![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
割り込みテスト用
Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of Autoflight2018_27 by
Diff: main.cpp
- Revision:
- 15:43427b0241d9
- Parent:
- 14:bbd5ff31fb67
- Child:
- 16:7fca5b938da6
--- a/main.cpp Sun Sep 16 11:17:50 2018 +0000 +++ b/main.cpp Mon Sep 17 06:40:41 2018 +0000 @@ -108,10 +108,6 @@ const int16_t lengthdivpwm = 320; const int16_t changeModeCount = 6; -const float trim[4] = {Trim_Falfalla[0],Trim_Falfalla[1],Trim_Falfalla[2],Trim_Falfalla[3]}; -const float expMax[4] = {ExpMax_Falfalla[0],ExpMax_Falfalla[1],ExpMax_Falfalla[2],ExpMax_Falfalla[3]}; -const float expMin[4] = {ExpMin_Falfalla[0],ExpMin_Falfalla[1],ExpMin_Falfalla[2],ExpMin_Falfalla[3]}; -const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]}; SBUS sbus(PA_9, PA_10); //SBUS @@ -150,10 +146,23 @@ static OutputStatus output_status = Manual; OperationMode operation_mode = StartUp; BombingMode bombing_mode = Takeoff; + static int16_t autopwm[8] = {1500,1500,1180,1500,1392,1500}; + +//1号機 static int16_t trimpwm[6] = {1500,1500,1180,1500,1392,1600}; int16_t maxpwm[6] = {1820,1820,1820,1820,1820,1820}; int16_t minpwm[6] = {1180,1180,1180,1180,1180,1180}; +const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]}; + +//2号機 +/* +static int16_t trimpwm[6] = {1500,1500,1180,1500,1392,1600}; +int16_t maxpwm[6] = {1820,1820,1820,1820,1820,1820}; +int16_t minpwm[6] = {1180,1180,1180,1180,1180,1180}; +const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]}; +*/ + int16_t oldTHR = 1000; int16_t g_AIL_L_Ratio_rightloop = 0.5; @@ -207,11 +216,9 @@ void Output_PWM(int16_t pwm[6]); //pwmをサーボへ出力 //シリアル割り込み -void SendSerial(); //1文字きたら送り返す -void SendArray(); void getSF_Serial(); float ConvertByteintoFloat(char high, char low); -void ISR_Serial_Rx(); + //SD設定 int GetParameter(FILE *fp, const char *paramName,char parameter[]); @@ -416,11 +423,6 @@ } void Init_PWM(){ - for (uint8_t i = 0; i < 6; ++i){ - trimpwm[i] = 1500 + (int16_t)(lengthdivpwm * (trim[i]/100)); - maxpwm[i] = 1500 + (int16_t)(lengthdivpwm * (expMax[i]/100)); - minpwm[i] = 1500 - (int16_t)(lengthdivpwm * (expMin[i]/100)); - } pc.printf("PWM initialized\r\n"); }