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SDdebug書き加え等
Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of Autoflight2018_20 by
Revision 17:55249ea37dff, committed 2018-09-17
- Comitter:
- HARUKIDELTA
- Date:
- Mon Sep 17 10:07:27 2018 +0000
- Parent:
- 16:7fca5b938da6
- Commit message:
- a
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 7fca5b938da6 -r 55249ea37dff main.cpp --- a/main.cpp Mon Sep 17 08:58:08 2018 +0000 +++ b/main.cpp Mon Sep 17 10:07:27 2018 +0000 @@ -50,16 +50,17 @@ #define LEFT_ROLL_SHORT 12.0 #define LEFT_PITCH_SHORT -5.0 -#define rightloopRUD 1300 //1250 +/*#define rightloopRUD 1300 //1250 +#define rightloopshortRUD 1250 +#define leftloopRUD 1500 +#define leftloopshortRUD 1500 +#define glideloopRUD 1300 +*/ #define AIL_R_correctionrightloop 0 #define AIL_L_correctionrightloop -400 -#define rightloopshortRUD 1250 #define AIL_L_correctionrightloopshort 0 -#define leftloopRUD 1500 #define AIL_L_correctionleftloop -0 -#define leftloopshortRUD 1500 #define AIL_L_correctionleftloopshort 0 -#define glideloopRUD 1300 #define RIGHTLOOP_RUD 1250 #define RIGHTLOOPSHORT_RUD 1250 @@ -1273,7 +1274,7 @@ case 'R': //右旋回セヨ targetAngle[ROLL] = g_rightloopROLL; targetAngle[PITCH] = g_rightloopPITCH ; - autopwm[RUD]=rightloopRUD; //RUD固定 + autopwm[RUD]=g_rightloopRUD; //RUD固定 if(autopwm[AIL_R]>trimpwm[AIL_R]){ //エルロン上がりやすさ調節 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; } @@ -1285,7 +1286,7 @@ case 'L': //左旋回セヨ targetAngle[ROLL] = g_leftloopROLL; targetAngle[PITCH] = g_leftloopPITCH; - autopwm[RUD]=leftloopRUD; + autopwm[RUD]=g_leftloopRUD; if(autopwm[AIL_R]>trimpwm[AIL_R]){ autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; } @@ -1419,9 +1420,9 @@ autopwm[RUD]=g_leftloopRUD; autopwm[THR] = oldTHR; if(autopwm[AIL_R]>trimpwm[AIL_R]){ - autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; + autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; } - else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; + else autopwm[AIL_L]=trimpwm[AIL_L]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; //checkHeight(targetAngle); //printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[], targetAngle[PITCH], autopwm[THR]);