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9/13 updated
Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of Autoflight2018_4_Approach by
config/falfalla.h@5:eca3adcd8f9c, 2018-09-13 (annotated)
- Committer:
- HARUKIDELTA
- Date:
- Thu Sep 13 06:49:58 2018 +0000
- Revision:
- 5:eca3adcd8f9c
- Parent:
- 3:954228fd64b3
SD setting
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
HARUKIDELTA | 0:17f575135219 | 1 | #ifndef FALFALLA_H |
HARUKIDELTA | 0:17f575135219 | 2 | #define FALFALLA_H |
HARUKIDELTA | 0:17f575135219 | 3 | |
HARUKIDELTA | 0:17f575135219 | 4 | #define SWITCH_CHECK 1400 |
HARUKIDELTA | 0:17f575135219 | 5 | #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 |
HARUKIDELTA | 0:17f575135219 | 6 | |
HARUKIDELTA | 0:17f575135219 | 7 | static float g_kpELE=2.0; |
HARUKIDELTA | 0:17f575135219 | 8 | static float g_kiELE=0.0; |
HARUKIDELTA | 0:17f575135219 | 9 | static float g_kdELE=0.0; |
HARUKIDELTA | 0:17f575135219 | 10 | static float g_kpRUD=3.0; |
HARUKIDELTA | 0:17f575135219 | 11 | static float g_kiRUD=0.0; |
HARUKIDELTA | 0:17f575135219 | 12 | static float g_kdRUD=0.0; |
taknokolat | 1:f383708a5a52 | 13 | static float g_kpAIL=3.0; |
taknokolat | 1:f383708a5a52 | 14 | static float g_kiAIL=0.0; |
taknokolat | 1:f383708a5a52 | 15 | static float g_kdAIL=0.0; |
HARUKIDELTA | 0:17f575135219 | 16 | |
HARUKIDELTA | 3:954228fd64b3 | 17 | static float g_rightloopROLL=0.0; |
HARUKIDELTA | 0:17f575135219 | 18 | static float g_rightloopPITCH=-6.3; |
HARUKIDELTA | 0:17f575135219 | 19 | static float g_leftloopROLL=16.0; |
HARUKIDELTA | 0:17f575135219 | 20 | static float g_leftloopPITCH=-6.0; |
HARUKIDELTA | 0:17f575135219 | 21 | static float g_gostraightROLL=2.0; |
HARUKIDELTA | 0:17f575135219 | 22 | static float g_gostraightPITCH=-3.0; |
HARUKIDELTA | 0:17f575135219 | 23 | static float g_takeoffTHR=1.0; |
HARUKIDELTA | 0:17f575135219 | 24 | static float g_loopTHR=0.58; |
HARUKIDELTA | 0:17f575135219 | 25 | |
HARUKIDELTA | 0:17f575135219 | 26 | static float g_rightloopROLLshort=-20.0; |
HARUKIDELTA | 0:17f575135219 | 27 | static float g_rightloopPITCHshort=-7.0; |
HARUKIDELTA | 0:17f575135219 | 28 | static float g_leftloopROLLshort=22.0; |
HARUKIDELTA | 0:17f575135219 | 29 | static float g_leftloopPITCHshort=-6.0; |
HARUKIDELTA | 0:17f575135219 | 30 | |
HARUKIDELTA | 0:17f575135219 | 31 | static float g_glideloopROLL = -5.0; //rewrite |
HARUKIDELTA | 0:17f575135219 | 32 | static float g_glideloopPITCH = 0.0; |
HARUKIDELTA | 0:17f575135219 | 33 | |
HARUKIDELTA | 5:eca3adcd8f9c | 34 | static int g_rightloopRUD = 1500; |
HARUKIDELTA | 5:eca3adcd8f9c | 35 | static int g_rightloopshortRUD = 1500; |
HARUKIDELTA | 5:eca3adcd8f9c | 36 | static int g_leftloopRUD = 1500; |
HARUKIDELTA | 5:eca3adcd8f9c | 37 | static int g_leftloopshortRUD = 1500; |
HARUKIDELTA | 5:eca3adcd8f9c | 38 | static int g_glideloopRUD = 1500; |
HARUKIDELTA | 5:eca3adcd8f9c | 39 | |
HARUKIDELTA | 5:eca3adcd8f9c | 40 | static int g_AIL_L_correctionrightloop = 0; |
HARUKIDELTA | 5:eca3adcd8f9c | 41 | static int g_AIL_L_correctionrightloopshort = 0; |
HARUKIDELTA | 5:eca3adcd8f9c | 42 | static int g_AIL_L_correctionleftloop = 0; |
HARUKIDELTA | 5:eca3adcd8f9c | 43 | static int g_AIL_L_correctionleftloopshort = 0; |
HARUKIDELTA | 5:eca3adcd8f9c | 44 | |
HARUKIDELTA | 0:17f575135219 | 45 | #if NUMBER_FALFALLA == 1 //1号機 |
HARUKIDELTA | 0:17f575135219 | 46 | |
HARUKIDELTA | 3:954228fd64b3 | 47 | const int16_t Trim_Falfalla[4] = {-155,120,0,-240};//{0,14,-100,-10}; |
HARUKIDELTA | 0:17f575135219 | 48 | const float ExpMax_Falfalla[4] = {100,115,100,89}; |
HARUKIDELTA | 0:17f575135219 | 49 | const float ExpMin_Falfalla[4] = {100,47,100,110}; |
HARUKIDELTA | 3:954228fd64b3 | 50 | const int8_t Reverce_falfalla[4] = {-1,-1,1,1}; //Nutral:1 , Reverce:-1 |
HARUKIDELTA | 0:17f575135219 | 51 | |
HARUKIDELTA | 0:17f575135219 | 52 | #elif NUMBER_FALFALLA == 2 //2号機 |
HARUKIDELTA | 0:17f575135219 | 53 | |
HARUKIDELTA | 3:954228fd64b3 | 54 | const int16_t Trim_Falfalla[6] = {135,240,0,-240,240,-130};//{0,12,0,2}; |
HARUKIDELTA | 0:17f575135219 | 55 | const float ExpMax_Falfalla[4] = {100,115,100,103}; |
HARUKIDELTA | 0:17f575135219 | 56 | const float ExpMin_Falfalla[4] = {100,97,100,97}; |
HARUKIDELTA | 0:17f575135219 | 57 | const int16_t Reverce_falfalla[4] = {1,-1,1,-1}; //Nutral:1 , Reverce:-1 |
HARUKIDELTA | 0:17f575135219 | 58 | |
HARUKIDELTA | 0:17f575135219 | 59 | |
HARUKIDELTA | 0:17f575135219 | 60 | #endif |
HARUKIDELTA | 0:17f575135219 | 61 | |
HARUKIDELTA | 0:17f575135219 | 62 | |
HARUKIDELTA | 0:17f575135219 | 63 | #endif /* ESTRELA_H_ */ |
HARUKIDELTA | 0:17f575135219 | 64 | |
HARUKIDELTA | 0:17f575135219 | 65 | /* |
HARUKIDELTA | 0:17f575135219 | 66 | x軸回り ロール |
HARUKIDELTA | 0:17f575135219 | 67 | y軸回り ピッチ |
HARUKIDELTA | 0:17f575135219 | 68 | z軸回り ヨー |
HARUKIDELTA | 0:17f575135219 | 69 | */ |