quadcopter 的研究筆記2

Q1 :  Timer.ypr_setpoint 在那裏設初始值?

A1 :  在 net.cpp ...

          case UPDATE_REMOTE:
          //set rcinput values values
          parser.parse(data,Timer.thr,Timer.ypr_setpoint);
          break;

void Parser::parse(unsigned char data[256],float &t,float ypr[]){
  //returns thrust, yaw, pitch and roll walues form char data

  //Processing packet
  std::string packet( reinterpret_cast< char const* > (data));
  std::istringstream ss(packet);
  //printf("%s \n", packet.c_str());

  //Getting target values from packet
  do
    {
      std::string sub;
      ss >> sub;
      float cmd;

      if (sub == "\"thr\":" ){ // 油門
ss >> sub;
std::istringstream( sub ) >> cmd;
t = (cmd*10 + 1080);
      }
      else if(sub == "\"yaw\":"){
ss >> sub;
std::istringstream( sub ) >> cmd;
ypr[0] = cmd*3.5;
      }
      else if(sub == "\"pitch\":"){
ss >> sub;
std::istringstream( sub ) >> cmd;
ypr[1] = cmd;
      }
      else if(sub == "\"roll\":"){
ss >> sub;
std::istringstream( sub ) >> cmd;
ypr[2] = cmd;
      }
    } while (ss);
}

他的ESC 的輸出最小值是 1000...

thr 就是後面會用到的throttle.....

Q2 :  throttle 的初始值在那裏設定?

A2 :
         在time.cpp 裡面會呼叫   ..
        ESC.update(Timer.thr,Timer.PIDout);

           然後servo.cpp 的裡面有  update 的實作

        void Servo::update(float throttle, float PIDoutput[DIM])

        servoval[0] =(int)(throttle + PIDoutput[PITCH] + PIDoutput[YAW]);
        servoval[2] =(int)(throttle - PIDoutput[PITCH] + PIDoutput[YAW]);
       servoval[1] =(int)(throttle - PIDoutput[ROLL]  - PIDoutput[YAW]);
       servoval[3] =(int)(throttle + PIDoutput[ROLL]  - PIDoutput[YAW]);