LED入れ替え
Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of Autoflight2018_55 by
falfalla.h
00001 #ifndef FALFALLA_H 00002 #define FALFALLA_H 00003 00004 #define SWITCH_CHECK 1400 00005 #define NUMBER_FALFALLA 2 //何号機かを入れるとそれに応じて#if以下が変わって設定が変わる 00006 00007 static float g_kpELE=2.0; 00008 static float g_kiELE=0.0; 00009 static float g_kdELE=0.0; 00010 static float g_kpRUD=3.0; 00011 static float g_kiRUD=0.0; 00012 static float g_kdRUD=0.0; 00013 static float g_kpAIL=3.0; 00014 static float g_kiAIL=0.0; 00015 static float g_kdAIL=0.0; 00016 00017 static float g_rightloopROLL=-17.0; 00018 static float g_rightloopROLL_approach=-17.0; 00019 static float g_rightloopPITCH=-6.3; 00020 static float g_rightloopPITCH_approach = -15.0; 00021 static float g_leftloopROLL=16.0; 00022 static float g_leftloopROLL_approach=16.0; 00023 static float g_leftloopPITCH=-6.0; 00024 static float g_leftloopPITCH_approach=-13.0; 00025 static float g_gostraightROLL=2.0; 00026 static float g_gostraightPITCH=-3.0; 00027 static float g_takeoffTHR=1.0; 00028 static float g_loopTHR=0.58; 00029 00030 static float g_rightloopROLLshort=-20.0; 00031 static float g_rightloopPITCHshort=-7.0; 00032 static float g_leftloopROLLshort=22.0; 00033 static float g_leftloopPITCHshort=-6.0; 00034 00035 static float g_glideloopROLL = -5.0; //rewrite 00036 static float g_glideloopPITCH = 0.0; 00037 00038 static int g_rightloopRUD = 1500; 00039 static int g_rightloopRUD_approach=1500; 00040 static int g_rightloopshortRUD = 1500; 00041 static int g_leftloopRUD = 1500; 00042 static int g_leftloopRUD_approach = 1500; 00043 static int g_leftloopshortRUD = 1500; 00044 static int g_glideloopRUD = 1500; 00045 00046 static int g_AIL_L_correctionrightloop = 0; 00047 static int g_AIL_L_correctionrightloopshort = 0; 00048 static int g_AIL_L_correctionleftloop = 0; 00049 static int g_AIL_L_correctionleftloopshort = 0; 00050 00051 00052 #if NUMBER_FALFALLA == 1 //1号機 00053 const int8_t Reverce_falfalla[4] = {1,-1,1,1}; //Nutral:1 , Reverce:-1 00054 00055 #elif NUMBER_FALFALLA == 2 //2号機 00056 const int16_t Reverce_falfalla[4] = {1,-1,1,-1}; //Nutral:1 , Reverce:-1 00057 00058 #endif 00059 00060 00061 #endif /* ESTRELA_H_ */ 00062 00063 /* 00064 x軸回り ロール 00065 y軸回り ピッチ 00066 z軸回り ヨー 00067 */
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