Diff: main.cpp

Revision:

51:0f2f0c398fdb

Parent:

50:570782f00a76

Child:

52:936c90dcd872

--- a/main.cpp	Sat Sep 29 00:40:47 2018 +0000
+++ b/main.cpp	Sat Sep 29 13:30:44 2018 +0000
@@ -190,7 +190,7 @@
 unsigned int g_distance;
 Ticker USsensor;
 static char g_buf[16];
-char g_landingcommand='Z';
+char g_landingcommand='Y';
 float g_SerialTargetYAW;
 
 Timer t;
@@ -1239,7 +1239,7 @@
     //フラグが偽であれば計測は行わない    
     if(flg_tstart){
         t_diff = t.read() - t_start;
-        //一定高度or15秒でled点灯
+        //一定高度or20秒でled点灯
         NVIC_DisableIRQ(EXTI9_5_IRQn);
         if((groundcount>5 && g_distance>0) || t_diff > 20){
             led4 = 1;
@@ -1304,7 +1304,7 @@
             
             UpdateTargetAngle_Takeoff(targetAngle);
             NVIC_DisableIRQ(EXTI9_5_IRQn);
-            if(g_distance>150) TakeoffCount++;
+            if(g_distance>130) TakeoffCount++;
             else TakeoffCount = 0;
             NVIC_EnableIRQ(EXTI9_5_IRQn);
             if(TakeoffCount>5){
@@ -1334,7 +1334,6 @@
         
             //autopwm[THR] = SetTHRinRatio(g_loopTHR); //0.7;スロットルの割合
             autopwm[THR] = minpwm[THR];//1180+320*2*0.3;
-            
             UpdateTargetAngle_Approach(targetAngle);
             
             break;