航空研究会 / Mbed 2 deprecated Autoflight2018_52

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Dependencies:   HCSR04_2 MPU6050_2 mbed SDFileSystem3

Fork of Autoflight2018_51 by 航空研究会

Files at this revision

API Documentation at this revision

Revision 41:3b8c250ae79c, committed 2018-09-26

Comitter:
taknokolat
Date:
Wed Sep 26 04:13:36 2018 +0000
Parent:
40:f03b62a3b495
Commit message:
a;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r f03b62a3b495 -r 3b8c250ae79c main.cpp
--- a/main.cpp	Wed Sep 26 04:02:25 2018 +0000
+++ b/main.cpp	Wed Sep 26 04:13:36 2018 +0000
@@ -994,16 +994,17 @@
     //pc.printf("%d\r\n",sbus.failsafe_status);
                     
     if(sbus.failsafe_status==SBUS_SIGNAL_LOST||sbus.failsafe_status==SBUS_SIGNAL_FAILSAFE) FailsafeCounter++;
-    else FailsafeCounter=0;
         
         if(FailsafeCounter>10){
             for(uint8_t i=0;i<6;i++) pwm[i] = trimpwm[i];
             
         if(sbus.failsafe_status==SBUS_SIGNAL_OK) OKCounter++;
-        if(OKCounter>10) {
-                OKCounter=0;
-                }
-                
+        else OKCounter=0;
+        
+        if(OKCounter>5){
+        OKCounter=0;
+        FailsafeCounter=0;   
+        }
             //pc.printf("%d\r\n",sbus.failsafe_status);
             //if(sbus.failsafe_status!=SBUS_SIGNAL_FAILSAFE)break;
             
@@ -1459,6 +1460,13 @@
                     Rotate(targetAngle, g_SerialTargetYAW);
                     NVIC_EnableIRQ(USART2_IRQn);
                     break;
+                    
+                case 'U':   //機首ヲ上ゲヨ
+                    targetAngle[ROLL] = g_gostraightROLL;
+                    autopwm[THR] = minpwm[THR];
+                    autopwm[ELE] = trimpwm[ELE]-100;
+                    NVIC_EnableIRQ(USART2_IRQn);
+                    break;
                 
                 /*case 'B':   //ブザーヲ鳴ラセ
                     //buzzer = 1;