From 6b9a5716bdcb4a2e5a96e37217a4b0dca4334bd6 Mon Sep 17 00:00:00 2001 From: Mathis et Yohan Date: Wed, 16 Feb 2022 12:37:37 +0100 Subject: [PATCH] Updating schematics and keeping old software version --- .../{ => Pre_version}/R2Home_PCB_Sch_V2.pdf | 0 .../R2Home's_PCB/R2Home_PCB_Sch_V3.pdf | 9456 +++++++++++++++++ .../R2Home_OBC_V1.01/R2Home_OBC_V1.01.ino | 1550 +++ .../R2Home_OBC_V1.02/R2Home_OBC_V1.02.ino | 1 + 4 files changed, 11007 insertions(+) rename RLS_V1.0/R2Home_HARDWARE_V0.1/R2Home's_PCB/{ => Pre_version}/R2Home_PCB_Sch_V2.pdf (100%) create mode 100644 RLS_V1.0/R2Home_HARDWARE_V0.1/R2Home's_PCB/R2Home_PCB_Sch_V3.pdf create mode 100644 RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.01/R2Home_OBC_V1.01.ino diff --git a/RLS_V1.0/R2Home_HARDWARE_V0.1/R2Home's_PCB/R2Home_PCB_Sch_V2.pdf b/RLS_V1.0/R2Home_HARDWARE_V0.1/R2Home's_PCB/Pre_version/R2Home_PCB_Sch_V2.pdf similarity index 100% rename from RLS_V1.0/R2Home_HARDWARE_V0.1/R2Home's_PCB/R2Home_PCB_Sch_V2.pdf rename to 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806.000 m +740.000 806.000 l +S +1 J +1 j +1.00 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +745.000 816.000 m +745.000 821.000 l +730.000 821.000 l +S +BT +/F1 9 Tf +9.00 TL +0.000 0.000 1.000 rg +0.00 1.00 -1.00 0.00 718.55 786.59 Tm +(TX3) Tj +ET +1 J +1 j +0.10 w +0.00 G +[] 0 d +710.000 807.000 m +710.000 805.000 l +709.000 806.000 m +711.000 806.000 l +S +1 J +1 j +1.00 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +710.000 806.000 m +710.000 821.000 l +S +BT +/F1 9 Tf +9.00 TL +0.000 0.000 1.000 rg +0.00 1.00 -1.00 0.00 728.53 785.88 Tm +(RX3) Tj +ET +1 J +1 j +0.10 w +0.00 G +[] 0 d +720.000 807.000 m +720.000 805.000 l +719.000 806.000 m +721.000 806.000 l +S +1 J +1 j +1.00 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +720.000 806.000 m +720.000 821.000 l +S +10.00 w +BT +/F2 9 Tf +9.00 TL +0.000 0.000 0.502 rg +794.86 672.80 Td +(TEENSY4.1) Tj +ET +1 J +1 j +1.00 w +0.52 0.00 0.00 RG +0.00 g +[] 0 d +790.000 406.000 m +790.000 686.000 l +S +1 J +1 j +1.00 w +0.52 0.00 0.00 RG +0.00 g +[] 0 d 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0.000 0.000 rg +794.00 483.00 Td +(15/A1/PWM/RX3/SPDIFIN) Tj +ET +BT +/F3 6 Tf +6.00 TL +0.518 0.000 0.000 rg +772.00 486.10 Td +(15) Tj +ET +1 J +1 j +1.00 w +0.52 0.00 0.00 RG +[] 0 d +770.000 486.000 m +790.000 486.000 l +S +BT +/F3 6 Tf +6.00 TL +0.518 0.000 0.000 rg +794.00 473.00 Td +(16/A2/RX4/SCL1) Tj +ET +BT +/F3 6 Tf +6.00 TL +0.518 0.000 0.000 rg +772.00 476.10 Td +(16) Tj +ET +1 J +1 j +1.00 w +0.52 0.00 0.00 RG +[] 0 d +770.000 476.000 m +790.000 476.000 l +S +BT +/F3 6 Tf +6.00 TL +0.518 0.000 0.000 rg +794.00 463.00 Td +(17/A3/TX4/SDA1) Tj +ET +BT +/F3 6 Tf +6.00 TL +0.518 0.000 0.000 rg +772.00 466.10 Td +(17) Tj +ET +1 J +1 j +1.00 w +0.52 0.00 0.00 RG +[] 0 d +770.000 466.000 m +790.000 466.000 l +S +BT +/F3 6 Tf +6.00 TL +0.518 0.000 0.000 rg +794.00 453.00 Td +(18/A4/PWM/SDA) Tj +ET +BT +/F3 6 Tf +6.00 TL +0.518 0.000 0.000 rg +772.00 456.10 Td +(18) Tj +ET +1 J +1 j +1.00 w +0.52 0.00 0.00 RG +[] 0 d +770.000 456.000 m +790.000 456.000 l +S +BT +/F3 6 Tf +6.00 TL 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+0.518 0.000 0.000 rg +923.60 443.00 Td +(22/A8/PWM) Tj +ET +BT +/F3 6 Tf +6.00 TL +0.518 0.000 0.000 rg +970.80 446.10 Td +(22) Tj +ET +1 J +1 j +1.00 w +0.52 0.00 0.00 RG +[] 0 d +980.000 446.000 m +960.000 446.000 l +S +BT +/F3 6 Tf +6.00 TL +0.518 0.000 0.000 rg +902.00 453.00 Td +(23/A9/PWM/MCLK1) Tj +ET +BT +/F3 6 Tf +6.00 TL +0.518 0.000 0.000 rg +970.80 456.10 Td +(23) Tj +ET +1 J +1 j +1.00 w +0.52 0.00 0.00 RG +[] 0 d +980.000 456.000 m +960.000 456.000 l +S +BT +/F3 6 Tf +6.00 TL +0.518 0.000 0.000 rg +887.60 463.00 Td +(24/A10/PWM/SCL2/TX6) Tj +ET +BT +/F3 6 Tf +6.00 TL +0.518 0.000 0.000 rg +970.80 466.10 Td +(24) Tj +ET +1 J +1 j +1.00 w +0.52 0.00 0.00 RG +[] 0 d +980.000 466.000 m +960.000 466.000 l +S +BT +/F3 6 Tf +6.00 TL +0.518 0.000 0.000 rg +887.60 473.00 Td +(25/A11/PWM/SDA2/RX6) Tj +ET +BT +/F3 6 Tf +6.00 TL +0.518 0.000 0.000 rg +970.80 476.10 Td +(25) Tj +ET +1 J +1 j +1.00 w +0.52 0.00 0.00 RG +[] 0 d +980.000 476.000 m +960.000 476.000 l +S +BT +/F3 6 Tf 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00000 n +0000101621 00000 n +trailer +<< +/Size 14 +/Root 13 0 R +/Info 12 0 R +/ID [ ] +>> +startxref +101725 +%%EOF \ No newline at end of file diff --git a/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.01/R2Home_OBC_V1.01.ino b/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.01/R2Home_OBC_V1.01.ino new file mode 100644 index 0000000..c99a6bb --- /dev/null +++ b/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.01/R2Home_OBC_V1.01.ino @@ -0,0 +1,1550 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// ----------------------------------- SETUP PANEL ----------------------------------- // + +#define i_want_to_fly false // Simulated servo movement to test the servo movement :)) +#define test_dir_rc false // Use channels 0 on the radio to test the direction of the autopilot and the servos, i_want_to_fly should be set true too. +#define buzzer_turn false // Buzzer sounds as function of the turn command +#define buzzer_sweep false // Buzzer turn on steroïds, should be easier to understand his tricky language ^^ +#define no_init false // Skip init, for testing only purposes +#define rc_mode 1 // only roll (0), pitch and roll mixed (1), pitch and roll separated (2) +#define control_mode 1 // neutral position at the center (0) or with "hands up" (1) +#define linear_mode 1 // command is linear (0), or linear but with a large deadband set using servo_start etc (1) +#define drop false // R2Home's version, drop or motorised +#define record_home false // only record autopilot +#define dep_alt 20000 // m above ground +#define vup 2 // m/s +#define vdown -2 // m/s +#define gps_freq 5 // Hz +#define nav_waypoint false // Doing the waypoint sequence before reaching home? +#define nav_home true // Should it go home after the waypoint sequence? +#define sd_writing true // Should it write on the SD card or not? +#define low_rate false // Dataloging at low HZ (if true) instead of 20Hz, for balloon flight +#define led_model 0 // Big led = 1, small led = 0. + +#define time_out 300 + +#define gps_port Serial7 + +#define bcritical 3.4 +#define blow 3.5 +#define no_batt 4.0 + +#define servo_max 1900 + +#define trig 10 +#define left_offset 150 +#define right_offset 150 + +#define gliding_timer 2500 + +#define waypoint_threshold 10 // Distance to waypoint before going to the next waypoint + +int dep_altitude = dep_alt; +int cog_count = 2; + +// NAV PIDs // +float NKp = 1; +float NKd = 0.1; +float NKi = + +double long sim_cmd_time = 0; +float sim_cmd = 0; + +// ----------------------------------- GLOBAL VARIABLES ----------------------------------- // + +// BARO // +Adafruit_BMP280 bmp(&Wire); +int baro_adress = 0x00; +float alt_baro = 0; +float prev_alt = 0; +float vspeed = 0; +float baro_set = 1000; +float baro_count = 0; +int vspeed_count = 0; +boolean new_baro = false; +float dt = 0; +movingAvg al(5); +movingAvg vs(5); + + +// BATTERY // +movingAvg voltage(50); +float vpin = A17; +float vbatt = 0; +boolean batt_critical = false; +boolean batt_low = false; + +// GPS // +TinyGPSPlus gps; +TinyGPSCustom fix_type(gps, "GNGSA", 2); +movingAvg rs(1); +unsigned char serial2bufferRead[1000]; +float prev_cog = 0; +int gps_count = 0; +int valid_count = 0; +float prev_gps = 0; +boolean new_gps = false; +boolean cog_ok = 0; +boolean new_cog = false; + + +// LED // +#define LED_PIN 3 +#define LED_COUNT 1 +#define BRIGHTNESS 15 +Adafruit_NeoPixel strip(LED_COUNT, LED_PIN, NEO_GRBW + NEO_KHZ800); +int duration = 0; +int timeled = 0; +int lastled = 0; + +// MISC // +int buzzer = 2; +int mid_freq = 0; +float time_sweep = 0; +unsigned long sweep_start = 0; +unsigned long tbeep = 0; +bool new_sweep = false; +bool current_sweep = false; +int current_freq = 0; +float sweep_step = 1; +float time_step = 1; + +int beep_start = 0; +int beep_stop = 0; +int direc = 0; +int cam = 23; +int sw = 22; +int crash_count = 0; +int cells = 0; +bool armed = false; + +// NAV // +movingAvg rc(2); +movingAvg mult(10); +float merged_alt = 0; +float setPoint_Home = 0; +float errHome = 0; +float raterror = 0; +float last_errHome = 0; +float baro_weight = 1; +float gps_weight = 1; +float lat_B = 0; +float lon_B = 0; +float cmd = 0; +boolean spiral = false; +float cmdHome = 1500; +float next_cog = 0; +float ratecog = 0; +float prev_cog_b = 0; +float cmd_mult = 0; + +struct gps_location { + double latitude = 0; + double longitude = 0; + double radius = 0; +}; + +gps_location waypoint[17]; + +int waypoint_number = 0; +int last_waypoint_number = 0; + +// RX // +SBUS rx(Serial1); +movingAvg roll_steer(25); +movingAvg pitch_steer(25); +uint16_t channels[16]; +bool failSafe; +bool lostFrame; + +// SD CARD // +File dataFile; +File configFile; +const int chipSelect = BUILTIN_SDCARD; +char namebuff[20]; +unsigned int addr = 0; +String filename; +int datatest = 0; +int count = 0; + +// SERVO / +movingAvg st(5); +PWMServo steer; +PWMServo deploy; +PWMServo left; +PWMServo right; +PWMServo esc; + +float roll_man = 1500; +float pitch_man = 1500; +float steer_auto = 1500; + +float servo_deploy = 2000; +float servo_esc = 1000; + +float servo_left = 1500; +float servo_right = 1500; + +// STATUS // +int flight_mode = 0; +int prev_mode = 0; +bool deployed = false; +bool baro_stab = false; +bool gps_stab = false; +bool initialised = false; +bool wing_opened = false; + +bool sd_ok = false; +bool gps_ok = false; + +int packet_count = 0; +int reboot_state = 0; + +// STRING // +char sdnamebuff[20]; +String mainSD; +String mainTLM; +String minSD; + +int time_number = 0; +boolean flight_rebooted = false; + +// TIMERS // +unsigned long baroA = 0; +unsigned long baroB = 0; +unsigned long tstab = 0; +unsigned long tlm = 0; +unsigned long sd = 0; +unsigned long baro_blk = 0; +unsigned long init_time = 0; +unsigned long sat_buzz = 0; +unsigned long tparallax = 0; +unsigned long tpwm = 0; +unsigned long batt_buzz = 0; +unsigned long long tloop = 0; +unsigned long long tgps = 0; +unsigned long long tup = 0; +unsigned long long tdown = 0; +unsigned long t_turn = 0; +unsigned long tlooptime = 0; +unsigned long mes = 0; +unsigned long last_waypoint_time = 0; + +unsigned long long reboot_time = 0; + +int loop_time = 999; +int loop_time_min_loc = 999; +int loop_time_min_glob = 999; +int loop_time_max_loc = 999; +int loop_time_max_glob = 999; +double loop_time_mean = 999; +int loop_time_count = 0; + + +int delaySD = 100; // Datalog +int delayTLM = 1000; // Tlm + +bool reboot_cmd = false; + + +// WATCHDOG // +Watchdog watchdog; + + +void setup() { + + //eppclear(); + + pinMode(A17, INPUT); + pinMode(buzzer, OUTPUT); + pinMode(cam, OUTPUT); + pinMode(sw, INPUT); + digitalWrite(cam, LOW); + + Serial.begin(115200); + Serial5.begin(57600); + + gpset(57600, gps_freq, 2, 1, 0); // baud, Hz, mode, nmea, cog filter (0 = Off, 1 = On) + + rx.begin(); + + EasyBuzzer.setPin(buzzer); + + voltage.begin(); + vs.begin(); + al.begin(); + roll_steer.begin(); + pitch_steer.begin(); + rs.begin(); + rc.begin(); + mult.begin(); + + left.attach(6, 1000, 2000); + right.attach(7, 1000, 2000); + + if (drop == true) { deploy.attach(8, 1000, 2000); } + else { esc.attach(8, 1000, 2000); } + + tone(buzzer, 523); + delay(200); + tone(buzzer, 582); + delay(200); + tone(buzzer, 762); + delay(200); + noTone(buzzer); + + watchdog.enable(Watchdog::TIMEOUT_1S); + getconfig(); + bmp.begin(baro_adress); + + bmp.setSampling(Adafruit_BMP280::MODE_NORMAL, + Adafruit_BMP280::SAMPLING_X1, + Adafruit_BMP280::SAMPLING_X2, + Adafruit_BMP280::FILTER_X16, + Adafruit_BMP280::STANDBY_MS_1); + + strip.begin(); + strip.show(); + strip.setBrightness(255); + + EEPROM.get(0, reboot_state); + + if (reboot_state == 1) { + EEPROM.get(10, dep_altitude); + EEPROM.get(30, lat_B); + EEPROM.get(50, lon_B); + EEPROM.get(70, baro_set); + EEPROM.get(90, time_number); + EEPROM.get(120, reboot_time); + EEPROM.get(160, waypoint_number); + + flight_rebooted = true; + } + + tone(buzzer, 582); + delay(200); + tone(buzzer, 830); + delay(300); + noTone(buzzer); +} + +void loop() { + + tloop = micros(); + + sim(); + + getdata(); + datacmpt(); + + flight_state(); + + applycmd(); + updatecmd(50); + + userinter(); + + loop_time = micros()-tloop; + + loop_time_cmpt(); + +} + +void getdata() { + + // -------------------------- Get GPS -------------------------- // + + while (Serial7.available()) { gps.encode(Serial7.read()); } + + // -------------------------- Get BARO & COMPASS -------------------------- // + + if ((millis()-baroA)>=10) { + baroA = millis(); + unsigned waitd = millis(); + alt_baro = al.reading(bmp.readAltitude(baro_set)*100); + if (((millis() - waitd) > 100)) { + EasyBuzzer.singleBeep(3000,50); + bmp.begin(baro_adress); + bmp.setSampling(Adafruit_BMP280::MODE_NORMAL, + Adafruit_BMP280::SAMPLING_X1, + Adafruit_BMP280::SAMPLING_X2, + Adafruit_BMP280::FILTER_X16, + Adafruit_BMP280::STANDBY_MS_1); + } + alt_baro = (alt_baro/100); + baro_count = (baro_count + 1);; + + if (baro_count >= 10) { + baro_count = 0; + new_baro = true; + dt = baroA-baroB; + baroB = millis(); + } + } + + // -------------------------- Get RC -------------------------- // + + rx.read(&channels[0], &failSafe, &lostFrame); + + if ((channels[3])>=1500 or (channels[3])==0) { failSafe = true; } + else { failSafe = false; } + + roll_man = map(roll_steer.reading(channels[0]), 67, 1982, 1000, 2000); + pitch_man = map(pitch_steer.reading(channels[1]), 67, 1982, 1000, 2000); + roll_man = constrain(roll_man, 1000, 2000); + pitch_man = constrain(pitch_man, 1000, 2000); + +// -------------------------- Get Vbatt -------------------------- // + + analogReadResolution(12); + vbatt = analogRead(A17); + vbatt = (voltage.reading(vbatt)); + + +} + +// ----------------------------------------------------- Data CMPT ----------------------------------------------------- // + +void datacmpt() { + +// -------------------------- NAV -------------------------- // + +// -------------------- GPS Healt -------------------- // + + if (((gps.location.age()) < 999) and (atof(fix_type.value()) == 3)) { gps_ok = true; } + else { gps_ok = false; } + + +// -------------------------- STUFF DEPENDING ON GPS COURSE OVER GROUND -------------------------- // + +// -------------------- Autopilot -------------------- // + + if (gps.course.isUpdated()) { + new_cog = true; + if (cog_valid(cog_count) == true) { + cog_ok = true; + setPoint_Home = TinyGPSPlus::courseTo(gps.location.lat(),gps.location.lng(),lat_B,lon_B); + errHome = getangle(gps.course.deg(), setPoint_Home); + } + else { cog_ok = false; last_errHome = errHome; } + prev_cog = gps.course.deg(); + } + + + if ((gps_ok == true) and (cog_ok == true)) { + + if (new_cog == true) { + + raterror = getangle(last_errHome+180,errHome+180)*gps_freq; + //raterror = rs.reading(raterror); + + ratecog = getangle(prev_cog_b,gps.course.deg())*gps_freq; + //ratecog = rc.reading(ratecog); + + float PIDsum = (NKp*errHome)+(NKd*raterror); + + //cmd_mult = (0.09999996 + (1 - 0.09999996)/(1 + pow(((abs(ratecog))/49.54231),24.26521))); cmd_mult = mult.reading(cmd_mult*1000); cmd_mult = (cmd_mult/1000); + + cmd_mult = 1; + cmdHome = PIDsum*cmd_mult ; + + if (vspeedvdown-3) { spiral = false; } + if (spiral == true) { cmdHome = 0; } + + new_cog = false; + last_errHome = errHome; + prev_cog_b = gps.course.deg(); + + float cmdRate = cmdHome-ratecog; + + steer_auto = map(cmdHome, -180, +180, 1000, 2000); + steer_auto = constrain(steer_auto, 1000, 2000); + + } + } + + else { steer_auto = 1500; } + + if (i_want_to_fly == true) { + flight_mode = 5; + steer_auto = map(sim_cmd, -180, +180, 1000, 2000); + } + + +// -------------------- Vertical Speed -------------------- // + + if (new_baro == true) { + + new_baro = false; + + if ((initialised == false) and (reboot_state != 1)) { baro_set = (baro_set + ((0-alt_baro)/100)); } + if (millis()<=5000) { alt_baro = 0; } + + float da = (alt_baro - prev_alt); + + if (abs(da) < 50) { + float vps = (da/(dt/1000)); + vspeed = vs.reading(vps*100); + vspeed = (vspeed/100); + } + + prev_alt = alt_baro; + +} + +// -------------------- Alt Fusion -------------------- // + + baro_weight = (1+(abs(vspeed)/10)); + + float hdo = gps.hdop.value(); + float gpsw = ((50/hdo)+(gps.altitude.meters()/10000)); + gps_weight = (gpsw*((abs(alt_baro-gps.altitude.meters())/10))); + + merged_alt = ((alt_baro*baro_weight)+(gps.altitude.meters()*gps_weight))/(baro_weight+gps_weight); + + +// -------------------- Stationary -------------------- // + + if ((millis()-tstab) >= 1000) { + tstab = millis(); + + if (vspeed < 0.2 and vspeed > -0.2) { vspeed_count = (vspeed_count + 1); } + else { vspeed_count = 0; } + + if (abs(prev_gps-gps.altitude.meters())<1 and (gps.altitude.meters() != 0)) { gps_count = (gps_count + 1); } + else { gps_count = 0; } + + if (gps_count >= 10) { gps_stab = true; } + else if(millis()<(time_out*1000)) { gps_stab = false; } + else { gps_stab = true; } + + + if (vspeed_count >= 10) { baro_stab = true; } + else { baro_stab = false; } + + if (gps_count >= 10) { gps_stab = true; } + else { gps_stab = false; } + + prev_gps = gps.altitude.meters(); + + + } + +// -------------------------- String -------------------------- // + + String date_year = String(gps.date.year()); + String date_month = String(gps.date.month()); + String date_day = String(gps.date.day()); + + String time_hour = String(gps.time.hour()); + String time_minute = String(gps.time.minute()); + String time_second = String(gps.time.second()); + + String date_time = date_year+":"+date_month+":"+date_day+","+time_hour+":"+time_minute+":"+time_second; + + if (flight_rebooted == false) { time_number = ((gps.date.day()*1000000) + (gps.time.hour()*10000) + (gps.time.minute()*100) + gps.time.second()); } + + String lat_A_text = String(gps.location.lat(), 10); + String lon_A_text = String(gps.location.lng(), 10); + String alt_gps_text = String(gps.altitude.meters(), 1); + String cog_text = String(gps.course.deg()); + String speed_text = String(gps.speed.mps(), 1); + String sat_text = String(gps.satellites.value()); + String fix_type_text= String(atof(fix_type.value())); + String hdop_text = String(gps.hdop.value()); + String pos_age_text; + + if (gps.location.age()>10000) { pos_age_text = String(999); } + else { pos_age_text = String(gps.location.age()); } + + String gps_text = date_time+","+lat_A_text+","+lon_A_text+","+alt_gps_text+","+cog_text+","+speed_text+","+sat_text+","+hdop_text+","+pos_age_text+","+fix_type_text; + + String alt_baro_text = String(alt_baro, 3); + String vspeed_text = String(vspeed, 3); + + String baro_text = alt_baro_text+","+vspeed_text; + + String merged_alt_text = String(merged_alt,3); + String gps_weight_text = String(gps_weight,2); + String baro_weight_text = String(baro_weight,3); + + String setPoint_Home_text = String(setPoint_Home,2); + String errHome_text = String(errHome,2); + String raterror_text = String(raterror); + String cmd_mult_text = String(cmd_mult,3); + + String lat_B_text = String(lat_B,5); + String lon_B_text = String(lon_B,5); + + String ratecog_text = String(ratecog); + String waypoint_text = String(waypoint_number); + String waypoint_distance = String(TinyGPSPlus::distanceBetween(gps.location.lat(),gps.location.lng(),lat_B,lon_B)); + + String nav_text = merged_alt_text+","+baro_weight_text+","+gps_weight_text+","+setPoint_Home_text+","+errHome_text+","+raterror_text+","+ratecog_text+","+cmd_mult_text+","+lat_B_text+","+lon_B_text+","+waypoint_text+","+waypoint_distance; + + String a_text = String(channels[0]); + String b_text = String(channels[1]); + String c_text = String(channels[2]); + String d_text = String(channels[3]); + String e_text = String(channels[4]); + String f_text = String(channels[5]); + String g_text = String(channels[6]); + + String rc_text = a_text+","+b_text+","+c_text+","+d_text+","+e_text+","+f_text+","+g_text; + String servo_text; + + if (drop == true) { + String left_text = String(servo_left); + String right_text = String(servo_right); + String deploy_text = String(servo_deploy); + servo_text = left_text+","+right_text+","+deploy_text; + } + + else { + String left_text = String(servo_left); + String right_text = String(servo_right); + String esc_text = String(servo_esc); + servo_text = left_text+","+right_text+","+esc_text; + } + + int actual_time = (millis()+reboot_time); + String time_text = String(actual_time); + String flight_mode_text = String(flight_mode); + String gps_ok_text = String(gps_ok) ; + String cog_ok_text = String(cog_ok); + String failSafe_text = String(failSafe); + String gps_stab_text = String(gps_stab); + String baro_stab_text = String(baro_stab); + String deployed_text = String(deployed); + String wing_opened_text = String(wing_opened); + String vbatt_text = String(vbatt, 3); + String loopmin_text = String(loop_time_min_glob); + String loopmax_text = String(loop_time_max_glob); + String loopmean_text = String(loop_time_mean); + String packet_count_text = String(packet_count); + String initialised_text = String(initialised); + + String status_text = time_text+","+packet_count_text+","+flight_mode_text+","+gps_ok_text+","+cog_ok_text+","+failSafe_text+","+gps_stab_text+","+baro_stab_text+","+deployed_text+","+wing_opened_text+","+initialised_text+","+vbatt_text+","+loopmin_text+","+loopmax_text+","+loopmean_text; + mainSD = status_text+","+gps_text+","+baro_text+","+nav_text+","+rc_text+","+servo_text; + mainTLM = "/*"+status_text+","+gps_text+","+baro_text+","+servo_text+"/*"; + minSD = time_text+","+date_time+","+alt_gps_text+","+lat_A_text+","+lon_A_text+","+lat_B_text+","+lon_B_text; + + +// -------------------------- TLM -------------------------- // + + switch(flight_mode) { + + case 0: + delaySD = 200; + delayTLM = 5000; + break; + + case 1: + case 2: + case 3: + case 4: + case 5: + case 6: + case 8: + case 9: + if (low_rate) { delaySD = 200; } + else { delaySD = 50; } + delayTLM = 1000; + break; + + } + + if (millis()-tlm>=delayTLM) { + tlm = millis(); + packet_count = (packet_count +1); + Serial5.println(mainTLM); + Serial.println(mainTLM); + + if (sd_ok == true and sd_writing == true) { + dataFile = SD.open(namebuff, FILE_WRITE); + dataFile.println(mainSD); + dataFile.close(); + } + } + +// -------------------------- SD DATALOG -------------------------- // + +if (record_home == false) { + + if (initialised == true) { + + if ((millis()-sd)>=delaySD) { + sd = millis(); + + if (sd_ok == true and sd_writing == true) { + dataFile = SD.open(namebuff, FILE_WRITE); + dataFile.println(mainSD); + dataFile.close(); + } + } + } +} + +else { + + if ((flight_mode == 9) or (flight_mode == 10)) { + + if ((millis()-sd)>=delaySD) { + sd = millis(); + + if (sd_ok == true) { + dataFile = SD.open(namebuff, FILE_WRITE); + dataFile.println(mainSD); + dataFile.close(); + } + } + } + } +} + +// ----------------------------------------------------- State machine ----------------------------------------------------- // + +void flight_state() { + + if (flight_mode != prev_mode) { + + packet_count = (packet_count +1); + Serial5.println(mainTLM); + Serial.println(mainTLM); + + if (sd_ok == true and sd_writing == true) { + dataFile = SD.open(namebuff, FILE_WRITE); + dataFile.println(mainSD); + dataFile.close(); + } + + prev_mode = flight_mode; + } + + switch(flight_mode) { + + case 0: + flight_init(); + setled(255, 0, 0, 25, 2000); + break; + + case 1: + ready_steady(); + setled(0, 255, 0, 25, 500); + break; + + case 2: + flight_ascent(); + setled(0, 0, 255, 25, 2000); + break; + + case 3: + flight_descent(); + setled(255, 128, 0, 25, 1000); + break; + + case 4: + flight_gliding(); + break; + + case 5: + flight_gliding_auto(); + setled(255, 255, 0, 25, 1000); + break; + + case 6: + flight_gliding_manual(); + setled(0, 255, 255, 25, 1000); + break; + + case 7: + landed(); + setled(128, 0, 255, 25, 1000); + break; + + case 8: + motorised_man(); + setled(0, 0, 255, 25, 500); + break; + + case 9: + motorised_auto(); + setled(0, 255, 255, 25, 500); + break; + + case 10: + motorised_failSafe(); + setled(0, 255, 255, 25, 500); + break; + + } +} +//------------------- 0 -------------------// + +void flight_init() { + + if (reboot_state !=1) { + + if ((gps.satellites.value()>=6 and gps_ok and (gps_stab or (gps.satellites.value()>=6 and millis()>300000)) and millis()>5000) or no_init) { + + EasyBuzzer.beep(3000,100,50,10,500,1); + + if ((nav_waypoint == true) and (nav_home == true)) { + waypoint[last_waypoint_number].latitude = gps.location.lat(); + waypoint[last_waypoint_number].longitude = gps.location.lng(); + waypoint[last_waypoint_number].radius = waypoint_threshold; + } + + else if ((nav_waypoint == false) and (nav_home == true)) { + lat_B = gps.location.lat(); + lon_B = gps.location.lng(); + } + + else if ((nav_waypoint == true) and (nav_home == false)) { + lat_B = waypoint[waypoint_number].latitude; + lon_B = waypoint[waypoint_number].longitude; + } + + EEPROM.put(10, dep_altitude); + EEPROM.put(30, lat_B); + EEPROM.put(50, lon_B); + + while (abs(alt_baro-gps.altitude.meters())>0.01) { + if ((micros()-baro_blk)>10) { + baro_blk = millis(); + alt_baro = (bmp.readAltitude(baro_set)); + baro_set = (baro_set + ((gps.altitude.meters()-alt_baro)/8)); + prev_alt = alt_baro; + watchdog.reset(); + } + } + + EEPROM.put(70, baro_set); + + vs.reset(); + al.reset(); + + dep_altitude = (dep_altitude+gps.altitude.meters()); + + strip.setBrightness(255); + setcam(1); + + if ((record_home == false) and (initialised == false)) { newfile(); } + + if (drop == true) { flight_mode = 1;} + else { flight_mode = 8; } + + init_time = millis(); + initialised = true; + + } + } + + else { + + if (gps.satellites.value()>=6 and gps_ok and millis()>5000) { + + EasyBuzzer.beep(3000,100,50,10,500,1); + initialised = true; + + vs.reset(); + al.reset(); + + strip.setBrightness(50); + setcam(1); + + if (drop == true) { flight_mode = 1;} + else { flight_mode = 8; } + + init_time = millis(); + + dtostrf(time_number, 1, 0, sdnamebuff); + sprintf(namebuff, "%s.txt", sdnamebuff); + + reboot_state = 0; + EEPROM.put(0, 0); + + } + } + + if (millis()-sat_buzz>5000) { + sat_buzz = millis(); + EasyBuzzer.beep(2000,50,25,gps.satellites.value(),100,1); + } + +} + +//------------------- 1 -------------------// + +void ready_steady() { + + if (millis()-init_time>=1000) { + + if (vspeed>vup) { flight_mode = 2; EasyBuzzer.beep(1000,100,50,2,500,1); strip.setBrightness(255); } + if (vspeed-0.5) {flight_mode = 1; strip.setBrightness(255);} + if (merged_alt < dep_altitude) { flight_mode = 4; EasyBuzzer.beep(3000,100,50,5,500,1); strip.setBrightness(255); deployed = true; init_time = millis(); } + + } + +//------------------- 4 -------------------// + +void flight_gliding() { + + if (((millis()-init_time) >= gliding_timer) or (vspeed > (vdown+1))) { + wing_opened = true; + last_errHome = errHome; + if (failSafe == true) {flight_mode = 5; strip.setBrightness(255);} + else {flight_mode = 6; strip.setBrightness(255);} + } +} + +//------------------- 5 -------------------// + +void flight_gliding_auto() { + + if (failSafe == false) {flight_mode = 6;} + if (vspeed < -6) { spiral = true; } + if (vspeed > -5) { spiral = false; } + + if (i_want_to_fly == true) { spiral = false; flight_mode = 5; } + + navigation(); +} + +//------------------- 6 -------------------// + +void flight_gliding_manual() { + if (failSafe == true) {flight_mode = 5;} +} + +//------------------- 7 -------------------// + +void landed() { + if ((baro_stab == false) or (gps_stab == false)) { + flight_mode = 1; strip.setBrightness(255); + } + } + +//------------------- 8 -------------------// + +void motorised_man() { + + if (channels[6] > 1000) { flight_mode = 9; if (record_home == true) {newfile();} } + if (failSafe == true) { flight_mode = 10; if (record_home == true) {newfile();} } +} + +//------------------- 9 -------------------// + +void motorised_auto() { + + navigation(); + + if (channels[6] < 1000) { flight_mode = 8; } +} + +//------------------- 10 -------------------// + +void motorised_failSafe() { + navigation(); + if (failSafe == false) { flight_mode = 8; } +} +// ----------------------------------------------------- Apply command ----------------------------------------------------- // + +void applycmd() { + +// -------------------------- Steering Servo -------------------------- // + + switch(flight_mode) { + + case 0: + case 1: + case 6: + case 8: + if (failSafe == false) { + + // ---------- Stage 1 - RC mode ---------- // + switch (rc_mode) { + + case 0: // roll only + servo_right = roll_man; + servo_left = 3000-roll_man; + break; + + case 1: // pitch and roll mixed + servo_right = roll_man; + servo_left = 3000-roll_man; + servo_left = servo_left+(pitch_man-1500); + servo_right = servo_right+(pitch_man-1500); + break; + + case 2: // pitch and roll separated + servo_left = roll_man; + servo_right = pitch_man; + break; + } + } + else { + if (control_mode == 1) { servo_left = 1000; servo_right = 1000; } + else { servo_left = 1500; servo_right = 1500; } + } + break; + + case 9: + case 10: + case 5: + servo_right = steer_auto; + servo_left = 3000-steer_auto; + break; + } + + // ---------- Stage 2 - Linear mode ---------- // + switch (linear_mode) { + + case 0: // control is fully linear + break; + + case 1: // control start at servo_start with an offset + if (servo_left>(1500+trig)) { + servo_left = map(servo_left, 1500, 2000, 1500+left_offset, servo_max); + } + else if (servo_left<(1500-trig)) { + servo_left = map(servo_left, 1500, 1000, 1500-left_offset, servo_max); + } + if (servo_right>(1500+trig)) { + servo_right = map(servo_right, 1500, 2000, 1500+right_offset, servo_max); + } + else if (servo_left<(1500-trig)) { + servo_right = map(servo_right, 1500, 1000, 1500-right_offset, servo_max); + } + break; + } + + // ---------- Stage 3 - Control mode ---------- // + switch (control_mode) { + + case 0: // neutral is center + break; + + case 1: // neutral is hands up + servo_right = constrain(map(servo_right, 1500, servo_max, 1000, servo_max), 1000, servo_max); + servo_left = constrain(map(servo_left, 1500, servo_max, 1000, servo_max), 1000, servo_max); + break; + } + +// -------------------------- Deployment Servo and ESC -------------------------- // + + switch(flight_mode) { + + + case 0: + case 1: + case 2: + case 3: + case 4: + case 5: + case 6: + case 7: + if (deployed == true) { servo_deploy = 1500; } + else { + if (failSafe == true) { servo_deploy = 2000; } + else { servo_deploy = map(channels[6], 50, 1950, 1000, 2000);} + } + break; + + case 8: + if ((channels[4]>1000) and (channels[2]<400)) { armed = true; } + if (channels[4]<1000) { armed = false; } + + if (armed == true) { servo_esc = map(channels[2], 50, 1950, 1000, 2000); } + else { servo_esc = 900; } + + if ((channels[4]>1000) and (channels[2]>400) and (armed == false)) { EasyBuzzer.singleBeep(3000,25); } + + break; + + case 9: + case 10: + servo_esc = 1000; + break; + + } +} + +// ----------------------------------------------------- Update command ----------------------------------------------------- // + +void updatecmd(float a) { + +if (drop == true) { + + if ((millis()-tpwm)>=(1000/a)) { + + tpwm = millis(); + left.write(map(servo_left, 1000, 2000, 0, 180)); + right.write(map(servo_right, 1000, 2000, 0, 180)); + deploy.write(map(servo_deploy, 1000, 2000, 0, 180)); + + } + } + +else { + + if ((millis()-tpwm)>=(1000/a)) { + + tpwm = millis(); + left.write(map(servo_left, 1000, 2000, 0, 180)); + right.write(map(servo_right, 1000, 2000, 0, 180)); + esc.write(map(servo_esc, 1000, 2000, 0, 180)); + + } + } +} + +// ----------------------------------------------------- User Interface ----------------------------------------------------- // + +void userinter() { + +// -------------------------- Buzzer -------------------------- // + + sweep_beep_update(); + EasyBuzzer.update(); + + + if (buzzer_turn == true and (flight_mode == 5 or flight_mode == 9 or flight_mode == 10)) { + + if (millis()-last_waypoint_time > 2000) { + + int tone_turn = map(steer_auto, 1000, 2000, 1000, 2000); + + if (buzzer_sweep == true) { + double t_down = abs(map(steer_auto, 1000, 2000, -3, 3))+1; + t_down = (1/t_down)*1500; + if ((millis()-t_turn)>t_down) { + t_turn = millis(); + int dir = 0; + if (tone_turn > 1500) { dir = 0; } + else { dir = 1; } + float force = 0; + if (tone_turn > 1500) { force = tone_turn - 1500; } + else { force = 1500 - tone_turn; } + force = constrain(force, 10, 200); + sweep_beep_set(tone_turn, force, dir); + } + } + else { + double t_down = abs(map(steer_auto, 1000, 2000, -5, 5))+1; + t_down = (1/t_down)*500; + if ((millis()-t_turn)>(t_down)) { + t_turn = millis(); + EasyBuzzer.singleBeep(tone_turn, 20); + } + } + } + } + +// -------------------------- Voltage monitoring -------------------------- // + + cells = int(vbatt/3.65); + + if ((vbatt < (cells*bcritical)) and (vbatt > no_batt)) { + batt_critical = true; + if (millis()-batt_buzz>=100) { + batt_buzz = millis(); + EasyBuzzer.singleBeep(3000,25); + } + } + + else { batt_critical = false; } + + if ((vbatt < (cells*blow)) and (vbatt > (cells*bcritical))) { + batt_low = true; + if (millis()-batt_buzz>=200) { + batt_buzz = millis(); + EasyBuzzer.singleBeep(3000,50); + } + } + + else { batt_low = false; } + + +// -------------------------- RGB LED -------------------------- // + + updateled(); + +} + +// ----------------------------------------------------- Misc Functions ----------------------------------------------------- // + +void setled(int a, int b, int c, int d, int e) { + + if (batt_critical == true) { a = 255; b = 0; c = 0; d = 25; e = 50; } + if (batt_low == true) { a = 255; b = 0; c = 0; d = 25; e = 200; } + + if ((millis()-lastled)>=e) { + lastled = millis(); + if (led_model == 1) { colorWipe(strip.Color(b,a,c), 0); } + else { colorWipe(strip.Color(a,b,c), 0); } + duration = d; + timeled = millis(); + } +} + +void sweep_beep_update() { + if (direc == 0) { + if (new_sweep == true) { + sweep_start = millis(); + new_sweep = false; + current_sweep = true; + current_freq = mid_freq-((sweep_step*time_sweep)/(2*time_step)); + EasyBuzzer.singleBeep((current_freq),time_step); + } + + if ((current_sweep == true) and ((millis()-sweep_start)>=(time_step)) and (current_freq=(time_step)) and (current_freq>mid_freq-((sweep_step*time_sweep)/(2*time_step)))) { + sweep_start = millis(); + current_freq = current_freq - sweep_step; + EasyBuzzer.singleBeep((current_freq),time_step); + beep_stop = millis(); + } + } +} + +void sweep_beep_set(int freq, int dur, int dir) { + mid_freq = freq; + time_sweep = dur; + new_sweep = true; + direc = dir; + beep_start = millis(); +} + +void updateled() { + if ((millis()-timeled)>=duration) { + colorWipe(strip.Color(0,0,0), 0); + } +} + +void colorWipe(uint32_t color, int wait) { + for(int i=0; i= a) { return false; } + else { return true; } +} + +float getangle(float a, float b) { + + /* + float angle = 0; + if (abs(a-b) < 180) { angle = (b-a);} + else { + if ((a-b) < 0) { angle = (-360) +(b-a);} + else { angle = (360) + (b-a);} + } + return angle; + */ + + float angle = 0; + angle = (((b-a)+180)%360)-180; + return angle; + +} + +void setcam(int a) { + switch(a) { + case 1 : + digitalWrite(cam, HIGH); + break; + case 0 : + digitalWrite(cam, LOW); + break; + } +} + +void dateTime(uint16_t* date, uint16_t* time){ + + *date = FAT_DATE(gps.date.year(), gps.date.month(), gps.date.day()); + *time = FAT_TIME(gps.time.hour(), gps.time.minute(), gps.time.second()); +} + +void gpset(int a, int b, int c, int d, int e){ + +if (a == 9600) { + gps_port.begin(9600); + delay(100); + byte packet1[] = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xC0, 0x08, 0x00, 0x00, 0x80, 0x25, 0x00, 0x00, 0x07, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x92, 0xB5}; + sendPacket(packet1, sizeof(packet1)); + } + +if (a == 57600) { + gps_port.begin(9600); + delay(100); + byte packet2[] = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xC0, 0x08, 0x00, 0x00, 0x00, 0xE1, 0x00, 0x00, 0x07, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0xCE, 0xC9}; + sendPacket(packet2, sizeof(packet2)); + gps_port.end(); + gps_port.begin(57600); + delay(100); + } + +if (a == 115200) { + gps_port.begin(9600); + delay(100); + byte packet3[] = {0xB5, 0x62, 0x06, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0xC0, 0x08, 0x00, 0x00, 0x00, 0xC2, 0x01, 0x00, 0x07, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB0, 0x7E}; + sendPacket(packet3, sizeof(packet3)); + gps_port.end(); + gps_port.begin(115200); + delay(100); + } + +if (b == 1) { + byte packet4[] = {0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0xE8, 0x03, 0x01, 0x00, 0x01, 0x00, 0x01, 0x39}; + sendPacket(packet4, sizeof(packet4)); + } + +if (b == 5) { + byte packet5[] = {0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0xC8, 0x00, 0x01, 0x00, 0x01, 0x00, 0xDE, 0x6A}; + sendPacket(packet5, sizeof(packet5)); + } + +if (b == 10) { + byte packet6[] = {0xB5, 0x62, 0x06, 0x08, 0x06, 0x00, 0x64, 0x00, 0x01, 0x00, 0x01, 0x00, 0x7A, 0x12}; + sendPacket(packet6, sizeof(packet6)); + } + +if (c == 0) { + byte packet7[] = {0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x5E, 0x01, 0x00, 0x3C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7E, 0x3C}; + sendPacket(packet7, sizeof(packet7)); + } + +if (c == 1) { + byte packet8[] = {0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x5E, 0x01, 0x00, 0x3C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x84, 0x08}; + sendPacket(packet8, sizeof(packet8)); + } + +if (c == 2) { + byte packet8[] = {0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x07, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x5E, 0x01, 0x00, 0x3C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x85, 0x2A}; + sendPacket(packet8, sizeof(packet8)); + } + +if (c == 4) { + byte packet8[] = {0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x08, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x5E, 0x01, 0x00, 0x3C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x86, 0x4C}; + sendPacket(packet8, sizeof(packet8)); + } + +if (d == 1) { + byte packet9[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x03, 0x35}; + byte packet10[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x03, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x05, 0x43}; + sendPacket(packet9, sizeof(packet9)); + sendPacket(packet10, sizeof(packet10)); + } + +if (e == 1) { + byte packet11[] = {0xB5, 0x62, 0x06, 0x1E, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0A, 0x32, 0x00, 0x00, 0x99, 0x4C, 0x00, 0x00, 0x5B, 0x10}; + sendPacket(packet11, sizeof(packet11)); + } + + gps_port.addMemoryForRead(serial2bufferRead, sizeof(serial2bufferRead)); + +} + +void sendPacket(byte *packet, byte len){ + for (byte i = 0; i < len; i++) { gps_port.write(packet[i]); } +} + +void newfile() { + + dtostrf(time_number, 1, 0, sdnamebuff); + sprintf(namebuff, "%s.txt", sdnamebuff); + + if (!SD.begin(chipSelect)) { sd_ok = false; } + else { + sd_ok = true; + SdFile::dateTimeCallback(dateTime); + dataFile = SD.open(namebuff, FILE_WRITE); + delay(10); + if (dataFile) { + dataFile.println("time (ms), Packet_Count (text), Mode (text), GPS_Ok (text), COG_Ok (text), FailSafe (text), GPS_Stab (text), Baro_Stab (text), Deployed (text), Wing_Opened (text), Initialised (tex), Vbatt (V), Loopmin (µS), Loopmax (µS), Loopmean (µS), GPS-date, GPS-time, lat (deg), lon (deg), alt (m), CoG (deg), Speed (m/s), Sat_in_use (text), HDOP (text), Position_Age (text), Fix_type (text), Baro_Alt (m), Vertical_Speed (m/s), Altitude (m), Baro_Weight (text), GPS_Weight (text), SetPoint_Home (deg), Err_Home (deg), Rate_Error (deg), Rate_Cog (deg), Cmd_mult (text), LatB (deg), LonB (deg), WaypointNumber (text), Distance (m), Ch 0 (µs), Ch 1 (µs), Ch 2 (µs), Ch 3 (µs), Ch 4 (µs), Ch 5 (µs), Ch 6 (µs), PWM_L (µs), PWM_R (µs), PWM_D (µs)"); + dataFile.close(); + EEPROM.put(90, time_number); + } + } +} + +void sim() { + sim_cmd_time = (millis()*(PI/10000)); + sim_cmd = sin(sim_cmd_time); + sim_cmd = map(sim_cmd, -1, 1, -180, 180); + if (test_dir_rc) { + sim_cmd = map(roll_man, 1000, 2000, -180, 180); + } +} + +void eppclear() { + for ( unsigned int i = 0 ; i < EEPROM.length() ; i++ ) + EEPROM.write(i, 0); +} + +void getconfig() { + + if (!SD.begin(chipSelect)) { sd_ok = false; delay(1500); } + else { + sd_ok = true; + File configFile = SD.open("config.txt", FILE_READ); + if (configFile) { + + // Reading the baro adress + String memory = ""; + while (configFile.available()) { + char a = configFile.read(); + if (a != 44) { memory = memory + a; } + else { break; } + } + + baro_adress = memory.toFloat(); + + char a = '0'; + unsigned int i(0); + + // Reading the Waypoints + while (configFile.available() and (i<16)) { + String waypoint_str = ""; + do { + a = configFile.read(); + if (a != 44) { waypoint_str = waypoint_str + a; } + else { waypoint[i].latitude = (waypoint_str.toFloat()); break; } + } while (a != 44); + waypoint_str = ""; + do { + a = configFile.read(); + if (a != 44) { waypoint_str = waypoint_str + a; } + else { waypoint[i].longitude = (waypoint_str.toFloat()); break; } + } while (a != 44); + waypoint_str = ""; + do { + a = configFile.read(); + if (a != 44) { waypoint_str = waypoint_str + a; } + else { waypoint[i].radius = (waypoint_str.toFloat()); i++; break; } + } while (a != 44); + } + last_waypoint_number = i+1; + configFile.close(); + } + else { + delay(1500) ; + } + } +} + +void navigation() { + + bool skipp = false; + + /* + while (Serial.available()) { + char memory = Serial.read(); + if (memory == 'S') { + skipp = true; + } + if (memory == 'W') { + Serial.println(waypoint_number); + } + } + */ + + if (nav_waypoint == true) { + if ((TinyGPSPlus::distanceBetween(gps.location.lat(),gps.location.lng(),lat_B,lon_B)= 100) { + loop_time_min_glob = loop_time_min_loc; + loop_time_max_glob = loop_time_max_loc; + loop_time_min_loc = 999; + loop_time_max_loc = 999; + loop_time_mean = (micros()-tlooptime)/100; + tlooptime = micros(); + loop_time_count = 0; + } + + else if (loop_time_count < 100) { + if (loop_timeloop_time_max_loc) {loop_time_max_loc = loop_time; } + loop_time_count++; + } + + if (loop_time<250000 and (reboot_cmd == false)) {watchdog.reset(); crash_count = 0; } + + /* + while (Serial.available()) { + char memory = Serial.read(); + if (memory == 'R') { + reboot_cmd = true; + } + } + */ + + if (loop_time>250000 or (reboot_cmd == true)) { + crash_count = (crash_count + 1); + if (crash_count<=5 and (reboot_cmd == false)) { watchdog.reset(); } + else { + reboot_state = 1; + EEPROM.put(0, reboot_state); + EEPROM.put(120, millis()); + EEPROM.put(160, waypoint_number); + delay(2000); + } + } +} diff --git a/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.02/R2Home_OBC_V1.02.ino b/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.02/R2Home_OBC_V1.02.ino index dc29578..3b3be6b 100644 --- a/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.02/R2Home_OBC_V1.02.ino +++ b/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.02/R2Home_OBC_V1.02.ino @@ -9,6 +9,7 @@ #include #include + // ----------------------------------- SETUP PANEL ----------------------------------- // #define i_want_to_fly false // Simulated servo movement to test the servo movement :))