航空研究会 / Mbed 2 deprecated Autoflight2018_24_c

自動着陸の右旋回を修正

Dependencies:   HCSR04_2 MPU6050_2 mbed SDFileSystem3

Fork of Autoflight2018_24 by 航空研究会

Files at this revision

API Documentation at this revision

Revision 20:9393b0cfa44d, committed 2018-09-19

Comitter:
taknokolat
Date:
Wed Sep 19 00:05:30 2018 +0000
Parent:
19:0955311b0db6
Commit message:
a

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 0955311b0db6 -r 9393b0cfa44d main.cpp
--- a/main.cpp	Mon Sep 17 13:11:53 2018 +0000
+++ b/main.cpp	Wed Sep 19 00:05:30 2018 +0000
@@ -1045,7 +1045,7 @@
             
         if(bufcounter==5 && SFbuf[4]=='F'){
             g_landingcommand = SFbuf[1];
-            wait_ms(8);
+            wait_ms(80);
             if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
             bufcounter = 0;
             memset(SFbuf, 0, strlen(SFbuf));
@@ -1291,11 +1291,12 @@
         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;
             }
-        else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
+        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);
@@ -1417,15 +1418,15 @@
 
 //右旋回（着陸時スロットル０の時）
 void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]){ //右旋回
-
+    autopwm[THR]=minpwm[THR];
     targetAngle[ROLL] = g_rightloopROLL;
     targetAngle[PITCH] = g_rightloopPITCH ;
-    autopwm[RUD]=g_rightloopRUD;
-    autopwm[THR] = minpwm[THR];//SetTHRinRatio(g_loopTHR);
-    if(autopwm[AIL_R]>trimpwm[AIL_R]){
-        autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
-        }
-    else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
+    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;
+            }
+        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;
 
     //checkHeight(targetAngle);
     //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);