Diff: main.cpp

Revision:

18:cce82f3374fc

Parent:

17:55249ea37dff

Child:

19:0955311b0db6

--- 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(){