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着陸スロットル0追加
Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of Autoflight2018_21 by
Revision 18:f3dcb174b563, committed 2018-09-17
- Comitter:
- taknokolat
- Date:
- Mon Sep 17 10:33:13 2018 +0000
- Parent:
- 17:55249ea37dff
- Commit message:
- a
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 55249ea37dff -r f3dcb174b563 main.cpp --- a/main.cpp Mon Sep 17 10:07:27 2018 +0000 +++ b/main.cpp Mon Sep 17 10:33:13 2018 +0000 @@ -168,6 +168,8 @@ int16_t g_AIL_L_Ratio_rightloop = 0.5; +int zeroTHR=0; + static float nowAngle[3] = {0,0,0}; const float trimAngle[3] = {0.0, 0.0, 0.0}; @@ -244,10 +246,13 @@ //自動操縦 void UpdateTargetAngle_GoStraight(float targetAngle[3]); +void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]); //着陸時にスロットルが0の時の直進 void UpdateTargetAngle_Rightloop(float targetAngle[3]); void UpdateTargetAngle_Rightloop_short(float targetAngle[3]); +void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]); //着陸時にスロットルが0の時の右旋回 void UpdateTargetAngle_Leftloop(float targetAngle[3]); void UpdateTargetAngle_Leftloop_short(float targetAngle[3]); +void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]); //着陸時にスロットルが0の時の左旋回 void UpdateTargetAngle_Moebius(float targetAngle[3]); void UpdateTargetAngle_Glide(float targetAngle[3]); void UpdateTargetAngle_Takeoff(float targetAngle[3]); @@ -1272,6 +1277,10 @@ switch(g_landingcommand){ case 'R': //右旋回セヨ + if(zeroTHR==0){ + UpdateTargetAngle_Rightloop_zero(targetAngle); + } + else{ targetAngle[ROLL] = g_rightloopROLL; targetAngle[PITCH] = g_rightloopPITCH ; autopwm[RUD]=g_rightloopRUD; //RUD固定 @@ -1280,10 +1289,14 @@ } else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent; autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop; - + } break; case 'L': //左旋回セヨ + if(zeroTHR==0){ + UpdateTargetAngle_Leftloop_zero(targetAngle); + } + else{ targetAngle[ROLL] = g_leftloopROLL; targetAngle[PITCH] = g_leftloopPITCH; autopwm[RUD]=g_leftloopRUD; @@ -1291,13 +1304,17 @@ autopwm[AIL_L]=trimpwm[AIL_L]+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; - + } break; case 'G': //直進セヨ - targetAngle[ROLL] = g_gostraightROLL; + if(zeroTHR==0){ + UpdateTargetAngle_GoStraight_zero(targetAngle); + } + else{ + autopwm[RUD]=1404; targetAngle[PITCH] = g_gostraightPITCH; - + } break; @@ -1314,9 +1331,10 @@ break; case 'C': //停止セヨ - targetAngle[ROLL] = 0.0; + autopwm[RUD]=1404; targetAngle[PITCH] = -3.0; autopwm[THR] = minpwm[THR]; + zeroTHR=0; break; } @@ -1357,13 +1375,23 @@ //直進 void UpdateTargetAngle_GoStraight(float targetAngle[3]){ - targetAngle[ROLL] = g_gostraightROLL; + autopwm[RUD]=1404; targetAngle[PITCH] = g_gostraightPITCH; autopwm[THR] = SetTHRinRatio(g_loopTHR); //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); } +//直進(着陸時スロットル0の時) +void UpdateTargetAngle_GoStraight_zero(float targetAngle[3]){ + + autopwm[RUD]=1404; + targetAngle[PITCH] = g_gostraightPITCH; + autopwm[THR] = minpwm[THR]; + + //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); +} + //右旋回 void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回