Ian Hua / Quadcopter-mbedRTOS

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

RTOS-Threads/src/Task3.cpp@37:29feef05d848, 2014-05-13 (annotated)

Committer:
pHysiX
Date:
Tue May 13 05:28:05 2014 +0000
Revision:
37:29feef05d848
Parent:
36:d95e3d6f2fc4
Child:
38:ef65533cca32
Fixed some bugs causing RTOS to crash, due to printfs being too long

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 21:b642c18eccd1 7 #define STICK_GAIN 2
pHysiX 25:a7cfe421cb4a 8 #define STICK_GAIN_YAW 16
pHysiX 21:b642c18eccd1 9
pHysiX 1:43f8ac7ca6d7 10 #include "tasks.h"
pHysiX 1:43f8ac7ca6d7 11 #include "setup.h"
pHysiX 4:01921a136f58 12 #include "PwmIn.h"
pHysiX 1:43f8ac7ca6d7 13
pHysiX 30:d9b988f8d84f 14 PwmIn rxModule[] = {p14, p15, p16, p17, p18};
pHysiX 30:d9b988f8d84f 15 AnalogIn voltageSense(p20);
pHysiX 21:b642c18eccd1 16
pHysiX 3:605fbcb54e75 17 /* [YAW PITCH ROLL THROTTLE AUX] */
pHysiX 3:605fbcb54e75 18 int RCCommand[5] = {0, 0, 0, 0, 0};
pHysiX 22:ef8aa9728013 19 /* Decoded input: [YAW PITCH ROLL] */
pHysiX 21:b642c18eccd1 20 int inputYPR[3];
pHysiX 30:d9b988f8d84f 21 float ypr_offset[3];
pHysiX 30:d9b988f8d84f 22
pHysiX 30:d9b988f8d84f 23 float vIn = 0.0;
pHysiX 1:43f8ac7ca6d7 24
pHysiX 27:18b6580eb0b1 25 FLIGHT_MODE mode = ATTITUDE;
pHysiX 24:54a8cdf17378 26
pHysiX 34:228d87c45151 27
pHysiX 34:228d87c45151 28
pHysiX 34:228d87c45151 29
pHysiX 34:228d87c45151 30 // ======================================
pHysiX 34:228d87c45151 31 // === BT & RC COMMAND, AND TELEMETRY ===
pHysiX 34:228d87c45151 32 // ======================================
pHysiX 31:3dde2201e54d 33 //Timer
pHysiX 1:43f8ac7ca6d7 34 void Task3(void const *argument)
pHysiX 1:43f8ac7ca6d7 35 {
pHysiX 31:3dde2201e54d 36 //Timer
pHysiX 1:43f8ac7ca6d7 37 if (BT.readable()) {
pHysiX 1:43f8ac7ca6d7 38 char data = BT.getc();
pHysiX 32:7a9be7761c46 39 uartDecoder(data);
pHysiX 32:7a9be7761c46 40 }
pHysiX 20:b193a50a2ba3 41
pHysiX 32:7a9be7761c46 42 /* Receiver decoder: */
pHysiX 32:7a9be7761c46 43 RCCommand[2] = rxModule[0].pulsewidth(); // Roll
pHysiX 32:7a9be7761c46 44 RCCommand[1] = rxModule[1].pulsewidth(); // Pitch
pHysiX 32:7a9be7761c46 45 RCCommand[3] = rxModule[2].pulsewidth(); // Throttle
pHysiX 32:7a9be7761c46 46 RCCommand[0] = rxModule[3].pulsewidth(); // Yaw
pHysiX 32:7a9be7761c46 47 RCCommand[4] = rxModule[4].pulsewidth(); // AUX
pHysiX 21:b642c18eccd1 48
pHysiX 32:7a9be7761c46 49 /* Mode switching: */
pHysiX 32:7a9be7761c46 50 if (RCCommand[4] > 1500) {
pHysiX 32:7a9be7761c46 51 if (mode == RATE) {
pHysiX 32:7a9be7761c46 52 } else if (mode == ATTITUDE) {
pHysiX 32:7a9be7761c46 53 mode = RATE;
pHysiX 32:7a9be7761c46 54 //pitchPIDrate.setTunings(KP_PITCH_RATE, TI_PITCH_RATE, 0.0);
pHysiX 32:7a9be7761c46 55 //rollPIDrate.setTunings(KP_ROLL_RATE, TI_ROLL_RATE, 0.0);
pHysiX 32:7a9be7761c46 56 } else {}
pHysiX 32:7a9be7761c46 57 } else {
pHysiX 32:7a9be7761c46 58 if (mode == ATTITUDE) {
pHysiX 32:7a9be7761c46 59 } else if (mode == RATE) {
pHysiX 32:7a9be7761c46 60 mode = ATTITUDE;
pHysiX 32:7a9be7761c46 61 //pitchPIDrate.setTunings(KP_PITCH_RATE, TI_PITCH_RATE, 0.0);
pHysiX 32:7a9be7761c46 62 //rollPIDrate.setTunings(KP_ROLL_RATE, TI_PITCH_RATE, 0.0);
pHysiX 32:7a9be7761c46 63 }
pHysiX 32:7a9be7761c46 64 }
pHysiX 21:b642c18eccd1 65
pHysiX 32:7a9be7761c46 66 /* Command decoder: */
pHysiX 32:7a9be7761c46 67 inputYPR[0] = (RCCommand[0]-1500)*9/100*STICK_GAIN_YAW;
pHysiX 32:7a9be7761c46 68 inputYPR[1] = deadbandInputYPR((RCCommand[1]-1500)*-1*9/100*STICK_GAIN);
pHysiX 32:7a9be7761c46 69 switch (mode) {
pHysiX 32:7a9be7761c46 70 case RATE:
pHysiX 32:7a9be7761c46 71 inputYPR[2] = deadbandInputYPR((RCCommand[2]-1500)*9/100*STICK_GAIN);
pHysiX 32:7a9be7761c46 72 break;
pHysiX 32:7a9be7761c46 73 case ATTITUDE:
pHysiX 32:7a9be7761c46 74 default:
pHysiX 32:7a9be7761c46 75 inputYPR[2] = deadbandInputYPR((RCCommand[2]-1500)*-1*9/100*STICK_GAIN);
pHysiX 32:7a9be7761c46 76 break;
pHysiX 32:7a9be7761c46 77 }
pHysiX 21:b642c18eccd1 78
pHysiX 36:d95e3d6f2fc4 79 /* Lost signal (throttle): */
pHysiX 32:7a9be7761c46 80 if (rxModule[2].stallTimer.read_us() > 18820) {
pHysiX 32:7a9be7761c46 81 for (int i = 0; i < 5; i++)
pHysiX 32:7a9be7761c46 82 RCCommand[i] = 1000;
pHysiX 32:7a9be7761c46 83 } else {
pHysiX 32:7a9be7761c46 84 for (int i = 0; i < 5; i++)
pHysiX 32:7a9be7761c46 85 RCCommand[i] = constrainRCCommand(RCCommand[i]);
pHysiX 32:7a9be7761c46 86 }
pHysiX 37:29feef05d848 87
pHysiX 37:29feef05d848 88 if (box_demo) {
pHysiX 37:29feef05d848 89 BT.printf("\nA%3.2f\nT%2.2f\n", altimeter.Altitude_m(), altimeter.Temp_C());
pHysiX 37:29feef05d848 90 BT.printf("\nV%2.2f\n", voltageSense*VOLTAGE_SCALE);
pHysiX 37:29feef05d848 91 }
pHysiX 32:7a9be7761c46 92 //Timer
pHysiX 32:7a9be7761c46 93 }
pHysiX 21:b642c18eccd1 94
pHysiX 34:228d87c45151 95
pHysiX 34:228d87c45151 96
pHysiX 34:228d87c45151 97
pHysiX 34:228d87c45151 98 // ************************
pHysiX 34:228d87c45151 99 // *** Helper functions ***
pHysiX 34:228d87c45151 100 // ************************
pHysiX 32:7a9be7761c46 101 int constrainRCCommand(int input)
pHysiX 32:7a9be7761c46 102 {
pHysiX 32:7a9be7761c46 103 if (input < 1000)
pHysiX 32:7a9be7761c46 104 return 1000;
pHysiX 32:7a9be7761c46 105 else if (input > 2000)
pHysiX 32:7a9be7761c46 106 return 2000;
pHysiX 32:7a9be7761c46 107 else
pHysiX 32:7a9be7761c46 108 return input;
pHysiX 32:7a9be7761c46 109 }
pHysiX 21:b642c18eccd1 110
pHysiX 32:7a9be7761c46 111 int deadbandInputYPR(int input)
pHysiX 32:7a9be7761c46 112 {
pHysiX 32:7a9be7761c46 113 if (input > -2 && input < 4)
pHysiX 32:7a9be7761c46 114 return 0;
pHysiX 32:7a9be7761c46 115 else
pHysiX 32:7a9be7761c46 116 return input;
pHysiX 32:7a9be7761c46 117 }
pHysiX 32:7a9be7761c46 118
pHysiX 32:7a9be7761c46 119 void uartDecoder(char input)
pHysiX 32:7a9be7761c46 120 {
pHysiX 32:7a9be7761c46 121 switch (input) {
pHysiX 32:7a9be7761c46 122 case '9':
pHysiX 32:7a9be7761c46 123 case '0':
pHysiX 32:7a9be7761c46 124 armed = false;
pHysiX 32:7a9be7761c46 125 box_demo = false;
pHysiX 32:7a9be7761c46 126 rc_out = false;
pHysiX 32:7a9be7761c46 127 gyro_out = false;
pHysiX 32:7a9be7761c46 128 ESC_check = false;
pHysiX 32:7a9be7761c46 129 command_check = false;
pHysiX 32:7a9be7761c46 130 calibration_mode = false;
pHysiX 32:7a9be7761c46 131 adjust_check = false;
pHysiX 21:b642c18eccd1 132
pHysiX 32:7a9be7761c46 133 pitchPIDstable.reset();
pHysiX 32:7a9be7761c46 134 rollPIDstable.reset();
pHysiX 32:7a9be7761c46 135 yawPIDrate.reset();
pHysiX 32:7a9be7761c46 136 pitchPIDrate.reset();
pHysiX 32:7a9be7761c46 137 rollPIDrate.reset();
pHysiX 32:7a9be7761c46 138
pHysiX 32:7a9be7761c46 139 armed? BT.printf("ARMED\n") : BT.printf("DISARMED\n");
pHysiX 32:7a9be7761c46 140 break;
pHysiX 32:7a9be7761c46 141
pHysiX 32:7a9be7761c46 142 case 'D':
pHysiX 32:7a9be7761c46 143 case 'd':
pHysiX 32:7a9be7761c46 144 armed = false;
pHysiX 32:7a9be7761c46 145 box_demo = false;
pHysiX 32:7a9be7761c46 146 rc_out = false;
pHysiX 32:7a9be7761c46 147 gyro_out = false;
pHysiX 32:7a9be7761c46 148 ESC_check = false;
pHysiX 32:7a9be7761c46 149 command_check = false;
pHysiX 32:7a9be7761c46 150 calibration_mode = false;
pHysiX 32:7a9be7761c46 151 adjust_check = false;
pHysiX 21:b642c18eccd1 152
pHysiX 32:7a9be7761c46 153 ypr_offset[0] = ypr[0];
pHysiX 32:7a9be7761c46 154 ypr_offset[1] = ypr[1];
pHysiX 32:7a9be7761c46 155 ypr_offset[2] = ypr[2];
pHysiX 32:7a9be7761c46 156
pHysiX 32:7a9be7761c46 157 pitchPIDstable.reset();
pHysiX 32:7a9be7761c46 158 rollPIDstable.reset();
pHysiX 32:7a9be7761c46 159 yawPIDrate.reset();
pHysiX 32:7a9be7761c46 160 pitchPIDrate.reset();
pHysiX 32:7a9be7761c46 161 rollPIDrate.reset();
pHysiX 21:b642c18eccd1 162
pHysiX 32:7a9be7761c46 163 armed? BT.printf("DISARM FAIL\n") : BT.printf("DISARMED\n");
pHysiX 32:7a9be7761c46 164 break;
pHysiX 32:7a9be7761c46 165
pHysiX 32:7a9be7761c46 166 case 'B':
pHysiX 32:7a9be7761c46 167 box_demo = true;
pHysiX 32:7a9be7761c46 168 rc_out = false;
pHysiX 32:7a9be7761c46 169 gyro_out = false;
pHysiX 32:7a9be7761c46 170 ESC_check = false;
pHysiX 32:7a9be7761c46 171 command_check = false;
pHysiX 32:7a9be7761c46 172 calibration_mode = false;
pHysiX 32:7a9be7761c46 173 adjust_check = false;
pHysiX 32:7a9be7761c46 174 break;
pHysiX 21:b642c18eccd1 175
pHysiX 32:7a9be7761c46 176 case 'Z':
pHysiX 32:7a9be7761c46 177 ypr_offset[0] = ypr[0];
pHysiX 32:7a9be7761c46 178 ypr_offset[1] = ypr[1];
pHysiX 32:7a9be7761c46 179 ypr_offset[2] = ypr[2];
pHysiX 32:7a9be7761c46 180 break;
pHysiX 32:7a9be7761c46 181
pHysiX 32:7a9be7761c46 182 case 'R':
pHysiX 32:7a9be7761c46 183 box_demo = false;
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 = true;
pHysiX 32:7a9be7761c46 188 calibration_mode = false;
pHysiX 32:7a9be7761c46 189 adjust_check = false;
pHysiX 32:7a9be7761c46 190 break;
pHysiX 32:7a9be7761c46 191
pHysiX 32:7a9be7761c46 192 case 'r':
pHysiX 32:7a9be7761c46 193 box_demo = false;
pHysiX 32:7a9be7761c46 194 rc_out = true;
pHysiX 32:7a9be7761c46 195 gyro_out = false;
pHysiX 32:7a9be7761c46 196 ESC_check = false;
pHysiX 32:7a9be7761c46 197 command_check = false;
pHysiX 32:7a9be7761c46 198 calibration_mode = false;
pHysiX 32:7a9be7761c46 199 adjust_check = false;
pHysiX 32:7a9be7761c46 200 break;
pHysiX 20:b193a50a2ba3 201
pHysiX 32:7a9be7761c46 202 case 'G':
pHysiX 32:7a9be7761c46 203 case 'g':
pHysiX 32:7a9be7761c46 204 box_demo = false;
pHysiX 32:7a9be7761c46 205 rc_out = false;
pHysiX 32:7a9be7761c46 206 gyro_out = true;
pHysiX 32:7a9be7761c46 207 ESC_check = false;
pHysiX 32:7a9be7761c46 208 command_check = false;
pHysiX 32:7a9be7761c46 209 calibration_mode = false;
pHysiX 32:7a9be7761c46 210 adjust_check = false;
pHysiX 32:7a9be7761c46 211 break;
pHysiX 32:7a9be7761c46 212
pHysiX 32:7a9be7761c46 213 case '1':
pHysiX 32:7a9be7761c46 214 box_demo = false;
pHysiX 32:7a9be7761c46 215 rc_out = false;
pHysiX 32:7a9be7761c46 216 gyro_out = false;
pHysiX 32:7a9be7761c46 217 ESC_check = false;
pHysiX 32:7a9be7761c46 218 KP_YAW_RATE += 0.1;
pHysiX 32:7a9be7761c46 219 yawPIDrate.setKP(KP_YAW_RATE);
pHysiX 32:7a9be7761c46 220 BT.printf("KP Y rate: %2.5f\n", KP_YAW_RATE);
pHysiX 32:7a9be7761c46 221 break;
pHysiX 32:7a9be7761c46 222 case 'Q':
pHysiX 32:7a9be7761c46 223 case 'q':
pHysiX 32:7a9be7761c46 224 box_demo = false;
pHysiX 32:7a9be7761c46 225 rc_out = false;
pHysiX 32:7a9be7761c46 226 gyro_out = false;
pHysiX 32:7a9be7761c46 227 ESC_check = false;
pHysiX 32:7a9be7761c46 228 KP_YAW_RATE -= 0.1;
pHysiX 32:7a9be7761c46 229 yawPIDrate.setKP(KP_YAW_RATE);
pHysiX 32:7a9be7761c46 230 BT.printf("KP Y rate: %2.5f\n", KP_YAW_RATE);
pHysiX 32:7a9be7761c46 231 break;
pHysiX 21:b642c18eccd1 232
pHysiX 32:7a9be7761c46 233 case '2':
pHysiX 32:7a9be7761c46 234 box_demo = false;
pHysiX 32:7a9be7761c46 235 rc_out = false;
pHysiX 32:7a9be7761c46 236 gyro_out = false;
pHysiX 32:7a9be7761c46 237 ESC_check = false;
pHysiX 32:7a9be7761c46 238 KP_PITCH_RATE += 0.1;
pHysiX 32:7a9be7761c46 239 pitchPIDrate.setKP(KP_PITCH_RATE);
pHysiX 32:7a9be7761c46 240 BT.printf("KP P rate: %2.5f\n", KP_PITCH_RATE);
pHysiX 32:7a9be7761c46 241 break;
pHysiX 32:7a9be7761c46 242 case 'W':
pHysiX 32:7a9be7761c46 243 case 'w':
pHysiX 32:7a9be7761c46 244 box_demo = false;
pHysiX 32:7a9be7761c46 245 rc_out = false;
pHysiX 32:7a9be7761c46 246 gyro_out = false;
pHysiX 32:7a9be7761c46 247 ESC_check = false;
pHysiX 32:7a9be7761c46 248 KP_PITCH_RATE -= 0.1;
pHysiX 32:7a9be7761c46 249 pitchPIDrate.setKP(KP_PITCH_RATE);
pHysiX 32:7a9be7761c46 250 BT.printf("KP P rate: %3.4f\n", KP_PITCH_RATE);
pHysiX 32:7a9be7761c46 251 break;
pHysiX 32:7a9be7761c46 252
pHysiX 32:7a9be7761c46 253 case '3':
pHysiX 32:7a9be7761c46 254 box_demo = false;
pHysiX 32:7a9be7761c46 255 rc_out = false;
pHysiX 32:7a9be7761c46 256 gyro_out = false;
pHysiX 32:7a9be7761c46 257 ESC_check = false;
pHysiX 32:7a9be7761c46 258 KP_ROLL_RATE += 0.1;
pHysiX 32:7a9be7761c46 259 rollPIDrate.setKP(KP_ROLL_RATE);
pHysiX 32:7a9be7761c46 260 BT.printf("KP R rate: %3.4f\n", KP_ROLL_RATE);
pHysiX 32:7a9be7761c46 261 break;
pHysiX 32:7a9be7761c46 262 case 'E':
pHysiX 32:7a9be7761c46 263 case 'e':
pHysiX 32:7a9be7761c46 264 box_demo = false;
pHysiX 32:7a9be7761c46 265 rc_out = false;
pHysiX 32:7a9be7761c46 266 gyro_out = false;
pHysiX 32:7a9be7761c46 267 ESC_check = false;
pHysiX 32:7a9be7761c46 268 KP_ROLL_RATE -= 0.1;
pHysiX 32:7a9be7761c46 269 rollPIDrate.setKP(KP_ROLL_RATE);
pHysiX 32:7a9be7761c46 270 BT.printf("KP R rate: %2.5f\n", KP_ROLL_RATE);
pHysiX 32:7a9be7761c46 271 break;
pHysiX 24:54a8cdf17378 272
pHysiX 32:7a9be7761c46 273 case '6':
pHysiX 32:7a9be7761c46 274 box_demo = false;
pHysiX 32:7a9be7761c46 275 rc_out = false;
pHysiX 32:7a9be7761c46 276 gyro_out = false;
pHysiX 32:7a9be7761c46 277 ESC_check = false;
pHysiX 32:7a9be7761c46 278 KP_PITCH_STABLE += 0.1;
pHysiX 32:7a9be7761c46 279 pitchPIDstable.setKP(KP_PITCH_STABLE);
pHysiX 32:7a9be7761c46 280 BT.printf("KP P stable: %2.5f\n", KP_PITCH_STABLE);
pHysiX 32:7a9be7761c46 281 break;
pHysiX 32:7a9be7761c46 282 case 'Y':
pHysiX 32:7a9be7761c46 283 case 'y':
pHysiX 32:7a9be7761c46 284 box_demo = false;
pHysiX 32:7a9be7761c46 285 rc_out = false;
pHysiX 32:7a9be7761c46 286 gyro_out = false;
pHysiX 32:7a9be7761c46 287 ESC_check = false;
pHysiX 32:7a9be7761c46 288 KP_PITCH_STABLE -= 0.1;
pHysiX 32:7a9be7761c46 289 pitchPIDstable.setKP(KP_PITCH_STABLE);
pHysiX 32:7a9be7761c46 290 BT.printf("KP P stable: %2.5f\n", KP_PITCH_STABLE);
pHysiX 32:7a9be7761c46 291 break;
pHysiX 24:54a8cdf17378 292
pHysiX 32:7a9be7761c46 293 case '7':
pHysiX 32:7a9be7761c46 294 box_demo = false;
pHysiX 32:7a9be7761c46 295 rc_out = false;
pHysiX 32:7a9be7761c46 296 gyro_out = false;
pHysiX 32:7a9be7761c46 297 ESC_check = false;
pHysiX 32:7a9be7761c46 298 KP_ROLL_STABLE += 0.1;
pHysiX 32:7a9be7761c46 299 rollPIDstable.setKP(KP_ROLL_STABLE);
pHysiX 32:7a9be7761c46 300 BT.printf("KP R stable: %2.5f\n", KP_ROLL_STABLE);
pHysiX 32:7a9be7761c46 301 break;
pHysiX 32:7a9be7761c46 302 case 'U':
pHysiX 32:7a9be7761c46 303 case 'u':
pHysiX 32:7a9be7761c46 304 box_demo = false;
pHysiX 32:7a9be7761c46 305 rc_out = false;
pHysiX 32:7a9be7761c46 306 gyro_out = false;
pHysiX 32:7a9be7761c46 307 ESC_check = false;
pHysiX 32:7a9be7761c46 308 KP_ROLL_STABLE -= 0.1;
pHysiX 32:7a9be7761c46 309 rollPIDstable.setKP(KP_ROLL_STABLE);
pHysiX 32:7a9be7761c46 310 BT.printf("KP R stable: %2.5f\n", KP_ROLL_STABLE);
pHysiX 32:7a9be7761c46 311 break;
pHysiX 24:54a8cdf17378 312
pHysiX 32:7a9be7761c46 313 case 'A':
pHysiX 32:7a9be7761c46 314 if (!armed) {
pHysiX 32:7a9be7761c46 315 if (RCCommand[3] < 1001) {
pHysiX 21:b642c18eccd1 316 pitchPIDstable.reset();
pHysiX 21:b642c18eccd1 317 rollPIDstable.reset();
pHysiX 21:b642c18eccd1 318 yawPIDrate.reset();
pHysiX 21:b642c18eccd1 319 pitchPIDrate.reset();
pHysiX 21:b642c18eccd1 320 rollPIDrate.reset();
pHysiX 21:b642c18eccd1 321
pHysiX 21:b642c18eccd1 322 ypr_offset[0] = ypr[0];
pHysiX 21:b642c18eccd1 323 ypr_offset[1] = ypr[1];
pHysiX 21:b642c18eccd1 324 ypr_offset[2] = ypr[2];
pHysiX 21:b642c18eccd1 325
pHysiX 21:b642c18eccd1 326 armed = true;
pHysiX 21:b642c18eccd1 327 } else {
pHysiX 32:7a9be7761c46 328 BT.printf("Check Throttle\n");
pHysiX 21:b642c18eccd1 329 }
pHysiX 32:7a9be7761c46 330 } else {
pHysiX 32:7a9be7761c46 331 BT.printf("ALREADY ARMED!!!\n");
pHysiX 32:7a9be7761c46 332 }
pHysiX 32:7a9be7761c46 333 box_demo = false;
pHysiX 32:7a9be7761c46 334 rc_out = false;
pHysiX 32:7a9be7761c46 335 gyro_out = false;
pHysiX 32:7a9be7761c46 336 ESC_check = false;
pHysiX 32:7a9be7761c46 337 command_check = false;
pHysiX 32:7a9be7761c46 338 calibration_mode = false;
pHysiX 32:7a9be7761c46 339 adjust_check = false;
pHysiX 32:7a9be7761c46 340 armed? BT.printf("ARMED\n"): BT.printf("ARM FAIL\n");
pHysiX 32:7a9be7761c46 341 break;
pHysiX 32:7a9be7761c46 342 case 'a':
pHysiX 32:7a9be7761c46 343 if (armed) {
pHysiX 32:7a9be7761c46 344 armed = false;
pHysiX 32:7a9be7761c46 345 BT.printf("DISARMED\n");
pHysiX 32:7a9be7761c46 346 ypr_offset[0] = ypr[0];
pHysiX 32:7a9be7761c46 347 ypr_offset[1] = ypr[1];
pHysiX 32:7a9be7761c46 348 ypr_offset[2] = ypr[2];
pHysiX 32:7a9be7761c46 349 pitchPIDstable.reset();
pHysiX 32:7a9be7761c46 350 rollPIDstable.reset();
pHysiX 32:7a9be7761c46 351 } else {
pHysiX 32:7a9be7761c46 352 BT.printf("ALREADY DISARMED!!!\n");
pHysiX 32:7a9be7761c46 353 }
pHysiX 32:7a9be7761c46 354 box_demo = false;
pHysiX 32:7a9be7761c46 355 rc_out = false;
pHysiX 32:7a9be7761c46 356 gyro_out = false;
pHysiX 32:7a9be7761c46 357 ESC_check = false;
pHysiX 32:7a9be7761c46 358 command_check = false;
pHysiX 32:7a9be7761c46 359 calibration_mode = false;
pHysiX 32:7a9be7761c46 360 adjust_check = false;
pHysiX 21:b642c18eccd1 361
pHysiX 32:7a9be7761c46 362 yawPIDrate.reset();
pHysiX 32:7a9be7761c46 363 pitchPIDrate.reset();
pHysiX 32:7a9be7761c46 364 rollPIDrate.reset();
pHysiX 21:b642c18eccd1 365
pHysiX 32:7a9be7761c46 366 armed? BT.printf("DISARM FAIL\n") : BT.printf("DISARMED\n");
pHysiX 32:7a9be7761c46 367 break;
pHysiX 21:b642c18eccd1 368
pHysiX 32:7a9be7761c46 369 case 'P':
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 = true;
pHysiX 32:7a9be7761c46 377 break;
pHysiX 21:b642c18eccd1 378
pHysiX 32:7a9be7761c46 379 case 'p':
pHysiX 32:7a9be7761c46 380 box_demo = false;
pHysiX 32:7a9be7761c46 381 rc_out = false;
pHysiX 32:7a9be7761c46 382 gyro_out = false;
pHysiX 32:7a9be7761c46 383 ESC_check = true;
pHysiX 32:7a9be7761c46 384 command_check = false;
pHysiX 32:7a9be7761c46 385 calibration_mode = false;
pHysiX 32:7a9be7761c46 386 adjust_check = false;
pHysiX 32:7a9be7761c46 387 break;
pHysiX 25:a7cfe421cb4a 388
pHysiX 32:7a9be7761c46 389 case 'C':
pHysiX 32:7a9be7761c46 390 case 'c':
pHysiX 32:7a9be7761c46 391 box_demo = false;
pHysiX 32:7a9be7761c46 392 rc_out = true;
pHysiX 32:7a9be7761c46 393 gyro_out = false;
pHysiX 32:7a9be7761c46 394 ESC_check = false;
pHysiX 32:7a9be7761c46 395 calibration_mode = true;
pHysiX 32:7a9be7761c46 396 command_check = false;
pHysiX 32:7a9be7761c46 397 adjust_check = false;
pHysiX 12:953d25061417 398
pHysiX 32:7a9be7761c46 399 BT.printf("Calibration mode...\n");
pHysiX 32:7a9be7761c46 400 armed? BT.printf("ARMED\n") : BT.printf("ARM FAILED\n");
pHysiX 32:7a9be7761c46 401 break;
pHysiX 3:605fbcb54e75 402
pHysiX 32:7a9be7761c46 403 case 'M':
pHysiX 32:7a9be7761c46 404 case 'm':
pHysiX 32:7a9be7761c46 405 switch (mode) {
pHysiX 32:7a9be7761c46 406 case RATE:
pHysiX 32:7a9be7761c46 407 BT.printf("RATE MODE\n");
pHysiX 32:7a9be7761c46 408 break;
pHysiX 32:7a9be7761c46 409 case ATTITUDE:
pHysiX 32:7a9be7761c46 410 default:
pHysiX 32:7a9be7761c46 411 BT.printf("ATTITUDE MODE\n");
pHysiX 32:7a9be7761c46 412 break;
pHysiX 32:7a9be7761c46 413 }
pHysiX 32:7a9be7761c46 414 break;
pHysiX 24:54a8cdf17378 415
pHysiX 25:a7cfe421cb4a 416 default:
pHysiX 25:a7cfe421cb4a 417 break;
pHysiX 25:a7cfe421cb4a 418 }
pHysiX 1:43f8ac7ca6d7 419 }