File content as of revision 19:61d7e9b4b6c2:

#include "mbed.h"
#include "SBUS.hpp"
#include <MadgwickAHRS.h>
#include "LoopTicker.hpp"
#include "MPU6050.h"
#include <I2Cdev.h>
//#include <Servo.h>

#define MPU6050_PWR_MGMT_1   0x6B
#define MPU_ADDRESS  0x68
#define pi 3.141562

//加速度 Full-Scale Range
//#define ACCEL_FSR MPU6050_ACCEL_FS_2
//#define ACCEL_FSR MPU6050_ACCEL_FS_4
#define ACCEL_FSR MPU6050_ACCEL_FS_8
//#define ACCEL_FSR MPU6050_ACCEL_FS_16
//加速度 Sensitivity Scale Factor
#define ACCEL_SSF 36500.0
//角速度 Full-Scale Range
#define GYRO_FSR MPU6050_GYRO_FS_250
//#define GYRO_FSR MPU6050_GYRO_FS_500
//#define GYRO_FSR MPU6050_GYRO_FS_1000
//#define GYRO_FSR MPU6050_GYRO_FS_2000
//角速度 Sensitivity Scale Factor
#define GYRO_SSF 131.0
//#define GYRO_SSF 65.5
//#define GYRO_SSF 32.8
//#define GYRO_SSF 16.4
#define MPU6050_LPF MPU6050_DLPF_BW_256
//#define MPU6050_LPF MPU6050_DLPF_BW_188
//#define MPU6050_LPF MPU6050_DLPF_BW_98 
//#define MPU6050_LPF MPU6050_DLPF_BW_42  
//#define MPU6050_LPF MPU6050_DLPF_BW_20 
//#define MPU6050_LPF MPU6050_DLPF_BW_10   
//#define MPU6050_LPF MPU6050_DLPF_BW_5  
MPU6050 accelgyro;
Madgwick MadgwickFilter;
SBUS sbus(PD_5, PD_6);
Serial pc(USBTX, USBRX);
Serial sd(PE_8,PE_7);
DigitalOut led1(LED1);
DigitalOut led3(LED3);
PwmOut servoRight(PE_9);
//Servo servoRight(PB_4); //右のサーボ
//Servo servoLeft(PB_5); //左のサーボ
//Servo thrServo(PB_6); //スロットルサーボ

Timer t;

int ch1, ch2;
float rc1, rc2;
double pitch = 0.0;
double roll = 0.0;
double yaw = 0.0;
int16_t ax, ay, az;
int16_t gx, gy, gz;
double acc_x,acc_y,acc_z;
double gyro_x,gyro_y,gyro_z;
int out1, out2;

const double pitch_align = 0.0;
const double roll_align = -0.0;

long map(long x, long in_min, long in_max, long out_min, long out_max)
{
    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}

int main()
{
    int count = 0;
    pc.baud(115200);
    sd.baud(9600);
    accelgyro.initialize();
    uint8_t offsetVal[6] = {0,0,0,0,0,0};
    accelgyro.setXAccelOffset(offsetVal[0]);
    accelgyro.setYAccelOffset(offsetVal[1]);
    accelgyro.setZAccelOffset(offsetVal[2]);
    accelgyro.setXGyroOffset(offsetVal[3]);
    accelgyro.setYGyroOffset(offsetVal[4]);
    accelgyro.setZGyroOffset(offsetVal[5]);
    //加速度計のフルスケールレンジを設定
    accelgyro.setFullScaleAccelRange(ACCEL_FSR);
    //■角速度計のフルスケールレンジを設定
    accelgyro.setFullScaleGyroRange(GYRO_FSR);
    //MPU6050のLPFを設定
    accelgyro.setDLPFMode(MPU6050_LPF);
    
    servoRight.period_us(20000);
    
    MadgwickFilter.begin(100); //サンプリング周波数Hza
    t.start();
    while(1) {
        if(count == 50){
            sd.printf("test");
            count = 0;  
        }
        count ++;
        float tstart = t.read();
        if(sbus.failSafe == false)
        {
            ch1 = int(sbus.getData(1));
            ch2 = int(sbus.getData(2));
            //pc.printf("ch1 :%d ", ch1);
            //pc.printf("ch2 :%d ", ch2);
            float LP_rc = 0.65f;
            float LP_rc3 = 0.15f;
            rc1 = LP_rc*float(map(ch1,368,1680,-1000,1000))/1000.0f+(1.0f-LP_rc)*rc1;
            rc2 = LP_rc*float(map(ch2,368,1680,-1000,1000))/1000.0f+(1.0f-LP_rc)*rc2;
            //pc.printf("rc1 :%f ", rc1);
            //pc.printf("rc2 :%f ", rc1);
            int pwmMax = 1800;
            int pwmMin = 1200;
            out1 = map((int)(rc1*1000.0f),-1000,1000,pwmMin,pwmMax);
            if(out1<pwmMin){out1 = pwmMin;};
            if(out1>pwmMax){out1 = pwmMax;};
            out2 = map((int)(rc2*1000.0f),-1000,1000,pwmMin,pwmMax);
            if(out2<pwmMin){out2 = pwmMin;};
            if(out2>pwmMax){out2 = pwmMax;};
        }
        
        // gx gy gz ax ay az
        accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
        // 加速度値を分解能で割って加速度(G)に変換する
        acc_x = ax / ACCEL_SSF;  //FS_SEL_0 16,384 LSB / g
        acc_y = ay / ACCEL_SSF;
        acc_z = az / ACCEL_SSF;
        // 角速度値を分解能で割って角速度(deg per sec)に変換する
        gyro_x = gx / GYRO_SSF;  // (deg/s)
        gyro_y = gy / GYRO_SSF;
        gyro_z = gz / GYRO_SSF;
      //Madgwickフィルターを用いて、PRY（pitch, roll, yaw）を計算
        //pc.printf("accx:%f accy:%f accz:%f \r\n", acc_x,acc_y,acc_z);
        MadgwickFilter.updateIMU(gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z);
        
        pitch = -MadgwickFilter.getPitchRadians()-pitch_align*pi/180;
        roll = -MadgwickFilter.getRollRadians()-roll_align*pi/180;

        servoRight.pulsewidth_us(out1);

        pc.printf("out1:%d ", out1);
        //pc.printf("roll%f ", roll*180.0/pi);
        //pc.printf("out1:%d ", out1);
        //pc.printf("out2:%d ", out2);

        float tend = t.read();
        wait(0.005);
        MadgwickFilter.begin(1.0f/(tend-tstart)); //サンプリング周波数Hza
        pc.printf("time%f \r\n", (tend-tstart));
        
        }
}