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Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of AutoFlight2018_Control by
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 00014 static float g_rightloopROLL=-17.0; 00015 static float g_rightloopPITCH=-6.3; 00016 static float g_leftloopROLL=16.0; 00017 static float g_leftloopPITCH=-6.0; 00018 static float g_gostraightROLL=2.0; 00019 static float g_gostraightPITCH=-3.0; 00020 static float g_takeoffTHR=1.0; 00021 static float g_loopTHR=0.58; 00022 00023 static float g_rightloopROLLshort=-20.0; 00024 static float g_rightloopPITCHshort=-7.0; 00025 static float g_leftloopROLLshort=22.0; 00026 static float g_leftloopPITCHshort=-6.0; 00027 00028 static float g_glideloopROLL = -5.0; 00029 static float g_glideloopPITCH = 0.0; 00030 00031 #if NUMBER_FALFALLA == 1 //1号機 00032 00033 const int16_t Trim_Falfalla[4] = {0,14,-100,-10}; 00034 const float ExpMax_Falfalla[4] = {100,115,100,89}; 00035 const float ExpMin_Falfalla[4] = {100,47,100,110}; 00036 const int8_t Reverce_falfalla[4] = {1,-1,1,1}; //Nutral:1 , Reverce:-1 00037 00038 #elif NUMBER_FALFALLA == 2 //2号機 00039 00040 const int16_t Trim_Falfalla[4] = {0,12,-100,2}; 00041 const float ExpMax_Falfalla[4] = {100,115,100,103}; 00042 const float ExpMin_Falfalla[4] = {100,97,100,97}; 00043 const int16_t Reverce_falfalla[4] = {1,-1,1,-1}; //Nutral:1 , Reverce:-1 00044 00045 00046 #endif 00047 00048 00049 #endif /* ESTRELA_H_ */ 00050 00051 /* 00052 x軸回り ロール 00053 y軸回り ピッチ 00054 z軸回り ヨー 00055 */
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