![](/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:
- 12:763bf416ba4b
- Parent:
- 11:c0b9ad25d3db
- Child:
- 13:77b13d5f4d78
--- a/main.cpp Sat Sep 15 20:28:15 2018 +0000 +++ b/main.cpp Sun Sep 16 06:10:05 2018 +0000 @@ -223,7 +223,8 @@ float *g_takeoffTHR, float *g_loopTHR, float *g_rightloopROLLshort, float *g_rightloopPITCHshort, float *g_leftloopROLLshort, float *g_leftloopPITCHshort, - float *g_glideloopROLL, float *g_glideloopPITCH); + float *g_glideloopROLL, float *g_glideloopPITCH, + float *g_kpAIL, float *g_kiAIL, float *g_kdAIL); //switch2割り込み void ResetTrim(); @@ -291,7 +292,8 @@ &g_takeoffTHR, &g_loopTHR, &g_rightloopROLLshort, &g_rightloopPITCHshort, &g_leftloopROLLshort, &g_leftloopPITCHshort, - &g_glideloopROLL, &g_glideloopPITCH); + &g_glideloopROLL, &g_glideloopPITCH, + &g_kpAIL, &g_kiAIL,&g_kdAIL); Init_PWM(); @@ -588,7 +590,8 @@ float *g_takeoffTHR, float *g_loopTHR, float *g_rightloopROLLshort, float *g_rightloopPITCHshort, float *g_leftloopROLLshort, float *g_leftloopPITCHshort, - float *g_glideloopROLL, float *g_glideloopPITCH + float *g_glideloopROLL, float *g_glideloopPITCH, + float *g_kpAIL, float *g_kiAIL, float *g_kdAIL ){ pc.printf("SDsetup start.\r\n"); @@ -616,7 +619,10 @@ "LEFTLOOP_ROLL_SHORT", "LEFTLOOP_PITCH_SHORT", "AUTOGLIDE_ROLL", - "AUTOGLIDE PITCH" + "AUTOGLIDE PITCH", + "KP_AILERON", + "KI_AILERON", + "KD_AILERON" }; fp = fopen("/sd/option.txt","r"); @@ -703,6 +709,18 @@ else{ *g_glideloopPITCH = GLIDE_PITCH; SDerrorcount++; } + if(GetParameter(fp,paramNames[20],parameter)) *g_kpAIL = atof(parameter); + else{ *g_kpAIL = KP_AIL; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[21],parameter)) *g_kiAIL = atof(parameter); + else{ *g_kiAIL = KI_AIL; + SDerrorcount++; + } + if(GetParameter(fp,paramNames[22],parameter)) *g_kdAIL = atof(parameter); + else{ *g_kdAIL = KP_AIL; + SDerrorcount++; + } fclose(fp); }else{ //ファイルがなかったら @@ -721,6 +739,10 @@ *g_gostraightPITCH = STRAIGHT_PITCH; *g_takeoffTHR = TAKEOFF_THR; *g_loopTHR = LOOP_THR; + *g_kpAIL = KP_AIL; //パラメータ変えるのお忘れなく!! + *g_kiAIL = KI_AIL; + *g_kdAIL = KD_AIL; + SDerrorcount = -1; } pc.printf("SDsetup finished.\r\n");