Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/src/Task3.cpp@45:3847d7bf8b2c, 2014-05-17 (annotated)

Committer:
pHysiX
Date:
Sat May 17 09:12:20 2014 +0000
Revision:
45:3847d7bf8b2c
Parent:
44:4be5c01c6de2
Child:
47:89a7077a70d3
Child:
48:9dbdc4144f00
Retuned Roll PID to counter CM

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 44:4be5c01c6de2 15 volatile int RCCommand[5] = {0, 0, 0, 0, 0};
pHysiX 22:ef8aa9728013 16 /* Decoded input: [YAW PITCH ROLL] */
pHysiX 44:4be5c01c6de2 17 volatile int inputYPR[3];
pHysiX 44:4be5c01c6de2 18 volatile 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 45:3847d7bf8b2c 48 /* Lost signal (throttle): */
pHysiX 45:3847d7bf8b2c 49 if (rxModule[2].stallTimer.read_us() > 18820) {
pHysiX 45:3847d7bf8b2c 50 for (int i = 0; i < 5; i++)
pHysiX 45:3847d7bf8b2c 51 RCCommand[i] = 1000;
pHysiX 45:3847d7bf8b2c 52 } else {
pHysiX 45:3847d7bf8b2c 53 for (int i = 0; i < 5; i++)
pHysiX 45:3847d7bf8b2c 54 RCCommand[i] = constrainRCCommand(RCCommand[i]);
pHysiX 45:3847d7bf8b2c 55 }
pHysiX 45:3847d7bf8b2c 56
pHysiX 32:7a9be7761c46 57 /* Mode switching: */
pHysiX 32:7a9be7761c46 58 if (RCCommand[4] > 1500) {
pHysiX 32:7a9be7761c46 59 if (mode == RATE) {
pHysiX 32:7a9be7761c46 60 } else if (mode == ATTITUDE) {
pHysiX 32:7a9be7761c46 61 mode = RATE;
pHysiX 45:3847d7bf8b2c 62 yawPIDrate.reset();
pHysiX 32:7a9be7761c46 63 //pitchPIDrate.setTunings(KP_PITCH_RATE, TI_PITCH_RATE, 0.0);
pHysiX 32:7a9be7761c46 64 //rollPIDrate.setTunings(KP_ROLL_RATE, TI_ROLL_RATE, 0.0);
pHysiX 32:7a9be7761c46 65 } else {}
pHysiX 32:7a9be7761c46 66 } else {
pHysiX 32:7a9be7761c46 67 if (mode == ATTITUDE) {
pHysiX 32:7a9be7761c46 68 } else if (mode == RATE) {
pHysiX 32:7a9be7761c46 69 mode = ATTITUDE;
pHysiX 45:3847d7bf8b2c 70 yawPIDrate.reset();
pHysiX 32:7a9be7761c46 71 //pitchPIDrate.setTunings(KP_PITCH_RATE, TI_PITCH_RATE, 0.0);
pHysiX 32:7a9be7761c46 72 //rollPIDrate.setTunings(KP_ROLL_RATE, TI_PITCH_RATE, 0.0);
pHysiX 32:7a9be7761c46 73 }
pHysiX 32:7a9be7761c46 74 }
pHysiX 21:b642c18eccd1 75
pHysiX 32:7a9be7761c46 76 /* Command decoder: */
pHysiX 32:7a9be7761c46 77 inputYPR[0] = (RCCommand[0]-1500)*9/100*STICK_GAIN_YAW;
pHysiX 32:7a9be7761c46 78 switch (mode) {
pHysiX 32:7a9be7761c46 79 case RATE:
pHysiX 45:3847d7bf8b2c 80 inputYPR[1] = (RCCommand[1]-1500)*-1*9/100*STICK_GAIN;
pHysiX 45:3847d7bf8b2c 81 inputYPR[2] = (RCCommand[2]-1500)*9/100*STICK_GAIN;
pHysiX 32:7a9be7761c46 82 break;
pHysiX 32:7a9be7761c46 83 case ATTITUDE:
pHysiX 32:7a9be7761c46 84 default:
pHysiX 45:3847d7bf8b2c 85 inputYPR[1] = (RCCommand[1]-1500)*-1*9/100*STICK_GAIN;
pHysiX 45:3847d7bf8b2c 86 inputYPR[2] = (RCCommand[2]-1500)*-1*9/100*STICK_GAIN;
pHysiX 32:7a9be7761c46 87 break;
pHysiX 32:7a9be7761c46 88 }
pHysiX 21:b642c18eccd1 89
pHysiX 45:3847d7bf8b2c 90 for (int i = 0; i < 3; i++)
pHysiX 45:3847d7bf8b2c 91 deadbandInputYPR(inputYPR[i]);
pHysiX 45:3847d7bf8b2c 92
pHysiX 45:3847d7bf8b2c 93 inputYPR[0] = constrainInputY(inputYPR[0]);
pHysiX 38:ef65533cca32 94
pHysiX 45:3847d7bf8b2c 95 for (int i = 1; i < 3; i++)
pHysiX 45:3847d7bf8b2c 96 inputYPR[i] = constrainInputPR(inputYPR[i]);
pHysiX 37:29feef05d848 97
pHysiX 45:3847d7bf8b2c 98
pHysiX 45:3847d7bf8b2c 99 /* Telemetry: */
pHysiX 38:ef65533cca32 100 if (voltageUpdate > 3) {
pHysiX 38:ef65533cca32 101 if (box_demo) {
pHysiX 38:ef65533cca32 102 BT.printf("\nV%2.2f\n", voltageSense*VOLTAGE_SCALE);
pHysiX 38:ef65533cca32 103 }
pHysiX 38:ef65533cca32 104 voltageUpdate = 0;
pHysiX 38:ef65533cca32 105 } else {
pHysiX 38:ef65533cca32 106 voltageUpdate++;
pHysiX 37:29feef05d848 107 }
pHysiX 32:7a9be7761c46 108 //Timer
pHysiX 32:7a9be7761c46 109 }
pHysiX 21:b642c18eccd1 110
pHysiX 34:228d87c45151 111
pHysiX 34:228d87c45151 112
pHysiX 34:228d87c45151 113
pHysiX 34:228d87c45151 114 // ************************
pHysiX 34:228d87c45151 115 // *** Helper functions ***
pHysiX 34:228d87c45151 116 // ************************
pHysiX 32:7a9be7761c46 117 int constrainRCCommand(int input)
pHysiX 32:7a9be7761c46 118 {
pHysiX 32:7a9be7761c46 119 if (input < 1000)
pHysiX 32:7a9be7761c46 120 return 1000;
pHysiX 32:7a9be7761c46 121 else if (input > 2000)
pHysiX 32:7a9be7761c46 122 return 2000;
pHysiX 32:7a9be7761c46 123 else
pHysiX 32:7a9be7761c46 124 return input;
pHysiX 32:7a9be7761c46 125 }
pHysiX 21:b642c18eccd1 126
pHysiX 32:7a9be7761c46 127 int deadbandInputYPR(int input)
pHysiX 32:7a9be7761c46 128 {
pHysiX 45:3847d7bf8b2c 129 if (input > -4 && input < 4) // if (input > -2 && input < 4)
pHysiX 32:7a9be7761c46 130 return 0;
pHysiX 32:7a9be7761c46 131 else
pHysiX 32:7a9be7761c46 132 return input;
pHysiX 32:7a9be7761c46 133 }
pHysiX 32:7a9be7761c46 134
pHysiX 45:3847d7bf8b2c 135 int constrainInputY(int input)
pHysiX 38:ef65533cca32 136 {
pHysiX 45:3847d7bf8b2c 137 if (input < -720)
pHysiX 45:3847d7bf8b2c 138 return -720;
pHysiX 45:3847d7bf8b2c 139 else if (input > 720)
pHysiX 45:3847d7bf8b2c 140 return 720;
pHysiX 45:3847d7bf8b2c 141 else
pHysiX 45:3847d7bf8b2c 142 return input;
pHysiX 45:3847d7bf8b2c 143 }
pHysiX 45:3847d7bf8b2c 144
pHysiX 45:3847d7bf8b2c 145 int constrainInputPR(int input)
pHysiX 45:3847d7bf8b2c 146 {
pHysiX 45:3847d7bf8b2c 147 if (input < -45)
pHysiX 45:3847d7bf8b2c 148 return -45;
pHysiX 45:3847d7bf8b2c 149 else if (input > 45)
pHysiX 45:3847d7bf8b2c 150 return 45;
pHysiX 38:ef65533cca32 151 else
pHysiX 38:ef65533cca32 152 return input;
pHysiX 38:ef65533cca32 153 }
pHysiX 38:ef65533cca32 154
pHysiX 32:7a9be7761c46 155 void uartDecoder(char input)
pHysiX 32:7a9be7761c46 156 {
pHysiX 32:7a9be7761c46 157 switch (input) {
pHysiX 32:7a9be7761c46 158 case '9':
pHysiX 32:7a9be7761c46 159 case '0':
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 39:02782ad251db 169 pitchPIDattitude.reset();
pHysiX 39:02782ad251db 170 rollPIDattitude.reset();
pHysiX 32:7a9be7761c46 171 yawPIDrate.reset();
pHysiX 32:7a9be7761c46 172 pitchPIDrate.reset();
pHysiX 32:7a9be7761c46 173 rollPIDrate.reset();
pHysiX 32:7a9be7761c46 174
pHysiX 32:7a9be7761c46 175 armed? BT.printf("ARMED\n") : BT.printf("DISARMED\n");
pHysiX 32:7a9be7761c46 176 break;
pHysiX 32:7a9be7761c46 177
pHysiX 32:7a9be7761c46 178 case 'D':
pHysiX 32:7a9be7761c46 179 case 'd':
pHysiX 32:7a9be7761c46 180 armed = false;
pHysiX 32:7a9be7761c46 181 box_demo = false;
pHysiX 32:7a9be7761c46 182 rc_out = false;
pHysiX 32:7a9be7761c46 183 gyro_out = false;
pHysiX 32:7a9be7761c46 184 ESC_check = false;
pHysiX 32:7a9be7761c46 185 command_check = false;
pHysiX 32:7a9be7761c46 186 calibration_mode = false;
pHysiX 32:7a9be7761c46 187 adjust_check = false;
pHysiX 21:b642c18eccd1 188
pHysiX 32:7a9be7761c46 189 ypr_offset[0] = ypr[0];
pHysiX 32:7a9be7761c46 190 ypr_offset[1] = ypr[1];
pHysiX 32:7a9be7761c46 191 ypr_offset[2] = ypr[2];
pHysiX 32:7a9be7761c46 192
pHysiX 39:02782ad251db 193 pitchPIDattitude.reset();
pHysiX 39:02782ad251db 194 rollPIDattitude.reset();
pHysiX 32:7a9be7761c46 195 yawPIDrate.reset();
pHysiX 32:7a9be7761c46 196 pitchPIDrate.reset();
pHysiX 32:7a9be7761c46 197 rollPIDrate.reset();
pHysiX 21:b642c18eccd1 198
pHysiX 32:7a9be7761c46 199 armed? BT.printf("DISARM FAIL\n") : BT.printf("DISARMED\n");
pHysiX 32:7a9be7761c46 200 break;
pHysiX 32:7a9be7761c46 201
pHysiX 32:7a9be7761c46 202 case 'B':
pHysiX 32:7a9be7761c46 203 box_demo = true;
pHysiX 32:7a9be7761c46 204 rc_out = false;
pHysiX 32:7a9be7761c46 205 gyro_out = false;
pHysiX 32:7a9be7761c46 206 ESC_check = false;
pHysiX 32:7a9be7761c46 207 command_check = false;
pHysiX 32:7a9be7761c46 208 calibration_mode = false;
pHysiX 32:7a9be7761c46 209 adjust_check = false;
pHysiX 32:7a9be7761c46 210 break;
pHysiX 21:b642c18eccd1 211
pHysiX 32:7a9be7761c46 212 case 'Z':
pHysiX 32:7a9be7761c46 213 ypr_offset[0] = ypr[0];
pHysiX 32:7a9be7761c46 214 ypr_offset[1] = ypr[1];
pHysiX 32:7a9be7761c46 215 ypr_offset[2] = ypr[2];
pHysiX 32:7a9be7761c46 216 break;
pHysiX 32:7a9be7761c46 217
pHysiX 32:7a9be7761c46 218 case 'R':
pHysiX 32:7a9be7761c46 219 box_demo = false;
pHysiX 32:7a9be7761c46 220 rc_out = false;
pHysiX 32:7a9be7761c46 221 gyro_out = false;
pHysiX 32:7a9be7761c46 222 ESC_check = false;
pHysiX 32:7a9be7761c46 223 command_check = true;
pHysiX 32:7a9be7761c46 224 calibration_mode = false;
pHysiX 32:7a9be7761c46 225 adjust_check = false;
pHysiX 32:7a9be7761c46 226 break;
pHysiX 32:7a9be7761c46 227
pHysiX 32:7a9be7761c46 228 case 'r':
pHysiX 32:7a9be7761c46 229 box_demo = false;
pHysiX 32:7a9be7761c46 230 rc_out = true;
pHysiX 32:7a9be7761c46 231 gyro_out = false;
pHysiX 32:7a9be7761c46 232 ESC_check = false;
pHysiX 32:7a9be7761c46 233 command_check = false;
pHysiX 32:7a9be7761c46 234 calibration_mode = false;
pHysiX 32:7a9be7761c46 235 adjust_check = false;
pHysiX 32:7a9be7761c46 236 break;
pHysiX 20:b193a50a2ba3 237
pHysiX 32:7a9be7761c46 238 case 'G':
pHysiX 32:7a9be7761c46 239 case 'g':
pHysiX 32:7a9be7761c46 240 box_demo = false;
pHysiX 32:7a9be7761c46 241 rc_out = false;
pHysiX 32:7a9be7761c46 242 gyro_out = true;
pHysiX 32:7a9be7761c46 243 ESC_check = false;
pHysiX 32:7a9be7761c46 244 command_check = false;
pHysiX 32:7a9be7761c46 245 calibration_mode = false;
pHysiX 32:7a9be7761c46 246 adjust_check = false;
pHysiX 32:7a9be7761c46 247 break;
pHysiX 32:7a9be7761c46 248
pHysiX 32:7a9be7761c46 249 case '1':
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_YAW_RATE += 0.1;
pHysiX 32:7a9be7761c46 255 yawPIDrate.setKP(KP_YAW_RATE);
pHysiX 32:7a9be7761c46 256 BT.printf("KP Y rate: %2.5f\n", KP_YAW_RATE);
pHysiX 32:7a9be7761c46 257 break;
pHysiX 32:7a9be7761c46 258 case 'Q':
pHysiX 32:7a9be7761c46 259 case 'q':
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_YAW_RATE -= 0.1;
pHysiX 32:7a9be7761c46 265 yawPIDrate.setKP(KP_YAW_RATE);
pHysiX 32:7a9be7761c46 266 BT.printf("KP Y rate: %2.5f\n", KP_YAW_RATE);
pHysiX 32:7a9be7761c46 267 break;
pHysiX 21:b642c18eccd1 268
pHysiX 32:7a9be7761c46 269 case '2':
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_PITCH_RATE += 0.1;
pHysiX 32:7a9be7761c46 275 pitchPIDrate.setKP(KP_PITCH_RATE);
pHysiX 32:7a9be7761c46 276 BT.printf("KP P rate: %2.5f\n", KP_PITCH_RATE);
pHysiX 32:7a9be7761c46 277 break;
pHysiX 32:7a9be7761c46 278 case 'W':
pHysiX 32:7a9be7761c46 279 case 'w':
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_PITCH_RATE -= 0.1;
pHysiX 32:7a9be7761c46 285 pitchPIDrate.setKP(KP_PITCH_RATE);
pHysiX 32:7a9be7761c46 286 BT.printf("KP P rate: %3.4f\n", KP_PITCH_RATE);
pHysiX 32:7a9be7761c46 287 break;
pHysiX 32:7a9be7761c46 288
pHysiX 32:7a9be7761c46 289 case '3':
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 32:7a9be7761c46 294 KP_ROLL_RATE += 0.1;
pHysiX 32:7a9be7761c46 295 rollPIDrate.setKP(KP_ROLL_RATE);
pHysiX 32:7a9be7761c46 296 BT.printf("KP R rate: %3.4f\n", KP_ROLL_RATE);
pHysiX 32:7a9be7761c46 297 break;
pHysiX 32:7a9be7761c46 298 case 'E':
pHysiX 32:7a9be7761c46 299 case 'e':
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 32:7a9be7761c46 304 KP_ROLL_RATE -= 0.1;
pHysiX 32:7a9be7761c46 305 rollPIDrate.setKP(KP_ROLL_RATE);
pHysiX 32:7a9be7761c46 306 BT.printf("KP R rate: %2.5f\n", KP_ROLL_RATE);
pHysiX 32:7a9be7761c46 307 break;
pHysiX 24:54a8cdf17378 308
pHysiX 32:7a9be7761c46 309 case '6':
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_PITCH_ATTITUDE += 0.1;
pHysiX 39:02782ad251db 315 pitchPIDattitude.setKP(KP_PITCH_ATTITUDE);
pHysiX 39:02782ad251db 316 BT.printf("KP P attitude: %2.5f\n", KP_PITCH_ATTITUDE);
pHysiX 32:7a9be7761c46 317 break;
pHysiX 32:7a9be7761c46 318 case 'Y':
pHysiX 32:7a9be7761c46 319 case 'y':
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_PITCH_ATTITUDE -= 0.1;
pHysiX 39:02782ad251db 325 pitchPIDattitude.setKP(KP_PITCH_ATTITUDE);
pHysiX 39:02782ad251db 326 BT.printf("KP P attitude: %2.5f\n", KP_PITCH_ATTITUDE);
pHysiX 32:7a9be7761c46 327 break;
pHysiX 24:54a8cdf17378 328
pHysiX 32:7a9be7761c46 329 case '7':
pHysiX 32:7a9be7761c46 330 box_demo = false;
pHysiX 32:7a9be7761c46 331 rc_out = false;
pHysiX 32:7a9be7761c46 332 gyro_out = false;
pHysiX 32:7a9be7761c46 333 ESC_check = false;
pHysiX 39:02782ad251db 334 KP_ROLL_ATTITUDE += 0.1;
pHysiX 39:02782ad251db 335 rollPIDattitude.setKP(KP_ROLL_ATTITUDE);
pHysiX 39:02782ad251db 336 BT.printf("KP R attitude: %2.5f\n", KP_ROLL_ATTITUDE);
pHysiX 32:7a9be7761c46 337 break;
pHysiX 32:7a9be7761c46 338 case 'U':
pHysiX 32:7a9be7761c46 339 case 'u':
pHysiX 32:7a9be7761c46 340 box_demo = false;
pHysiX 32:7a9be7761c46 341 rc_out = false;
pHysiX 32:7a9be7761c46 342 gyro_out = false;
pHysiX 32:7a9be7761c46 343 ESC_check = false;
pHysiX 39:02782ad251db 344 KP_ROLL_ATTITUDE -= 0.1;
pHysiX 39:02782ad251db 345 rollPIDattitude.setKP(KP_ROLL_ATTITUDE);
pHysiX 39:02782ad251db 346 BT.printf("KP R attitude: %2.5f\n", KP_ROLL_ATTITUDE);
pHysiX 32:7a9be7761c46 347 break;
pHysiX 24:54a8cdf17378 348
pHysiX 32:7a9be7761c46 349 case 'A':
pHysiX 32:7a9be7761c46 350 if (!armed) {
pHysiX 32:7a9be7761c46 351 if (RCCommand[3] < 1001) {
pHysiX 39:02782ad251db 352 pitchPIDattitude.reset();
pHysiX 39:02782ad251db 353 rollPIDattitude.reset();
pHysiX 21:b642c18eccd1 354 yawPIDrate.reset();
pHysiX 21:b642c18eccd1 355 pitchPIDrate.reset();
pHysiX 21:b642c18eccd1 356 rollPIDrate.reset();
pHysiX 21:b642c18eccd1 357
pHysiX 21:b642c18eccd1 358 ypr_offset[0] = ypr[0];
pHysiX 21:b642c18eccd1 359 ypr_offset[1] = ypr[1];
pHysiX 21:b642c18eccd1 360 ypr_offset[2] = ypr[2];
pHysiX 21:b642c18eccd1 361
pHysiX 21:b642c18eccd1 362 armed = true;
pHysiX 21:b642c18eccd1 363 } else {
pHysiX 32:7a9be7761c46 364 BT.printf("Check Throttle\n");
pHysiX 21:b642c18eccd1 365 }
pHysiX 32:7a9be7761c46 366 } else {
pHysiX 32:7a9be7761c46 367 BT.printf("ALREADY ARMED!!!\n");
pHysiX 32:7a9be7761c46 368 }
pHysiX 32:7a9be7761c46 369 box_demo = false;
pHysiX 32:7a9be7761c46 370 rc_out = false;
pHysiX 32:7a9be7761c46 371 gyro_out = false;
pHysiX 32:7a9be7761c46 372 ESC_check = false;
pHysiX 32:7a9be7761c46 373 command_check = false;
pHysiX 32:7a9be7761c46 374 calibration_mode = false;
pHysiX 32:7a9be7761c46 375 adjust_check = false;
pHysiX 32:7a9be7761c46 376 armed? BT.printf("ARMED\n"): BT.printf("ARM FAIL\n");
pHysiX 32:7a9be7761c46 377 break;
pHysiX 32:7a9be7761c46 378 case 'a':
pHysiX 32:7a9be7761c46 379 if (armed) {
pHysiX 32:7a9be7761c46 380 armed = false;
pHysiX 32:7a9be7761c46 381 BT.printf("DISARMED\n");
pHysiX 32:7a9be7761c46 382 ypr_offset[0] = ypr[0];
pHysiX 32:7a9be7761c46 383 ypr_offset[1] = ypr[1];
pHysiX 32:7a9be7761c46 384 ypr_offset[2] = ypr[2];
pHysiX 39:02782ad251db 385 pitchPIDattitude.reset();
pHysiX 39:02782ad251db 386 rollPIDattitude.reset();
pHysiX 32:7a9be7761c46 387 } else {
pHysiX 32:7a9be7761c46 388 BT.printf("ALREADY DISARMED!!!\n");
pHysiX 32:7a9be7761c46 389 }
pHysiX 32:7a9be7761c46 390 box_demo = false;
pHysiX 32:7a9be7761c46 391 rc_out = false;
pHysiX 32:7a9be7761c46 392 gyro_out = false;
pHysiX 32:7a9be7761c46 393 ESC_check = false;
pHysiX 32:7a9be7761c46 394 command_check = false;
pHysiX 32:7a9be7761c46 395 calibration_mode = false;
pHysiX 32:7a9be7761c46 396 adjust_check = false;
pHysiX 21:b642c18eccd1 397
pHysiX 32:7a9be7761c46 398 yawPIDrate.reset();
pHysiX 32:7a9be7761c46 399 pitchPIDrate.reset();
pHysiX 32:7a9be7761c46 400 rollPIDrate.reset();
pHysiX 21:b642c18eccd1 401
pHysiX 32:7a9be7761c46 402 armed? BT.printf("DISARM FAIL\n") : BT.printf("DISARMED\n");
pHysiX 32:7a9be7761c46 403 break;
pHysiX 21:b642c18eccd1 404
pHysiX 32:7a9be7761c46 405 case 'P':
pHysiX 32:7a9be7761c46 406 box_demo = false;
pHysiX 32:7a9be7761c46 407 rc_out = false;
pHysiX 32:7a9be7761c46 408 gyro_out = false;
pHysiX 32:7a9be7761c46 409 ESC_check = false;
pHysiX 32:7a9be7761c46 410 command_check = false;
pHysiX 32:7a9be7761c46 411 calibration_mode = false;
pHysiX 32:7a9be7761c46 412 adjust_check = true;
pHysiX 32:7a9be7761c46 413 break;
pHysiX 21:b642c18eccd1 414
pHysiX 32:7a9be7761c46 415 case 'p':
pHysiX 32:7a9be7761c46 416 box_demo = false;
pHysiX 32:7a9be7761c46 417 rc_out = false;
pHysiX 32:7a9be7761c46 418 gyro_out = false;
pHysiX 32:7a9be7761c46 419 ESC_check = true;
pHysiX 32:7a9be7761c46 420 command_check = false;
pHysiX 32:7a9be7761c46 421 calibration_mode = false;
pHysiX 32:7a9be7761c46 422 adjust_check = false;
pHysiX 32:7a9be7761c46 423 break;
pHysiX 25:a7cfe421cb4a 424
pHysiX 32:7a9be7761c46 425 case 'C':
pHysiX 32:7a9be7761c46 426 case 'c':
pHysiX 32:7a9be7761c46 427 box_demo = false;
pHysiX 32:7a9be7761c46 428 rc_out = true;
pHysiX 32:7a9be7761c46 429 gyro_out = false;
pHysiX 32:7a9be7761c46 430 ESC_check = false;
pHysiX 32:7a9be7761c46 431 calibration_mode = true;
pHysiX 32:7a9be7761c46 432 command_check = false;
pHysiX 32:7a9be7761c46 433 adjust_check = false;
pHysiX 12:953d25061417 434
pHysiX 32:7a9be7761c46 435 BT.printf("Calibration mode...\n");
pHysiX 32:7a9be7761c46 436 armed? BT.printf("ARMED\n") : BT.printf("ARM FAILED\n");
pHysiX 32:7a9be7761c46 437 break;
pHysiX 3:605fbcb54e75 438
pHysiX 32:7a9be7761c46 439 case 'M':
pHysiX 32:7a9be7761c46 440 case 'm':
pHysiX 32:7a9be7761c46 441 switch (mode) {
pHysiX 32:7a9be7761c46 442 case RATE:
pHysiX 32:7a9be7761c46 443 BT.printf("RATE MODE\n");
pHysiX 32:7a9be7761c46 444 break;
pHysiX 32:7a9be7761c46 445 case ATTITUDE:
pHysiX 32:7a9be7761c46 446 default:
pHysiX 32:7a9be7761c46 447 BT.printf("ATTITUDE MODE\n");
pHysiX 32:7a9be7761c46 448 break;
pHysiX 32:7a9be7761c46 449 }
pHysiX 32:7a9be7761c46 450 break;
pHysiX 24:54a8cdf17378 451
pHysiX 25:a7cfe421cb4a 452 default:
pHysiX 25:a7cfe421cb4a 453 break;
pHysiX 25:a7cfe421cb4a 454 }
pHysiX 1:43f8ac7ca6d7 455 }