Eigen Revision
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller Autopilot_Eigen LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
Diff: run.cpp
- Revision:
- 135:49f8916588da
- Parent:
- 134:d57c6b2a706b
- Child:
- 139:b378528c05f2
--- a/run.cpp Tue Nov 30 11:27:09 2021 +0000 +++ b/run.cpp Tue Nov 30 12:04:58 2021 +0000 @@ -103,6 +103,22 @@ preflightCheck = false; twelite.serial.printf("PreFlight Check : not home position\r\n"); } + if(sbus.failSafe){ + preflightCheck = false; + twelite.serial.printf("PreFlight Check : no RC\r\n"); + } + // sbusデータの読み込み + for (int i =0 ; i < 16;i ++){ + rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input + } + if (rc[4]>-0.3f && rc[6] < -0.3f){ + preflightCheck = false; + twelite.serial.printf("PreFlight Check : autoPilot enabled\r\n"); + } + if(!(gps.gpsFix == 0x02 || gps.gpsFix == 0x03)){ + preflightCheck = false; + twelite.serial.printf("PreFlight Check : no gps lock\r\n"); + } if(preflightCheck == true){ break;