Diff: main.cpp

Revision:

36:197b514eae3b

Parent:

35:25e1afadd455

Child:

37:990047c4dc20

--- a/main.cpp	Tue Sep 25 04:56:24 2018 +0000
+++ b/main.cpp	Tue Sep 25 06:58:19 2018 +0000
@@ -1110,7 +1110,8 @@
                 
                 g_landingcommand = SFbuf[1];
                 //wait_ms(20);
-                if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
+                //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));
                 NVIC_ClearPendingIRQ(USART2_IRQn);
@@ -1268,7 +1269,7 @@
             NVIC_EnableIRQ(EXTI9_5_IRQn);
             if(TakeoffCount>5){
                 autopwm[THR] = 1180+320*2*0.5;
-                autopwm[ELE] = 1200;
+                targetAngle[PITCH]=g_gostraightPITCH;
                 //pc.printf("Now go to Approach mode!!");
                 bombing_mode = Approach;
             }
@@ -1322,7 +1323,7 @@
         t_def = t.read_ms() - tELE_start;
         
         //1.5秒経過すればELE上げ舵へ
-        if(t_def>500) targetAngle[PITCH]=-30.0;
+        if(t_def>500) targetAngle[PITCH]=-35.0;
         else{
             t_def = 0;
             targetAngle[PITCH]=g_gostraightPITCH;
@@ -1648,6 +1649,7 @@
     }
 
 
+
 //デバッグ用
 void DebugPrint(){    
     /*