Diff: HbManager.cpp

Revision:

64:40943c843da7

Parent:

62:4b873328d3a8

Parent:

63:aee44afe6363

Child:

66:0b3b290137b6

diff -r 4b873328d3a8 -r 40943c843da7 HbManager.cpp
--- a/HbManager.cpp	Mon Mar 11 04:07:43 2019 +0000
+++ b/HbManager.cpp	Mon Mar 11 04:24:00 2019 +0000
@@ -60,6 +60,11 @@
         gf_AngBrk.req = false;
         sp.printf("Ang Rate Brk:[%f]",ang_rate_brk);
     }
+    if(gf_MtDefaultOffset.req){
+        mot_takeoff_offset = gf_MtDefaultOffset.val;
+        gf_MtDefaultOffset.req = false;
+        sp.printf("take off Offset:[%d]",mot_takeoff_offset);
+    }
 }
 void HbManager::calAtt(){
     if(att == NULL) return;
@@ -366,6 +371,12 @@
     subProp[(int)pos]->setValue(ATT, val);
 }
 
+void HbManager::setMotTakeOffOffset(){
+    for(int i = 0; i < 4; ++i){
+        gf_MtReqOfs[i].req = true;
+        gf_MtReqOfs[i].val = mot_takeoff_offset;
+    }
+}
 void HbManager::setFpgaMot(eMotPos pos,eMotType type, INT16 val){
     if(subProp[(int)pos] == NULL) return;
     subProp[(int)pos]->setValueFpgaMot(type, val);
@@ -971,10 +982,13 @@
 
     for(int i = 0; i < 2; ++i){
         en_srv_step[i] = 30;
-        en_srv_adj_step[i] = 20;
+        en_srv_adj_step[i] = 50;
     }
+
     mot_brk = DEF_BRK_RPM;
     ang_rate_brk = DEF_BRK_ANG / static_cast<float>(UPDATE_RATE);
+
+    mot_takeoff_offset = DEF_MOT_OFFSET;
     // //初期化    
     // motorVal[0]=0;
     // motorVal[1]=0;