Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/src/Task3.cpp@39:02782ad251db, 2014-05-14 (annotated)

Committer:
pHysiX
Date:
Wed May 14 12:42:39 2014 +0000
Revision:
39:02782ad251db
Parent:
38:ef65533cca32
Child:
40:27e344adfdb9
PID tuned; Frequency of Attitude and Rate PID decreased; ESC frequency decreased; RTOS back to stable; Increased stick gains

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 22:ef8aa9728013 1 /* File: Task3.cpp
pHysiX 22:ef8aa9728013 2 * Author: Trung Tin Ian HUA
pHysiX 22:ef8aa9728013 3 * Date: May 2014
pHysiX 36:d95e3d6f2fc4 4 * Purpose: Thread3: RC & BT Command
pHysiX 22:ef8aa9728013 5 * Settings: 50Hz
pHysiX 24:54a8cdf17378 6 */
pHysiX 1:43f8ac7ca6d7 7 #include "tasks.h"
pHysiX 1:43f8ac7ca6d7 8 #include "setup.h"
pHysiX 4:01921a136f58 9 #include "PwmIn.h"
pHysiX 1:43f8ac7ca6d7 10
pHysiX 30:d9b988f8d84f 11 PwmIn rxModule[] = {p14, p15, p16, p17, p18};
pHysiX 30:d9b988f8d84f 12 AnalogIn voltageSense(p20);
pHysiX 21:b642c18eccd1 13
pHysiX 3:605fbcb54e75 14 /* [YAW PITCH ROLL THROTTLE AUX] */
pHysiX 3:605fbcb54e75 15 int RCCommand[5] = {0, 0, 0, 0, 0};
pHysiX 22:ef8aa9728013 16 /* Decoded input: [YAW PITCH ROLL] */
pHysiX 21:b642c18eccd1 17 int inputYPR[3];
pHysiX 30:d9b988f8d84f 18 float ypr_offset[3];
pHysiX 30:d9b988f8d84f 19
pHysiX 30:d9b988f8d84f 20 float vIn = 0.0;
pHysiX 1:43f8ac7ca6d7 21
pHysiX 27:18b6580eb0b1 22 FLIGHT_MODE mode = ATTITUDE;
pHysiX 24:54a8cdf17378 23
pHysiX 38:ef65533cca32 24 int voltageUpdate = 0;
pHysiX 38:ef65533cca32 25
pHysiX 34:228d87c45151 26
pHysiX 34:228d87c45151 27
pHysiX 34:228d87c45151 28
pHysiX 34:228d87c45151 29 // ======================================
pHysiX 34:228d87c45151 30 // === BT & RC COMMAND, AND TELEMETRY ===
pHysiX 34:228d87c45151 31 // ======================================
pHysiX 31:3dde2201e54d 32 //Timer
pHysiX 1:43f8ac7ca6d7 33 void Task3(void const *argument)
pHysiX 1:43f8ac7ca6d7 34 {
pHysiX 31:3dde2201e54d 35 //Timer
pHysiX 1:43f8ac7ca6d7 36 if (BT.readable()) {
pHysiX 1:43f8ac7ca6d7 37 char data = BT.getc();
pHysiX 32:7a9be7761c46 38 uartDecoder(data);
pHysiX 32:7a9be7761c46 39 }
pHysiX 20:b193a50a2ba3 40
pHysiX 32:7a9be7761c46 41 /* Receiver decoder: */
pHysiX 32:7a9be7761c46 42 RCCommand[2] = rxModule[0].pulsewidth(); // Roll
pHysiX 32:7a9be7761c46 43 RCCommand[1] = rxModule[1].pulsewidth(); // Pitch
pHysiX 32:7a9be7761c46 44 RCCommand[3] = rxModule[2].pulsewidth(); // Throttle
pHysiX 32:7a9be7761c46 45 RCCommand[0] = rxModule[3].pulsewidth(); // Yaw
pHysiX 32:7a9be7761c46 46 RCCommand[4] = rxModule[4].pulsewidth(); // AUX
pHysiX 21:b642c18eccd1 47
pHysiX 32:7a9be7761c46 48 /* Mode switching: */
pHysiX 32:7a9be7761c46 49 if (RCCommand[4] > 1500) {
pHysiX 32:7a9be7761c46 50 if (mode == RATE) {
pHysiX 32:7a9be7761c46 51 } else if (mode == ATTITUDE) {
pHysiX 32:7a9be7761c46 52 mode = RATE;
pHysiX 32:7a9be7761c46 53 //pitchPIDrate.setTunings(KP_PITCH_RATE, TI_PITCH_RATE, 0.0);
pHysiX 32:7a9be7761c46 54 //rollPIDrate.setTunings(KP_ROLL_RATE, TI_ROLL_RATE, 0.0);
pHysiX 32:7a9be7761c46 55 } else {}
pHysiX 32:7a9be7761c46 56 } else {
pHysiX 32:7a9be7761c46 57 if (mode == ATTITUDE) {
pHysiX 32:7a9be7761c46 58 } else if (mode == RATE) {
pHysiX 32:7a9be7761c46 59 mode = ATTITUDE;
pHysiX 32:7a9be7761c46 60 //pitchPIDrate.setTunings(KP_PITCH_RATE, TI_PITCH_RATE, 0.0);
pHysiX 32:7a9be7761c46 61 //rollPIDrate.setTunings(KP_ROLL_RATE, TI_PITCH_RATE, 0.0);
pHysiX 32:7a9be7761c46 62 }
pHysiX 32:7a9be7761c46 63 }
pHysiX 21:b642c18eccd1 64
pHysiX 32:7a9be7761c46 65 /* Command decoder: */
pHysiX 32:7a9be7761c46 66 inputYPR[0] = (RCCommand[0]-1500)*9/100*STICK_GAIN_YAW;
pHysiX 32:7a9be7761c46 67 inputYPR[1] = deadbandInputYPR((RCCommand[1]-1500)*-1*9/100*STICK_GAIN);
pHysiX 32:7a9be7761c46 68 switch (mode) {
pHysiX 32:7a9be7761c46 69 case RATE:
pHysiX 32:7a9be7761c46 70 inputYPR[2] = deadbandInputYPR((RCCommand[2]-1500)*9/100*STICK_GAIN);
pHysiX 32:7a9be7761c46 71 break;
pHysiX 32:7a9be7761c46 72 case ATTITUDE:
pHysiX 32:7a9be7761c46 73 default:
pHysiX 32:7a9be7761c46 74 inputYPR[2] = deadbandInputYPR((RCCommand[2]-1500)*-1*9/100*STICK_GAIN);
pHysiX 32:7a9be7761c46 75 break;
pHysiX 32:7a9be7761c46 76 }
pHysiX 21:b642c18eccd1 77
pHysiX 38:ef65533cca32 78 for (int i = 1; i < 3; i++)
pHysiX 38:ef65533cca32 79 inputYPR[i] = constrainInputYPR(inputYPR[i]);
pHysiX 38:ef65533cca32 80
pHysiX 36:d95e3d6f2fc4 81 /* Lost signal (throttle): */
pHysiX 32:7a9be7761c46 82 if (rxModule[2].stallTimer.read_us() > 18820) {
pHysiX 32:7a9be7761c46 83 for (int i = 0; i < 5; i++)
pHysiX 32:7a9be7761c46 84 RCCommand[i] = 1000;
pHysiX 32:7a9be7761c46 85 } else {
pHysiX 32:7a9be7761c46 86 for (int i = 0; i < 5; i++)
pHysiX 32:7a9be7761c46 87 RCCommand[i] = constrainRCCommand(RCCommand[i]);
pHysiX 32:7a9be7761c46 88 }
pHysiX 37:29feef05d848 89
pHysiX 38:ef65533cca32 90 if (voltageUpdate > 3) {
pHysiX 38:ef65533cca32 91 if (box_demo) {
pHysiX 38:ef65533cca32 92 BT.printf("\nV%2.2f\n", voltageSense*VOLTAGE_SCALE);
pHysiX 38:ef65533cca32 93 }
pHysiX 38:ef65533cca32 94 voltageUpdate = 0;
pHysiX 38:ef65533cca32 95 } else {
pHysiX 38:ef65533cca32 96 voltageUpdate++;
pHysiX 37:29feef05d848 97 }
pHysiX 32:7a9be7761c46 98 //Timer
pHysiX 32:7a9be7761c46 99 }
pHysiX 21:b642c18eccd1 100
pHysiX 34:228d87c45151 101
pHysiX 34:228d87c45151 102
pHysiX 34:228d87c45151 103
pHysiX 34:228d87c45151 104 // ************************
pHysiX 34:228d87c45151 105 // *** Helper functions ***
pHysiX 34:228d87c45151 106 // ************************
pHysiX 32:7a9be7761c46 107 int constrainRCCommand(int input)
pHysiX 32:7a9be7761c46 108 {
pHysiX 32:7a9be7761c46 109 if (input < 1000)
pHysiX 32:7a9be7761c46 110 return 1000;
pHysiX 32:7a9be7761c46 111 else if (input > 2000)
pHysiX 32:7a9be7761c46 112 return 2000;
pHysiX 32:7a9be7761c46 113 else
pHysiX 32:7a9be7761c46 114 return input;
pHysiX 32:7a9be7761c46 115 }
pHysiX 21:b642c18eccd1 116
pHysiX 32:7a9be7761c46 117 int deadbandInputYPR(int input)
pHysiX 32:7a9be7761c46 118 {
pHysiX 32:7a9be7761c46 119 if (input > -2 && input < 4)
pHysiX 32:7a9be7761c46 120 return 0;
pHysiX 32:7a9be7761c46 121 else
pHysiX 32:7a9be7761c46 122 return input;
pHysiX 32:7a9be7761c46 123 }
pHysiX 32:7a9be7761c46 124
pHysiX 38:ef65533cca32 125 int constrainInputYPR(int input)
pHysiX 38:ef65533cca32 126 {
pHysiX 38:ef65533cca32 127 if (input < -45)
pHysiX 38:ef65533cca32 128 return -45;
pHysiX 38:ef65533cca32 129 else if (input > 45)
pHysiX 38:ef65533cca32 130 return 45;
pHysiX 38:ef65533cca32 131 else
pHysiX 38:ef65533cca32 132 return input;
pHysiX 38:ef65533cca32 133 }
pHysiX 38:ef65533cca32 134
pHysiX 32:7a9be7761c46 135 void uartDecoder(char input)
pHysiX 32:7a9be7761c46 136 {
pHysiX 32:7a9be7761c46 137 switch (input) {
pHysiX 32:7a9be7761c46 138 case '9':
pHysiX 32:7a9be7761c46 139 case '0':
pHysiX 32:7a9be7761c46 140 armed = false;
pHysiX 32:7a9be7761c46 141 box_demo = false;
pHysiX 32:7a9be7761c46 142 rc_out = false;
pHysiX 32:7a9be7761c46 143 gyro_out = false;
pHysiX 32:7a9be7761c46 144 ESC_check = false;
pHysiX 32:7a9be7761c46 145 command_check = false;
pHysiX 32:7a9be7761c46 146 calibration_mode = false;
pHysiX 32:7a9be7761c46 147 adjust_check = false;
pHysiX 21:b642c18eccd1 148
pHysiX 39:02782ad251db 149 pitchPIDattitude.reset();
pHysiX 39:02782ad251db 150 rollPIDattitude.reset();
pHysiX 32:7a9be7761c46 151 yawPIDrate.reset();
pHysiX 32:7a9be7761c46 152 pitchPIDrate.reset();
pHysiX 32:7a9be7761c46 153 rollPIDrate.reset();
pHysiX 32:7a9be7761c46 154
pHysiX 32:7a9be7761c46 155 armed? BT.printf("ARMED\n") : BT.printf("DISARMED\n");
pHysiX 32:7a9be7761c46 156 break;
pHysiX 32:7a9be7761c46 157
pHysiX 32:7a9be7761c46 158 case 'D':
pHysiX 32:7a9be7761c46 159 case 'd':
pHysiX 32:7a9be7761c46 160 armed = false;
pHysiX 32:7a9be7761c46 161 box_demo = false;
pHysiX 32:7a9be7761c46 162 rc_out = false;
pHysiX 32:7a9be7761c46 163 gyro_out = false;
pHysiX 32:7a9be7761c46 164 ESC_check = false;
pHysiX 32:7a9be7761c46 165 command_check = false;
pHysiX 32:7a9be7761c46 166 calibration_mode = false;
pHysiX 32:7a9be7761c46 167 adjust_check = false;
pHysiX 21:b642c18eccd1 168
pHysiX 32:7a9be7761c46 169 ypr_offset[0] = ypr[0];
pHysiX 32:7a9be7761c46 170 ypr_offset[1] = ypr[1];
pHysiX 32:7a9be7761c46 171 ypr_offset[2] = ypr[2];
pHysiX 32:7a9be7761c46 172
pHysiX 39:02782ad251db 173 pitchPIDattitude.reset();
pHysiX 39:02782ad251db 174 rollPIDattitude.reset();
pHysiX 32:7a9be7761c46 175 yawPIDrate.reset();
pHysiX 32:7a9be7761c46 176 pitchPIDrate.reset();
pHysiX 32:7a9be7761c46 177 rollPIDrate.reset();
pHysiX 21:b642c18eccd1 178
pHysiX 32:7a9be7761c46 179 armed? BT.printf("DISARM FAIL\n") : BT.printf("DISARMED\n");
pHysiX 32:7a9be7761c46 180 break;
pHysiX 32:7a9be7761c46 181
pHysiX 32:7a9be7761c46 182 case 'B':
pHysiX 32:7a9be7761c46 183 box_demo = true;
pHysiX 32:7a9be7761c46 184 rc_out = false;
pHysiX 32:7a9be7761c46 185 gyro_out = false;
pHysiX 32:7a9be7761c46 186 ESC_check = false;
pHysiX 32:7a9be7761c46 187 command_check = false;
pHysiX 32:7a9be7761c46 188 calibration_mode = false;
pHysiX 32:7a9be7761c46 189 adjust_check = false;
pHysiX 32:7a9be7761c46 190 break;
pHysiX 21:b642c18eccd1 191
pHysiX 32:7a9be7761c46 192 case 'Z':
pHysiX 32:7a9be7761c46 193 ypr_offset[0] = ypr[0];
pHysiX 32:7a9be7761c46 194 ypr_offset[1] = ypr[1];
pHysiX 32:7a9be7761c46 195 ypr_offset[2] = ypr[2];
pHysiX 32:7a9be7761c46 196 break;
pHysiX 32:7a9be7761c46 197
pHysiX 32:7a9be7761c46 198 case 'R':
pHysiX 32:7a9be7761c46 199 box_demo = false;
pHysiX 32:7a9be7761c46 200 rc_out = false;
pHysiX 32:7a9be7761c46 201 gyro_out = false;
pHysiX 32:7a9be7761c46 202 ESC_check = false;
pHysiX 32:7a9be7761c46 203 command_check = true;
pHysiX 32:7a9be7761c46 204 calibration_mode = false;
pHysiX 32:7a9be7761c46 205 adjust_check = false;
pHysiX 32:7a9be7761c46 206 break;
pHysiX 32:7a9be7761c46 207
pHysiX 32:7a9be7761c46 208 case 'r':
pHysiX 32:7a9be7761c46 209 box_demo = false;
pHysiX 32:7a9be7761c46 210 rc_out = true;
pHysiX 32:7a9be7761c46 211 gyro_out = false;
pHysiX 32:7a9be7761c46 212 ESC_check = false;
pHysiX 32:7a9be7761c46 213 command_check = false;
pHysiX 32:7a9be7761c46 214 calibration_mode = false;
pHysiX 32:7a9be7761c46 215 adjust_check = false;
pHysiX 32:7a9be7761c46 216 break;
pHysiX 20:b193a50a2ba3 217
pHysiX 32:7a9be7761c46 218 case 'G':
pHysiX 32:7a9be7761c46 219 case 'g':
pHysiX 32:7a9be7761c46 220 box_demo = false;
pHysiX 32:7a9be7761c46 221 rc_out = false;
pHysiX 32:7a9be7761c46 222 gyro_out = true;
pHysiX 32:7a9be7761c46 223 ESC_check = false;
pHysiX 32:7a9be7761c46 224 command_check = false;
pHysiX 32:7a9be7761c46 225 calibration_mode = false;
pHysiX 32:7a9be7761c46 226 adjust_check = false;
pHysiX 32:7a9be7761c46 227 break;
pHysiX 32:7a9be7761c46 228
pHysiX 32:7a9be7761c46 229 case '1':
pHysiX 32:7a9be7761c46 230 box_demo = false;
pHysiX 32:7a9be7761c46 231 rc_out = false;
pHysiX 32:7a9be7761c46 232 gyro_out = false;
pHysiX 32:7a9be7761c46 233 ESC_check = false;
pHysiX 32:7a9be7761c46 234 KP_YAW_RATE += 0.1;
pHysiX 32:7a9be7761c46 235 yawPIDrate.setKP(KP_YAW_RATE);
pHysiX 32:7a9be7761c46 236 BT.printf("KP Y rate: %2.5f\n", KP_YAW_RATE);
pHysiX 32:7a9be7761c46 237 break;
pHysiX 32:7a9be7761c46 238 case 'Q':
pHysiX 32:7a9be7761c46 239 case 'q':
pHysiX 32:7a9be7761c46 240 box_demo = false;
pHysiX 32:7a9be7761c46 241 rc_out = false;
pHysiX 32:7a9be7761c46 242 gyro_out = false;
pHysiX 32:7a9be7761c46 243 ESC_check = false;
pHysiX 32:7a9be7761c46 244 KP_YAW_RATE -= 0.1;
pHysiX 32:7a9be7761c46 245 yawPIDrate.setKP(KP_YAW_RATE);
pHysiX 32:7a9be7761c46 246 BT.printf("KP Y rate: %2.5f\n", KP_YAW_RATE);
pHysiX 32:7a9be7761c46 247 break;
pHysiX 21:b642c18eccd1 248
pHysiX 32:7a9be7761c46 249 case '2':
pHysiX 32:7a9be7761c46 250 box_demo = false;
pHysiX 32:7a9be7761c46 251 rc_out = false;
pHysiX 32:7a9be7761c46 252 gyro_out = false;
pHysiX 32:7a9be7761c46 253 ESC_check = false;
pHysiX 32:7a9be7761c46 254 KP_PITCH_RATE += 0.1;
pHysiX 32:7a9be7761c46 255 pitchPIDrate.setKP(KP_PITCH_RATE);
pHysiX 32:7a9be7761c46 256 BT.printf("KP P rate: %2.5f\n", KP_PITCH_RATE);
pHysiX 32:7a9be7761c46 257 break;
pHysiX 32:7a9be7761c46 258 case 'W':
pHysiX 32:7a9be7761c46 259 case 'w':
pHysiX 32:7a9be7761c46 260 box_demo = false;
pHysiX 32:7a9be7761c46 261 rc_out = false;
pHysiX 32:7a9be7761c46 262 gyro_out = false;
pHysiX 32:7a9be7761c46 263 ESC_check = false;
pHysiX 32:7a9be7761c46 264 KP_PITCH_RATE -= 0.1;
pHysiX 32:7a9be7761c46 265 pitchPIDrate.setKP(KP_PITCH_RATE);
pHysiX 32:7a9be7761c46 266 BT.printf("KP P rate: %3.4f\n", KP_PITCH_RATE);
pHysiX 32:7a9be7761c46 267 break;
pHysiX 32:7a9be7761c46 268
pHysiX 32:7a9be7761c46 269 case '3':
pHysiX 32:7a9be7761c46 270 box_demo = false;
pHysiX 32:7a9be7761c46 271 rc_out = false;
pHysiX 32:7a9be7761c46 272 gyro_out = false;
pHysiX 32:7a9be7761c46 273 ESC_check = false;
pHysiX 32:7a9be7761c46 274 KP_ROLL_RATE += 0.1;
pHysiX 32:7a9be7761c46 275 rollPIDrate.setKP(KP_ROLL_RATE);
pHysiX 32:7a9be7761c46 276 BT.printf("KP R rate: %3.4f\n", KP_ROLL_RATE);
pHysiX 32:7a9be7761c46 277 break;
pHysiX 32:7a9be7761c46 278 case 'E':
pHysiX 32:7a9be7761c46 279 case 'e':
pHysiX 32:7a9be7761c46 280 box_demo = false;
pHysiX 32:7a9be7761c46 281 rc_out = false;
pHysiX 32:7a9be7761c46 282 gyro_out = false;
pHysiX 32:7a9be7761c46 283 ESC_check = false;
pHysiX 32:7a9be7761c46 284 KP_ROLL_RATE -= 0.1;
pHysiX 32:7a9be7761c46 285 rollPIDrate.setKP(KP_ROLL_RATE);
pHysiX 32:7a9be7761c46 286 BT.printf("KP R rate: %2.5f\n", KP_ROLL_RATE);
pHysiX 32:7a9be7761c46 287 break;
pHysiX 24:54a8cdf17378 288
pHysiX 32:7a9be7761c46 289 case '6':
pHysiX 32:7a9be7761c46 290 box_demo = false;
pHysiX 32:7a9be7761c46 291 rc_out = false;
pHysiX 32:7a9be7761c46 292 gyro_out = false;
pHysiX 32:7a9be7761c46 293 ESC_check = false;
pHysiX 39:02782ad251db 294 KP_PITCH_ATTITUDE += 0.1;
pHysiX 39:02782ad251db 295 pitchPIDattitude.setKP(KP_PITCH_ATTITUDE);
pHysiX 39:02782ad251db 296 BT.printf("KP P attitude: %2.5f\n", KP_PITCH_ATTITUDE);
pHysiX 32:7a9be7761c46 297 break;
pHysiX 32:7a9be7761c46 298 case 'Y':
pHysiX 32:7a9be7761c46 299 case 'y':
pHysiX 32:7a9be7761c46 300 box_demo = false;
pHysiX 32:7a9be7761c46 301 rc_out = false;
pHysiX 32:7a9be7761c46 302 gyro_out = false;
pHysiX 32:7a9be7761c46 303 ESC_check = false;
pHysiX 39:02782ad251db 304 KP_PITCH_ATTITUDE -= 0.1;
pHysiX 39:02782ad251db 305 pitchPIDattitude.setKP(KP_PITCH_ATTITUDE);
pHysiX 39:02782ad251db 306 BT.printf("KP P attitude: %2.5f\n", KP_PITCH_ATTITUDE);
pHysiX 32:7a9be7761c46 307 break;
pHysiX 24:54a8cdf17378 308
pHysiX 32:7a9be7761c46 309 case '7':
pHysiX 32:7a9be7761c46 310 box_demo = false;
pHysiX 32:7a9be7761c46 311 rc_out = false;
pHysiX 32:7a9be7761c46 312 gyro_out = false;
pHysiX 32:7a9be7761c46 313 ESC_check = false;
pHysiX 39:02782ad251db 314 KP_ROLL_ATTITUDE += 0.1;
pHysiX 39:02782ad251db 315 rollPIDattitude.setKP(KP_ROLL_ATTITUDE);
pHysiX 39:02782ad251db 316 BT.printf("KP R attitude: %2.5f\n", KP_ROLL_ATTITUDE);
pHysiX 32:7a9be7761c46 317 break;
pHysiX 32:7a9be7761c46 318 case 'U':
pHysiX 32:7a9be7761c46 319 case 'u':
pHysiX 32:7a9be7761c46 320 box_demo = false;
pHysiX 32:7a9be7761c46 321 rc_out = false;
pHysiX 32:7a9be7761c46 322 gyro_out = false;
pHysiX 32:7a9be7761c46 323 ESC_check = false;
pHysiX 39:02782ad251db 324 KP_ROLL_ATTITUDE -= 0.1;
pHysiX 39:02782ad251db 325 rollPIDattitude.setKP(KP_ROLL_ATTITUDE);
pHysiX 39:02782ad251db 326 BT.printf("KP R attitude: %2.5f\n", KP_ROLL_ATTITUDE);
pHysiX 32:7a9be7761c46 327 break;
pHysiX 24:54a8cdf17378 328
pHysiX 32:7a9be7761c46 329 case 'A':
pHysiX 32:7a9be7761c46 330 if (!armed) {
pHysiX 32:7a9be7761c46 331 if (RCCommand[3] < 1001) {
pHysiX 39:02782ad251db 332 pitchPIDattitude.reset();
pHysiX 39:02782ad251db 333 rollPIDattitude.reset();
pHysiX 21:b642c18eccd1 334 yawPIDrate.reset();
pHysiX 21:b642c18eccd1 335 pitchPIDrate.reset();
pHysiX 21:b642c18eccd1 336 rollPIDrate.reset();
pHysiX 21:b642c18eccd1 337
pHysiX 21:b642c18eccd1 338 ypr_offset[0] = ypr[0];
pHysiX 21:b642c18eccd1 339 ypr_offset[1] = ypr[1];
pHysiX 21:b642c18eccd1 340 ypr_offset[2] = ypr[2];
pHysiX 21:b642c18eccd1 341
pHysiX 21:b642c18eccd1 342 armed = true;
pHysiX 21:b642c18eccd1 343 } else {
pHysiX 32:7a9be7761c46 344 BT.printf("Check Throttle\n");
pHysiX 21:b642c18eccd1 345 }
pHysiX 32:7a9be7761c46 346 } else {
pHysiX 32:7a9be7761c46 347 BT.printf("ALREADY ARMED!!!\n");
pHysiX 32:7a9be7761c46 348 }
pHysiX 32:7a9be7761c46 349 box_demo = false;
pHysiX 32:7a9be7761c46 350 rc_out = false;
pHysiX 32:7a9be7761c46 351 gyro_out = false;
pHysiX 32:7a9be7761c46 352 ESC_check = false;
pHysiX 32:7a9be7761c46 353 command_check = false;
pHysiX 32:7a9be7761c46 354 calibration_mode = false;
pHysiX 32:7a9be7761c46 355 adjust_check = false;
pHysiX 32:7a9be7761c46 356 armed? BT.printf("ARMED\n"): BT.printf("ARM FAIL\n");
pHysiX 32:7a9be7761c46 357 break;
pHysiX 32:7a9be7761c46 358 case 'a':
pHysiX 32:7a9be7761c46 359 if (armed) {
pHysiX 32:7a9be7761c46 360 armed = false;
pHysiX 32:7a9be7761c46 361 BT.printf("DISARMED\n");
pHysiX 32:7a9be7761c46 362 ypr_offset[0] = ypr[0];
pHysiX 32:7a9be7761c46 363 ypr_offset[1] = ypr[1];
pHysiX 32:7a9be7761c46 364 ypr_offset[2] = ypr[2];
pHysiX 39:02782ad251db 365 pitchPIDattitude.reset();
pHysiX 39:02782ad251db 366 rollPIDattitude.reset();
pHysiX 32:7a9be7761c46 367 } else {
pHysiX 32:7a9be7761c46 368 BT.printf("ALREADY DISARMED!!!\n");
pHysiX 32:7a9be7761c46 369 }
pHysiX 32:7a9be7761c46 370 box_demo = false;
pHysiX 32:7a9be7761c46 371 rc_out = false;
pHysiX 32:7a9be7761c46 372 gyro_out = false;
pHysiX 32:7a9be7761c46 373 ESC_check = false;
pHysiX 32:7a9be7761c46 374 command_check = false;
pHysiX 32:7a9be7761c46 375 calibration_mode = false;
pHysiX 32:7a9be7761c46 376 adjust_check = false;
pHysiX 21:b642c18eccd1 377
pHysiX 32:7a9be7761c46 378 yawPIDrate.reset();
pHysiX 32:7a9be7761c46 379 pitchPIDrate.reset();
pHysiX 32:7a9be7761c46 380 rollPIDrate.reset();
pHysiX 21:b642c18eccd1 381
pHysiX 32:7a9be7761c46 382 armed? BT.printf("DISARM FAIL\n") : BT.printf("DISARMED\n");
pHysiX 32:7a9be7761c46 383 break;
pHysiX 21:b642c18eccd1 384
pHysiX 32:7a9be7761c46 385 case 'P':
pHysiX 32:7a9be7761c46 386 box_demo = false;
pHysiX 32:7a9be7761c46 387 rc_out = false;
pHysiX 32:7a9be7761c46 388 gyro_out = false;
pHysiX 32:7a9be7761c46 389 ESC_check = false;
pHysiX 32:7a9be7761c46 390 command_check = false;
pHysiX 32:7a9be7761c46 391 calibration_mode = false;
pHysiX 32:7a9be7761c46 392 adjust_check = true;
pHysiX 32:7a9be7761c46 393 break;
pHysiX 21:b642c18eccd1 394
pHysiX 32:7a9be7761c46 395 case 'p':
pHysiX 32:7a9be7761c46 396 box_demo = false;
pHysiX 32:7a9be7761c46 397 rc_out = false;
pHysiX 32:7a9be7761c46 398 gyro_out = false;
pHysiX 32:7a9be7761c46 399 ESC_check = true;
pHysiX 32:7a9be7761c46 400 command_check = false;
pHysiX 32:7a9be7761c46 401 calibration_mode = false;
pHysiX 32:7a9be7761c46 402 adjust_check = false;
pHysiX 32:7a9be7761c46 403 break;
pHysiX 25:a7cfe421cb4a 404
pHysiX 32:7a9be7761c46 405 case 'C':
pHysiX 32:7a9be7761c46 406 case 'c':
pHysiX 32:7a9be7761c46 407 box_demo = false;
pHysiX 32:7a9be7761c46 408 rc_out = true;
pHysiX 32:7a9be7761c46 409 gyro_out = false;
pHysiX 32:7a9be7761c46 410 ESC_check = false;
pHysiX 32:7a9be7761c46 411 calibration_mode = true;
pHysiX 32:7a9be7761c46 412 command_check = false;
pHysiX 32:7a9be7761c46 413 adjust_check = false;
pHysiX 12:953d25061417 414
pHysiX 32:7a9be7761c46 415 BT.printf("Calibration mode...\n");
pHysiX 32:7a9be7761c46 416 armed? BT.printf("ARMED\n") : BT.printf("ARM FAILED\n");
pHysiX 32:7a9be7761c46 417 break;
pHysiX 3:605fbcb54e75 418
pHysiX 32:7a9be7761c46 419 case 'M':
pHysiX 32:7a9be7761c46 420 case 'm':
pHysiX 32:7a9be7761c46 421 switch (mode) {
pHysiX 32:7a9be7761c46 422 case RATE:
pHysiX 32:7a9be7761c46 423 BT.printf("RATE MODE\n");
pHysiX 32:7a9be7761c46 424 break;
pHysiX 32:7a9be7761c46 425 case ATTITUDE:
pHysiX 32:7a9be7761c46 426 default:
pHysiX 32:7a9be7761c46 427 BT.printf("ATTITUDE MODE\n");
pHysiX 32:7a9be7761c46 428 break;
pHysiX 32:7a9be7761c46 429 }
pHysiX 32:7a9be7761c46 430 break;
pHysiX 24:54a8cdf17378 431
pHysiX 25:a7cfe421cb4a 432 default:
pHysiX 25:a7cfe421cb4a 433 break;
pHysiX 25:a7cfe421cb4a 434 }
pHysiX 1:43f8ac7ca6d7 435 }