sdカード完成
Dependencies: mbed MPU6050_2 HMC5883L_2 SDFileSystem3
Diff: config/falfalla.h
- Revision:
- 13:d8f49328c57f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/config/falfalla.h Tue Feb 12 06:28:06 2019 +0000 @@ -0,0 +1,68 @@ +#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 int servo_NEUTRAL_R = 1614; +static int servo_NEUTRAL_L = 1621; +static int servo_high_FORWARD_R = 1860; +static int servo_high_FORWARD_L = 1860 +static int servo_slow_FORWARD_R = 1560; +static int servo_slow_FORWARD_L = 1560; +static int turntable_NEUTRAL = 1500;//カメラ台座のサーボ +static int matchspeed = servo_NEUTRAL_R + 100; //カメラと方向を合わせるときの車輪の速度 +static int minfocus = 1200; //焦点合わせ用サーボの最小値 + +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=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 float g_autoonPITCH = -3.0; + +static int g_rightloopRUD = 1500; +static int g_rightloopRUD_approach=1500; +static int g_rightloopshortRUD = 1500; +static int g_leftloopRUD = 1500; +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; + + +#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 +*/ \ No newline at end of file