File content as of revision 129:a76be8380bb2:

#include "global.hpp"

// 割り込まれた時点での出力(computeの結果）を返す関数
void calcServoOut()
{
    // sbusデータの読み込み
    for (int i =0 ; i < 16;i ++){
        rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
    }

    
    //姿勢角の所得
    Matrix euler = eskf.computeAngles();
    rpy.x = euler(1,1);
    rpy.y = euler(2,1);
    rpy.z = euler(3,1);

    //PIDへの状態量のセット
    pitchPID.setProcessValue(rpy.y);
    pitchratePID.setProcessValue(gyro.y);
    rollPID.setProcessValue(rpy.x);
    rollratePID.setProcessValue(gyro.x);
    
    dT = rc[2];
    
    if (rc[4]>-0.3f && rc[6] < -0.3f)
    {
        //level_flight();
        //point_guide();
        turning();
        rollPID.setSetPoint(roll_obj);
        pitchPID.setSetPoint(pitch_obj);
        dT += dT_obj;
    }else{
        rollPID.setSetPoint(0.0f);
        pitchPID.setSetPoint(0.0f);
    }
    
    //舵角計算
    if(rc[4]<-0.3f){
        de = (rc[0]-rc[1])/2.0f;
        da = (rc[0]+rc[1])/2.0f;
    }else{
        de = (pitchPID.compute()+pitchratePID.compute())+(rc[0]-rc[1])/2.0f;
        da = (rollPID.compute()+rollratePID.compute())+(rc[0]+rc[1])/2.0f;
    }
    
    scaledServoOut[0]=de+da;
    scaledServoOut[1]=-de+da;
    scaledMotorOut[0]= dT;
    
    float LP_servo = 0.2;
    float LP_motor = 0.2;
    for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++)
    {
        servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
        if(servoOut[i]<servoPwmMin)
        {
            servoOut[i] = servoPwmMin;
        }
        if(servoOut[i]>servoPwmMax)
        {
            servoOut[i] = servoPwmMax;
        }
    }
    
    for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){
        motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i];
        if(motorOut[i]<motorPwmMin) {
            motorOut[i] = motorPwmMin;
        };
        if(motorOut[i]>motorPwmMax) {
            motorOut[i] = motorPwmMax;
        };
    }
    servoRight.pulsewidth_us(servoOut[0]);
    servoLeft.pulsewidth_us(servoOut[1]); 
    servoThrust.pulsewidth_us(motorOut[0]);

    sendData2PC();

    if(loop_count >= 5)
    {
        writeSDcard();
        sendTelemetry();
        loop_count = 1;

    }
    else
    {
        loop_count +=1;
    }
}