jevois完成版 sizeofに変更
Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of Autoflight2018_54 by
Diff: main.cpp
- Revision:
- 29:887a38540508
- Parent:
- 28:aa44903a01e1
- Child:
- 30:624cb32e13a3
diff -r aa44903a01e1 -r 887a38540508 main.cpp --- a/main.cpp Fri Sep 21 20:03:32 2018 +0000 +++ b/main.cpp Sat Sep 22 04:31:11 2018 +0000 @@ -151,10 +151,10 @@ OperationMode operation_mode = StartUp; BombingMode bombing_mode = Takeoff; -static int16_t autopwm[8] = {1500,1500,1180,1500,1392,1500}; +static int16_t autopwm[8] = {1500,1500,1180,1500,1512,1500}; //1号機 -static int16_t trimpwm[6] = {1580,1600,1176,1404,1512,1448}; +static int16_t trimpwm[6] = {1580,1600,1176,1404,1632,1448}; int16_t maxpwm[6] = {1796,1936,1848,1740,1820,1856}; int16_t minpwm[6] = {1182,1265,1176,1068,1180,1176}; const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]}; @@ -290,13 +290,13 @@ loop(); - //NVIC_DisableIRQ(USART1_IRQn); + NVIC_DisableIRQ(USART1_IRQn); if(!CheckSW_Up(Ch7)){ led3=0; }else{ led3=1; } - //NVIC_EnableIRQ(USART1_IRQn); + NVIC_EnableIRQ(USART1_IRQn); } } @@ -395,7 +395,7 @@ //pc.printf("%c",g_landingcommand); //NVIC_EnableIRQ(USART2_IRQn); #if DEBUG_PRINT_INLOOP - //Sbusprintf(); + Sbusprintf(); //DebugPrint(); #endif } @@ -616,7 +616,6 @@ return 1; } } - return 0; } @@ -943,8 +942,6 @@ for(uint8_t i=0;i<6;i++){ pwm[i] = sbus.manualpwm[i]; } - /*pc.printf("%d ,",pwm[0]);//R - pc.printf("%d ,\r\n",pwm[5]);//L*/ oldTHR = sbus.manualpwm[THR]; //pc.printf("update_manual\r\n"); NVIC_EnableIRQ(USART1_IRQn); @@ -957,9 +954,7 @@ pwm[RUD] = autopwm[RUD]; pwm[DROP] = autopwm[DROP]; pwm[AIL_L] = autopwm[AIL_L]; - //pc.printf("%d ,",pwm[AIL_R]);//R - //pc.printf("%d ,\r\n",pwm[AIL_L]);//L - //pc.printf("update_auto\r\n"); + NVIC_EnableIRQ(USART1_IRQn); break; @@ -1073,7 +1068,7 @@ //pc.printf("x"); return; } - } + //pc.printf("%c",SFbuf[bufcounter]); @@ -1097,7 +1092,7 @@ bufcounter = 0; NVIC_ClearPendingIRQ(USART2_IRQn); } - + } //NVIC_EnableIRQ(TIM5_IRQn); //NVIC_EnableIRQ(EXTI0_IRQn); @@ -1302,7 +1297,7 @@ //チキラー投下 void Chicken_Drop(){ if(CheckSW_Up(Ch7)){ - autopwm[DROP] = 1512; + autopwm[DROP] = 1632; pc.printf("Bombed!\r\n"); RerurnChickenServo1.attach(&ReturnChickenServo1, 3); //operation_mode = Approach; @@ -1389,12 +1384,12 @@ NVIC_EnableIRQ(USART2_IRQn); break; - case 'B': //ブザーヲ鳴ラセ + /*case 'B': //ブザーヲ鳴ラセ //buzzer = 1; NVIC_EnableIRQ(USART2_IRQn); - break; + break;*/ - case 'D': //物資ヲ落トセ + case 'B': //物資ヲ落トセ Chicken_Drop(); NVIC_EnableIRQ(USART2_IRQn); break;