File content as of revision 2:7663d92d33ce:

#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_rightloopROLL_approach=-17.0;
static float g_rightloopPITCH=-6.3;
static float g_rightloopPITCH_approach = -15.0;
static float g_leftloopROLL=-16.0;
static float g_leftloopROLL_approach=16.0;
static float g_leftloopPITCH=-6.0;
static float g_leftloopPITCH_approach=-13.0;
static float g_gostraightROLL=0.0;
static float g_gostraightPITCH=-3.0;
static float g_takeoffTHR=1.0;
static float g_loopTHR=0.58;
static float g_ascendingPITCH=-40.0; //上昇旋回
static int g_take_off_THROTTLE=2500;
static float g_take_off_PITCH = -10;
static float g_rightloop_THR_rate = 0.75;
static float g_leftloop_THR_rate = 0.75;
static float g_ascending_THR_rate = 0.8;
static float g_ascending_ROLL = 0;
static int g_ascending_RUD = 1500;

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 float g_autoonPITCH = -20.0;

static int g_rightloopRUD = 1500;
static int g_rightloopRUD_approach=1500;
static int g_rightloopshortRUD = 1500;
static int g_leftloopRUD = 1000;
static int g_leftloopRUD_approach = 1710;
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;

static int g_trim1 = 1428;
static int g_trim2 = 1645;
static int g_trim3 = 1150;
static int g_trim4 = 1490;
static int g_trim5 = 1344;
static int g_trim6 = 1478;
static bool g_trim_check = 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
*/