loopとgetSFを変更
Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of Autoflight2018_29 by
Diff: main.cpp
- Revision:
- 8:66bba39b95a9
- Parent:
- 7:53b0eb6f6bd3
- Child:
- 9:f6367b7fd7be
diff -r 53b0eb6f6bd3 -r 66bba39b95a9 main.cpp --- a/main.cpp Thu Sep 13 13:35:38 2018 +0000 +++ b/main.cpp Fri Sep 14 05:56:59 2018 +0000 @@ -60,6 +60,15 @@ #define AIL_L_correctionleftloopshort 0 #define glideloopRUD 1300 +#define RIGHTLOOP_RUD 1250 +#define RIGHTLOOPSHORT_RUD 1250 +#define LEFTLOOP_RUD 1500 +#define LEFTLOOPSHORT_RUD 1500 +#define GLIDELOOP_RUD 1300 +#define AIL_L_CORRECTION_RIGHTLOOP 0 +#define AIL_L_CORRECTION_RIGHTLOOPSHORT 0 +#define AIL_L_CORRECTION_LEFTLOOP 0 +#define AIL_L_CORRECTION_LEFTLOOPSHORT 0 #define GLIDE_ROLL -12.0 #define GLIDE_PITCH -3.0 @@ -745,7 +754,7 @@ addpwm[ROLL] = (float)GAIN_CONTROLVALUE_TO_PWM * controlValue[ROLL]; //センサ:右回転正(8月13日時点;左回転が正!) レバー:右回転正 autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH]; //rewrite - autopwm[AIL_R] = trimpwm[AIL_R] + reverce[AIL_R] * addpwm[ROLL]; + autopwm[AIL_R] = trimpwm[AIL_R] - reverce[AIL_R] * addpwm[ROLL]; //autopwm[THR] = oldTHR; autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]);