Led changed
Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of Autoflight2018_48 by
Diff: main.cpp
- Revision:
- 37:990047c4dc20
- Parent:
- 36:197b514eae3b
- Child:
- 38:ef0f39dfc98a
--- a/main.cpp Tue Sep 25 06:58:19 2018 +0000 +++ b/main.cpp Tue Sep 25 09:28:13 2018 +0000 @@ -1404,9 +1404,9 @@ UpdateTargetAngle_Rightloop_zero(targetAngle); } else{ - targetAngle[ROLL] = g_rightloopROLL; + targetAngle[ROLL] = g_rightloopROLL_aproach; targetAngle[PITCH] = g_rightloopPITCH ; - autopwm[RUD]=g_rightloopRUD; //RUD固定 + autopwm[RUD]=g_rightloopRUD_aproach; //RUD固定 if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; } @@ -1422,9 +1422,9 @@ UpdateTargetAngle_Leftloop_zero(targetAngle); } else{ - targetAngle[ROLL] = g_leftloopROLL; + targetAngle[ROLL] = g_leftloopROLL_aproach; targetAngle[PITCH] = g_leftloopPITCH; - autopwm[RUD]=g_leftloopRUD; + autopwm[RUD]=g_leftloopRUD_aproach; if(autopwm[AIL_R]<trimpwm[AIL_R]){ autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; } @@ -1567,9 +1567,9 @@ //右旋回(着陸時スロットル0の時) void UpdateTargetAngle_Rightloop_zero(float targetAngle[3]){ //右旋回 autopwm[THR]=minpwm[THR]; - targetAngle[ROLL] = g_rightloopROLL; + targetAngle[ROLL] = g_rightloopROLL_aproach; targetAngle[PITCH] = g_rightloopPITCH ; - autopwm[RUD]=g_rightloopRUD; //RUD固定 + autopwm[RUD]=g_rightloopRUD_aproach; //RUD固定 if(autopwm[AIL_R]<trimpwm[AIL_R]){ //エルロン上がりやすさ調節 autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising; } @@ -1613,9 +1613,9 @@ //左旋回(着陸時スロットル0のとき) void UpdateTargetAngle_Leftloop_zero(float targetAngle[3]){ - targetAngle[ROLL] = g_leftloopROLL; + targetAngle[ROLL] = g_leftloopROLL_aproach; targetAngle[PITCH] = g_leftloopPITCH; - autopwm[RUD]=g_leftloopRUD; + autopwm[RUD]=g_leftloopRUD_aproach; autopwm[THR] = minpwm[THR]; if(autopwm[AIL_R]<trimpwm[AIL_R]){ autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;