File content as of revision 143:53808e4e684c:

#include "global.hpp"

// 割り込まれた時点での出力(computeの結果）を返す関数
void calcServoOut()
{
    // 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)),368.0f,1680.0f,-1.0f,1.0f) + (1.0f - 0.65f) * rc[i]; // mapped input
    }

    
    //姿勢角の所得
    euler = eskf.computeAngles();
    
    Vector3f vihat = eskf.getVihat();
    Vector3f gyroBias = eskf.getGyroBias();
    //PIDへの状態量のセット
    pitchPID.setProcessValue(euler(1));
    pitchratePID.setProcessValue(gyro(1)-gyroBias(1));
    rollPID.setProcessValue(euler(0));
    rollratePID.setProcessValue(gyro(0)-gyroBias(0));
    yawratePID.setProcessValue(gyro(2)-gyroBias(2));
    climbratePID.setProcessValue(vihat(2));
    
    dT = rc[2];
    
    // ゲイン切り替え
    float vihat_norm = vihat.squaredNorm();
    if (rc[5] < 0.3f){
        // Hinf
        hinf_flag = true;
        if (vihat_norm < 9.0f || rc[2] < -0.8f){
            pitchPID.setGain(4.55f, 0.0f, 0.0f);
            pitchratePID.setGain(0.363f, 0.0f, 0.0f);
            rollPID.setGain(1.34f, 0.0f, 0.0f);
            rollratePID.setGain(0.219f, 0.0f,0.0f);
            pitchPID.resetIntError();
            rollPID.resetIntError();
        }else{
            pitchPID.setGain(4.55f, 9.7f, 0.0f);
            pitchratePID.setGain(0.363f, 0.0f, 0.0f);
            rollPID.setGain(1.34f, 0.007f, 0.0f);
            rollratePID.setGain(0.219f, 0.0f,0.0f);
        }
    }else{
        // 従来
        hinf_flag = false;
        if (vihat_norm < 9.0f || rc[2] < -0.8f){
            pitchPID.setGain(10.0f, 0.0f, 0.0f);
            pitchratePID.setGain(1.0f, 0.0f, 0.0f);//rad/s
            rollPID.setGain(5.0f, 0.0f, 0.0f);
            rollratePID.setGain(0.05f, 0.0f, 0.0f);//rad/s
            pitchPID.resetIntError();
            rollPID.resetIntError();
        }else{
            pitchPID.setGain(10.0f, 0.0f, 0.0f);
            pitchratePID.setGain(1.0f, 0.0f, 0.0f);//rad/s
            rollPID.setGain(5.0f, 0.0f, 0.0f);
            rollratePID.setGain(0.05f, 0.0f, 0.0f);//rad/s
        }
    }
    
    if (rc[4]>-0.3f && rc[6] < -0.3f)
    {
        //level_flight();
        //point_guide();
        //climb();
        
        turning();
        rollPID.setSetPoint(roll_obj);
        pitchPID.setSetPoint(pitch_obj);
        dT += dT_obj;
        de = pitchPID.compute()-(rc[0]-rc[1])/2.0f;
        da = rollPID.compute() -(rc[0]+rc[1])/2.0f;
    }else{
        yawratePID.setSetPoint(0.0f);
        roll_obj = yawratePID.compute()*30.0f*M_PI/180.0f;
        rollPID.setSetPoint(roll_obj);
        climbratePID.setSetPoint(0.0f);
        pitch_obj = -climbratePID.compute()*10.0f*M_PI/180.0f;
        pitchPID.setSetPoint(pitch_obj);
        de = pitchPID.compute() -(rc[0]-rc[1])/2.0f*2.0f;
        da = rollPID.compute() -(rc[0]+rc[1])/2.0f*3.0f;
    }
    
    //舵角計算
    if(rc[4]<-0.3f){
        de = -(rc[0]-rc[1])/2.0f;
        da = -(rc[0]+rc[1])/2.0f;
    }
    
    scaledServoOut[0]=-de-da;
    scaledServoOut[1]=de-da;
    scaledMotorOut[0]= dT;
    
    float LP_servo = 1.0f;
    float LP_motor = 0.2f;
    for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++)
    {
        servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
        if(servoOut[i]<servoPwmMin)
        {
            servoOut[i] = servoPwmMin;
        }
        if(servoOut[i]>servoPwmMax)
        {
            servoOut[i] = servoPwmMax;
        }
    }
    
    for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){
        motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i];
        if(motorOut[i]<motorPwmMin) {
            motorOut[i] = motorPwmMin;
        };
        if(motorOut[i]>motorPwmMax) {
            motorOut[i] = motorPwmMax;
        };
    }
    servoRight.pulsewidth_us(servoOut[0]);
    servoLeft.pulsewidth_us(servoOut[1]); 
    servoThrust.pulsewidth_us(motorOut[0]);


    sendData2PC();
    writeSDcard();
    
    if(loop_count >= 5)
    {
        sendTelemetry();
        loop_count = 1;

    }
    else
    {
        loop_count +=1;
    }
}