航空研究会 / Mbed 2 deprecated Autoflight2018_54

フェイルセーフ完成版

Dependencies:   HCSR04_2 MPU6050_2 mbed SDFileSystem3

Fork of Autoflight2018_53 by 航空研究会

config/falfalla.h@43:4413ee61bc39, 2018-09-26 (annotated)

Committer:
taknokolat
Date:
Wed Sep 26 11:26:28 2018 +0000
Revision:
43:4413ee61bc39
Parent:
40:f03b62a3b495 
a;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
HARUKIDELTA 0:17f575135219 1 #ifndef FALFALLA_H
HARUKIDELTA 0:17f575135219 2 #define FALFALLA_H
HARUKIDELTA 0:17f575135219 3
HARUKIDELTA 0:17f575135219 4 #define SWITCH_CHECK 1400
HARUKIDELTA 0:17f575135219 5 #define NUMBER_FALFALLA 2 //何号機かを入れるとそれに応じて#if以下が変わって設定が変わる
HARUKIDELTA 0:17f575135219 6
HARUKIDELTA 0:17f575135219 7 static float g_kpELE=2.0;
HARUKIDELTA 0:17f575135219 8 static float g_kiELE=0.0;
HARUKIDELTA 0:17f575135219 9 static float g_kdELE=0.0;
HARUKIDELTA 0:17f575135219 10 static float g_kpRUD=3.0;
HARUKIDELTA 0:17f575135219 11 static float g_kiRUD=0.0;
HARUKIDELTA 0:17f575135219 12 static float g_kdRUD=0.0;
taknokolat 1:f383708a5a52 13 static float g_kpAIL=3.0;
taknokolat 1:f383708a5a52 14 static float g_kiAIL=0.0;
taknokolat 1:f383708a5a52 15 static float g_kdAIL=0.0;
HARUKIDELTA 0:17f575135219 16
HARUKIDELTA 0:17f575135219 17 static float g_rightloopROLL=-17.0;
HARUKIDELTA 39:b8d5be233b70 18 static float g_rightloopROLL_approach=-17.0;
HARUKIDELTA 0:17f575135219 19 static float g_rightloopPITCH=-6.3;
HARUKIDELTA 40:f03b62a3b495 20 static float g_rightloopPITCH_approach = -15.0;
HARUKIDELTA 0:17f575135219 21 static float g_leftloopROLL=16.0;
HARUKIDELTA 39:b8d5be233b70 22 static float g_leftloopROLL_approach=16.0;
HARUKIDELTA 0:17f575135219 23 static float g_leftloopPITCH=-6.0;
HARUKIDELTA 40:f03b62a3b495 24 static float g_leftloopPITCH_approach=-13.0;
HARUKIDELTA 0:17f575135219 25 static float g_gostraightROLL=2.0;
HARUKIDELTA 0:17f575135219 26 static float g_gostraightPITCH=-3.0;
HARUKIDELTA 0:17f575135219 27 static float g_takeoffTHR=1.0;
HARUKIDELTA 0:17f575135219 28 static float g_loopTHR=0.58;
HARUKIDELTA 0:17f575135219 29
HARUKIDELTA 0:17f575135219 30 static float g_rightloopROLLshort=-20.0;
HARUKIDELTA 0:17f575135219 31 static float g_rightloopPITCHshort=-7.0;
HARUKIDELTA 0:17f575135219 32 static float g_leftloopROLLshort=22.0;
HARUKIDELTA 0:17f575135219 33 static float g_leftloopPITCHshort=-6.0;
HARUKIDELTA 0:17f575135219 34
HARUKIDELTA 0:17f575135219 35 static float g_glideloopROLL = -5.0; //rewrite
HARUKIDELTA 0:17f575135219 36 static float g_glideloopPITCH = 0.0;
HARUKIDELTA 0:17f575135219 37
HARUKIDELTA 13:77b13d5f4d78 38 static int g_rightloopRUD = 1500;
HARUKIDELTA 39:b8d5be233b70 39 static int g_rightloopRUD_approach=1500;
HARUKIDELTA 13:77b13d5f4d78 40 static int g_rightloopshortRUD = 1500;
HARUKIDELTA 13:77b13d5f4d78 41 static int g_leftloopRUD = 1500;
HARUKIDELTA 39:b8d5be233b70 42 static int g_leftloopRUD_approach = 1500;
HARUKIDELTA 13:77b13d5f4d78 43 static int g_leftloopshortRUD = 1500;
HARUKIDELTA 13:77b13d5f4d78 44 static int g_glideloopRUD = 1500;
HARUKIDELTA 13:77b13d5f4d78 45
HARUKIDELTA 13:77b13d5f4d78 46 static int g_AIL_L_correctionrightloop = 0;
HARUKIDELTA 13:77b13d5f4d78 47 static int g_AIL_L_correctionrightloopshort = 0;
HARUKIDELTA 13:77b13d5f4d78 48 static int g_AIL_L_correctionleftloop = 0;
HARUKIDELTA 13:77b13d5f4d78 49 static int g_AIL_L_correctionleftloopshort = 0;
HARUKIDELTA 13:77b13d5f4d78 50
HARUKIDELTA 13:77b13d5f4d78 51
HARUKIDELTA 0:17f575135219 52 #if NUMBER_FALFALLA == 1 //1号機
HARUKIDELTA 0:17f575135219 53 const int8_t Reverce_falfalla[4] = {1,-1,1,1}; //Nutral:1 , Reverce:-1
HARUKIDELTA 0:17f575135219 54
HARUKIDELTA 0:17f575135219 55 #elif NUMBER_FALFALLA == 2 //2号機
HARUKIDELTA 0:17f575135219 56 const int16_t Reverce_falfalla[4] = {1,-1,1,-1}; //Nutral:1 , Reverce:-1
HARUKIDELTA 0:17f575135219 57
HARUKIDELTA 0:17f575135219 58 #endif
HARUKIDELTA 0:17f575135219 59
HARUKIDELTA 0:17f575135219 60
HARUKIDELTA 0:17f575135219 61 #endif /* ESTRELA_H_ */
HARUKIDELTA 0:17f575135219 62
HARUKIDELTA 0:17f575135219 63 /*
HARUKIDELTA 0:17f575135219 64 x軸回り ロール
HARUKIDELTA 0:17f575135219 65 y軸回り ピッチ
HARUKIDELTA 0:17f575135219 66 z軸回り ヨー
HARUKIDELTA 0:17f575135219 67 */