我正在编写一些软件来控制四轴飞行器，并且完全被 RtosTimers 卡住了。我收到错误“错误：没有构造函数实例“rtos::RtosTimer::RtosTimer”与“flightController.h”中的参数列表匹配，行：13，列：29”
我查看了手册中的示例代码，我的代码似乎匹配。我也用谷歌搜索过，但我找不到在 RtosThreads 中使用 RtosTimers 的任何内容。
也许我正在以错误的方式解决这个问题，所以如果有人有任何建议，将不胜感激。
这是导致我出现问题的代码
//Rtos Timers
RtosTimer UpdateFlightTimer(Task500Hz, osTimerPeriodic, (void *)0);
RtosTimer UpdateCommandTimer(Task50Hz, osTimerPeriodic, (void *)0);
// A thread to monitor the serial ports
void FlightControllerThread(void const *args)
{
UpdateFlightTimer.start(2);
UpdateCommandTimer.start(20);
// Wait here forever
Thread::wait(osWaitForever);
}
void Task500Hz(void const *n)
{
//Get IMU data and convert to yaw, pitch, roll
_freeIMU.getQ(_rawQuaternion);
_freeIMU.getRate(_gyroRate);
GetAttitude();
//Rate mode
if(_rate == true && _stab == false)
{
//Update rate PID process value with gyro rate
_yawRatePIDController->setProcessValue(_gyroRate[0]);
_pitchRatePIDController->setProcessValue(_gyroRate[2]);
_rollRatePIDController->setProcessValue(_gyroRate[1]);
//Update rate PID set point with desired rate from RC
_yawRatePIDController->setSetPoint(_rcConstrainedCommands[0]);
_pitchRatePIDController->setSetPoint(_rcConstrainedCommands[1]);
_rollRatePIDController->setSetPoint(_rcConstrainedCommands[2]);
//Compute rate PID outputs
_ratePIDControllerOutputs[0] = _yawRatePIDController->compute();
_ratePIDControllerOutputs[1] = _pitchRatePIDController->compute();
_ratePIDControllerOutputs[2] = _rollRatePIDController->compute();
}
//Stability mode
else
{
//Update stab PID process value with ypr
_yawStabPIDController->setProcessValue(_yrp[0]);
_pitchStabPIDController->setProcessValue(_yrp[2]);
_rollStabPIDController->setProcessValue(_yrp[1]);
//Update stab PID set point with desired angle from RC
_yawStabPIDController->setSetPoint(_yawTarget);
_pitchStabPIDController->setSetPoint(_rcConstrainedCommands[1]);
_rollStabPIDController->setSetPoint(_rcConstrainedCommands[2]);
//Compute stab PID outputs
_stabPIDControllerOutputs[0] = _yawStabPIDController->compute();
_stabPIDControllerOutputs[1] = _pitchStabPIDController->compute();
_stabPIDControllerOutputs[2] = _rollStabPIDController->compute();
//if pilot commanding yaw
if(abs(_rcConstrainedCommands[0]) > 5)
{
_stabPIDControllerOutputs[0] = _rcConstrainedCommands[0]; //Feed to rate PID (overwriting stab PID output)
_yawTarget = _yrp[0];
}
//Update rate PID process value with gyro rate
_yawRatePIDController->setProcessValue(_gyroRate[0]);
_pitchRatePIDController->setProcessValue(_gyroRate[2]);
_rollRatePIDController->setProcessValue(_gyroRate[1]);
//Update rate PID set point with desired rate from stab PID
_yawRatePIDController->setSetPoint(_stabPIDControllerOutputs[0]);
_pitchRatePIDController->setSetPoint(_stabPIDControllerOutputs[1]);
_rollRatePIDController->setSetPoint(_stabPIDControllerOutputs[2]);
//Compute rate PID outputs
_ratePIDControllerOutputs[0] = _yawRatePIDController->compute();
_ratePIDControllerOutputs[1] = _pitchRatePIDController->compute();
_ratePIDControllerOutputs[2] = _rollRatePIDController->compute();
}
//Calculate motor power if flying
if(_rcCommands[3] > 0 && _armed == true)
{
_motorPower[0] = Constrain(_rcConstrainedCommands[3] + _ratePIDControllerOutputs[1] + _ratePIDControllerOutputs[2] + _ratePIDControllerOutputs[0], MOTORS_MIN, MOTORS_MAX);
_motorPower[1] = Constrain(_rcConstrainedCommands[3] + _ratePIDControllerOutputs[1] - _ratePIDControllerOutputs[2] - _ratePIDControllerOutputs[0], MOTORS_MIN, MOTORS_MAX);
_motorPower[2] = Constrain(_rcConstrainedCommands[3] - _ratePIDControllerOutputs[1] - _ratePIDControllerOutputs[2] + _ratePIDControllerOutputs[0], MOTORS_MIN, MOTORS_MAX);
_motorPower[3] = Constrain(_rcConstrainedCommands[3] - _ratePIDControllerOutputs[1] + _ratePIDControllerOutputs[2] - _ratePIDControllerOutputs[0], MOTORS_MIN, MOTORS_MAX);
}
//Not flying
else
{
//Disable motors
_motorPower[0] = MOTORS_OFF;
_motorPower[1] = MOTORS_OFF;
_motorPower[2] = MOTORS_OFF;
_motorPower[3] = MOTORS_OFF;
_notFlying ++;
if(_notFlying > 200) //Not flying for 1 second
{
//Reset iteratior
_notFlying = 0;
//Zero gyro
_freeIMU.zeroGyro();
//Reset I
_yawRatePIDController->reset();
_pitchRatePIDController->reset();
_rollRatePIDController->reset();
_yawStabPIDController->reset();
_pitchStabPIDController->reset();
_rollStabPIDController->reset();
}
}
//Set motor power
_motor1.write(_motorPower[0]);
_motor2.write(_motorPower[1]);
_motor3.write(_motorPower[2]);
_motor4.write(_motorPower[3]);
}
void Task50Hz(void const *n)
{
//Get RC control values
//Constrain
//Rate mode
if(_rate == true && _stab == false)
{
_rcConstrainedCommands[0] = Constrain(_rcCommands[0], RC_YAW_RATE_MIN, RC_YAW_RATE_MAX);
_rcConstrainedCommands[1] = Constrain(_rcCommands[1], RC_PITCH_RATE_MIN, RC_PITCH_RATE_MAX);
_rcConstrainedCommands[2] = Constrain(_rcCommands[2], RC_ROLL_RATE_MIN, RC_ROLL_RATE_MAX);
_rcConstrainedCommands[3] = Constrain(_rcCommands[3], RC_THRUST_MIN, RC_THRUST_MAX);
}
else
{
_rcConstrainedCommands[0] = Constrain(_rcCommands[0], RC_YAW_RATE_MIN, RC_YAW_RATE_MAX);
_rcConstrainedCommands[1] = Constrain(_rcCommands[1], RC_PITCH_ANGLE_MIN, RC_PITCH_ANGLE_MAX);
_rcConstrainedCommands[2] = Constrain(_rcCommands[2], RC_ROLL_ANGLE_MIN, RC_ROLL_ANGLE_MAX);
_rcConstrainedCommands[3] = Constrain(_rcCommands[3], RC_THRUST_MIN, RC_THRUST_MAX);
}
}
我的程序可以在http://mbed.org/users/joe4465/code/QuadMK5/找到
问题出在 flightController.h 我认为应该清楚我要做什么，但如果有人不确定，请告诉我。
我还有另一个完全不相关的问题。我可以通过串行设置我的 PID 变量，然后将它们保存到配置文件中，但是如果在将数据保存到文件后会挂起，那么 3 次中有 1 次会挂起，我不知道为什么。有谁知道可能导致这种情况的原因？
谢谢乔