Diff: main.cpp

Revision:

46:390da0008921

Parent:

45:eebdf6fa7b15

Child:

47:9e11751aa42c

--- a/main.cpp	Wed Sep 26 23:43:14 2018 +0000
+++ b/main.cpp	Thu Sep 27 01:46:34 2018 +0000
@@ -819,8 +819,8 @@
         else{                                         *g_rightloopRUD_approach = RIGHTLOOPRUD_APPROACH;
                                                       SDerrorcount++;
         }
-        if(GetParameter(fp,paramNames[31],parameter)) *g_leftloopRUD= atof(parameter);
-        else{                                         *g_leftloopRUD= LEFTLOOPRUD_APPROACH;
+        if(GetParameter(fp,paramNames[31],parameter)) *g_leftloopRUD_approach= atof(parameter);
+        else{                                         *g_leftloopRUD_approach= LEFTLOOPRUD_APPROACH;
                                                       SDerrorcount++;
         }
         if(GetParameter(fp,paramNames[32],parameter)) *g_rightloopPITCH_approach = atof(parameter);
@@ -1141,6 +1141,7 @@
             if(bufcounter==5 && SFbuf[4]=='F'){
                 
                 g_landingcommand = SFbuf[1];
+                //pc.printf("%c",g_landingcommand);
                 //wait_ms(20);
                 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
                 if(g_landingcommand=='Y')g_SerialTargetYAW =0.0f;
@@ -1301,7 +1302,7 @@
             
             UpdateTargetAngle_Takeoff(targetAngle);
             NVIC_DisableIRQ(EXTI9_5_IRQn);
-            if(g_distance>150) TakeoffCount++;
+            if(g_distance>100) TakeoffCount++;
             else TakeoffCount = 0;
             NVIC_EnableIRQ(EXTI9_5_IRQn);
             if(TakeoffCount>5){
@@ -1425,6 +1426,8 @@
        
        static bool zeroTHR=true;//着陸時のスロットル動作確認用
        
+       NVIC_DisableIRQ(USART2_IRQn);
+       
        if(CheckSW_Up(Ch7)){
             output_status = Auto;
             led1 = 1;
@@ -1432,10 +1435,11 @@
             output_status = Manual;
             led1 = 0;
             zeroTHR=true;
+            //g_landingcommand='G';
         }
     
     
-       NVIC_DisableIRQ(USART2_IRQn);
+       
         switch(g_landingcommand){
             case 'R':   //右旋回セヨ
             if(zeroTHR==false){
@@ -1484,6 +1488,9 @@
                 
                 case 'Y':   //指定ノヨー方向ニ移動セヨ
                     Rotate(targetAngle, g_SerialTargetYAW);
+                    if(zeroTHR==false){
+                        autopwm[THR]=minpwm[THR];
+                        }
                     NVIC_EnableIRQ(USART2_IRQn);
                     break;
                     
@@ -1492,9 +1499,10 @@
                     UpCounter++;
                     if(UpCounter==3){
                         while(1){
-                            targetAngle[ROLL] = g_gostraightROLL;
+                            //targetAngle[ROLL] = g_gostraightROLL;
                             autopwm[THR] = minpwm[THR];
                             autopwm[ELE] = minpwm[ELE];
+                            autopwm[RUD]=trimpwm[RUD];
                             if(CheckSW_Up(Ch7)){
                                 output_status = Auto;
                                 led1 = 1;
@@ -1502,6 +1510,7 @@
                                 output_status = Manual;
                                 led1 = 0;
                                 zeroTHR=true;
+                                //g_landingcommand='G';
                             }
                         }