Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/src/Task3.cpp@32:7a9be7761c46, 2014-05-12 (annotated)

Committer:
pHysiX
Date:
Mon May 12 13:20:06 2014 +0000
Revision:
32:7a9be7761c46
Parent:
31:3dde2201e54d
Child:
33:f88a6ee18103
Increased PID and ESC update frequency.; ; Thread1: Only services ypr telemetry output; Thread2: Cascaded PI-PI control; Thread3: Changed UART control; Thread4: Changed calibration output and throttle, removed ESCpower output

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 22:ef8aa9728013 4 * Purpose: Thread3: RC & BT Command, and Telemetry
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 bool box_demo = false;
pHysiX 5:4879ef0e6d41 18 bool rc_out = false;
pHysiX 5:4879ef0e6d41 19 bool gyro_out = false;
pHysiX 21:b642c18eccd1 20 bool command_check = false;
pHysiX 21:b642c18eccd1 21 bool adjust_check = false;
pHysiX 3:605fbcb54e75 22
pHysiX 3:605fbcb54e75 23 /* [YAW PITCH ROLL THROTTLE AUX] */
pHysiX 3:605fbcb54e75 24 int RCCommand[5] = {0, 0, 0, 0, 0};
pHysiX 22:ef8aa9728013 25 /* Decoded input: [YAW PITCH ROLL] */
pHysiX 21:b642c18eccd1 26 int inputYPR[3];
pHysiX 30:d9b988f8d84f 27 float ypr_offset[3];
pHysiX 30:d9b988f8d84f 28
pHysiX 30:d9b988f8d84f 29 float vIn = 0.0;
pHysiX 1:43f8ac7ca6d7 30
pHysiX 27:18b6580eb0b1 31 FLIGHT_MODE mode = ATTITUDE;
pHysiX 24:54a8cdf17378 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 32:7a9be7761c46 79 /* Lost signal (throttle: */
pHysiX 32:7a9be7761c46 80 if (rxModule[2].stallTimer.read_us() > 18820) {
pHysiX 32:7a9be7761c46 81 //armed = false;
pHysiX 32:7a9be7761c46 82 for (int i = 0; i < 5; i++)
pHysiX 32:7a9be7761c46 83 RCCommand[i] = 1000;
pHysiX 32:7a9be7761c46 84 } else {
pHysiX 32:7a9be7761c46 85 for (int i = 0; i < 5; i++)
pHysiX 32:7a9be7761c46 86 RCCommand[i] = constrainRCCommand(RCCommand[i]);
pHysiX 32:7a9be7761c46 87 }
pHysiX 21:b642c18eccd1 88
pHysiX 32:7a9be7761c46 89 if (box_demo) {
pHysiX 32:7a9be7761c46 90 BT.printf("\nV%2.2f\n", voltageSense*VOLTAGE_SCALE);
pHysiX 32:7a9be7761c46 91 BT.printf("\nA%3.2f\nT%2.2f\n", altimeter.Altitude_m(), altimeter.Temp_C());
pHysiX 32:7a9be7761c46 92 } else if (rc_out)
pHysiX 32:7a9be7761c46 93 BT.printf("%5d %5d %5d %5d %5d\n", RCCommand[0], RCCommand[1], RCCommand[2], RCCommand[3], RCCommand[4]);
pHysiX 32:7a9be7761c46 94 else if (command_check)
pHysiX 32:7a9be7761c46 95 BT.printf("%3d %3d %3d\n", inputYPR[0], inputYPR[1], inputYPR[2]);
pHysiX 32:7a9be7761c46 96 else {}
pHysiX 32:7a9be7761c46 97 //Timer
pHysiX 32:7a9be7761c46 98 }
pHysiX 21:b642c18eccd1 99
pHysiX 32:7a9be7761c46 100 int constrainRCCommand(int input)
pHysiX 32:7a9be7761c46 101 {
pHysiX 32:7a9be7761c46 102 if (input < 1000)
pHysiX 32:7a9be7761c46 103 return 1000;
pHysiX 32:7a9be7761c46 104 else if (input > 2000)
pHysiX 32:7a9be7761c46 105 return 2000;
pHysiX 32:7a9be7761c46 106 else
pHysiX 32:7a9be7761c46 107 return input;
pHysiX 32:7a9be7761c46 108 }
pHysiX 21:b642c18eccd1 109
pHysiX 32:7a9be7761c46 110 int deadbandInputYPR(int input)
pHysiX 32:7a9be7761c46 111 {
pHysiX 32:7a9be7761c46 112 if (input > -2 && input < 4)
pHysiX 32:7a9be7761c46 113 return 0;
pHysiX 32:7a9be7761c46 114 else
pHysiX 32:7a9be7761c46 115 return input;
pHysiX 32:7a9be7761c46 116 }
pHysiX 32:7a9be7761c46 117
pHysiX 32:7a9be7761c46 118 void uartDecoder(char input)
pHysiX 32:7a9be7761c46 119 {
pHysiX 32:7a9be7761c46 120 switch (input) {
pHysiX 32:7a9be7761c46 121 case '9':
pHysiX 32:7a9be7761c46 122 case '0':
pHysiX 32:7a9be7761c46 123 armed = false;
pHysiX 32:7a9be7761c46 124 box_demo = false;
pHysiX 32:7a9be7761c46 125 rc_out = false;
pHysiX 32:7a9be7761c46 126 gyro_out = false;
pHysiX 32:7a9be7761c46 127 ESC_check = false;
pHysiX 32:7a9be7761c46 128 command_check = false;
pHysiX 32:7a9be7761c46 129 calibration_mode = false;
pHysiX 32:7a9be7761c46 130 adjust_check = false;
pHysiX 21:b642c18eccd1 131
pHysiX 32:7a9be7761c46 132 pitchPIDstable.reset();
pHysiX 32:7a9be7761c46 133 rollPIDstable.reset();
pHysiX 32:7a9be7761c46 134 yawPIDrate.reset();
pHysiX 32:7a9be7761c46 135 pitchPIDrate.reset();
pHysiX 32:7a9be7761c46 136 rollPIDrate.reset();
pHysiX 32:7a9be7761c46 137
pHysiX 32:7a9be7761c46 138 armed? BT.printf("ARMED\n") : BT.printf("DISARMED\n");
pHysiX 32:7a9be7761c46 139 break;
pHysiX 32:7a9be7761c46 140
pHysiX 32:7a9be7761c46 141 case 'D':
pHysiX 32:7a9be7761c46 142 case 'd':
pHysiX 32:7a9be7761c46 143 armed = false;
pHysiX 32:7a9be7761c46 144 box_demo = false;
pHysiX 32:7a9be7761c46 145 rc_out = false;
pHysiX 32:7a9be7761c46 146 gyro_out = false;
pHysiX 32:7a9be7761c46 147 ESC_check = false;
pHysiX 32:7a9be7761c46 148 command_check = false;
pHysiX 32:7a9be7761c46 149 calibration_mode = false;
pHysiX 32:7a9be7761c46 150 adjust_check = false;
pHysiX 21:b642c18eccd1 151
pHysiX 32:7a9be7761c46 152 ypr_offset[0] = ypr[0];
pHysiX 32:7a9be7761c46 153 ypr_offset[1] = ypr[1];
pHysiX 32:7a9be7761c46 154 ypr_offset[2] = ypr[2];
pHysiX 32:7a9be7761c46 155
pHysiX 32:7a9be7761c46 156 pitchPIDstable.reset();
pHysiX 32:7a9be7761c46 157 rollPIDstable.reset();
pHysiX 32:7a9be7761c46 158 yawPIDrate.reset();
pHysiX 32:7a9be7761c46 159 pitchPIDrate.reset();
pHysiX 32:7a9be7761c46 160 rollPIDrate.reset();
pHysiX 21:b642c18eccd1 161
pHysiX 32:7a9be7761c46 162 armed? BT.printf("DISARM FAIL\n") : BT.printf("DISARMED\n");
pHysiX 32:7a9be7761c46 163 break;
pHysiX 32:7a9be7761c46 164
pHysiX 32:7a9be7761c46 165 case 'B':
pHysiX 32:7a9be7761c46 166 box_demo = true;
pHysiX 32:7a9be7761c46 167 rc_out = false;
pHysiX 32:7a9be7761c46 168 gyro_out = false;
pHysiX 32:7a9be7761c46 169 ESC_check = false;
pHysiX 32:7a9be7761c46 170 command_check = false;
pHysiX 32:7a9be7761c46 171 calibration_mode = false;
pHysiX 32:7a9be7761c46 172 adjust_check = false;
pHysiX 32:7a9be7761c46 173 break;
pHysiX 21:b642c18eccd1 174
pHysiX 32:7a9be7761c46 175 case 'Z':
pHysiX 32:7a9be7761c46 176 ypr_offset[0] = ypr[0];
pHysiX 32:7a9be7761c46 177 ypr_offset[1] = ypr[1];
pHysiX 32:7a9be7761c46 178 ypr_offset[2] = ypr[2];
pHysiX 32:7a9be7761c46 179 break;
pHysiX 32:7a9be7761c46 180
pHysiX 32:7a9be7761c46 181 case 'R':
pHysiX 32:7a9be7761c46 182 box_demo = false;
pHysiX 32:7a9be7761c46 183 rc_out = false;
pHysiX 32:7a9be7761c46 184 gyro_out = false;
pHysiX 32:7a9be7761c46 185 ESC_check = false;
pHysiX 32:7a9be7761c46 186 command_check = true;
pHysiX 32:7a9be7761c46 187 calibration_mode = false;
pHysiX 32:7a9be7761c46 188 adjust_check = false;
pHysiX 32:7a9be7761c46 189 break;
pHysiX 32:7a9be7761c46 190
pHysiX 32:7a9be7761c46 191 case 'r':
pHysiX 32:7a9be7761c46 192 box_demo = false;
pHysiX 32:7a9be7761c46 193 rc_out = true;
pHysiX 32:7a9be7761c46 194 gyro_out = false;
pHysiX 32:7a9be7761c46 195 ESC_check = false;
pHysiX 32:7a9be7761c46 196 command_check = false;
pHysiX 32:7a9be7761c46 197 calibration_mode = false;
pHysiX 32:7a9be7761c46 198 adjust_check = false;
pHysiX 32:7a9be7761c46 199 break;
pHysiX 20:b193a50a2ba3 200
pHysiX 32:7a9be7761c46 201 case 'G':
pHysiX 32:7a9be7761c46 202 case 'g':
pHysiX 32:7a9be7761c46 203 box_demo = false;
pHysiX 32:7a9be7761c46 204 rc_out = false;
pHysiX 32:7a9be7761c46 205 gyro_out = true;
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 32:7a9be7761c46 211
pHysiX 32:7a9be7761c46 212 case '1':
pHysiX 32:7a9be7761c46 213 box_demo = false;
pHysiX 32:7a9be7761c46 214 rc_out = false;
pHysiX 32:7a9be7761c46 215 gyro_out = false;
pHysiX 32:7a9be7761c46 216 ESC_check = false;
pHysiX 32:7a9be7761c46 217 KP_YAW_RATE += 0.1;
pHysiX 32:7a9be7761c46 218 yawPIDrate.setKP(KP_YAW_RATE);
pHysiX 32:7a9be7761c46 219 BT.printf("KP Y rate: %2.5f\n", KP_YAW_RATE);
pHysiX 32:7a9be7761c46 220 break;
pHysiX 32:7a9be7761c46 221 case 'Q':
pHysiX 32:7a9be7761c46 222 case 'q':
pHysiX 32:7a9be7761c46 223 box_demo = false;
pHysiX 32:7a9be7761c46 224 rc_out = false;
pHysiX 32:7a9be7761c46 225 gyro_out = false;
pHysiX 32:7a9be7761c46 226 ESC_check = false;
pHysiX 32:7a9be7761c46 227 KP_YAW_RATE -= 0.1;
pHysiX 32:7a9be7761c46 228 yawPIDrate.setKP(KP_YAW_RATE);
pHysiX 32:7a9be7761c46 229 BT.printf("KP Y rate: %2.5f\n", KP_YAW_RATE);
pHysiX 32:7a9be7761c46 230 break;
pHysiX 21:b642c18eccd1 231
pHysiX 32:7a9be7761c46 232 case '2':
pHysiX 32:7a9be7761c46 233 box_demo = false;
pHysiX 32:7a9be7761c46 234 rc_out = false;
pHysiX 32:7a9be7761c46 235 gyro_out = false;
pHysiX 32:7a9be7761c46 236 ESC_check = false;
pHysiX 32:7a9be7761c46 237 KP_PITCH_RATE += 0.1;
pHysiX 32:7a9be7761c46 238 pitchPIDrate.setKP(KP_PITCH_RATE);
pHysiX 32:7a9be7761c46 239 BT.printf("KP P rate: %2.5f\n", KP_PITCH_RATE);
pHysiX 32:7a9be7761c46 240 break;
pHysiX 32:7a9be7761c46 241 case 'W':
pHysiX 32:7a9be7761c46 242 case 'w':
pHysiX 32:7a9be7761c46 243 box_demo = false;
pHysiX 32:7a9be7761c46 244 rc_out = false;
pHysiX 32:7a9be7761c46 245 gyro_out = false;
pHysiX 32:7a9be7761c46 246 ESC_check = false;
pHysiX 32:7a9be7761c46 247 KP_PITCH_RATE -= 0.1;
pHysiX 32:7a9be7761c46 248 pitchPIDrate.setKP(KP_PITCH_RATE);
pHysiX 32:7a9be7761c46 249 BT.printf("KP P rate: %3.4f\n", KP_PITCH_RATE);
pHysiX 32:7a9be7761c46 250 break;
pHysiX 32:7a9be7761c46 251
pHysiX 32:7a9be7761c46 252 case '3':
pHysiX 32:7a9be7761c46 253 box_demo = false;
pHysiX 32:7a9be7761c46 254 rc_out = false;
pHysiX 32:7a9be7761c46 255 gyro_out = false;
pHysiX 32:7a9be7761c46 256 ESC_check = false;
pHysiX 32:7a9be7761c46 257 KP_ROLL_RATE += 0.1;
pHysiX 32:7a9be7761c46 258 rollPIDrate.setKP(KP_ROLL_RATE);
pHysiX 32:7a9be7761c46 259 BT.printf("KP R rate: %3.4f\n", KP_ROLL_RATE);
pHysiX 32:7a9be7761c46 260 break;
pHysiX 32:7a9be7761c46 261 case 'E':
pHysiX 32:7a9be7761c46 262 case 'e':
pHysiX 32:7a9be7761c46 263 box_demo = false;
pHysiX 32:7a9be7761c46 264 rc_out = false;
pHysiX 32:7a9be7761c46 265 gyro_out = false;
pHysiX 32:7a9be7761c46 266 ESC_check = false;
pHysiX 32:7a9be7761c46 267 KP_ROLL_RATE -= 0.1;
pHysiX 32:7a9be7761c46 268 rollPIDrate.setKP(KP_ROLL_RATE);
pHysiX 32:7a9be7761c46 269 BT.printf("KP R rate: %2.5f\n", KP_ROLL_RATE);
pHysiX 32:7a9be7761c46 270 break;
pHysiX 24:54a8cdf17378 271
pHysiX 32:7a9be7761c46 272 case '6':
pHysiX 32:7a9be7761c46 273 box_demo = false;
pHysiX 32:7a9be7761c46 274 rc_out = false;
pHysiX 32:7a9be7761c46 275 gyro_out = false;
pHysiX 32:7a9be7761c46 276 ESC_check = false;
pHysiX 32:7a9be7761c46 277 KP_PITCH_STABLE += 0.1;
pHysiX 32:7a9be7761c46 278 pitchPIDstable.setKP(KP_PITCH_STABLE);
pHysiX 32:7a9be7761c46 279 BT.printf("KP P stable: %2.5f\n", KP_PITCH_STABLE);
pHysiX 32:7a9be7761c46 280 break;
pHysiX 32:7a9be7761c46 281 case 'Y':
pHysiX 32:7a9be7761c46 282 case 'y':
pHysiX 32:7a9be7761c46 283 box_demo = false;
pHysiX 32:7a9be7761c46 284 rc_out = false;
pHysiX 32:7a9be7761c46 285 gyro_out = false;
pHysiX 32:7a9be7761c46 286 ESC_check = false;
pHysiX 32:7a9be7761c46 287 KP_PITCH_STABLE -= 0.1;
pHysiX 32:7a9be7761c46 288 pitchPIDstable.setKP(KP_PITCH_STABLE);
pHysiX 32:7a9be7761c46 289 BT.printf("KP P stable: %2.5f\n", KP_PITCH_STABLE);
pHysiX 32:7a9be7761c46 290 break;
pHysiX 24:54a8cdf17378 291
pHysiX 32:7a9be7761c46 292 case '7':
pHysiX 32:7a9be7761c46 293 box_demo = false;
pHysiX 32:7a9be7761c46 294 rc_out = false;
pHysiX 32:7a9be7761c46 295 gyro_out = false;
pHysiX 32:7a9be7761c46 296 ESC_check = false;
pHysiX 32:7a9be7761c46 297 KP_ROLL_STABLE += 0.1;
pHysiX 32:7a9be7761c46 298 rollPIDstable.setKP(KP_ROLL_STABLE);
pHysiX 32:7a9be7761c46 299 BT.printf("KP R stable: %2.5f\n", KP_ROLL_STABLE);
pHysiX 32:7a9be7761c46 300 break;
pHysiX 32:7a9be7761c46 301 case 'U':
pHysiX 32:7a9be7761c46 302 case 'u':
pHysiX 32:7a9be7761c46 303 box_demo = false;
pHysiX 32:7a9be7761c46 304 rc_out = false;
pHysiX 32:7a9be7761c46 305 gyro_out = false;
pHysiX 32:7a9be7761c46 306 ESC_check = false;
pHysiX 32:7a9be7761c46 307 KP_ROLL_STABLE -= 0.1;
pHysiX 32:7a9be7761c46 308 rollPIDstable.setKP(KP_ROLL_STABLE);
pHysiX 32:7a9be7761c46 309 BT.printf("KP R stable: %2.5f\n", KP_ROLL_STABLE);
pHysiX 32:7a9be7761c46 310 break;
pHysiX 24:54a8cdf17378 311
pHysiX 32:7a9be7761c46 312 case 'A':
pHysiX 32:7a9be7761c46 313 if (!armed) {
pHysiX 32:7a9be7761c46 314 if (RCCommand[3] < 1001) {
pHysiX 21:b642c18eccd1 315 pitchPIDstable.reset();
pHysiX 21:b642c18eccd1 316 rollPIDstable.reset();
pHysiX 21:b642c18eccd1 317 yawPIDrate.reset();
pHysiX 21:b642c18eccd1 318 pitchPIDrate.reset();
pHysiX 21:b642c18eccd1 319 rollPIDrate.reset();
pHysiX 21:b642c18eccd1 320
pHysiX 21:b642c18eccd1 321 ypr_offset[0] = ypr[0];
pHysiX 21:b642c18eccd1 322 ypr_offset[1] = ypr[1];
pHysiX 21:b642c18eccd1 323 ypr_offset[2] = ypr[2];
pHysiX 21:b642c18eccd1 324
pHysiX 21:b642c18eccd1 325 armed = true;
pHysiX 21:b642c18eccd1 326 } else {
pHysiX 32:7a9be7761c46 327 BT.printf("Check Throttle\n");
pHysiX 21:b642c18eccd1 328 }
pHysiX 32:7a9be7761c46 329 } else {
pHysiX 32:7a9be7761c46 330 BT.printf("ALREADY ARMED!!!\n");
pHysiX 32:7a9be7761c46 331 }
pHysiX 32:7a9be7761c46 332 box_demo = false;
pHysiX 32:7a9be7761c46 333 rc_out = false;
pHysiX 32:7a9be7761c46 334 gyro_out = false;
pHysiX 32:7a9be7761c46 335 ESC_check = false;
pHysiX 32:7a9be7761c46 336 command_check = false;
pHysiX 32:7a9be7761c46 337 calibration_mode = false;
pHysiX 32:7a9be7761c46 338 adjust_check = false;
pHysiX 32:7a9be7761c46 339 armed? BT.printf("ARMED\n"): BT.printf("ARM FAIL\n");
pHysiX 32:7a9be7761c46 340 break;
pHysiX 32:7a9be7761c46 341 case 'a':
pHysiX 32:7a9be7761c46 342 if (armed) {
pHysiX 32:7a9be7761c46 343 armed = false;
pHysiX 32:7a9be7761c46 344 BT.printf("DISARMED\n");
pHysiX 32:7a9be7761c46 345 ypr_offset[0] = ypr[0];
pHysiX 32:7a9be7761c46 346 ypr_offset[1] = ypr[1];
pHysiX 32:7a9be7761c46 347 ypr_offset[2] = ypr[2];
pHysiX 32:7a9be7761c46 348 pitchPIDstable.reset();
pHysiX 32:7a9be7761c46 349 rollPIDstable.reset();
pHysiX 32:7a9be7761c46 350 } else {
pHysiX 32:7a9be7761c46 351 BT.printf("ALREADY DISARMED!!!\n");
pHysiX 32:7a9be7761c46 352 }
pHysiX 32:7a9be7761c46 353 box_demo = false;
pHysiX 32:7a9be7761c46 354 rc_out = false;
pHysiX 32:7a9be7761c46 355 gyro_out = false;
pHysiX 32:7a9be7761c46 356 ESC_check = false;
pHysiX 32:7a9be7761c46 357 command_check = false;
pHysiX 32:7a9be7761c46 358 calibration_mode = false;
pHysiX 32:7a9be7761c46 359 adjust_check = false;
pHysiX 21:b642c18eccd1 360
pHysiX 32:7a9be7761c46 361 yawPIDrate.reset();
pHysiX 32:7a9be7761c46 362 pitchPIDrate.reset();
pHysiX 32:7a9be7761c46 363 rollPIDrate.reset();
pHysiX 21:b642c18eccd1 364
pHysiX 32:7a9be7761c46 365 armed? BT.printf("DISARM FAIL\n") : BT.printf("DISARMED\n");
pHysiX 32:7a9be7761c46 366 break;
pHysiX 21:b642c18eccd1 367
pHysiX 32:7a9be7761c46 368 case 'P':
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 = true;
pHysiX 32:7a9be7761c46 376 break;
pHysiX 21:b642c18eccd1 377
pHysiX 32:7a9be7761c46 378 case 'p':
pHysiX 32:7a9be7761c46 379 box_demo = false;
pHysiX 32:7a9be7761c46 380 rc_out = false;
pHysiX 32:7a9be7761c46 381 gyro_out = false;
pHysiX 32:7a9be7761c46 382 ESC_check = true;
pHysiX 32:7a9be7761c46 383 command_check = false;
pHysiX 32:7a9be7761c46 384 calibration_mode = false;
pHysiX 32:7a9be7761c46 385 adjust_check = false;
pHysiX 32:7a9be7761c46 386 break;
pHysiX 25:a7cfe421cb4a 387
pHysiX 32:7a9be7761c46 388 case 'C':
pHysiX 32:7a9be7761c46 389 case 'c':
pHysiX 32:7a9be7761c46 390 box_demo = false;
pHysiX 32:7a9be7761c46 391 rc_out = true;
pHysiX 32:7a9be7761c46 392 gyro_out = false;
pHysiX 32:7a9be7761c46 393 ESC_check = false;
pHysiX 32:7a9be7761c46 394 calibration_mode = true;
pHysiX 32:7a9be7761c46 395 command_check = false;
pHysiX 32:7a9be7761c46 396 adjust_check = false;
pHysiX 12:953d25061417 397
pHysiX 32:7a9be7761c46 398 BT.printf("Calibration mode...\n");
pHysiX 32:7a9be7761c46 399 armed? BT.printf("ARMED\n") : BT.printf("ARM FAILED\n");
pHysiX 32:7a9be7761c46 400 break;
pHysiX 3:605fbcb54e75 401
pHysiX 32:7a9be7761c46 402 case 'M':
pHysiX 32:7a9be7761c46 403 case 'm':
pHysiX 32:7a9be7761c46 404 switch (mode) {
pHysiX 32:7a9be7761c46 405 case RATE:
pHysiX 32:7a9be7761c46 406 BT.printf("RATE MODE\n");
pHysiX 32:7a9be7761c46 407 break;
pHysiX 32:7a9be7761c46 408 case ATTITUDE:
pHysiX 32:7a9be7761c46 409 default:
pHysiX 32:7a9be7761c46 410 BT.printf("ATTITUDE MODE\n");
pHysiX 32:7a9be7761c46 411 break;
pHysiX 32:7a9be7761c46 412 }
pHysiX 32:7a9be7761c46 413 break;
pHysiX 24:54a8cdf17378 414
pHysiX 25:a7cfe421cb4a 415 default:
pHysiX 25:a7cfe421cb4a 416 break;
pHysiX 25:a7cfe421cb4a 417 }
pHysiX 1:43f8ac7ca6d7 418 }