![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
zeroTHRをbool型に変更
Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of Autoflight2018_27 by
Diff: main.cpp
- Revision:
- 18:cce82f3374fc
- Parent:
- 17:55249ea37dff
- Child:
- 19:0955311b0db6
diff -r 55249ea37dff -r cce82f3374fc main.cpp --- a/main.cpp Mon Sep 17 10:07:27 2018 +0000 +++ b/main.cpp Mon Sep 17 12:01:13 2018 +0000 @@ -57,7 +57,7 @@ #define glideloopRUD 1300 */ #define AIL_R_correctionrightloop 0 -#define AIL_L_correctionrightloop -400 +#define AIL_L_correctionrightloop 0 #define AIL_L_correctionrightloopshort 0 #define AIL_L_correctionleftloop -0 #define AIL_L_correctionleftloopshort 0 @@ -151,9 +151,9 @@ 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}; +static int16_t trimpwm[6] = {1580,1600,1176,1404,1512,1448}; +int16_t maxpwm[6] = {1796,1936,1848,1740,1820,1856}; +int16_t minpwm[6] = {1182,1265,1176,1068,1180,1176}; const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]}; //2号機 @@ -267,6 +267,7 @@ void UpdateTargetAngle_NoseDOWN(float targetAngle[3]); //デバッグ用 +void Sbusprintf(); void DebugPrint(); /*---関数のプロトタイプ宣言終わり---*/ @@ -281,12 +282,13 @@ loop(); - + NVIC_DisableIRQ(USART1_IRQn); if(!CheckSW_Up(Ch7)){ led3=0; }else{ led3=1; } + NVIC_EnableIRQ(USART1_IRQn); } } @@ -376,6 +378,7 @@ wait_ms(23); pc.printf("%c",g_landingcommand); #if DEBUG_PRINT_INLOOP + //Sbusprintf(); DebugPrint(); #endif } @@ -738,7 +741,7 @@ else{ *g_glideloopPITCH = GLIDE_PITCH; SDerrorcount++; } - if(GetParameter(fp,paramNames[20],parameter)) *g_kpAIL = atof(parameter); + if(GetParameter(fp,paramNames[20],parameter)) *g_kpAIL = atof(parameter); else{ *g_kpAIL = KP_AIL; SDerrorcount++; } @@ -1459,6 +1462,13 @@ //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]); } +void Sbusprintf(){ + + for(uint8_t i=0; i<8; i++) pc.printf("ch.%d = %d ",i+1,sbus.manualpwm[i]); + pc.printf("\r\n"); + + } + //デバッグ用 void DebugPrint(){