Diff: main.cpp

Revision:

41:3b8c250ae79c

Parent:

40:f03b62a3b495

Child:

42:74d72339a8a8

--- a/main.cpp	Wed Sep 26 04:02:25 2018 +0000
+++ b/main.cpp	Wed Sep 26 04:13:36 2018 +0000
@@ -994,16 +994,17 @@
     //pc.printf("%d\r\n",sbus.failsafe_status);
                     
     if(sbus.failsafe_status==SBUS_SIGNAL_LOST||sbus.failsafe_status==SBUS_SIGNAL_FAILSAFE) FailsafeCounter++;
-    else FailsafeCounter=0;
         
         if(FailsafeCounter>10){
             for(uint8_t i=0;i<6;i++) pwm[i] = trimpwm[i];
             
         if(sbus.failsafe_status==SBUS_SIGNAL_OK) OKCounter++;
-        if(OKCounter>10) {
-                OKCounter=0;
-                }
-                
+        else OKCounter=0;
+        
+        if(OKCounter>5){
+        OKCounter=0;
+        FailsafeCounter=0;   
+        }
             //pc.printf("%d\r\n",sbus.failsafe_status);
             //if(sbus.failsafe_status!=SBUS_SIGNAL_FAILSAFE)break;
             
@@ -1459,6 +1460,13 @@
                     Rotate(targetAngle, g_SerialTargetYAW);
                     NVIC_EnableIRQ(USART2_IRQn);
                     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);
+                    break;
                 
                 /*case 'B':   //ブザーヲ鳴ラセ
                     //buzzer = 1;