航空研究会 / Mbed 2 deprecated AutoFlight2017_now3

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Dependencies:   HCSR04_2 MPU6050_2 mbed SDFileSystem3

Fork of AutoFlight2017_now2 by 航空研究会

config/Estrela.h@0:92024886c0be, 2017-08-01 (annotated)

Committer:
TUATBM
Date:
Tue Aug 01 12:27:13 2017 +0000
Revision:
0:92024886c0be
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
TUATBM 0:92024886c0be 1 #ifndef ESTRELA_H_
TUATBM 0:92024886c0be 2 #define ESTRELA_H_
TUATBM 0:92024886c0be 3
TUATBM 0:92024886c0be 4 #include "mbed.h"
TUATBM 0:92024886c0be 5
TUATBM 0:92024886c0be 6 //===========OUT channel======================
TUATBM 0:92024886c0be 7 /*
TUATBM 0:92024886c0be 8 Servo servo_AIL1(SERVO8);
TUATBM 0:92024886c0be 9 Servo servo_ELE(SERVO7);
TUATBM 0:92024886c0be 10 Servo servo_THR(SERVO6);
TUATBM 0:92024886c0be 11 Servo servo_RUD(SERVO5);
TUATBM 0:92024886c0be 12 Servo servo_O(SERVO4);
TUATBM 0:92024886c0be 13 Servo servo_AIL2(SERVO3);
TUATBM 0:92024886c0be 14 */
TUATBM 0:92024886c0be 15 //===========IN channel======================
TUATBM 0:92024886c0be 16
TUATBM 0:92024886c0be 17 //===========machine setting=================
TUATBM 0:92024886c0be 18
TUATBM 0:92024886c0be 19 /*<<<<<<<<<< Tips >>>>>>>>>
TUATBM 0:92024886c0be 20 サーボ入出力は0~1000(us)　これはPWMのパルス幅である
TUATBM 0:92024886c0be 21 だけど機体によってトリムがあるので、サーボ初期位置は必ず500とは限らない
TUATBM 0:92024886c0be 22 あたりまえだけど、プロポのほうの設定変更（舵角やミキシング量等）はここには反映されない
TUATBM 0:92024886c0be 23 反映したけりゃ自分でこのファイルを書き直すこと
TUATBM 0:92024886c0be 24
TUATBM 0:92024886c0be 25 AIL エルロン
TUATBM 0:92024886c0be 26 ELE エレベーター
TUATBM 0:92024886c0be 27 THR スロットル
TUATBM 0:92024886c0be 28 RUD ラダー
TUATBM 0:92024886c0be 29 SW1 (7ch)
TUATBM 0:92024886c0be 30 SW2 (8CH)
TUATBM 0:92024886c0be 31
TUATBM 0:92024886c0be 32 */
TUATBM 0:92024886c0be 33 //1ch AIL1
TUATBM 0:92024886c0be 34 //2ch ELE
TUATBM 0:92024886c0be 35 //3ch THR
TUATBM 0:92024886c0be 36 //4ch RUD
TUATBM 0:92024886c0be 37 //6cH AIL2
TUATBM 0:92024886c0be 38
TUATBM 0:92024886c0be 39
TUATBM 0:92024886c0be 40 /*自動操縦スイッチのしきい値　ch7のトリムやEPAを変えたらかならずチェックすること*/
TUATBM 0:92024886c0be 41 #define SWITCH_CHECK 1400 //下1052　上1972
TUATBM 0:92024886c0be 42 /*各舵のニュートラル値*/
TUATBM 0:92024886c0be 43 #define RUD_N 1573 // L 1790 N 1332 R 1032 width 822
TUATBM 0:92024886c0be 44 #define THR_N 1508 // low 1184 N 1507 hi 1832 width 813
TUATBM 0:92024886c0be 45 #define ELE_N 1461 // up 1192 N 1412 dow 1690 width 739
TUATBM 0:92024886c0be 46 /*各舵の最大値*/
TUATBM 0:92024886c0be 47 #define RUD_MAX 1836
TUATBM 0:92024886c0be 48 #define ELE_MAX 1628
TUATBM 0:92024886c0be 49 /*各舵の最小値*/
TUATBM 0:92024886c0be 50 #define RUD_MIN 1262
TUATBM 0:92024886c0be 51 #define ELE_MIN 1304
TUATBM 0:92024886c0be 52 #define THR_MIN 1416
TUATBM 0:92024886c0be 53 /*各舵のリバース設定　１かー１のみ　直接掛け算するので*/
TUATBM 0:92024886c0be 54 #define THROTTLE_REV 1
TUATBM 0:92024886c0be 55 #define ELEVATOR_REV 1 //1
TUATBM 0:92024886c0be 56 #define RUDDER_REV 1 //1
TUATBM 0:92024886c0be 57 /*各舵の比例ゲイン値*/
TUATBM 0:92024886c0be 58 #define THROTTLE_GN 0.2
TUATBM 0:92024886c0be 59 #define ELEVATOR_GN 1 //0.9
TUATBM 0:92024886c0be 60 #define RUDDER_GN 1 //0.6
TUATBM 0:92024886c0be 61 /*各舵の微分ゲイン*/
TUATBM 0:92024886c0be 62 #define ELE_DGN 0.5
TUATBM 0:92024886c0be 63 #define RUD_DGN 0.5
TUATBM 0:92024886c0be 64 /*旋回時のラダー中心位置*/
TUATBM 0:92024886c0be 65 #define RUDDER_TURN 164
TUATBM 0:92024886c0be 66 /*旋回時のロール角度*/
TUATBM 0:92024886c0be 67 #define SENKAI_D 10
TUATBM 0:92024886c0be 68 /*通常迎角*/
TUATBM 0:92024886c0be 69 #define GEIKAKU 31
TUATBM 0:92024886c0be 70 /*機体設置状態ピッチ方向の傾き*/
TUATBM 0:92024886c0be 71 #define LAND_ANGLE 5
TUATBM 0:92024886c0be 72 /*旋回　積分量設定*/
TUATBM 0:92024886c0be 73 #define SENKAIDDD 10000000 //旋回時間　傾きの積分値と比較
TUATBM 0:92024886c0be 74 /*落下機構の動作位置*/
TUATBM 0:92024886c0be 75 #define OTEDAMA1 710
TUATBM 0:92024886c0be 76 #define OTEDAMA2 500
TUATBM 0:92024886c0be 77 #define OTEDAMA3 250
TUATBM 0:92024886c0be 78
TUATBM 0:92024886c0be 79 #define CHECKSW1_t 0.1
TUATBM 0:92024886c0be 80
TUATBM 0:92024886c0be 81 #define MANUAL_t 0.5
TUATBM 0:92024886c0be 82 #define SCALE_t 0.05
TUATBM 0:92024886c0be 83 #define GHPF 512
TUATBM 0:92024886c0be 84 #define ALPF 32
TUATBM 0:92024886c0be 85 #define ALPF_ 528
TUATBM 0:92024886c0be 86
TUATBM 0:92024886c0be 87 #define MANUAL_MS 25
TUATBM 0:92024886c0be 88 #define CHECKMODE_MS 0
TUATBM 0:92024886c0be 89 #define SENSING_MS 0
TUATBM 0:92024886c0be 90 #define AUTO_MS 25
TUATBM 0:92024886c0be 91 //#define G_MS 50
TUATBM 0:92024886c0be 92 //#define A_MS 50
TUATBM 0:92024886c0be 93 #define MOBIUS_T 144
TUATBM 0:92024886c0be 94 #define MOBIUS_NN 12
TUATBM 0:92024886c0be 95 #define MOBIUS_LO 60
TUATBM 0:92024886c0be 96
TUATBM 0:92024886c0be 97 //=====================================================
TUATBM 0:92024886c0be 98
TUATBM 0:92024886c0be 99 //===============global===============
TUATBM 0:92024886c0be 100 int Auto_RUD=RUD_N;
TUATBM 0:92024886c0be 101 int Auto_ELE=ELE_N;
TUATBM 0:92024886c0be 102 int Auto_THR=THR_N;
TUATBM 0:92024886c0be 103
TUATBM 0:92024886c0be 104
TUATBM 0:92024886c0be 105 #endif /* ESTRELA_H_ */
TUATBM 0:92024886c0be 106
TUATBM 0:92024886c0be 107 /*
TUATBM 0:92024886c0be 108 x軸回り ロール
TUATBM 0:92024886c0be 109 y軸回り ピッチ
TUATBM 0:92024886c0be 110 z軸回り ヨー
TUATBM 0:92024886c0be 111 */