falfalla.h

00001 #ifndef FALFALLA_H
00002 #define FALFALLA_H
00003 
00004 #define SWITCH_CHECK 1400
00005 #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
00006 
00007 static float g_kpELE=2.0;
00008 static float g_kiELE=0.0;
00009 static float g_kdELE=0.0;
00010 static float g_kpRUD=3.0;
00011 static float g_kiRUD=0.0;
00012 static float g_kdRUD=0.0;
00013 static float g_kpAIL=3.0;
00014 static float g_kiAIL=0.0;
00015 static float g_kdAIL=0.0;
00016 
00017 static float g_rightloopROLL=-17.0;
00018 static float g_rightloopROLL_approach=-17.0;
00019 static float g_rightloopPITCH=-6.3;
00020 static float g_rightloopPITCH_approach = -15.0;
00021 static float g_leftloopROLL=-16.0;
00022 static float g_leftloopROLL_approach=16.0;
00023 static float g_leftloopPITCH=-6.0;
00024 static float g_leftloopPITCH_approach=-13.0;
00025 static float g_gostraightROLL=0.0;
00026 static float g_gostraightPITCH=-3.0;
00027 static float g_takeoffTHR=1.0;
00028 static float g_loopTHR=0.58;
00029 static float g_ascendingPITCH=-40.0; //上昇旋回
00030 static int g_take_off_THROTTLE=2500;
00031 static float g_take_off_PITCH = -10;
00032 static float g_rightloop_THR_rate = 0.75;
00033 static float g_leftloop_THR_rate = 0.75;
00034 static float g_ascending_THR_rate = 0.8;
00035 static float g_ascending_ROLL = 0;
00036 static int g_ascending_RUD = 1500;
00037 
00038 static float g_rightloopROLLshort=-20.0;
00039 static float g_rightloopPITCHshort=-7.0;
00040 static float g_leftloopROLLshort=22.0;
00041 static float g_leftloopPITCHshort=-6.0;
00042 
00043 static float g_glideloopROLL = -5.0;      //rewrite
00044 static float g_glideloopPITCH = 0.0;
00045 static float g_autoonPITCH = -20.0;
00046 
00047 static int g_rightloopRUD = 1500;
00048 static int g_rightloopRUD_approach=1500;
00049 static int g_rightloopshortRUD = 1500;
00050 static int g_leftloopRUD = 1000;
00051 static int g_leftloopRUD_approach = 1710;
00052 static int g_leftloopshortRUD = 1500;
00053 static int g_glideloopRUD = 1500;
00054 
00055 static int g_AIL_L_correctionrightloop = 0;
00056 static int g_AIL_L_correctionrightloopshort = 0;
00057 static int g_AIL_L_correctionleftloop = 0;
00058 static int g_AIL_L_correctionleftloopshort = 0;
00059 
00060 static int g_trim1 = 1428;
00061 static int g_trim2 = 1645;
00062 static int g_trim3 = 1150;
00063 static int g_trim4 = 1490;
00064 static int g_trim5 = 1344;
00065 static int g_trim6 = 1478;
00066 static bool g_trim_check = 0;
00067 
00068 
00069 #if NUMBER_FALFALLA == 1    //1号機
00070 const int8_t Reverce_falfalla[4] = {1,-1,1,1};   //Nutral:1 , Reverce:-1
00071 
00072 #elif NUMBER_FALFALLA == 2  //2号機
00073 const int16_t Reverce_falfalla[4] = {1,-1,1,-1};   //Nutral:1 , Reverce:-1
00074 
00075 #endif
00076 
00077 
00078 #endif /* ESTRELA_H_ */
00079 
00080 /*
00081 x軸回り    ロール
00082 y軸回り    ピッチ
00083 z軸回り    ヨー
00084 */