航空研究会
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Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
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Autoflight2018_16
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航空研究会
Revision 13:77b13d5f4d78, committed 2018-09-16
- Comitter:
- HARUKIDELTA
- Date:
- Sun Sep 16 07:59:29 2018 +0000
- Parent:
- 12:763bf416ba4b
- Commit message:
- 16:59;
Changed in this revision
| config/falfalla.h | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 763bf416ba4b -r 77b13d5f4d78 config/falfalla.h
--- a/config/falfalla.h Sun Sep 16 06:10:05 2018 +0000
+++ b/config/falfalla.h Sun Sep 16 07:59:29 2018 +0000
@@ -31,6 +31,18 @@
static float g_glideloopROLL = -5.0; //rewrite
static float g_glideloopPITCH = 0.0;
+static int g_rightloopRUD = 1500;
+static int g_rightloopshortRUD = 1500;
+static int g_leftloopRUD = 1500;
+static int g_leftloopshortRUD = 1500;
+static int g_glideloopRUD = 1500;
+
+static int g_AIL_L_correctionrightloop = 0;
+static int g_AIL_L_correctionrightloopshort = 0;
+static int g_AIL_L_correctionleftloop = 0;
+static int g_AIL_L_correctionleftloopshort = 0;
+
+
#if NUMBER_FALFALLA == 1 //1号機
const int16_t Trim_Falfalla[4] = {0,14,-100,-10};
diff -r 763bf416ba4b -r 77b13d5f4d78 main.cpp
--- a/main.cpp Sun Sep 16 06:10:05 2018 +0000
+++ b/main.cpp Sun Sep 16 07:59:29 2018 +0000
@@ -43,7 +43,7 @@
#define TAKEOFF_THR 0.8
#define LOOP_THR 0.6
-#define g_rightloopRUD 1500
+//#define g_rightloopRUD 1500
#define RIGHT_ROLL_SHORT -12.0
#define RIGHT_PITCH_SHORT -5.0
@@ -224,7 +224,13 @@
float *g_rightloopROLLshort, float *g_rightloopPITCHshort,
float *g_leftloopROLLshort, float *g_leftloopPITCHshort,
float *g_glideloopROLL, float *g_glideloopPITCH,
- float *g_kpAIL, float *g_kiAIL, float *g_kdAIL);
+ float *g_kpAIL, float *g_kiAIL, float *g_kdAIL,
+ int *g_rightloopRUD, int *g_rightloopshortRUD,
+ int *g_leftloopRUD, int *g_leftloopshortRUD,
+ int *g_glideRUD,
+ int *g_AIL_L_correctionrightloop,int *g_AIL_L_correctionrightloopshort,
+ int *g_AIL_L_correctionlefttloop,int *g_AIL_L_correctionleftloopshort
+ );
//switch2割り込み
void ResetTrim();
@@ -293,7 +299,13 @@
&g_rightloopROLLshort, &g_rightloopPITCHshort,
&g_leftloopROLLshort, &g_leftloopPITCHshort,
&g_glideloopROLL, &g_glideloopPITCH,
- &g_kpAIL, &g_kiAIL,&g_kdAIL);
+ &g_kpAIL, &g_kiAIL,&g_kdAIL,
+ &g_rightloopRUD, &g_rightloopshortRUD,
+ &g_leftloopRUD, &g_leftloopshortRUD,
+ &g_glideloopRUD,
+ &g_AIL_L_correctionrightloop,&g_AIL_L_correctionrightloopshort,
+ &g_AIL_L_correctionleftloop,&g_AIL_L_correctionleftloopshort
+ );
Init_PWM();
@@ -591,13 +603,18 @@
float *g_rightloopROLLshort, float *g_rightloopPITCHshort,
float *g_leftloopROLLshort, float *g_leftloopPITCHshort,
float *g_glideloopROLL, float *g_glideloopPITCH,
- float *g_kpAIL, float *g_kiAIL, float *g_kdAIL
+ float *g_kpAIL, float *g_kiAIL, float *g_kdAIL,
+ int *g_rightloopRUD, int *g_rightloopshortRUD,
+ int *g_leftloopRUD, int *g_leftloopshortRUD,
+ int *g_glideloopRUD,
+ int *g_AIL_L_correctionrightloop,int *g_AIL_L_correctionrightloopshort,
+ int *g_AIL_L_correctionleftloop,int *g_AIL_L_correctionleftloopshort
){
pc.printf("SDsetup start.\r\n");
FILE *fp;
- char parameter[30]; //文字列渡す用の配列
+ char parameter[40]; //文字列渡す用の配列
int SDerrorcount = 0; //取得できなかった数を返す
const char *paramNames[] = {
"KP_ELEVATOR",
@@ -622,7 +639,16 @@
"AUTOGLIDE PITCH",
"KP_AILERON",
"KI_AILERON",
- "KD_AILERON"
+ "KD_AILERON",
+ "RIGHTLOOP_RUDDER",
+ "RIGHTLOOPSHORT_RUDDER",
+ "LEFTLOOP_RUDDER",
+ "LEFTLOOPSHORT_RUDDER",
+ "GLIDELOOP_RUDDER",
+ "AILERON_LEFT_CORRECTION_RIGHTLOOP",
+ "AILERON_LEFT_CORRECTION_RIGHTLOOPSHORT",
+ "AILERON_LEFT_CORRECTION_LEFTLOOP",
+ "AILERON_LEFT_CORRECTION_LEFTLOOPSHORT"
};
fp = fopen("/sd/option.txt","r");
@@ -721,6 +747,43 @@
else{ *g_kdAIL = KP_AIL;
SDerrorcount++;
}
+ if(GetParameter(fp,paramNames[23],parameter)) *g_rightloopRUD = atof(parameter);
+ else{ *g_rightloopRUD = RIGHTLOOP_RUD;
+ SDerrorcount++;
+ }
+ if(GetParameter(fp,paramNames[24],parameter)) *g_rightloopshortRUD = atof(parameter);
+ else{ *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD;
+ SDerrorcount++;
+ }
+ if(GetParameter(fp,paramNames[25],parameter)) *g_leftloopRUD = atof(parameter);
+ else{ *g_leftloopshortRUD = LEFTLOOP_RUD;
+ SDerrorcount++;
+ }
+ if(GetParameter(fp,paramNames[26],parameter)) *g_leftloopshortRUD = atof(parameter);
+ else{ *g_leftloopshortRUD = LEFTLOOPSHORT_RUD;
+ SDerrorcount++;
+ }
+ if(GetParameter(fp,paramNames[27],parameter)) *g_glideloopRUD = atof(parameter);
+ else{ *g_glideloopRUD = GLIDELOOP_RUD;
+ SDerrorcount++;
+ }
+ if(GetParameter(fp,paramNames[28],parameter)) *g_AIL_L_correctionrightloop = atof(parameter);
+ else{ *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP;
+ SDerrorcount++;
+ }
+ if(GetParameter(fp,paramNames[29],parameter)) *g_AIL_L_correctionrightloopshort = atof(parameter);
+ else{ *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT;
+ SDerrorcount++;
+ }
+ if(GetParameter(fp,paramNames[30],parameter)) *g_AIL_L_correctionleftloop = atof(parameter);
+ else{ *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP;
+ SDerrorcount++;
+ }
+ if(GetParameter(fp,paramNames[31],parameter)) *g_AIL_L_correctionleftloopshort = atof(parameter);
+ else{ *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT;
+ SDerrorcount++;
+ }
+
fclose(fp);
}else{ //ファイルがなかったら
@@ -742,7 +805,17 @@
*g_kpAIL = KP_AIL; //パラメータ変えるのお忘れなく！！
*g_kiAIL = KI_AIL;
*g_kdAIL = KD_AIL;
-
+ *g_rightloopRUD = RIGHTLOOP_RUD;
+ *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD;
+ *g_leftloopRUD = LEFTLOOP_RUD;
+ *g_leftloopshortRUD = LEFTLOOPSHORT_RUD;
+ *g_glideloopRUD = GLIDELOOP_RUD;
+ *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP;
+ *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT;
+ *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP;
+ *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT;
+
+
SDerrorcount = -1;
}
pc.printf("SDsetup finished.\r\n");