HAPSRG / Mbed 2 deprecated optWingforHAPS_Eigen

Eigen Revision

Dependencies:   mbed LPS25HB_I2C LSM9DS1 PIDcontroller Autopilot_Eigen LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM

Diff: servo.cpp

Revision:
62:ef10fd919f7b
Parent:
61:c05353850017
Child:
66:e5afad70fdd8
--- a/servo.cpp	Thu Jun 03 11:28:13 2021 +0000
+++ b/servo.cpp	Wed Jun 09 07:50:18 2021 +0000
@@ -11,6 +11,7 @@
             rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
         }
     }
+    //pc.printf("rc:%f\r\n",rc[1]);
     
     // 自身の位置に応じてエレベータ舵角を決定する
     float deobj = 0.0f;
@@ -34,8 +35,8 @@
     float pitchobj = objgain * deobj;
     
     //ゲインの係数をrc8で変更
-    float gaincoef = ((rc[7]+1.0f)/2*0.9)+0.1;
-    pitchPID.setGain(6.36*gaincoef, 10.6*gaincoef,0.0);
+    float gaincoef = 1.0;
+    pitchPID.setGain(6.36*gaincoef, 10.6*gaincoef*0.0f,0.0);
     pitchratePID.setGain(0.9540*gaincoef,0.0,0.0);
     pitchPID.setProcessValue(rpy.y);
     pitchratePID.setProcessValue(gyro.y);