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Dependencies: mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM
Diff: servo.cpp
- Revision:
- 67:1da4e7ccdd2b
- Parent:
- 66:a210d7130a44
- Child:
- 68:11ffadc7adb1
--- a/servo.cpp Tue Jun 22 10:12:21 2021 +0000
+++ b/servo.cpp Tue Jun 22 11:57:58 2021 +0000
@@ -44,7 +44,15 @@
pitchPID.setSetPoint(pitchobj); //目標の設定
de = pitchPID.compute()+pitchratePID.compute();
- scaledServoOut[0]=de;
+ if (pos_tail == 0)
+ {
+
+ scaledServoOut[0]=-de;
+ }
+ else
+ {
+ scaledServoOut[0]=de;
+ }
float LP_servo = 0.2;
for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++)