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flyTask.c
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flyTask.c
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#include <flyTask.h>
flyTask_DataStruct flyTaskData;
//init
void flyTast_Init()
{
flyTaskData.timerCNT = 0;
flyTaskData.state = ctrlOff;
flyTaskData.task = A;
flyTaskData.targetAngle.PITCH = 0;
flyTaskData.targetAngle.ROLL = 0;
flyTaskData.targetAngle.YAW = 0;
flyTaskData.posInterfaceX = 0;
flyTaskData.posInterfaceY = 0;
flyTaskData.speedInterfaceX = 0;
flyTaskData.speedInterfaceY = 0;
}
//飞行任务检查
void flyTask_CheckDuty_2ms_()
{
//如果按下按键,未解锁,并且未起飞(任务A,则起飞
if(remoterReciveData.remoterCH[4] > 1900 && flyMode_GetMode() == Mode_Ready && flyTaskData.task == A)
{
//清空计数器
flyTaskData.timerCNT = 0;
//切换到定点识别
flyTaskData.state = followLine;
//进入下一个任务
flyTaskData.task = B;
//进入起飞
flyMode_ChangeTo_AutoHightCtrl_TakeOff();
return;
}
//任务B走线
if(flyTaskData.task == B)
{
if(remoterReciveData.remoterCH[4] <= 1900)
{
flyTaskData.state = ctrlOff;
flyTaskData.task = H;
return;
}
flyTaskData.timerCNT ++;
//flyTaskData.timerCNT ++;flyTaskData.timerCNT > 3000
//如果遇到直角直接定点
if(openmv.circle_flag == 1 && flyTaskData.timerCNT > 2000)
{
//清空计数器
flyTaskData.timerCNT = 0;
//切换到定点
flyTaskData.state = back;
//进入下一个任务
flyTaskData.task = C;
//降落
//flyMode_ChangeTo_AutoHightCtrl_Down();
return;
}
return;
}
//任务C刹车
if(flyTaskData.task == C)
{
flyTaskData.timerCNT ++;
//flyTaskData.timerCNT ++;flyTaskData.timerCNT > 3000
//1s
if(flyTaskData.timerCNT > 500)
{
//清空计数器
flyTaskData.timerCNT = 0;
//切换到转弯
flyTaskData.state = yawTurn;
//进入下一个任务
flyTaskData.task = D;
return;
}
return;
}
//任务D转弯
if(flyTaskData.task == D)
{
if(remoterReciveData.remoterCH[4] <= 1900)
{
flyTaskData.state = ctrlOff;
flyTaskData.task = H;
return;
}
//flyTaskData.timerCNT ++;
//转90度
if(flyTaskData.targetAngle.YAW <= -89)
{
//清空计数器
flyTaskData.timerCNT = 0;
//盲飞
flyTaskData.state = blindFly;
//进入下一个任务
flyTaskData.task = E;
}
return;
}
//任务E盲飞
if(flyTaskData.task == E)
{
if(remoterReciveData.remoterCH[4] <= 1900)
{
flyTaskData.state = ctrlOff;
flyTaskData.task = H;
return;
}
flyTaskData.timerCNT ++;
//如果看到直角,2s
if(openmv.circle_flag == 1 && flyTaskData.timerCNT > 100)
{
//清空计数器
flyTaskData.timerCNT = 0;
//切换到定点
flyTaskData.state = back2;
//进入下一个任务
flyTaskData.task = F;
}
}
if(flyTaskData.task == F)
{
flyTaskData.timerCNT ++;
//flyTaskData.timerCNT ++;flyTaskData.timerCNT > 3000
//1s
if(flyTaskData.timerCNT > 150)
{
//清空计数器
flyTaskData.timerCNT = 0;
//切换到转弯
flyTaskData.state = yawTurn;
//进入下一个任务
flyTaskData.task = G;
return;
}
return;
}
//任务G转弯
if(flyTaskData.task == G)
{
if(remoterReciveData.remoterCH[4] <= 1900)
{
flyTaskData.state = ctrlOff;
flyTaskData.task = H;
return;
}
//flyTaskData.timerCNT ++;
//转90度
if(flyTaskData.targetAngle.YAW <= -198)
{
//清空计数器
flyTaskData.timerCNT = 0;
//寻线
flyTaskData.state = followLine2;
//进入下一个任务
flyTaskData.task = H;
}
return;
}
//任务H
if(flyTaskData.task == H)
{
flyTaskData.timerCNT ++;
//
if(flyTaskData.timerCNT > 2000)
{
//清空计数器
flyTaskData.timerCNT = 0;
//切换到寻线
flyTaskData.state = followLine2;
//降落
flyMode_ChangeTo_AutoHightCtrl_Down();
//进入下一个任务
flyTaskData.task = I;
}
return;
}
}
float anglePitch = -0.6;
void foward(float* angle)
{
float angle_ = *angle;
if(angle_ == -0.6)
{
angle_ = 0.5;
}
else if(angle_ == 0.5)
{
angle_ = -0.6;
}
}
//飞行输出更新
void flyTask_AngleOutPutUpdate_2ms_()
{
if(flyTaskData.state == ctrlOff)
{
// flyTaskData.posInterfaceX = 0;
// flyTaskData.posInterfaceY = 0;
flyTaskData.targetAngle.PITCH = 0;
flyTaskData.targetAngle.ROLL = 0;
// flyTaskData.targetAngle.YAW = 0;
return ;
}
if(flyTaskData.state == pointStay)
{
//切换数据接口
flyTaskData.posInterfaceX = -1*openmv.circle_x+80;
flyTaskData.posInterfaceY = openmv.circle_y-20;
flyTaskData.speedInterfaceX = posFilterData.speedX_d_value; //互补速度
flyTaskData.speedInterfaceY = posFilterData.speedY_d_value;
posXYCtrl_GetData_2ms_(flyTaskData.posInterfaceX, flyTaskData.posInterfaceY, flyTaskData.speedInterfaceX, flyTaskData.speedInterfaceY);
//定点识别具有高度限制
if(posFilterData.posZ_real_value > 300)
{
flyTaskData.targetAngle.PITCH = posXYCtrl_outputTargetAngle_Pitch();
flyTaskData.targetAngle.ROLL = posXYCtrl_outputTargetAngle_Roll();
//flyTaskData.targetAngle.YAW = 0;
return;
}
else
{
flyTaskData.targetAngle.PITCH = 0;
flyTaskData.targetAngle.ROLL = 0;
flyTaskData.targetAngle.YAW = 0;
return;
}
return;
}
if(flyTaskData.state == followLine)
{
//切换数据接口
flyTaskData.posInterfaceX = -1*openmv.mid_x+80; //边线坐标
flyTaskData.posInterfaceY = -20; //给目标位置=目标给速度
flyTaskData.speedInterfaceX = posFilterData.speedX_predict_value*0.03; //互补速度
flyTaskData.speedInterfaceY = OF_Data.speedY_filter_value*0.025; //光流速度
posXYCtrl_GetData_2ms_(flyTaskData.posInterfaceX, flyTaskData.posInterfaceY, flyTaskData.speedInterfaceX, flyTaskData.speedInterfaceY);
//寻线具有高度限制
if(posFilterData.posZ_real_value > 400)
{
//flyTaskData.targetAngle.PITCH = posXYCtrl_outputTargetAngle_Pitch();
flyTaskData.targetAngle.PITCH = -0.10;
flyTaskData.targetAngle.ROLL = posXYCtrl_outputTargetAngle_Roll()-0.0;
//flyTaskData.targetAngle.YAW = 0;
return;
}
else
{
flyTaskData.targetAngle.PITCH = -2.40;
flyTaskData.targetAngle.ROLL = 0;
//flyTaskData.targetAngle.YAW = 0;
return;
}
return;
}
if(flyTaskData.state == followLine2)
{
//切换数据接口
flyTaskData.posInterfaceX = -1*openmv.mid_x+80; //边线坐标
flyTaskData.posInterfaceY = -20; //给目标位置=目标给速度
flyTaskData.speedInterfaceX = posFilterData.speedX_predict_value*0.03; //互补速度
flyTaskData.speedInterfaceY = OF_Data.speedY_filter_value*0.025; //光流速度
posXYCtrl_GetData_2ms_(flyTaskData.posInterfaceX, flyTaskData.posInterfaceY, flyTaskData.speedInterfaceX, flyTaskData.speedInterfaceY);
//寻线具有高度限制
if(posFilterData.posZ_real_value > 400)
{
//flyTaskData.targetAngle.PITCH = posXYCtrl_outputTargetAngle_Pitch();
flyTaskData.targetAngle.PITCH = -1.0;
flyTaskData.targetAngle.ROLL = posXYCtrl_outputTargetAngle_Roll()-0.0;
//flyTaskData.targetAngle.YAW = 0;
return;
}
else
{
flyTaskData.targetAngle.PITCH = -2.40;
flyTaskData.targetAngle.ROLL = 0;
//flyTaskData.targetAngle.YAW = 0;
return;
}
return;
}
if(flyTaskData.state == yawTurn)
{
flyTaskData.targetAngle.PITCH = 0;
flyTaskData.targetAngle.ROLL = -0;
flyTaskData.targetAngle.YAW -= 0.25;
return;
}
if(flyTaskData.state == blindFly)
{
//切换数据接口
flyTaskData.posInterfaceX = -1*openmv.mid_x+80; //
flyTaskData.posInterfaceY = -20; //给目标位置=目标给速度
flyTaskData.speedInterfaceX = posFilterData.speedX_predict_value*0.03; //
flyTaskData.speedInterfaceY = 0;
posXYCtrl_GetData_2ms_(flyTaskData.posInterfaceX, flyTaskData.posInterfaceY, flyTaskData.speedInterfaceX, flyTaskData.speedInterfaceY);
foward(&anglePitch);
//flyTaskData.targetAngle.PITCH = posXYCtrl_outputTargetAngle_Pitch();
flyTaskData.targetAngle.PITCH = -1.0;
flyTaskData.targetAngle.ROLL = posXYCtrl_outputTargetAngle_Roll();
// flyTaskData.targetAngle.YAW -= 0.5;
return;
}
if(flyTaskData.state == left)
{
flyTaskData.targetAngle.PITCH = 0;
flyTaskData.targetAngle.ROLL = -2.5;
flyTaskData.targetAngle.YAW = 0;
return;
}
if(flyTaskData.state == right)
{
flyTaskData.targetAngle.PITCH = posXYCtrl_outputTargetAngle_Pitch();
flyTaskData.targetAngle.ROLL = 2.5;
flyTaskData.targetAngle.YAW = 0;
return;
}
if(flyTaskData.state == forward)
{
flyTaskData.targetAngle.PITCH = -2.5;
flyTaskData.targetAngle.ROLL = posXYCtrl_outputTargetAngle_Roll();
flyTaskData.targetAngle.YAW = 0;
return;
}
if(flyTaskData.state == back)
{
//切换数据接口
flyTaskData.posInterfaceX = -1*openmv.mid_x+80; //边线坐标
flyTaskData.posInterfaceY = -20; //给目标位置=目标给速度
flyTaskData.speedInterfaceX = posFilterData.speedX_predict_value*0.03; //互补速度
flyTaskData.speedInterfaceY = OF_Data.speedY_filter_value*0.025; //光流速度
posXYCtrl_GetData_2ms_(flyTaskData.posInterfaceX, flyTaskData.posInterfaceY, flyTaskData.speedInterfaceX, flyTaskData.speedInterfaceY);
flyTaskData.targetAngle.PITCH = 3.0;
flyTaskData.targetAngle.ROLL = posXYCtrl_outputTargetAngle_Roll();
//flyTaskData.targetAngle.YAW = 0;
return;
}
if(flyTaskData.state == back2)
{
//切换数据接口
flyTaskData.posInterfaceX = -1*openmv.mid_x+80; //边线坐标
flyTaskData.posInterfaceY = -20; //给目标位置=目标给速度
flyTaskData.speedInterfaceX = posFilterData.speedX_predict_value*0.03; //互补速度
flyTaskData.speedInterfaceY = OF_Data.speedY_filter_value*0.025; //光流速度
posXYCtrl_GetData_2ms_(flyTaskData.posInterfaceX, flyTaskData.posInterfaceY, flyTaskData.speedInterfaceX, flyTaskData.speedInterfaceY);
flyTaskData.targetAngle.PITCH = 6.5;
flyTaskData.targetAngle.ROLL = posXYCtrl_outputTargetAngle_Roll()-0.5;
//flyTaskData.targetAngle.YAW = 0;
return;
}
}
//输出目标俯仰角
float flyTask_TargetAngleOut_Pitch()
{
return flyTaskData.targetAngle.PITCH;
}
//输出目标横滚角
float flyTask_TargetAngleOut_Roll()
{
return flyTaskData.targetAngle.ROLL;
}
//输出目标偏航角
float flyTask_TargetAngleOut_Yaw()
{
return flyTaskData.targetAngle.YAW;
}