航空研究会 / Mbed 2 deprecated hassi_18

SDの設定が反映されるように修正

Dependencies:   mbed MPU6050_2 HMC5883L_2 SDFileSystem3

config/falfalla.h@12:083662bca47d, 2019-02-12 (annotated)

Committer:
taknokolat
Date:
Tue Feb 12 12:56:21 2019 +0000
Revision:
12:083662bca47d
Child:
13:b088f0db7158
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
taknokolat 12:083662bca47d 1 #ifndef FALFALLA_H
taknokolat 12:083662bca47d 2 #define FALFALLA_H
taknokolat 12:083662bca47d 3
taknokolat 12:083662bca47d 4 #define SWITCH_CHECK 1400
taknokolat 12:083662bca47d 5 #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
taknokolat 12:083662bca47d 6
taknokolat 12:083662bca47d 7 static float g_kpELE=2.0;
taknokolat 12:083662bca47d 8 static float g_kiELE=0.0;
taknokolat 12:083662bca47d 9 static float g_kdELE=0.0;
taknokolat 12:083662bca47d 10 static float g_kpRUD=3.0;
taknokolat 12:083662bca47d 11 static float g_kiRUD=0.0;
taknokolat 12:083662bca47d 12 static float g_kdRUD=0.0;
taknokolat 12:083662bca47d 13 static float g_kpAIL=3.0;
taknokolat 12:083662bca47d 14 static float g_kiAIL=0.0;
taknokolat 12:083662bca47d 15 static float g_kdAIL=0.0;
taknokolat 12:083662bca47d 16
taknokolat 12:083662bca47d 17 static float g_rightloopROLL=-17.0;
taknokolat 12:083662bca47d 18 static float g_rightloopROLL_approach=-17.0;
taknokolat 12:083662bca47d 19 static float g_rightloopPITCH=-6.3;
taknokolat 12:083662bca47d 20 static float g_rightloopPITCH_approach = -15.0;
taknokolat 12:083662bca47d 21 static float g_leftloopROLL=16.0;
taknokolat 12:083662bca47d 22 static float g_leftloopROLL_approach=16.0;
taknokolat 12:083662bca47d 23 static float g_leftloopPITCH=-6.0;
taknokolat 12:083662bca47d 24 static float g_leftloopPITCH_approach=-13.0;
taknokolat 12:083662bca47d 25 static float g_gostraightROLL=2.0;
taknokolat 12:083662bca47d 26 static float g_gostraightPITCH=-3.0;
taknokolat 12:083662bca47d 27 static float g_takeoffTHR=1.0;
taknokolat 12:083662bca47d 28 static float g_loopTHR=0.58;
taknokolat 12:083662bca47d 29
taknokolat 12:083662bca47d 30 static float g_rightloopROLLshort=-20.0;
taknokolat 12:083662bca47d 31 static float g_rightloopPITCHshort=-7.0;
taknokolat 12:083662bca47d 32 static float g_leftloopROLLshort=22.0;
taknokolat 12:083662bca47d 33 static float g_leftloopPITCHshort=-6.0;
taknokolat 12:083662bca47d 34
taknokolat 12:083662bca47d 35 static float g_glideloopROLL = -5.0; //rewrite
taknokolat 12:083662bca47d 36 static float g_glideloopPITCH = 0.0;
taknokolat 12:083662bca47d 37 static float g_autoonPITCH = -3.0;
taknokolat 12:083662bca47d 38
taknokolat 12:083662bca47d 39 static int g_rightloopRUD = 1500;
taknokolat 12:083662bca47d 40 static int g_rightloopRUD_approach=1500;
taknokolat 12:083662bca47d 41 static int g_rightloopshortRUD = 1500;
taknokolat 12:083662bca47d 42 static int g_leftloopRUD = 1500;
taknokolat 12:083662bca47d 43 static int g_leftloopRUD_approach = 1710;
taknokolat 12:083662bca47d 44 static int g_leftloopshortRUD = 1500;
taknokolat 12:083662bca47d 45 static int g_glideloopRUD = 1500;
taknokolat 12:083662bca47d 46
taknokolat 12:083662bca47d 47 static int g_AIL_L_correctionrightloop = 0;
taknokolat 12:083662bca47d 48 static int g_AIL_L_correctionrightloopshort = 0;
taknokolat 12:083662bca47d 49 static int g_AIL_L_correctionleftloop = 0;
taknokolat 12:083662bca47d 50 static int g_AIL_L_correctionleftloopshort = 0;
taknokolat 12:083662bca47d 51
taknokolat 12:083662bca47d 52
taknokolat 12:083662bca47d 53 #if NUMBER_FALFALLA == 1 //1号機
taknokolat 12:083662bca47d 54 const int8_t Reverce_falfalla[4] = {1,-1,1,1}; //Nutral:1 , Reverce:-1
taknokolat 12:083662bca47d 55
taknokolat 12:083662bca47d 56 #elif NUMBER_FALFALLA == 2 //2号機
taknokolat 12:083662bca47d 57 const int16_t Reverce_falfalla[4] = {1,-1,1,-1}; //Nutral:1 , Reverce:-1
taknokolat 12:083662bca47d 58
taknokolat 12:083662bca47d 59 #endif
taknokolat 12:083662bca47d 60
taknokolat 12:083662bca47d 61
taknokolat 12:083662bca47d 62 #endif /* ESTRELA_H_ */
taknokolat 12:083662bca47d 63
taknokolat 12:083662bca47d 64 /*
taknokolat 12:083662bca47d 65 x軸回り ロール
taknokolat 12:083662bca47d 66 y軸回り ピッチ
taknokolat 12:083662bca47d 67 z軸回り ヨー
taknokolat 12:083662bca47d 68 */