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zeroTHRをbool型に変更
Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of Autoflight2018_27 by
Revision 23:4928a6fd9eee, committed 2018-09-20
- Comitter:
- taknokolat
- Date:
- Thu Sep 20 06:02:21 2018 +0000
- Parent:
- 22:438bedf24707
- Commit message:
- a
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 438bedf24707 -r 4928a6fd9eee main.cpp --- a/main.cpp Wed Sep 19 06:37:31 2018 +0000 +++ b/main.cpp Thu Sep 20 06:02:21 2018 +0000 @@ -169,7 +169,7 @@ int16_t g_AIL_L_Ratio_rightloop = 0.5; -int zeroTHR=1;//着陸時のスロットルが0かの判断用 +bool zeroTHR=true;//着陸時のスロットルが0かの判断用 static float nowAngle[3] = {0,0,0}; @@ -288,13 +288,13 @@ loop(); - NVIC_DisableIRQ(USART1_IRQn); + //NVIC_DisableIRQ(USART1_IRQn); if(!CheckSW_Up(Ch7)){ led3=0; }else{ led3=1; } - NVIC_EnableIRQ(USART1_IRQn); + //NVIC_EnableIRQ(USART1_IRQn); } } @@ -581,7 +581,7 @@ }else{ output_status = Manual; led1 = 0; - zeroTHR=1; + zeroTHR=true; } } @@ -890,11 +890,13 @@ } bool CheckSW_Up(Channel ch){ + NVIC_DisableIRQ(USART1_IRQn); if(SWITCH_CHECK < sbus.manualpwm[ch]){ return true; }else{ return false; } + NVIC_EnableIRQ(USART1_IRQn); } int16_t ThresholdMaxMin(int16_t value, int16_t max, int16_t min){ @@ -1284,7 +1286,7 @@ switch(g_landingcommand){ case 'R': //右旋回セヨ - if(zeroTHR==0){ + if(zeroTHR==false){ UpdateTargetAngle_Rightloop_zero(targetAngle); } else{ @@ -1301,7 +1303,7 @@ break; case 'L': //左旋回セヨ - if(zeroTHR==0){ + if(zeroTHR==false){ UpdateTargetAngle_Leftloop_zero(targetAngle); } else{ @@ -1316,7 +1318,7 @@ break; case 'G': //直進セヨ - if(zeroTHR==0){ + if(zeroTHR==false){ UpdateTargetAngle_GoStraight_zero(targetAngle); } else{ @@ -1342,7 +1344,7 @@ targetAngle[ROLL] = 0.0; targetAngle[PITCH] = -3.0; autopwm[THR] = minpwm[THR]; - zeroTHR=0; + zeroTHR=false; break; }