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?
User | Revision | Line number | New 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 | */ |