My project is for a modified RC plane that will fly and navigate by itself. It has an MPU6050 accelerometer/gyro and a adafruit breakout GPS module. I can get the gyro to control the plane and make it fly steady. I have the GPS reading and printing values to the serial monitor. It uses 45% of storage space and 42% of dynamic memory. I am still in the process of working on this project so the code is not done yet. The main problem I am having is that the program will run for 2 minutes and then stop suddenly for no reason. This is a major problem because I need the plane to run for more than two minutes.
My question is this: why is my code stopping and how can I fix it?
#include “Wire.h”
#include <MPU6050_light.h>
#include <Servo.h>
#include <SoftwareSerial.h> //gps
#include <TinyGPS.h>
int x;
int y;
int z;
int throttle;
Servo servoELV;
Servo servoAL;
Servo servoAR;
Servo servodcmotor;
MPU6050 mpu(Wire);
unsigned long timer = 0;
unsigned long age, date, time, chars = 0;
static const double target_LAT = 29.9511, target_LON = -90.0715;
TinyGPS gps;
SoftwareSerial ss(4, 3);
static void smartdelay(unsigned long ms);
static void print_float(float val, float invalid, int len, int prec);
static void print_int(unsigned long val, unsigned long invalid, int len);
static void print_date(TinyGPS &gps);
static void print_str(const char *str, int len); //gps
void setup(){
Serial.begin(9600);
Wire.begin();
mpu.begin();
Serial.println(F(“Calculating gyro offset, do not move MPU6050”));
delay(1000);
mpu.calcGyroOffsets(); //calculates offset so gyro values start at 0
Serial.println(“Done!\n”);
pinMode(13,OUTPUT);
pinMode(12,OUTPUT);
pinMode(11,OUTPUT);
pinMode(10,OUTPUT);
servoELV.attach(13); //ELIVATORS(UP AND DOWN)
servoAL.attach(12); //LEFT WING
servoAR.attach(11); //RIGHT WING
servodcmotor.attach(10); //MOTOR
ss.begin(9600); //gps
}
void loop() {
float flat, flon; //gps
mpu.update();
if((millis()-timer)>20) // print data every 10ms
int x = mpu.getAngleX();
int y = mpu.getAngleY();
int z = mpu.getAngleZ();
Serial.print("X : “);
Serial.print(mpu.getAngleX());
Serial.print(”\tY : “); //this prints out the gyro values
Serial.print(mpu.getAngleY());
Serial.print(”\tZ : ");
Serial.print(mpu.getAngleZ());
timer = millis();
Serial.print(" GPS “);
gps.f_get_position(&flat, &flon);
Serial.print(” lat");
print_float(flat, TinyGPS::GPS_INVALID_F_ANGLE, 10, 6); // These are the printed values for the GPS
Serial.print(" long");
print_float(flon, TinyGPS::GPS_INVALID_F_ANGLE, 11, 6); //LAT,LONG,ALT,DISTANCE,DEG TO TARGET
Serial.print(" alt");
print_float(gps.f_altitude(), TinyGPS::GPS_INVALID_F_ALTITUDE, 7, 2);
Serial.print(" distance to target:");
print_float(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0xFFFFFFFF : (unsigned long)TinyGPS::distance_between(flat, flon, target_LAT, target_LON) / 1000, 0xFFFFFFFF, 9 ,2);
Serial.print(" course to target:");
print_float(flat == TinyGPS::GPS_INVALID_F_ANGLE ? TinyGPS::GPS_INVALID_F_ANGLE : TinyGPS::course_to(flat, flon, target_LAT, target_LON), TinyGPS::GPS_INVALID_F_ANGLE, 7, 2);
Serial.print(“deg to target”);
Serial.print((TinyGPS::course_to(flat, flon, target_LAT, target_LON))-(gps.f_course(), TinyGPS::GPS_INVALID_F_ANGLE));
Serial.println();
smartdelay(10);
// servodcmotor.writeMicroseconds(throttle);
if ( y > 5.0)
{
tiltdown();
//digitalWrite(13,HIGH);
}
else if (y < -5.0){
tiltup();
// digitalWrite(10,HIGH);
}
else
{servoELV.write(90);
// digitalWrite(10,LOW);digitalWrite(13,LOW);
}
if ( x > 5){
rollleft();
//digitalWrite(12,HIGH);
}
else if ( x < -5){
rollright(); //This should allow 10deg of error.
//digitalWrite(11,HIGH);
}
else if (( x < 5)&&( x > -5))
{servoAL.write(95);servoAR.write(95);
//digitalWrite(12,LOW);digitalWrite(11,LOW);
}
if ((TinyGPS::course_to(flat, flon, target_LAT, target_LON))-(gps.f_course(), TinyGPS::GPS_INVALID_F_ANGLE)>10){ //calculates the degrees to target and turns accordingly
turnleft();
}
else if ((TinyGPS::course_to(flat, flon, target_LAT, target_LON))-(gps.f_course(), TinyGPS::GPS_INVALID_F_ANGLE)<-10){
turnright();
}
else{}
}//closeloop
void turnright(){
}
void turnleft(){
}
void tiltdown(){
servoELV.write(70);
} //pushes elivators down
void tiltup(){
servoELV.write(110); // pulls elivators up
}
void rollleft(){
servoAL.write(50);
servoAR.write(50);
}
void rollright(){
servoAL.write(140);
servoAR.write(140);
}
//*******************************************************************************/ gps
static void smartdelay(unsigned long ms)
{
unsigned long start = millis();
do
{
while (ss.available())
gps.encode(ss.read());
} while (millis() - start < ms);
}
static void print_float(float val, float invalid, int len, int prec) //these functions were copied from the example from the tinyGPS library
{
if (val == invalid)
{
while (len-- > 1)
Serial.print(’*’);
Serial.print(’ ‘);
}
else
{
Serial.print(val, prec);
int vi = abs((int)val);
int flen = prec + (val < 0.0 ? 2 : 1); // . and -
flen += vi >= 1000 ? 4 : vi >= 100 ? 3 : vi >= 10 ? 2 : 1;
for (int i=flen; i<len; ++i)
Serial.print(’ ');
}
smartdelay(0);
}
static void print_str(const char *str, int len)
{
int slen = strlen(str);
for (int i=0; i<len; ++i)
Serial.print(i<slen ? str : ’ ');
- smartdelay(0);*
}
//******************************************************************************/gps
code_first_version.ino (5.23 KB)
