Diff: main.cpp

Revision:

29:887a38540508

Parent:

28:aa44903a01e1

Child:

30:624cb32e13a3

--- a/main.cpp	Fri Sep 21 20:03:32 2018 +0000
+++ b/main.cpp	Sat Sep 22 04:31:11 2018 +0000
@@ -151,10 +151,10 @@
 OperationMode operation_mode = StartUp;
 BombingMode bombing_mode = Takeoff;
 
-static int16_t autopwm[8] = {1500,1500,1180,1500,1392,1500};
+static int16_t autopwm[8] = {1500,1500,1180,1500,1512,1500};
 
 //1号機
-static int16_t trimpwm[6] = {1580,1600,1176,1404,1512,1448};
+static int16_t trimpwm[6] = {1580,1600,1176,1404,1632,1448};
 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]};
@@ -290,13 +290,13 @@
         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);
     }
     
 }
@@ -395,7 +395,7 @@
     //pc.printf("%c",g_landingcommand);
     //NVIC_EnableIRQ(USART2_IRQn);
 #if DEBUG_PRINT_INLOOP
-    //Sbusprintf();
+    Sbusprintf();
     //DebugPrint();
 #endif
 }
@@ -616,7 +616,6 @@
             return 1;
         }
     }
-    return 0;
 }
 
 
@@ -943,8 +942,6 @@
                 for(uint8_t i=0;i<6;i++){
                     pwm[i] = sbus.manualpwm[i];  
                 }
-                /*pc.printf("%d ,",pwm[0]);//R
-                pc.printf("%d ,\r\n",pwm[5]);//L*/
                 oldTHR = sbus.manualpwm[THR];
                 //pc.printf("update_manual\r\n");
                 NVIC_EnableIRQ(USART1_IRQn);
@@ -957,9 +954,7 @@
                 pwm[RUD] = autopwm[RUD];
                 pwm[DROP] = autopwm[DROP];
                 pwm[AIL_L] = autopwm[AIL_L];
-                //pc.printf("%d ,",pwm[AIL_R]);//R
-                //pc.printf("%d ,\r\n",pwm[AIL_L]);//L
-                //pc.printf("update_auto\r\n");
+
                 NVIC_EnableIRQ(USART1_IRQn);
                 break;
                 
@@ -1073,7 +1068,7 @@
                  //pc.printf("x");
                  return;
           }  
-                }
+        
                 
         
             //pc.printf("%c",SFbuf[bufcounter]);
@@ -1097,7 +1092,7 @@
                 bufcounter = 0;
                 NVIC_ClearPendingIRQ(USART2_IRQn);
             }
-        
+        }
                     
             //NVIC_EnableIRQ(TIM5_IRQn);
             //NVIC_EnableIRQ(EXTI0_IRQn);
@@ -1302,7 +1297,7 @@
 //チキラー投下
 void Chicken_Drop(){
     if(CheckSW_Up(Ch7)){
-        autopwm[DROP] = 1512;
+        autopwm[DROP] = 1632;
         pc.printf("Bombed!\r\n");
         RerurnChickenServo1.attach(&ReturnChickenServo1, 3);
         //operation_mode = Approach;
@@ -1389,12 +1384,12 @@
                     NVIC_EnableIRQ(USART2_IRQn);
                     break;
                 
-                case 'B':   //ブザーヲ鳴ラセ
+                /*case 'B':   //ブザーヲ鳴ラセ
                     //buzzer = 1;
                     NVIC_EnableIRQ(USART2_IRQn);
-                    break;
+                    break;*/
                     
-                case 'D':   //物資ヲ落トセ
+                case 'B':   //物資ヲ落トセ
                     Chicken_Drop();
                     NVIC_EnableIRQ(USART2_IRQn);
                     break;