航空研究会 / Mbed 2 deprecated Autoflight2018_62

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Dependencies:   HCSR04_2 MPU6050_2 mbed SDFileSystem3

Fork of Autoflight2018_61 by 航空研究会

config/falfalla.h

Committer:
TUATBM
Date:
2018-09-17
Revision:
15:43427b0241d9
Parent:
13:77b13d5f4d78
Child:
37:990047c4dc20

File content as of revision 15:43427b0241d9:

#ifndef FALFALLA_H
#define FALFALLA_H

#define SWITCH_CHECK 1400
#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

static float g_kpELE=2.0;
static float g_kiELE=0.0;
static float g_kdELE=0.0;
static float g_kpRUD=3.0;
static float g_kiRUD=0.0;
static float g_kdRUD=0.0;
static float g_kpAIL=3.0;
static float g_kiAIL=0.0;
static float g_kdAIL=0.0;

static float g_rightloopROLL=-17.0;
static float g_rightloopPITCH=-6.3;
static float g_leftloopROLL=16.0;
static float g_leftloopPITCH=-6.0;
static float g_gostraightROLL=2.0;
static float g_gostraightPITCH=-3.0;
static float g_takeoffTHR=1.0;
static float g_loopTHR=0.58;

static float g_rightloopROLLshort=-20.0;
static float g_rightloopPITCHshort=-7.0;
static float g_leftloopROLLshort=22.0;
static float g_leftloopPITCHshort=-6.0;

static float g_glideloopROLL = -5.0;      //rewrite
static float g_glideloopPITCH = 0.0;

static int g_rightloopRUD = 1500;
static int g_rightloopshortRUD = 1500;
static int g_leftloopRUD = 1500;
static int g_leftloopshortRUD = 1500;
static int g_glideloopRUD = 1500;

static int g_AIL_L_correctionrightloop = 0;
static int g_AIL_L_correctionrightloopshort = 0;
static int g_AIL_L_correctionleftloop = 0;
static int g_AIL_L_correctionleftloopshort = 0;


#if NUMBER_FALFALLA == 1    //1号機
const int8_t Reverce_falfalla[4] = {1,-1,1,1};   //Nutral:1 , Reverce:-1

#elif NUMBER_FALFALLA == 2  //2号機
const int16_t Reverce_falfalla[4] = {1,-1,1,-1};   //Nutral:1 , Reverce:-1

#endif


#endif /* ESTRELA_H_ */

/*
x軸回り    ロール
y軸回り    ピッチ
z軸回り    ヨー
*/