航空研究会 / Mbed 2 deprecated hassi_17_final_kai

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Dependencies:   mbed MPU6050_2 HMC5883L_2 SDFileSystem3

Diff: main.cpp

Revision:
10:63fe920595a7
Parent:
9:21cd5d18ad9e
Child:
11:d44d137831b9
diff -r 21cd5d18ad9e -r 63fe920595a7 main.cpp
--- a/main.cpp	Sun Feb 10 06:15:21 2019 +0000
+++ b/main.cpp	Sun Feb 10 09:05:27 2019 +0000
@@ -103,6 +103,8 @@
         if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
         else NVIC_DisableIRQ(USART2_IRQn);
         
+        MoveCameraBoard();
+        
         if(g_landingcommand!='N') MatchPosition();
         
         if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
@@ -168,6 +170,8 @@
             servoL.pulsewidth_us(servo_FORWARD_L);
             //NVIC_EnableIRQ(USART1_IRQn);
             wait(5);
+            do{
+            }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
             //NVIC_EnableIRQ(USART2_IRQn); 
             break;
             
@@ -194,6 +198,7 @@
 
 void MoveCameraBoard(){
     MoveCansat('N');
+    g_landingcommand='N';
     servoTurnTable.pulsewidth_us(2000);
     wait_ms(300);
     servoTurnTable.pulsewidth_us(TurnTable_NEUTRAL);