Diff: HbManager.cpp

Revision:

43:156199c2f9b6

Parent:

42:cc8501b824ba

Child:

44:14fe4bd10fdb

diff -r cc8501b824ba -r 156199c2f9b6 HbManager.cpp
--- a/HbManager.cpp	Wed Jan 23 11:58:53 2019 +0000
+++ b/HbManager.cpp	Thu Jan 24 13:21:01 2019 +0000
@@ -306,6 +306,12 @@
         setHvAxl(REAR,gf_AxReqH[1].bf.val);
         gf_AxReqH[1].bf.req = false;
     }
+    for(int i = 0; i < 2; ++i){
+        if(gf_AxStepReq[i].bf.req){
+            en_srv_step[i] = gf_AxStepReq[i].bf.val;
+            gf_AxStepReq[i].bf.req = false;
+        }
+    }
 }
 
 void HbManager::controlEngine(){
@@ -322,6 +328,7 @@
     INT16 step = 100;
     //アクセル設定
     for(i=0; i<2; i++){
+        step = en_srv_step[i];
         if(gf_AxReq[i].bf.req==true){
             tmp = eng[i]->getAccel();
             dif = tmp - (INT16)gf_AxReq[i].bf.val;
@@ -587,6 +594,7 @@
     }
     if(chkSWUserOpe(HbUserOpe::F_ENG_UP)){
         if(stat == TAKE_OFF || stat == HOVER || stat == DRIVE){
+            gf_BlinkLED = true;
             INT16 step = 3;
             tmpAxl = getAccelVal(FRONT);
             tmpAxl+=step;
@@ -599,6 +607,7 @@
     }
     if(chkSWUserOpe(HbUserOpe::F_ENG_DOWN)){
         if(stat == TAKE_OFF || stat == HOVER || stat == DRIVE){
+            gf_BlinkLED = true;
             INT16 step = 3;
             tmpAxl = getAccelVal(FRONT);
             tmpAxl-=step;
@@ -612,6 +621,7 @@
     if(chkSWUserOpe(HbUserOpe::R_ENG_UP)){
         if(stat == TAKE_OFF || stat == HOVER || stat == DRIVE){
             INT16 step = 3;
+            gf_BlinkLED = true;
             tmpAxl = getAccelVal(REAR);
             tmpAxl+=step;
             if(tmpAxl > MAX_VAL_12BIT){
@@ -624,6 +634,7 @@
     if(chkSWUserOpe(HbUserOpe::R_ENG_DOWN)){
         if(stat == TAKE_OFF || stat == HOVER || stat == DRIVE){
             INT16 step = 3;
+            gf_BlinkLED = true;
             tmpAxl = getAccelVal(REAR);
             tmpAxl-=step;
             if(tmpAxl < 0){
@@ -704,6 +715,8 @@
 
     ope = new HbUserOpe();
 
+    en_srv_step[0] = 100;
+    en_srv_step[1] = 100;
     // //初期化    
     // motorVal[0]=0;
     // motorVal[1]=0;