Revision 2:f5f33eb8d44b, committed 2018-09-09

Comitter:

HARUKIDELTA

Date:

Sun Sep 09 14:26:38 2018 +0000

Parent:

1:f31e17341659

Commit message:

a

Changed in this revision

diff -r f31e17341659 -r f5f33eb8d44b main.cpp
--- a/main.cpp	Tue Aug 28 07:12:16 2018 +0000
+++ b/main.cpp	Sun Sep 09 14:26:38 2018 +0000
@@ -33,7 +33,7 @@
 #define RIGHT_PITCH -6.3
 #define LEFT_ROLL 16.0
 #define LEFT_PITCH -6.0
-#define STRAIGHT_ROLL 2.0
+#define STRAIGHT_ROLL 0.0
 #define STRAIGHT_PITCH -3.0
 #define TAKEOFF_THR 1.0
 #define LOOP_THR 0.58
@@ -789,7 +789,7 @@
                     pwm[i] = sbuspwm[i];
                 }
                 oldTHR = sbuspwm[THR];
-                                
+                pc.printf("%d",pwm[RUD]);                
                 //pc.printf("update_manual\r\n");
                 break;
         
@@ -1036,12 +1036,13 @@
 
 //離陸-投下-着陸一連
 void Take_off_and_landing(float targetAngle[3]){
-    if(!CheckSW_Up(Ch7)) bombing_mode = Takeoff;
+    //if(!CheckSW_Up(Ch7)) bombing_mode = Takeoff;
     
-    switch(bombing_mode){
-        case Takeoff:
+    //switch(bombing_mode){
+    /*    case Takeoff:
             static bool flg_setFirstYaw = false;
             static int TakeoffCount = 0;
+            autopwm[RUD]=1409;
 
             if(!flg_setFirstYaw && CheckSW_Up(Ch7)){
                 FirstYAW = nowAngle[YAW] + FirstYAW;
@@ -1067,7 +1068,7 @@
         case Chicken:    
             break;
         */    
-        case Transition:
+      /*  case Transition:
             /*
             static int ApproachCount = 0;
             targetAngle[YAW]=180.0;
@@ -1075,22 +1076,23 @@
             
             if(Judge==0) ApproachCount++;
             if(ApproachCount>5) bombing_mode = Approach;
-            */
-            break;
             
-        case Approach:
+            break;*/    
+        //case Approach:
+           autopwm[THR] = SetTHRinRatio(g_loopTHR); //0.7;スロットルの割合
             UpdateTargetAngle_Approach(targetAngle);
-            break;
+            //break;
             
-        default:
-            bombing_mode = Takeoff;
-            break;    
-    }
+        //default:
+            //bombing_mode = Takeoff;
+            //break;    
+    //}
 }
 
 //離陸モード
 void UpdateTargetAngle_Takeoff(float targetAngle[3]){
     static int tELE_start = 0;
+    autopwm[RUD]=1409;
     static bool flg_ELEup = false;
     int t_def = 0;
     if(!flg_ELEup && CheckSW_Up(Ch7)){
@@ -1185,6 +1187,7 @@
 void UpdateTargetAngle_Approach(float targetAngle[3]){
     static char rotatemode = 'G';
     if(output_status == Manual) rotatemode = 'G';    
+    //autopwm[THR] = SetTHRinRatio(g_loopTHR); //0.7;スロットルの割合
 
     //pc.putc(g_landingcommand);
     switch(g_landingcommand){