THR 1.0
#define LOOP_THR 0.58
#define RIGHT_ROLL_SHORT -20.0
#define RIGHT_PITCH_SHORT -7.0
#define LEFT_ROLL_SHORT 22.0
#define LEFT_PITCH_SHORT -6.0
#define GLIDE_ROLL 16.0
#define GLIDE_PITCH 0.0
//コンパスキャリブレーション
//SkipperS2基板
/*
#define MAGBIAS_X -35.0
#define MAGBIAS_Y 535.0
#define MAGBIAS_Z -50.0
*/
//S2v2 1番基板
#define MAGBIAS_X 395.0
#define MAGBIAS_Y 505.0
#define MAGBIAS_Z -725.0
//S2v2 2番基板
/*
#define MAGBIAS_X 185.0
#define MAGBIAS_Y 220.0
#define MAGBIAS_Z -350.0
*/
#define ELEMENT 1
#define LIMIT_STRAIGHT_YAW 5.0
#define LIMIT_LOOPSTOP_YAW 1.0
#define THRESHOLD_TURNINGRADIUS_YAW 60.0
#define ALLOWHEIGHT 15
#ifndef PI
#define PI 3.14159265358979
#endif
const int16_t lengthdivpwm = 320;
const int16_t changeModeCount = 6;
const float trim[4] = {Trim_Falfalla[0],Trim_Falfalla[1],Trim_Falfalla[2],Trim_Falfalla[3]};
const float expMax[4] = {ExpMax_Falfalla[0],ExpMax_Falfalla[1],ExpMax_Falfalla[2],ExpMax_Falfalla[3]};
const float expMin[4] = {ExpMin_Falfalla[0],ExpMin_Falfalla[1],ExpMin_Falfalla[2],ExpMin_Falfalla[3]};
const int16_t reverce[4] = {ExpMin_Falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
SBUS sbus(PA_9, PA_10); //SBUS
//PwmOut servo1(PC_6); // TIM3_CH1 //echo
PwmOut servo2(PC_7); // TIM3_CH2 //PC_7
PwmOut servo3(PB_0); // TIM3_CH3
PwmOut servo4(PB_1); // TIM3_CH4
PwmOut servo5(PB_6); // TIM4_CH1
//PwmOut servo6(PB_7); // TIM4_CH2 //trigger
//PwmOut servo7(PB_8); // TIM4_CH3 //PB_8
//PwmOut servo8(PB_9); // TIM4_CH4
RawSerial pc(PA_2,PA_3, 115200); //tx,rx.baudrate pin;PA_2=UART2_TX, PA_3=UART2_RX
SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
DigitalOut led1(PA_0); //黄色のコネクタ
DigitalOut led2(PA_1);
DigitalOut led3(PB_4);
DigitalOut led4(PB_5);
//InterruptIn switch2(PC_14);
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
HCSR04 usensor(PB_7,PC_6); //trig,echo 9,8
PID pid_ELE(g_kpELE,g_kiELE,g_kdELE);
PID pid_RUD(g_kpRUD,g_kiRUD,g_kdRUD);
enum Channel{AIL, ELE, THR, RUD, DROP, Ch6, Ch7, Ch8};
enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度
enum OperationMode{StartUp, SemiAuto, RightLoop, LeftLoop, GoStraight, BombwithPC, ZERO, Moebius, Glide};
enum BombingMode{Takeoff, Chicken, Transition, Approach};
enum OutputStatus{Manual, Auto};
static OutputStatus output_status = Manual;
OperationMode operation_mode = StartUp;
BombingMode bombing_mode = Takeoff;
static int16_t autopwm[8] = {1500,1500,1180,1500,1446,1500};
static int16_t trimpwm[6] = {1500,1500,1180,1500,1446,1500};
int16_t maxpwm[6] = {1820,1820,1820,1820,1820,1820};
int16_t minpwm[6] = {1180,1180,1180,1180,1180,1180};
int16_t oldTHR = 1000;
static float nowAngle[3] = {0,0,0};
const float trimAngle[3] = {0.0, 0.0, 0.0};
const float maxAngle[2] = {90, 90};
const float minAngle[2] = {-90, -90};
float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0;
unsigned int g_distance;
Ticker USsensor;
static char g_buf[16];
char g_landingcommand;
float g_SerialTargetYAW = 0.0;
Timer t;
Timeout RerurnChickenServo1;
Timeout RerurnChickenServo2;
/*-----関数のプロトタイプ宣言-----*/
void setup();
void loop();
void Init_PWM();
void Init_servo(); //サーボ初期化
void Init_sbus(); //SBUS初期化
void Init_sensors();
void DisplayClock(); //クロック状態確認
//センサの値取得
void SensingMPU();
void UpdateDist();
//割り込み処理
void ISR_Serial_Rx();
//void offsetRollPitch(float FirstROLL, float FirstPITCH);
//void TransYaw(float FirstYAW);
float TranslateNewYaw(float beforeYaw, float newzeroYaw);
void UpdateTargetAngle(float targetAngle[3]);
void CalculateControlValue(float targetAngle[3], float controlValue[3]);
void UpdateAutoPWM(float controlValue[3]);
void ConvertPWMintoRAD(float targetAngle[3]);
inline float CalcRatio(float value, float trim, float limit);
bool CheckSW_Up(Channel ch);
int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min);
inline int16_t SetTHRinRatio(float ratio);
//sbus割り込み
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
void Output_PWM(int16_t pwm[6]); //pwmをサーボへ出力
//シリアル割り込み
void SendSerial(); //1文字きたら送り返す
void SendArray();
void getSF_Serial();
float ConvertByteintoFloat(char high, char low);
//SD設定
int GetParameter(FILE *fp, const char *paramName,char parameter[]);
int SetOptions(float *g_kpELE, float *g_kiELE, float *g_kdELE,
float *g_kpRUD, float *g_kiRUD, float *g_kdRUD,
float *g_rightloopROLL, float *g_rightloopPITCH,
float *g_leftloopROLL, float *g_leftloopPITCH,
float *g_gostraightROLL, float *g_gostraightPITCH,
float *g_takeoffTHR, float *g_loopTHR,
float *g_rightloopROLLshort, float *g_rightloopPITCHshort,
float *g_leftloopROLLshort, float *g_leftloopPITCHshort,
float *g_glideloopROLL, float *g_glideloopPITCH);
//switch2割り込み
void ResetTrim();
//自動操縦
void UpdateTargetAngle_GoStraight(float targetAngle[3]);
void UpdateTargetAngle_Rightloop(float targetAngle[3]);
void UpdateTargetAngle_Rightloop_short(float targetAngle[3]);
void UpdateTargetAngle_Leftloop(float targetAngle[3]);
void UpdateTargetAngle_Leftloop_short(float targetAngle[3]);
void UpdateTargetAngle_Moebius(float targetAngle[3]);
void UpdateTargetAngle_Glide(float targetAngle[3]);
void UpdateTargetAngle_Takeoff(float targetAngle[3]);
void UpdateTargetAngle_Approach(float targetAngle[3]);
void Take_off_and_landing(float targetAngle[3]);
char Rotate(float targetAngle[3], float TargetYAW, char mode);
//投下
void Chicken_Drop();
void ReturnChickenServo1();
void ReturnChickenServo2();
//超音波による高度補正
void checkHeight(float targetAngle[3]);
void UpdateTargetAngle_NoseUP(float targetAngle[3]);
void UpdateTargetAngle_NoseDOWN(float targetAngle[3]);
//デバッグ用
void DebugPrint();
/*---関数のプロトタイプ宣言終わり---*/
int main()
{
setup();
while(1){
loop();
if(!CheckSW_Up(Ch7)){
led3=0;
}else{
led3=1;
}
}
}
void setup(){
//buzzer = 0;
led1 = 1;
led2 = 1;
led3 = 1;
led4 = 1;
SetOptions(&g_kpELE, &g_kiELE, &g_kdELE,
&g_kpRUD, &g_kiRUD, &g_kdRUD,
&g_rightloopROLL, &g_rightloopPITCH,
&g_leftloopROLL, &g_leftloopPITCH,
&g_gostraightROLL, &g_gostraightPITCH,
&g_takeoffTHR, &g_loopTHR,
&g_rightloopROLLshort, &g_rightloopPITCHshort,
&g_leftloopROLLshort, &g_leftloopPITCHshort,
&g_glideloopROLL, &g_glideloopPITCH);
Init_PWM();
Init_servo();
Init_sbus();
Init_sensors();
//switch2.rise(ResetTrim);
pc.attach(getSF_Serial, Serial::RxIrq);
USsensor.attach(&UpdateDist, 0.05);
NVIC_SetPriority(USART1_IRQn,0);
NVIC_SetPriority(EXTI0_IRQn,1);
NVIC_SetPriority(TIM5_IRQn,2);
NVIC_SetPriority(EXTI9_5_IRQn,3);
NVIC_SetPriority(USART2_IRQn,4);
DisplayClock();
t.start();
pc.printf("MPU calibration start\r\n");
float offsetstart = t.read();
while(t.read() - offsetstart < 26){
SensingMPU();
for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
pc.printf("\r\n");
led1 = !led1;
led2 = !led2;
led3 = !led3;
led4 = !led4;
}
FirstROLL = nowAngle[ROLL];
FirstPITCH = nowAngle[PITCH];
nowAngle[ROLL] -=FirstROLL;
nowAngle[PITCH] -=FirstPITCH;
led1 = 0;
led2 = 0;
led3 = 0;
led4 = 0;
wait(0.2);
pc.printf("All initialized\r\n");
}
void loop(){
static float targetAngle[3] = {0.0, 0.0, 0.0}, controlValue[2] = {0.0, 0.0};
SensingMPU();
UpdateTargetAngle(targetAngle);
//Rotate(targetAngle, 30.0);
CalculateControlValue(targetAngle, controlValue);
UpdateAutoPWM(controlValue);
wait_ms(23);
//#if DEBUG_PRINT_INLOOP
DebugPrint();
//#endif
}
//サーボ初期化関数
void Init_servo(){
//servo1.period_ms(14);
//servo1.pulsewidth_us(trimpwm[AIL]);
servo2.period_ms(14);
servo2.pulsewidth_us(trimpwm[ELE]);
servo3.period_ms(14);
servo3.pulsewidth_us(trimpwm[THR]);
servo4.period_ms(14);
servo4.pulsewidth_us(trimpwm[RUD]);
servo5.period_ms(14);
servo5.pulsewidth_us(1392);
pc.printf("servo initialized\r\n");
}
//Sbus初期化
void Init_sbus(){
sbus.initialize();
sbus.setLastfuncPoint(Update_PWM);
sbus.startInterrupt();
}
void Init_sensors(){
if(mpu6050.setup() == -1){
pc.printf("failed initialize\r\n");
while(1){
led1 = 1; led2 = 0; led3 = 1; led4 = 0;
wait(1);
led1 = 0; led2 = 1; led3 = 0; led4 = 1;
wait(1);
}
}
}
void Init_PWM(){
for (uint8_t i = 0; i < 4; ++i){
trimpwm[i] = 1500 + (int16_t)(lengthdivpwm * (trim[i]/100));
maxpwm[i] = 1500 + (int16_t)(lengthdivpwm * (expMax[i]/100));
minpwm[i] = 1500 - (int16_t)(lengthdivpwm * (expMin[i]/100));
}
pc.printf("PWM initialized\r\n");
}
void DisplayClock(){
pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000);
pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000);
pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000);
pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000);
pc.printf("\r\n");
}
void UpdateTargetAngle(float targetAngle[3]){
static int16_t count_op = 0, count_out = 0;
#if DEBUG_SEMIAUTO
switch(operation_mode){
case StartUp:
if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
count_op++;
if(count_op > changeModeCount){
operation_mode = SemiAuto;
pc.printf("Goto SemiAuto mode\r\n");
count_op = 0;
}
}else count_op = 0;
break;
case SemiAuto:
/* 大会用では以下のif文を入れてoperation_modeを変える
if(CheckSW_Up(Ch6)){
count_op++;
if(count_op>changeModeCount){
output_status = XXX;
led2 = 0;
pc.printf("Goto XXX mode\r\n");
count_op = 0;
}else count_op = 0;
ConvertPWMintoRAD(targetAngle);
}
*/
ConvertPWMintoRAD(targetAngle);
break;
default:
operation_mode = SemiAuto;
break;
}
#else
switch(operation_mode){
case StartUp:
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
count_op++;
if(count_op > changeModeCount){
operation_mode = LeftLoop;
pc.printf("Goto LeftLoop mode\r\n");
count_op = 0;
}
}else count_op = 0;
break;
case LeftLoop:
if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
count_op++;
if(count_op > changeModeCount){
operation_mode = RightLoop;
pc.printf("Goto RightLoop mode\r\n");
count_op = 0;
}
}else count_op = 0;
UpdateTargetAngle_Leftloop(targetAngle);
break;
case RightLoop:
if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
count_op++;
if(count_op > changeModeCount){
operation_mode = Moebius;
pc.printf("Goto Moebius mode\r\n");
count_op = 0;
}
}else count_op = 0;
UpdateTargetAngle_Rightloop(targetAngle);
//Rotate確認用
/*
static char mode = 'G';
mode = Rotate(targetAngle,g_SerialTargetYAW,mode);
*/
break;
case Moebius:
if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
count_op++;
if(count_op > changeModeCount){
operation_mode = Glide;
pc.printf("Goto Glide mode\r\n");
count_op = 0;
}
}else count_op = 0;
UpdateTargetAngle_Moebius(targetAngle);
break;
case Glide:
if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
count_op++;
if(count_op > changeModeCount){
operation_mode = BombwithPC;
pc.printf("Goto Bombing mode\r\n");
count_op = 0;
}
}else count_op = 0;
UpdateTargetAngle_Glide(targetAngle);
break;
case BombwithPC:
if(!CheckSW_Up(Ch7) && CheckSW_Up(Ch8)){
count_op++;
if(count_op > changeModeCount){
operation_mode = GoStraight;
pc.printf("Goto GoStraight mode\r\n");
count_op = 0;
}
}else count_op = 0;
Take_off_and_landing(targetAngle);
break;
case GoStraight:
if(!CheckSW_Up(Ch7) && !CheckSW_Up(Ch8)){
count_op++;
if(count_op > changeModeCount){
operation_mode = LeftLoop;
pc.printf("Goto Leftloop mode\r\n");
count_op = 0;
}
}else count_op = 0;
UpdateTargetAngle_GoStraight(targetAngle);
break;
default:
operation_mode = StartUp;
break;
}
#endif
if(CheckSW_Up(Ch7) && output_status == Manual){
count_out++;
if(count_out > changeModeCount){
output_status = Auto;
//led3 = 1;
count_out = 0;
}
}else if(!CheckSW_Up(Ch7) && output_status == Auto){
count_out++;
if(count_out > changeModeCount){
output_status = Manual;
count_out = 0;
//led3 = 0;
}
}else count_out = 0;
}
int GetParameter(FILE *fp, const char *paramName,char parameter[]){
int i=0, j=0;
int strmax = 200;
char str[strmax];
rewind(fp); //ファイル位置を先頭に
while(1){
if (fgets(str, strmax, fp) == NULL) {
return 0;
}
if (!strncmp(str, paramName, strlen(paramName))) {
while (str[i++] != '=') {}
while (str[i] != '\n') {
parameter[j++] = str[i++];
}
parameter[j] = '\0';
return 1;
}
}
return 0;
}
//sdによる設定
int SetOptions(float *g_kpELE, float *g_kiELE, float *g_kdELE,
float *g_kpRUD, float *g_kiRUD, float *g_kdRUD,
float *g_rightloopROLL, float *g_rightloopPITCH,
float *g_leftloopROLL, float *g_leftloopPITCH,
float *g_gostraightROLL, float *g_gostraightPITCH,
float *g_takeoffTHR, float *g_loopTHR,
float *g_rightloopROLLshort, float *g_rightloopPITCHshort,
float *g_leftloopROLLshort, float *g_leftloopPITCHshort,
float *g_glideloopROLL, float *g_glideloopPITCH
){
pc.printf("SDsetup start.\r\n");
FILE *fp;
char parameter[30]; //文字列渡す用の配列
int SDerrorcount = 0; //取得できなかった数を返す
const char *paramNames[] = {
"KP_ELEVATOR",
"KI_ELEVATOR",
"KD_ELEVATOR",
"KP_RUDDER",
"KI_RUDDER",
"KD_RUDDER",
"RIGHTLOOP_ROLL",
"RIGHTLOOP_PITCH",
"LEFTLOOP_ROLL",
"LEFTLOOP_PITCH",
"GOSTRAIGHT_ROLL",
"GOSTRAIGHT_PITCH",
"TAKEOFF_THR_RATE",
"LOOP_THR_RATE",
"RIGHTLOOP_ROLL_SHORT",
"RIGHTLOOP_PITCH_SHORT",
"LEFTLOOP_ROLL_SHORT",
"LEFTLOOP_PITCH_SHORT",
"AUTOGLIDE_ROLL",
"AUTOGLIDE PITCH"
};
fp = fopen("/sd/option.txt","r");
if(fp != NULL){ //開けたら
pc.printf("File was openned.\r\n");
if(GetParameter(fp,paramNames[0],parameter)) *g_kpELE = atof(parameter);
else{ *g_kpELE = KP_ELE;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[1],parameter)) *g_kiELE = atof(parameter);
else{ *g_kiELE = KI_ELE;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[2],parameter)) *g_kdELE = atof(parameter);
else{ *g_kdELE = KD_ELE;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[3],parameter)) *g_kpRUD = atof(parameter);
else{ *g_kpRUD = KP_RUD;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[4],parameter)) *g_kiRUD = atof(parameter);
else{ *g_kiRUD = KI_RUD;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[5],parameter)) *g_kdRUD = atof(parameter);
else{ *g_kdRUD = KD_RUD;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[6],parameter)) *g_rightloopROLL = atof(parameter);
else{ *g_rightloopROLL = RIGHT_ROLL;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[7],parameter)) *g_rightloopPITCH = atof(parameter);
else{ *g_rightloopPITCH = RIGHT_PITCH;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[8],parameter)) *g_leftloopROLL = atof(parameter);
else{ *g_leftloopROLL = LEFT_ROLL;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[9],parameter)) *g_leftloopPITCH = atof(parameter);
else{ *g_leftloopPITCH = LEFT_PITCH;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[10],parameter)) *g_gostraightROLL = atof(parameter);
else{ *g_gostraightROLL = STRAIGHT_ROLL;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[11],parameter)) *g_gostraightPITCH = atof(parameter);
else{ *g_gostraightPITCH = STRAIGHT_PITCH;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[12],parameter)) *g_takeoffTHR = atof(parameter);
else{ *g_takeoffTHR = TAKEOFF_THR;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[13],parameter)) *g_loopTHR = atof(parameter);
else{ *g_loopTHR = LOOP_THR;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[14],parameter)) *g_rightloopROLLshort = atof(parameter);
else{ *g_rightloopROLLshort = RIGHT_ROLL_SHORT;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[15],parameter)) *g_rightloopPITCHshort = atof(parameter);
else{ *g_rightloopPITCHshort = RIGHT_PITCH_SHORT;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[16],parameter)) *g_leftloopROLLshort = atof(parameter);
else{ *g_leftloopROLLshort = LEFT_ROLL_SHORT;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[17],parameter)) *g_leftloopPITCHshort = atof(parameter);
else{ *g_leftloopPITCHshort = LEFT_PITCH_SHORT;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[18],parameter)) *g_glideloopROLL = atof(parameter);
else{ *g_glideloopROLL = GLIDE_ROLL;
SDerrorcount++;
}
if(GetParameter(fp,paramNames[19],parameter)) *g_glideloopPITCH = atof(parameter);
else{ *g_glideloopPITCH = GLIDE_PITCH;
SDerrorcount++;
}
fclose(fp);
}else{ //ファイルがなかったら
pc.printf("fp was null.\r\n");
*g_kpELE = KP_ELE;
*g_kiELE = KI_ELE;
*g_kdELE = KD_ELE;
*g_kpRUD = KP_RUD;
*g_kiRUD = KI_RUD;
*g_kdRUD = KD_RUD;
*g_rightloopROLL = RIGHT_ROLL;
*g_rightloopPITCH = RIGHT_PITCH;
*g_leftloopROLL = LEFT_ROLL;
*g_leftloopPITCH = LEFT_PITCH;
*g_gostraightROLL = STRAIGHT_ROLL;
*g_gostraightPITCH = STRAIGHT_PITCH;
*g_takeoffTHR = TAKEOFF_THR;
*g_loopTHR = LOOP_THR;
SDerrorcount = -1;
}
pc.printf("SDsetup finished.\r\n");
if(SDerrorcount == 0) pc.printf("setting option is success\r\n");
else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n");
else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount);
pc.printf("kpELE = %f, kiELE = %f, kdELE = %f\r\n", *g_kpRUD, *g_kiRUD, *g_kdRUD);
pc.printf("kpRUD = %f, kiRUD = %f, kdRUD = %f\r\n", *g_kpELE, *g_kiELE, *g_kdELE);
pc.printf("rightloopROLL = %f, rightloopPITCH = %f\r\n", *g_rightloopROLL, *g_rightloopPITCH);
pc.printf("leftloopROLL = %f, g_leftloopPITCH = %f\r\n", *g_leftloopROLL, *g_leftloopPITCH);
pc.printf("gostraightROLL = %f, g_gostraightPITCH = %f\r\n", *g_gostraightROLL, *g_gostraightPITCH);
pc.printf("g_takeoffTHR = %f, g_loopTHR = %f\r\n", *g_takeoffTHR, *g_loopTHR);
pc.printf("rightloopROLLshort = %f, rightloopPITCHshort = %f\r\n", *g_rightloopROLLshort, *g_rightloopPITCHshort);
pc.printf("leftloopROLLshort = %f, g_leftloopPITCHshort = %f\r\n", *g_leftloopROLLshort, *g_leftloopPITCHshort);
pc.printf("glideROLL = %f, glidePITCH = %f\r\n", *g_glideloopROLL, *g_glideloopPITCH);
return SDerrorcount;
}
void CalculateControlValue(float targetAngle[3], float controlValue[3]){
static int t_last;
int t_now;
float dt;
t_now = t.read_us();
dt = (float)((t_now - t_last)/1000000.0f) ;
t_last = t_now;
controlValue[ROLL] = pid_RUD.calcPID(nowAngle[ROLL], targetAngle[ROLL], dt);
controlValue[PITCH] = pid_ELE.calcPID(nowAngle[PITCH], targetAngle[PITCH], dt);
}
void UpdateAutoPWM(float controlValue[3]){
int16_t addpwm[2]; //-500~500
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
addpwm[ROLL] = (float)GAIN_CONTROLVALUE_TO_PWM * controlValue[ROLL]; //センサ：右回転正（8月13日時点；左回転が正！） レバー:右回転正
autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH];
autopwm[RUD] = trimpwm[RUD] + reverce[RUD] * addpwm[ROLL];
//autopwm[THR] = oldTHR;
autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]);
autopwm[RUD] = ThresholdMaxMin(autopwm[RUD], maxpwm[RUD], minpwm[RUD]);
}
inline float CalcRatio(float value, float trim, float limit){
return (value - trim) / (limit - trim);
}
bool CheckSW_Up(Channel ch){
if(SWITCH_CHECK < sbus.manualpwm[ch]){
return true;
}else{
return false;
}
}
int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min){
if(value > max) return max;
if(value < min) return min;
return value;
}
inline int16_t SetTHRinRatio(float ratio){
return minpwm[THR] + (int16_t)(2 * lengthdivpwm * ratio);
}
/*---SBUS割り込み処理---*/
//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)
//各stabiGylo関数で算出したpwmを各変数に代入する(自動モード)
void Update_PWM()
{
static int16_t pwm[5], sbuspwm[5];
static int16_t temppwm[6]={trimpwm[0],trimpwm[1],trimpwm[2],trimpwm[3],trimpwm[4]};
static int16_t tempsbuspwm[5] = {trimpwm[0],trimpwm[1],trimpwm[2],trimpwm[3],trimpwm[4]};
static int counter_abnormalpwm=0;
if(sbus.flg_ch_update == true){
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
case Manual:
for(uint8_t i=1;i<4;i++){
if(abs(sbus.manualpwm[i]-tempsbuspwm[i])>300){
counter_abnormalpwm++;
if(counter_abnormalpwm<=1) sbuspwm[i]=tempsbuspwm[i];
else {
counter_abnormalpwm = 0;
sbuspwm[i] = sbus.manualpwm[i];
}
}
else{
counter_abnormalpwm = 0;
sbuspwm[i] = sbus.manualpwm[i];
}
tempsbuspwm[i]=sbus.manualpwm[i];
}
sbuspwm[4] = sbus.manualpwm[4];
for(uint8_t i=1;i<5;i++){
pwm[i] = sbuspwm[i];
}
oldTHR = sbuspwm[THR];
//pc.printf("update_manual\r\n");
break;
case Auto:
pwm[ELE] = autopwm[ELE];
pwm[THR] = autopwm[THR];
pwm[RUD] = autopwm[RUD];
pwm[DROP] = autopwm[DROP];
//pc.printf("update_auto\r\n");
break;
default:
for(uint8_t i=1;i<5;i++){
pwm[i] = sbus.manualpwm[i];
} //pc.printf("update_manual\r\n");
break;
}
for(uint8_t i=1;i<5;i++) if(pwm[i]<1000 || pwm[i]>2000) pwm[i]=temppwm[i];
if(pwm[4]>1600 || pwm[4]<1420) pwm[4]=temppwm[4];
temppwm[4] = pwm[4];
}else{
pc.printf("0\r\n");
}
sbus.flg_ch_update = false;
Output_PWM(pwm);
}
//pwmをサーボに出力。
void Output_PWM(int16_t pwm[5])
{
//servo1.pulsewidth_us(pwm[0]);
servo2.pulsewidth_us(pwm[1]);
servo3.pulsewidth_us(pwm[2]);
servo4.pulsewidth_us(pwm[3]);
servo5.pulsewidth_us(pwm[4]);
}
void ResetTrim(){
for(uint8_t i=1; i<4; i++){
trimpwm[i] = sbus.manualpwm[i];
}
pc.printf("reset PWM trim\r\n");
}
void SensingMPU(){
//static int16_t deltaT = 0, t_start = 0;
//t_start = t.read_us();
float rpy[3] = {0}, oldrpy[3] = {0};
static uint16_t count_changeRPY = 0;
static bool flg_checkoutlier = false;
NVIC_DisableIRQ(USART1_IRQn);
NVIC_DisableIRQ(USART2_IRQn);
NVIC_DisableIRQ(TIM5_IRQn);
NVIC_DisableIRQ(EXTI0_IRQn);
NVIC_DisableIRQ(EXTI9_5_IRQn);
mpu6050.getRollPitchYaw_Skipper(rpy);
NVIC_EnableIRQ(USART1_IRQn);
NVIC_EnableIRQ(USART2_IRQn);
NVIC_EnableIRQ(TIM5_IRQn);
NVIC_EnableIRQ(EXTI0_IRQn);
NVIC_EnableIRQ(EXTI9_5_IRQn);
//外れ値対策
for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI;
rpy[ROLL] -= FirstROLL;
rpy[PITCH] -= FirstPITCH;
rpy[YAW] -= FirstYAW;
for(uint8_t i=0; i<3; i++) {if(rpy[i] < nowAngle[i]-10 || rpy[i] > nowAngle[i]+10) {flg_checkoutlier = true;}}
if(!flg_checkoutlier || count_changeRPY >= 2){
for(uint8_t i=0; i<3; i++){
nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均
}
count_changeRPY = 0;
}else count_changeRPY++;
flg_checkoutlier = false;
}
float TranslateNewYaw(float beforeYaw, float newzeroYaw){
float newYaw = beforeYaw - newzeroYaw;
if(newYaw<-180.0f) newYaw += 360.0f;
else if(newYaw>180.0f) newYaw -= 360.0f;
return newYaw;
}
void getSF_Serial(){
static char SFbuf[16];
static int bufcounter=0;
SFbuf[bufcounter]=pc.getc();
if(SFbuf[0]=='S'&&bufcounter<5) bufcounter++;
if(bufcounter==5 && SFbuf[4]=='F'){
g_landingcommand = SFbuf[1];
if(g_landingcommand=='Y' || g_landingcommand=='C')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
bufcounter = 0;
memset(SFbuf, 0, strlen(SFbuf));
//pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
}
else if(bufcounter>=5 && SFbuf[4]!='F'){
//pc.printf("Communication Falsed.\r\n");
bufcounter = 0;
}
}
float ConvertByteintoFloat(char high, char low){
//int16_t intvalue = (int16_t)high*256 + (int16_t)low;
int16_t intvalue = (int16_t)(((int16_t)high << 8) | low); // Turn the MSB and LSB into a signed 16-bit value
float floatvalue = (float)intvalue;
return floatvalue;
}
//超音波割り込み
void UpdateDist(){
g_distance = usensor.get_dist_cm();
usensor.start();
}
//8の字旋回
void UpdateTargetAngle_Moebius(float targetAngle[3]){
static uint8_t RotateCounter=0;
static uint8_t precounter=0;
static bool flg_setInStartAuto = false;
static float FirstYAW_Moebius = 0.0;
float newYaw_Moebius;
if(!flg_setInStartAuto && CheckSW_Up(Ch7)){
FirstYAW_Moebius = nowAngle[YAW];
RotateCounter = 0;
flg_setInStartAuto = true;
}else if(!CheckSW_Up(Ch7)){
flg_setInStartAuto = false;
led2 = 0;
}
newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius);
if(RotateCounter == 0 && newYaw_Moebius >90.0f && newYaw_Moebius < 180.0f){
precounter++;
if(precounter>3){RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n"); precounter=0;}
}
if(RotateCounter == 1 && newYaw_Moebius >-180.0f && newYaw_Moebius < -90.0f){
precounter++;
if(precounter>3){RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n"); precounter=0;}
}
if(RotateCounter == 2 && newYaw_Moebius >-90.0f && newYaw_Moebius < 10.0f){
precounter++;
if(precounter>3){RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n"); precounter=0;}
}
if(RotateCounter == 3 && newYaw_Moebius >10.0f && newYaw_Moebius < 90.0f){
precounter++;
if(precounter>3){RotateCounter++; led2 = 0; pc.printf("Rotate 360\r\n"); precounter=0;}
}
if(RotateCounter == 4 && newYaw_Moebius >90.0f && newYaw_Moebius < 180.0f){
precounter++;
if(precounter>3){RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n"); precounter=0;}
}
if(RotateCounter == 5 && newYaw_Moebius >-180.0f && newYaw_Moebius < -90.0f){
precounter++;
if(precounter>3){RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n"); precounter=0;}
}
if(RotateCounter == 6 && newYaw_Moebius >-90.0f && newYaw_Moebius < 10.0f){
precounter++;
if(precounter>3){RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n"); precounter=0;}
}
if(RotateCounter == 7 && newYaw_Moebius >10.0f && newYaw_Moebius < 180.0f){
precounter++;
if(precounter>3){RotateCounter++; led2 = 0; pc.printf("Rotate 360\r\n"); precounter=0;}
}
if(RotateCounter < 6) UpdateTargetAngle_Rightloop_short(targetAngle);
else UpdateTargetAngle_Leftloop_short(targetAngle); //左旋回
}
//自動滑空
void UpdateTargetAngle_Glide(float targetAngle[3]){
static int THRcount = 0;
static int t_start = 0;
static bool flg_tstart = false;
int t_diff = 0;
static int groundcount = 0;
targetAngle[ROLL] = g_glideloopROLL;
targetAngle[PITCH] = g_glideloopPITCH;
autopwm[THR]=oldTHR;
//シリアル通信受信の割り込みイベント登録
//pc.attach(ISR_Serial_Rx, Serial::RxIrq);
/*
//時間計測開始設定
if(!flg_tstart && CheckSW_Up(Ch7)){
t_start = t.read();
flg_tstart = true;
pc.printf("timer start\r\n");
}else if(!CheckSW_Up(Ch7)){
t_start = 0;
flg_tstart = false;
}
//フラグが偽であれば計測は行わない
if(flg_tstart){
t_diff = t.read() - t_start;
//一定高度or15秒でled点灯
if((groundcount>5 && g_distance>0) || t_diff > 15){
led2 = 1;
//pc.printf("Call [Stop!] calling!\r\n");
}
if(g_distance<180 && g_distance > 0) groundcount++;
}else{
t_diff = 0;
groundcount = 0;
led2 = 0;
}
if(t_diff > 17){
autopwm[THR] = SetTHRinRatio(0.5);
}else{
if(g_distance<150 && g_distance>0 ){
THRcount++;
if(THRcount>5){
autopwm[THR] = SetTHRinRatio(0.6);
//pc.printf("throttle ON\r\n");
}
}else{
autopwm[THR] = 1180;
THRcount = 0;
}
}*/
}
//離陸-投下-着陸一連
void Take_off_and_landing(float targetAngle[3]){
if(!CheckSW_Up(Ch7)) bombing_mode = Takeoff;
switch(bombing_mode){
case Takeoff:
static bool flg_setFirstYaw = false;
static int TakeoffCount = 0;
if(!flg_setFirstYaw && CheckSW_Up(Ch7)){
FirstYAW = nowAngle[YAW] + FirstYAW;
flg_setFirstYaw = true;
}else if(flg_setFirstYaw && !CheckSW_Up(Ch7)){
flg_setFirstYaw = false;
}
UpdateTargetAngle_Takeoff(targetAngle);
if(g_distance>150) TakeoffCount++;
else TakeoffCount = 0;
if(TakeoffCount>5){
led2=1;
autopwm[THR] = SetTHRinRatio(g_loopTHR);
pc.printf("Now go to Approach mode!!");
bombing_mode = Approach;
led2=0;
}
break;
/*
case Chicken:
break;
*/
case Transition:
/*
static int ApproachCount = 0;
targetAngle[YAW]=180.0;
int Judge = Rotate(targetAngle, g_SerialTargetYAW);
if(Judge==0) ApproachCount++;
if(ApproachCount>5) bombing_mode = Approach;
*/
break;
case Approach:
UpdateTargetAngle_Approach(targetAngle);
break;
default:
bombing_mode = Takeoff;
break;
}
}
//離陸モード
void UpdateTargetAngle_Takeoff(float targetAngle[3]){
static int tELE_start = 0;
static bool flg_ELEup = false;
int t_def = 0;
if(!flg_ELEup && CheckSW_Up(Ch7)){
tELE_start = t.read_ms();
flg_ELEup = true;
pc.printf("timer start\r\n");
}else if(!CheckSW_Up(Ch7)){
tELE_start = 0;
flg_ELEup = false;
}
if(flg_ELEup){
t_def = t.read_ms() - tELE_start;
//1.5秒経過すればELE上げ舵へ
if(t_def>500) targetAngle[PITCH]=-25.0;
else{
t_def = 0;
targetAngle[PITCH]=g_gostraightPITCH;
}
}
autopwm[THR] = SetTHRinRatio(g_takeoffTHR); //0.7;スロットルの割合
targetAngle[ROLL] = 3.5;
/*
//pc.printf("%d \r\n",g_distance);
targetAngle[ROLL] = g_gostraightROLL;
if UptargetAngle[PITCH] = -10.0;
autopwm[THR] = SetTHRinRatio(g_takeoffTHR); //0.7;スロットルの割合
*/
}
//ヨーを目標値にして許容角度になるまで水平旋回
char Rotate(float targetAngle[3], float TargetYAW, char mode){
float diffYaw = TranslateNewYaw(TargetYAW, nowAngle[YAW]);
switch(mode){
case 'G': //直進
UpdateTargetAngle_GoStraight(targetAngle);
if(diffYaw > LIMIT_STRAIGHT_YAW) mode = 'R';
else if(diffYaw < -LIMIT_STRAIGHT_YAW) mode = 'L';
break;
case 'R': //右旋回
UpdateTargetAngle_Rightloop_short(targetAngle);
if(diffYaw < LIMIT_LOOPSTOP_YAW && diffYaw > -LIMIT_STRAIGHT_YAW) mode = 'G';
break;
case 'L': //左旋回
UpdateTargetAngle_Leftloop_short(targetAngle);
if(diffYaw > -LIMIT_LOOPSTOP_YAW && diffYaw < LIMIT_STRAIGHT_YAW) mode = 'G';
break;
}
return mode;
/*
if(diffYaw > LIMIT_STRAIGHT_YAW){
UpdateTargetAngle_Rightloop_short(targetAngle);
return 1;
}else if(diffYaw < -LIMIT_STRAIGHT_YAW){
UpdateTargetAngle_Leftloop_short(targetAngle);
return 1;
}else{
UpdateTargetAngle_GoStraight(targetAngle);
return 0;
}
*/
}
//チキラー投下
void Chicken_Drop(){
if(CheckSW_Up(Ch7)){
autopwm[DROP] = 1572;
pc.printf("Bombed!\r\n");
RerurnChickenServo1.attach(&ReturnChickenServo1, 3);
//operation_mode = Approach;
//buzzer = 0;
}
}
void ReturnChickenServo1(){
autopwm[DROP] = 1438;
pc.printf("first reverse\r\n");
RerurnChickenServo2.attach(&ReturnChickenServo2, 1);
}
void ReturnChickenServo2(){
autopwm[DROP] = 1446;
pc.printf("second reverse\r\n");
}
//着陸モード（PCからの指令に従う）
void UpdateTargetAngle_Approach(float targetAngle[3]){
static char rotatemode = 'G';
if(output_status == Manual) rotatemode = 'G';
//pc.putc(g_landingcommand);
switch(g_landingcommand){
case 'R': //右旋回セヨ
UpdateTargetAngle_Rightloop(targetAngle);
break;
case 'L': //左旋回セヨ
UpdateTargetAngle_Leftloop(targetAngle);
break;
case 'G': //直進セヨ
UpdateTargetAngle_GoStraight(targetAngle);
break;
case 'Y': //指定ノヨー方向ニ移動セヨ
rotatemode = Rotate(targetAngle, g_SerialTargetYAW, rotatemode);
break;
case 'B': //ブザーヲ鳴ラセ
//buzzer = 1;
break;
case 'D': //物資ヲ落トセ
Chicken_Drop();
break;
case 'C': //停止セヨ
rotatemode = Rotate(targetAngle, g_SerialTargetYAW, rotatemode);
autopwm[THR] = minpwm[THR];
break;
}
}
void checkHeight(float targetAngle[3]){
static int targetHeight = 200;
if(g_distance < targetHeight + ALLOWHEIGHT){
UpdateTargetAngle_NoseUP(targetAngle);
if(CheckSW_Up(Ch7)) led2 = 1;
}
else if(g_distance > targetHeight - ALLOWHEIGHT){
UpdateTargetAngle_NoseDOWN(targetAngle);
if(CheckSW_Up(Ch7)) led2 = 1;
}
else led2=0;
}
void UpdateTargetAngle_NoseUP(float targetAngle[3]){
//targetAngle[PITCH] += 2.0f;
//if(nowAngle[PITCH]<targetAngle[PITCH]) autopwm[THR] = SetTHRinRatio(0.6);
autopwm[THR] = SetTHRinRatio(g_loopTHR+0.05f);
//pc.printf("nose UP");
}
void UpdateTargetAngle_NoseDOWN(float targetAngle[3]){
//targetAngle[PITCH] -= 2.0f;
autopwm[THR] = SetTHRinRatio(g_loopTHR-0.05f);
//pc.printf("nose DOWN");
}
//直進
void UpdateTargetAngle_GoStraight(float targetAngle[3]){
targetAngle[ROLL] = g_gostraightROLL;
targetAngle[PITCH] = g_gostraightPITCH;
autopwm[THR] = SetTHRinRatio(g_loopTHR);
//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
}
//右旋回
void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回
targetAngle[ROLL] = g_rightloopROLL;
targetAngle[PITCH] = g_rightloopPITCH ;
autopwm[THR] = SetTHRinRatio(g_loopTHR);
//checkHeight(targetAngle);
//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
}
void UpdateTargetAngle_Rightloop_short(float targetAngle[3]){ //右旋回
targetAngle[ROLL] = g_rightloopROLLshort;
targetAngle[PITCH] = g_rightloopPITCHshort;
autopwm[THR] = SetTHRinRatio(g_loopTHR);
//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
}
//左旋回
void UpdateTargetAngle_Leftloop(float targetAngle[3]){
targetAngle[ROLL] = g_leftloopROLL;
targetAngle[PITCH] = g_leftloopPITCH;
autopwm[THR] = SetTHRinRatio(g_loopTHR);
//checkHeight(targetAngle);
//printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
}
void UpdateTargetAngle_Leftloop_short(float targetAngle[3]){
targetAngle[ROLL] = g_leftloopROLLshort;
targetAngle[PITCH] = g_leftloopPITCHshort;
autopwm[THR] = SetTHRinRatio(g_loopTHR);
//pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
}
//デバッグ用
void DebugPrint(){
/*
static int16_t deltaT = 0, t_start = 0;
deltaT = t.read_u2s() - t_start;
pc.printf("t:%d us, ",deltaT);
pc.printf("\r\n");
t_start = t.read_us();
*/
//pc.printf("%d", sbus.manualpwm[4]);
//for(uint8_t i=0; i<8; i++) pc.printf("%d ",sbus.manualpwm[i]);
//for(uint8_t i=1; i<5; i++) pc.printf("%d ",sbus.manualpwm[i]);
//pc.printf("\r\n");
//for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
//for(uint8_t i=0; i<2; i++) pc.printf("%3.2f\t",nowAngle[i]); //ロール、ピッチのみ 小数点以下2ケタ
//pc.printf("%d\t",autopwm[ELE]); pc.printf("%d\t",autopwm[RUD]);
//pc.printf("%d",g_distance);
//pc.printf("Mode: %c: ",g_buf[0]);
//if(g_buf[0] == 'Y') pc.printf(" %3.1f",g_SerialTargetYAW);
//pc.printf("%x ",sbus.failsafe_status);
//pc.printf("\r\n");
}
void ISR_Serial_Rx()
{
// シリアルの受信処理
char data = pc.getc();
if(data=='C'){
autopwm[THR]=minpwm[2];
wait(60.0);
}
}