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
setup.cpp@87:89bbbcdb667b, 2021-10-20 (annotated)
- Committer:
- osaka
- Date:
- Wed Oct 20 01:50:52 2021 +0000
- Revision:
- 87:89bbbcdb667b
- Parent:
- 77:2bf856e3eca4
- Child:
- 88:be349faa1976
Pmod nav
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cocorlow | 56:888379912f81 | 1 | #include "global.hpp" |
cocorlow | 56:888379912f81 | 2 | |
cocorlow | 56:888379912f81 | 3 | void setup() |
cocorlow | 56:888379912f81 | 4 | { |
cocorlow | 56:888379912f81 | 5 | pitchPID.setSetPoint(0.0); |
cocorlow | 56:888379912f81 | 6 | pitchratePID.setSetPoint(0.0); |
NaotoMorita | 70:99f974d8960e | 7 | rollPID.setSetPoint(0.0); |
NaotoMorita | 70:99f974d8960e | 8 | rollratePID.setSetPoint(0.0); |
cocorlow | 56:888379912f81 | 9 | pitchPID.setBias(0.0); |
NaotoMorita | 70:99f974d8960e | 10 | pitchratePID.setBias(0.0); |
NaotoMorita | 70:99f974d8960e | 11 | rollPID.setBias(0.0); |
NaotoMorita | 70:99f974d8960e | 12 | rollratePID.setBias(0.0); |
cocorlow | 56:888379912f81 | 13 | pitchPID.setOutputLimits(-1.0,1.0); |
cocorlow | 56:888379912f81 | 14 | pitchratePID.setOutputLimits(-1.0,1.0); |
NaotoMorita | 70:99f974d8960e | 15 | rollPID.setOutputLimits(-1.0,1.0); |
NaotoMorita | 70:99f974d8960e | 16 | rollratePID.setOutputLimits(-1.0,1.0); |
NaotoMorita | 70:99f974d8960e | 17 | pitchPID.setInputLimits(-M_PI,M_PI); |
NaotoMorita | 70:99f974d8960e | 18 | pitchratePID.setInputLimits(-M_PI,M_PI); |
NaotoMorita | 70:99f974d8960e | 19 | rollPID.setInputLimits(-M_PI,M_PI); |
NaotoMorita | 70:99f974d8960e | 20 | rollratePID.setInputLimits(-M_PI,M_PI); |
cocorlow | 56:888379912f81 | 21 | |
NaotoMorita | 70:99f974d8960e | 22 | servoRight.period_us(15000.0); |
NaotoMorita | 70:99f974d8960e | 23 | servoLeft.period_us(15000.0); |
NaotoMorita | 70:99f974d8960e | 24 | servoThrust.period_us(15000.0); |
NaotoMorita | 70:99f974d8960e | 25 | servoRight.pulsewidth_us(1500.0); |
NaotoMorita | 70:99f974d8960e | 26 | servoLeft.pulsewidth_us(1500.0); |
NaotoMorita | 70:99f974d8960e | 27 | servoThrust.pulsewidth_us(1100.0); |
cocorlow | 56:888379912f81 | 28 | |
osaka | 87:89bbbcdb667b | 29 | sd.baud(115200); |
NaotoMorita | 76:7fd3ac1afe3e | 30 | sd.printf("\r\nFlight Start\r\n"); |
osaka | 87:89bbbcdb667b | 31 | twelite.baud(38400); |
osaka | 87:89bbbcdb667b | 32 | twelite.printf("\r\nTelemetory Start\r\n"); |
cocorlow | 56:888379912f81 | 33 | } |
cocorlow | 56:888379912f81 | 34 | |
cocorlow | 56:888379912f81 | 35 | void calibrate() |
cocorlow | 56:888379912f81 | 36 | { |
cocorlow | 56:888379912f81 | 37 | while(1) |
cocorlow | 56:888379912f81 | 38 | { |
cocorlow | 56:888379912f81 | 39 | wait(1000); |
cocorlow | 56:888379912f81 | 40 | } |
cocorlow | 56:888379912f81 | 41 | } |