Diff: main.cpp

Revision:

44:e496af12d20c

Parent:

43:4413ee61bc39

--- a/main.cpp	Wed Sep 26 11:26:28 2018 +0000
+++ b/main.cpp	Wed Sep 26 15:45:59 2018 +0000
@@ -1030,7 +1030,7 @@
         OKCounter=0;
                 FailsafeCounter=0;   
         }
-            pc.printf("OKCounter=%d,  FailsafeCounter=%d,  sbus.failsafe_status=%d\r\n",OKCounter,FailsafeCounter,sbus.failsafe_status);
+            //pc.printf("OKCounter=%d,  FailsafeCounter=%d,  sbus.failsafe_status=%d\r\n",OKCounter,FailsafeCounter,sbus.failsafe_status);
         }
     //if(sbus.failsafe_status==SBUS_SIGNAL_OK){FailsafeCounter=0;}
     
@@ -1145,14 +1145,14 @@
                 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
                 if(g_landingcommand=='Y')g_SerialTargetYAW =0.0f;
                 bufcounter = 0;
-                memset(SFbuf, 0, strlen(SFbuf));
+                memset(SFbuf, 0, sizeof(SFbuf));
                 NVIC_ClearPendingIRQ(USART2_IRQn);
                 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW); 
             }
             
             else if(bufcounter>=5){
                 //pc.printf("Communication Falsed.\r\n");
-                memset(SFbuf, 0, strlen(SFbuf));
+                memset(SFbuf, 0, sizeof(SFbuf));
                 bufcounter = 0;
                 NVIC_ClearPendingIRQ(USART2_IRQn);
             }
@@ -1488,10 +1488,26 @@
                     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);
+                    static int UpCounter=0;
+                    UpCounter++;
+                    if(UpCounter==3){
+                        while(1){
+                            targetAngle[ROLL] = g_gostraightROLL;
+                            autopwm[THR] = minpwm[THR];
+                            autopwm[ELE] = minpwm[ELE];
+                            if(CheckSW_Up(Ch7)){
+                                output_status = Auto;
+                                led1 = 1;
+                            }else{
+                                output_status = Manual;
+                                led1 = 0;
+                                zeroTHR=true;
+                            }
+                        }
+                        
+                    }
+                        NVIC_EnableIRQ(USART2_IRQn);
+                        
                     break;
                 
                 /*case 'B':   //ブザーヲ鳴ラセ