航空研究会 / Mbed 2 deprecated Autoflight2018_38

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Dependencies:   HCSR04_2 MPU6050_2 mbed SDFileSystem3

Fork of Autoflight2018_36 by 航空研究会

Diff: main.cpp

Revision:
7:53b0eb6f6bd3
Parent:
6:ed61ed8b8fab
Child:
8:66bba39b95a9
diff -r ed61ed8b8fab -r 53b0eb6f6bd3 main.cpp
--- a/main.cpp	Thu Sep 13 13:05:22 2018 +0000
+++ b/main.cpp	Thu Sep 13 13:35:38 2018 +0000
@@ -141,7 +141,7 @@
 OperationMode operation_mode = StartUp;
 BombingMode bombing_mode = Takeoff;
 static int16_t autopwm[8] = {1500,1500,1180,1500,1392,1500};
-static int16_t trimpwm[6] = {1500,1500,1180,1500,1392,1500};
+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};
 int16_t oldTHR = 1000;
@@ -973,11 +973,11 @@
     targetAngle[ROLL] = g_glideloopROLL;
     targetAngle[PITCH] = g_glideloopPITCH;
     
-    autopwm[THR]=oldTHR;
+   // autopwm[THR]=oldTHR;
     //シリアル通信受信の割り込みイベント登録
     pc.attach(ISR_Serial_Rx, Serial::RxIrq);
     
-/*    
+    
     //時間計測開始設定
     if(!flg_tstart && CheckSW_Up(Ch7)){
         t_start = t.read();
@@ -1017,7 +1017,7 @@
             autopwm[THR] = 1180;
             THRcount = 0;
         }
-    }*/
+    }
 }
 //離陸-投下-着陸一連
 void Take_off_and_landing(float targetAngle[3]){
@@ -1318,7 +1318,7 @@
     //pc.printf("\r\n");
     //for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
     //for(uint8_t i=0; i<2; i++) pc.printf("%3.2f\t",nowAngle[i]); //ロール、ピッチのみ　小数点以下2ケタ
-    //pc.printf("%d\t",autopwm[ELE]);  pc.printf("%d\t",autopwm[RUD]);
+    pc.printf("%d\t",autopwm[AIL_L]); // pc.printf("%d\t",autopwm[RUD]);
     //pc.printf("%d",g_distance);
 
     //pc.printf("Mode: %c: ",g_buf[0]);