Diff: main.cpp

Revision:

13:77b13d5f4d78

Parent:

12:763bf416ba4b

Child:

14:bbd5ff31fb67

--- a/main.cpp	Sun Sep 16 06:10:05 2018 +0000
+++ b/main.cpp	Sun Sep 16 07:59:29 2018 +0000
@@ -43,7 +43,7 @@
 #define TAKEOFF_THR 0.8
 #define LOOP_THR 0.6
 
-#define g_rightloopRUD 1500 
+//#define g_rightloopRUD 1500 
 
 #define RIGHT_ROLL_SHORT -12.0
 #define RIGHT_PITCH_SHORT -5.0
@@ -224,7 +224,13 @@
                float *g_rightloopROLLshort, float *g_rightloopPITCHshort,
                float *g_leftloopROLLshort, float *g_leftloopPITCHshort,
                float *g_glideloopROLL, float *g_glideloopPITCH,
-               float *g_kpAIL, float *g_kiAIL, float *g_kdAIL);
+               float *g_kpAIL, float *g_kiAIL, float *g_kdAIL,
+               int *g_rightloopRUD, int *g_rightloopshortRUD,
+               int *g_leftloopRUD, int *g_leftloopshortRUD,
+               int *g_glideRUD,
+               int *g_AIL_L_correctionrightloop,int *g_AIL_L_correctionrightloopshort,
+               int *g_AIL_L_correctionlefttloop,int *g_AIL_L_correctionleftloopshort
+               );
 //switch2割り込み
 void ResetTrim();
 
@@ -293,7 +299,13 @@
                &g_rightloopROLLshort, &g_rightloopPITCHshort,
                &g_leftloopROLLshort, &g_leftloopPITCHshort,
                &g_glideloopROLL, &g_glideloopPITCH,
-               &g_kpAIL, &g_kiAIL,&g_kdAIL);    
+               &g_kpAIL, &g_kiAIL,&g_kdAIL,
+               &g_rightloopRUD, &g_rightloopshortRUD,
+               &g_leftloopRUD, &g_leftloopshortRUD,
+               &g_glideloopRUD,
+               &g_AIL_L_correctionrightloop,&g_AIL_L_correctionrightloopshort,
+               &g_AIL_L_correctionleftloop,&g_AIL_L_correctionleftloopshort
+               );    
     
         
     Init_PWM();
@@ -591,13 +603,18 @@
                float *g_rightloopROLLshort, float *g_rightloopPITCHshort,
                float *g_leftloopROLLshort, float *g_leftloopPITCHshort,
                float *g_glideloopROLL, float *g_glideloopPITCH,
-               float *g_kpAIL, float *g_kiAIL, float *g_kdAIL
+               float *g_kpAIL, float *g_kiAIL, float *g_kdAIL,
+               int *g_rightloopRUD, int *g_rightloopshortRUD,
+               int *g_leftloopRUD, int *g_leftloopshortRUD,
+               int *g_glideloopRUD,
+               int *g_AIL_L_correctionrightloop,int *g_AIL_L_correctionrightloopshort,
+               int *g_AIL_L_correctionleftloop,int *g_AIL_L_correctionleftloopshort
                ){
 
     pc.printf("SDsetup start.\r\n");    
     
     FILE *fp;
-    char parameter[30]; //文字列渡す用の配列
+    char parameter[40]; //文字列渡す用の配列
     int SDerrorcount = 0;  //取得できなかった数を返す
     const char *paramNames[] = { 
         "KP_ELEVATOR",
@@ -622,7 +639,16 @@
         "AUTOGLIDE PITCH",
         "KP_AILERON",
         "KI_AILERON",
-        "KD_AILERON"        
+        "KD_AILERON",
+        "RIGHTLOOP_RUDDER",
+        "RIGHTLOOPSHORT_RUDDER",
+        "LEFTLOOP_RUDDER",
+        "LEFTLOOPSHORT_RUDDER",
+        "GLIDELOOP_RUDDER",
+        "AILERON_LEFT_CORRECTION_RIGHTLOOP",        
+        "AILERON_LEFT_CORRECTION_RIGHTLOOPSHORT",        
+        "AILERON_LEFT_CORRECTION_LEFTLOOP",        
+        "AILERON_LEFT_CORRECTION_LEFTLOOPSHORT"            
     };
 
     fp = fopen("/sd/option.txt","r");
@@ -721,6 +747,43 @@
         else{                                         *g_kdAIL = KP_AIL;
                                                       SDerrorcount++;
         }
+        if(GetParameter(fp,paramNames[23],parameter)) *g_rightloopRUD = atof(parameter);
+        else{                                         *g_rightloopRUD = RIGHTLOOP_RUD;
+                                                      SDerrorcount++;
+        }
+        if(GetParameter(fp,paramNames[24],parameter)) *g_rightloopshortRUD = atof(parameter);
+        else{                                         *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD;
+                                                      SDerrorcount++;
+        }
+        if(GetParameter(fp,paramNames[25],parameter)) *g_leftloopRUD = atof(parameter);
+        else{                                         *g_leftloopshortRUD = LEFTLOOP_RUD;
+                                                      SDerrorcount++;
+        }
+        if(GetParameter(fp,paramNames[26],parameter)) *g_leftloopshortRUD = atof(parameter);
+        else{                                         *g_leftloopshortRUD = LEFTLOOPSHORT_RUD;
+                                                      SDerrorcount++;
+        }
+        if(GetParameter(fp,paramNames[27],parameter)) *g_glideloopRUD = atof(parameter);
+        else{                                         *g_glideloopRUD = GLIDELOOP_RUD;
+                                                      SDerrorcount++;
+        }
+        if(GetParameter(fp,paramNames[28],parameter)) *g_AIL_L_correctionrightloop = atof(parameter);
+        else{                                         *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP;
+                                                      SDerrorcount++;
+        }
+        if(GetParameter(fp,paramNames[29],parameter)) *g_AIL_L_correctionrightloopshort = atof(parameter);
+        else{                                         *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT;
+                                                      SDerrorcount++;
+        }
+        if(GetParameter(fp,paramNames[30],parameter)) *g_AIL_L_correctionleftloop = atof(parameter);
+        else{                                         *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP;
+                                                      SDerrorcount++;
+        }
+        if(GetParameter(fp,paramNames[31],parameter)) *g_AIL_L_correctionleftloopshort = atof(parameter);
+        else{                                         *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT;
+                                                      SDerrorcount++;
+        }
+        
         fclose(fp);
 
     }else{  //ファイルがなかったら
@@ -742,7 +805,17 @@
         *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;
-
+        *g_rightloopRUD = RIGHTLOOP_RUD;
+        *g_rightloopshortRUD = RIGHTLOOPSHORT_RUD;
+        *g_leftloopRUD = LEFTLOOP_RUD;
+        *g_leftloopshortRUD = LEFTLOOPSHORT_RUD;
+        *g_glideloopRUD = GLIDELOOP_RUD;
+        *g_AIL_L_correctionrightloop = AIL_L_CORRECTION_RIGHTLOOP;
+        *g_AIL_L_correctionrightloopshort = AIL_L_CORRECTION_RIGHTLOOPSHORT;
+        *g_AIL_L_correctionleftloop = AIL_L_CORRECTION_LEFTLOOP;
+        *g_AIL_L_correctionleftloopshort = AIL_L_CORRECTION_LEFTLOOPSHORT;
+        
+        
         SDerrorcount = -1;
     }
     pc.printf("SDsetup finished.\r\n");