Diff: config/falfalla.h

Revision:

1:f31e17341659

Parent:

0:92024886c0be

diff -r 92024886c0be -r f31e17341659 config/falfalla.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/config/falfalla.h	Tue Aug 28 07:12:16 2018 +0000
@@ -0,0 +1,55 @@
+#ifndef FALFALLA_H
+#define FALFALLA_H
+
+#define SWITCH_CHECK 1400
+#define NUMBER_FALFALLA 2 //何号機かを入れるとそれに応じて#if以下が変わって設定が変わる
+
+static float g_kpELE=2.0;
+static float g_kiELE=0.0;
+static float g_kdELE=0.0;
+static float g_kpRUD=3.0;
+static float g_kiRUD=0.0;
+static float g_kdRUD=0.0;
+
+static float g_rightloopROLL=-17.0;
+static float g_rightloopPITCH=-6.3;
+static float g_leftloopROLL=16.0;
+static float g_leftloopPITCH=-6.0;
+static float g_gostraightROLL=2.0;
+static float g_gostraightPITCH=-3.0;
+static float g_takeoffTHR=1.0;
+static float g_loopTHR=0.58;
+
+static float g_rightloopROLLshort=-20.0;
+static float g_rightloopPITCHshort=-7.0;
+static float g_leftloopROLLshort=22.0;
+static float g_leftloopPITCHshort=-6.0;
+
+static float g_glideloopROLL = -16.0;
+static float g_glideloopPITCH = 0.0;
+
+#if NUMBER_FALFALLA == 1    //1号機
+
+const int16_t Trim_Falfalla[4] = {0,14,-100,-10};
+const float ExpMax_Falfalla[4] = {100,115,100,89};
+const float ExpMin_Falfalla[4] = {100,47,100,110};
+const int8_t Reverce_falfalla[4] = {1,-1,1,1};   //Nutral:1 , Reverce:-1
+
+#elif NUMBER_FALFALLA == 2  //2号機
+
+const int16_t Trim_Falfalla[4] = {0,12,-100,2};
+const float ExpMax_Falfalla[4] = {100,115,100,103};
+const float ExpMin_Falfalla[4] = {100,97,100,97};
+const int16_t Reverce_falfalla[4] = {1,-1,1,-1};   //Nutral:1 , Reverce:-1
+
+
+#endif
+
+
+#endif /* ESTRELA_H_ */
+
+/*
+x軸回り    ロール
+y軸回り    ピッチ
+z軸回り    ヨー
+*/
\ No newline at end of file