航空研究会 / Mbed 2 deprecated Autoflight2018_63

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Dependencies:   HCSR04_2 MPU6050_2 mbed SDFileSystem3

Fork of Autoflight2018_62 by 航空研究会

Diff: main.cpp

Revision:
49:8729deed8421
Parent:
48:e58f6e6e69eb
Child:
50:570782f00a76
--- a/main.cpp	Thu Sep 27 17:26:40 2018 +0000
+++ b/main.cpp	Fri Sep 28 05:00:55 2018 +0000
@@ -170,7 +170,7 @@
 //2号機
 
 static int16_t trimpwm[6] = {1453,1448,1176,1626,1417,1450};
-int16_t maxpwm[6] = {1670,1786,1848,1962,1712,1857};
+int16_t maxpwm[6] = {1670,1786,1848,1962,1728,1857};
 int16_t minpwm[6] = {1056,1115,1176,1291,1180,1178};
 const int16_t reverce[4] = {Reverce_falfalla[0],Reverce_falfalla[1],Reverce_falfalla[2],Reverce_falfalla[3]};
 
@@ -1257,9 +1257,9 @@
     }
     
         NVIC_DisableIRQ(EXTI9_5_IRQn);
-        if(t_diff > 17) autopwm[THR] = SetTHRinRatio(0.5);
+        //if(t_diff > 20) autopwm[THR] = SetTHRinRatio(0.5);
         
-        else if(g_distance<150 && g_distance>0 ){
+        if(g_distance<150 && g_distance>0 ){
             NVIC_DisableIRQ(EXTI9_5_IRQn);
             THRcount++;
             if(THRcount>5) flg_ground = true;
@@ -1404,7 +1404,7 @@
 //チキラー投下
 void Chicken_Drop(){
     if(CheckSW_Up(Ch7)){
-        autopwm[DROP] = 1712;
+        autopwm[DROP] = 1728;
         pc.printf("Bombed!\r\n");
         //RerurnChickenServo1.attach(&ReturnChickenServo1, 3);
         //operation_mode = Approach;