航空研究会
/
Autoflight2018_38
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Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
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Autoflight2018_36
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航空研究会
Diff: main.cpp
- Revision:
- 6:ed61ed8b8fab
- Parent:
- 5:9efd35c9bb2e
- Child:
- 7:53b0eb6f6bd3
diff -r 9efd35c9bb2e -r ed61ed8b8fab main.cpp
--- a/main.cpp Thu Sep 13 12:33:54 2018 +0000
+++ b/main.cpp Thu Sep 13 13:05:22 2018 +0000
@@ -947,13 +947,14 @@
flg_setInStartAuto = false;
led2 = 0;
}
-
+ autopwm[THR]=oldTHR;
+
newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius);
if(RotateCounter == 0 && newYaw_Moebius >90.0 && newYaw_Moebius < 180.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n");}
if(RotateCounter == 1 && newYaw_Moebius >-180.0 && newYaw_Moebius < -90.0) {RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n");}
- if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius < 10.0f) {RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n");}
- if(RotateCounter == 3 && newYaw_Moebius >20.0 && newYaw_Moebius < 180.0f) {RotateCounter++; led2 = 0; pc.printf("Change Rotate direction\r\n");}
+ if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius <-10.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n");}
+ if(RotateCounter == 3 && newYaw_Moebius >0.0 && newYaw_Moebius < 90.0) {RotateCounter++; led2 = 0; pc.printf("Change Rotate direction\r\n");}
if(RotateCounter <= 3) UpdateTargetAngle_Rightloop_short(targetAngle);