航空研究会 / Mbed 2 deprecated Autoflight2018_27

エルロン調節 自動着陸やり直し搭載

Dependencies:   HCSR04_2 MPU6050_2 mbed SDFileSystem3

Fork of Autoflight2018_26 by 航空研究会

Files at this revision

API Documentation at this revision

Revision 22:438bedf24707, committed 2018-09-19

Comitter:
HARUKIDELTA
Date:
Wed Sep 19 06:37:31 2018 +0000
Parent:
21:18fe7bf9e187
Commit message:
AILERON

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 18fe7bf9e187 -r 438bedf24707 main.cpp
--- a/main.cpp	Wed Sep 19 05:34:41 2018 +0000
+++ b/main.cpp	Wed Sep 19 06:37:31 2018 +0000
@@ -581,6 +581,7 @@
     }else{
         output_status = Manual;
         led1 = 0;
+        zeroTHR=1;
     }
 }
 
@@ -1290,7 +1291,7 @@
                 targetAngle[ROLL] = g_rightloopROLL;
         targetAngle[PITCH] = g_rightloopPITCH ;
         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
+        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;
@@ -1307,7 +1308,7 @@
                     targetAngle[ROLL] = g_leftloopROLL;
             targetAngle[PITCH] = g_leftloopPITCH;
             autopwm[RUD]=g_leftloopRUD;
-            if(autopwm[AIL_R]>trimpwm[AIL_R]){
+            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;
                 }
             else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
@@ -1408,7 +1409,7 @@
     targetAngle[PITCH] = g_rightloopPITCH ;
     autopwm[RUD]=g_rightloopRUD;              //RUD固定
     autopwm[THR] = SetTHRinRatio(0.5);                  //手動スロットル記憶
-    if(autopwm[AIL_R]>trimpwm[AIL_R]){                                                                                  //エルロン上がりやすさ調節
+    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;
@@ -1424,7 +1425,7 @@
     targetAngle[ROLL] = g_rightloopROLL;
     targetAngle[PITCH] = g_rightloopPITCH ;
     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
+    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;
@@ -1440,7 +1441,7 @@
     targetAngle[PITCH] = g_rightloopPITCHshort;
     autopwm[RUD]=g_rightloopshortRUD;
     autopwm[THR] = SetTHRinRatio(0.5);
-    if(autopwm[AIL_R]>trimpwm[AIL_R]){
+    if(autopwm[AIL_R]<trimpwm[AIL_R]){
         autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
         }
     else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
@@ -1455,7 +1456,7 @@
     targetAngle[PITCH] = g_leftloopPITCH;
     autopwm[RUD]=g_leftloopRUD;
     autopwm[THR] = SetTHRinRatio(0.5);
-    if(autopwm[AIL_R]>trimpwm[AIL_R]){
+    if(autopwm[AIL_R]<trimpwm[AIL_R]){
         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]+g_AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
@@ -1471,7 +1472,7 @@
     targetAngle[PITCH] = g_leftloopPITCH;
     autopwm[RUD]=g_leftloopRUD;
     autopwm[THR] = minpwm[THR];
-    if(autopwm[AIL_R]>trimpwm[AIL_R]){
+    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;
         }
     else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
@@ -1487,7 +1488,7 @@
     targetAngle[PITCH] = g_leftloopPITCHshort;
     autopwm[RUD]=g_leftloopRUD;
     autopwm[THR] = SetTHRinRatio(0.5);
-    if(autopwm[AIL_R]>trimpwm[AIL_R]){
+    if(autopwm[AIL_R]<trimpwm[AIL_R]){
         autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
         }
     else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;