Diff: main.cpp

Revision:

3:206b17251f5b

Parent:

2:23daa5fa28b4

Child:

4:fff1165ca50c

--- a/main.cpp	Sat Sep 08 05:32:55 2018 +0000
+++ b/main.cpp	Thu Sep 13 11:34:19 2018 +0000
@@ -35,7 +35,7 @@
 #define GAIN_CONTROLVALUE_TO_PWM 3.0
 
 #define RIGHT_ROLL -12.0
-#define RIGHT_PITCH -5.0
+#define RIGHT_PITCH 5.0
 #define LEFT_ROLL 12.0
 #define LEFT_PITCH -5.0
 #define STRAIGHT_ROLL 4.0
@@ -50,9 +50,24 @@
 #define LEFT_ROLL_SHORT 12.0
 #define LEFT_PITCH_SHORT -5.0
 
+#define rightloopRUD 1250
+#define AIL_L_correctionrightloop 0
+#define rightloopshortRUD 1250 
+#define AIL_L_correctionrightloopshort 0
+#define leftloopRUD  1500
+#define AIL_L_correctionleftloop -0
+#define leftloopshortRUD 1500 
+#define AIL_L_correctionleftloopshort 0
+#define glideloopRUD 1300
+
+
 #define GLIDE_ROLL -12.0
 #define GLIDE_PITCH -3.0
 
+
+#define AIL_L_RatioRising 0.5
+#define AIL_L_RatioDescent 2
+
 //コンパスキャリブレーション
 //SkipperS2基板
 /*
@@ -86,7 +101,7 @@
 const float trim[4] = {Trim_Falfalla[0],Trim_Falfalla[1],Trim_Falfalla[2],Trim_Falfalla[3]};
 const float expMax[4] = {ExpMax_Falfalla[0],ExpMax_Falfalla[1],ExpMax_Falfalla[2],ExpMax_Falfalla[3]};
 const float expMin[4] = {ExpMin_Falfalla[0],ExpMin_Falfalla[1],ExpMin_Falfalla[2],ExpMin_Falfalla[3]};
-const int16_t reverce[4] = {ExpMin_Falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
+const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
 
 SBUS sbus(PA_9, PA_10); //SBUS
 
@@ -730,7 +745,7 @@
     addpwm[ROLL] = (float)GAIN_CONTROLVALUE_TO_PWM * controlValue[ROLL];           //センサ：右回転正（8月13日時点；左回転が正！）     レバー:右回転正
     
     autopwm[ELE] = trimpwm[ELE] + reverce[ELE] * addpwm[PITCH];                 //rewrite
-    autopwm[AIL_R] = trimpwm[AIL_R] + reverce[AIL_R] * addpwm[AIL_R];
+    autopwm[AIL_R] = trimpwm[AIL_R] + reverce[AIL_R] * addpwm[ROLL];
     //autopwm[THR] = oldTHR;
 
     autopwm[ELE] = ThresholdMaxMin(autopwm[ELE], maxpwm[ELE], minpwm[ELE]);
@@ -1183,15 +1198,19 @@
     //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
 }
 
+
 //右旋回
 void UpdateTargetAngle_Rightloop(float targetAngle[3]){ //右旋回
 
-    autopwm[RUD]=g_rightloopRUD;
     targetAngle[ROLL] = g_rightloopROLL;
     targetAngle[PITCH] = g_rightloopPITCH ;
-    autopwm[THR] = oldTHR;//SetTHRinRatio(g_loopTHR);
-    autopwm[AIL_L]=trimpwm[AIL_L]+(autopwm[AIL_R]-trimpwm[AIL_R])*0.5;//*inverse;//g_AIL_L_Ratio_rightloop;
-    pc.printf("",)
+    autopwm[RUD]=rightloopRUD;              //RUD固定
+    autopwm[THR] = oldTHR;                  //手動スロットル記憶
+    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;
+        }
+    else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
+
     //checkHeight(targetAngle);
     //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
 }
@@ -1200,8 +1219,12 @@
 
     targetAngle[ROLL] = g_rightloopROLLshort;
     targetAngle[PITCH] = g_rightloopPITCHshort;
-    autopwm[THR] = SetTHRinRatio(g_loopTHR);
-    
+    autopwm[RUD]=rightloopshortRUD;
+    autopwm[THR] = oldTHR;
+    if(autopwm[AIL_R]>trimpwm[AIL_R]){
+        autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioRising;
+        }
+    else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionrightloopshort+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
     
     //pc.printf("Roll = %f, PITCH = %f, THR = %d \r\n", targetAngle[ROLL], targetAngle[PITCH], autopwm[THR]);
 }