Diff: main.cpp

Revision:

48:e58f6e6e69eb

Parent:

47:9e11751aa42c

--- a/main.cpp	Thu Sep 27 06:44:49 2018 +0000
+++ b/main.cpp	Thu Sep 27 17:26:40 2018 +0000
@@ -1308,7 +1308,7 @@
             if(TakeoffCount>5){
                 
                 //autopwm[THR] = SetTHRinRatio(0.3);
-                autopwm[THR] = 1180+320*0.3;
+                autopwm[THR] = 1180+320*2*0.3;
                 targetAngle[PITCH]=g_gostraightPITCH;
                 autopwm[RUD]=trimpwm[RUD];
                 //pc.printf("Now go to Approach mode!!");
@@ -1330,7 +1330,8 @@
             */
         case Approach:
         
-            autopwm[THR] = SetTHRinRatio(g_loopTHR); //0.7;スロットルの割合
+            //autopwm[THR] = SetTHRinRatio(g_loopTHR); //0.7;スロットルの割合
+            autopwm[THR] = 1180+320*2*0.3;
             UpdateTargetAngle_Approach(targetAngle);
             
             break;
@@ -1444,6 +1445,7 @@
        
         switch(g_landingcommand){
             case 'R':   //右旋回セヨ
+            NVIC_EnableIRQ(USART2_IRQn);
             if(zeroTHR==false){
                 UpdateTargetAngle_Rightloop_zero(targetAngle);
                 }
@@ -1458,10 +1460,11 @@
             autopwm[AIL_R]=autopwm[AIL_R]+AIL_R_correctionrightloop;
             }
         }
-        NVIC_EnableIRQ(USART2_IRQn);
+        
                 break;
                 
                 case 'L':   //左旋回セヨ
+                 NVIC_EnableIRQ(USART2_IRQn);
                 if(zeroTHR==false){
                     UpdateTargetAngle_Leftloop_zero(targetAngle);
                 }
@@ -1474,10 +1477,11 @@
                         }
                         else autopwm[AIL_L]=trimpwm[AIL_L]+AIL_L_correctionleftloop+(autopwm[AIL_R]-trimpwm[AIL_R])*AIL_L_RatioDescent;
                     }
-                NVIC_EnableIRQ(USART2_IRQn);
+                
                 break;
                     
                 case 'G':   //直進セヨ
+                NVIC_EnableIRQ(USART2_IRQn);
                 if(zeroTHR==false){
                     UpdateTargetAngle_GoStraight_zero(targetAngle);
                     }
@@ -1485,18 +1489,19 @@
                     targetAngle[ROLL] = g_gostraightROLL;
                     targetAngle[PITCH] = g_gostraightPITCH;
     }
-                    NVIC_EnableIRQ(USART2_IRQn);
+                    
                     break;
                 
                 case 'Y':   //指定ノヨー方向ニ移動セヨ
+                    NVIC_EnableIRQ(USART2_IRQn);
                     Rotate(targetAngle, g_SerialTargetYAW);
                     if(zeroTHR==false){
                         autopwm[THR]=minpwm[THR];
                         }
-                    NVIC_EnableIRQ(USART2_IRQn);
                     break;
                     
                 case 'U':   //機首ヲ上ゲヨ
+                    NVIC_EnableIRQ(USART2_IRQn);
                     static int UpCounter=0;
                     UpCounter++;
                     if(UpCounter==3){
@@ -1517,7 +1522,6 @@
                         }
                         
                     }
-                        NVIC_EnableIRQ(USART2_IRQn);
                         
                     break;
                 
@@ -1527,16 +1531,17 @@
                     break;*/
                     
                 case 'B':   //物資ヲ落トセ
+                    NVIC_EnableIRQ(USART2_IRQn);
                     Chicken_Drop();
-                    NVIC_EnableIRQ(USART2_IRQn);
+                    
                     break;
                             
                 case 'C':   //停止セヨ
-                    targetAngle[ROLL] = 0.0;
+                    NVIC_EnableIRQ(USART2_IRQn);
+                    targetAngle[ROLL] = g_gostraightROLL;
                     targetAngle[PITCH] = -3.0;
                     autopwm[THR] = minpwm[THR];
                     zeroTHR=false;
-                    NVIC_EnableIRQ(USART2_IRQn);
                     break;
                     
                 default :