航空研究会 / Mbed 2 deprecated Autoflight2018_58

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Dependencies:   HCSR04_2 MPU6050_2 mbed SDFileSystem3

Fork of Autoflight2018_57 by 航空研究会

Files at this revision

API Documentation at this revision

Revision 47:9e11751aa42c, committed 2018-09-27

Comitter:
HARUKIDELTA
Date:
Thu Sep 27 06:44:49 2018 +0000
Parent:
46:390da0008921
Commit message:
??????

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Thu Sep 27 01:46:34 2018 +0000
+++ b/main.cpp	Thu Sep 27 06:44:49 2018 +0000
@@ -158,7 +158,7 @@
 OperationMode operation_mode = StartUp;
 BombingMode bombing_mode = Takeoff;
 
-static int16_t autopwm[8] = {1455,1450,1176,1628,1417,1452};
+static int16_t autopwm[8] = {1453,1448,1176,1626,1417,1450};
 /*
 //1号機
 static int16_t trimpwm[6] = {1580,1600,1176,1404,1440,1448};
@@ -169,9 +169,9 @@
 
 //2号機
 
-static int16_t trimpwm[6] = {1455,1450,1176,1628,1417,1452};
-int16_t maxpwm[6] = {1672,1786,1848,1964,1712,1860};
-int16_t minpwm[6] = {1057,1115,1176,1292,1180,1180};
+static int16_t trimpwm[6] = {1453,1448,1176,1626,1417,1450};
+int16_t maxpwm[6] = {1670,1786,1848,1962,1712,1857};
+int16_t minpwm[6] = {1056,1115,1176,1291,1180,1178};
 const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
 
 
@@ -1306,7 +1306,9 @@
             else TakeoffCount = 0;
             NVIC_EnableIRQ(EXTI9_5_IRQn);
             if(TakeoffCount>5){
-                autopwm[THR] = 1180+320*2*0.5;
+                
+                //autopwm[THR] = SetTHRinRatio(0.3);
+                autopwm[THR] = 1180+320*0.3;
                 targetAngle[PITCH]=g_gostraightPITCH;
                 autopwm[RUD]=trimpwm[RUD];
                 //pc.printf("Now go to Approach mode!!");