Revision 7:16bf0085d914, committed 2015-04-28

Comitter:

komaida424

Date:

Tue Apr 28 01:48:21 2015 +0000

Parent:

6:a50e6d3924f1

Child:

8:1db19b529b22

Commit message:

rev.3.11 bug fix

Changed in this revision

--- a/I2cPeripherals/I2cPeripherals.cpp	Tue Feb 24 09:28:29 2015 +0000
+++ b/I2cPeripherals/I2cPeripherals.cpp	Tue Apr 28 01:48:21 2015 +0000
@@ -37,7 +37,7 @@
         _i2c.write(LCD_addr,tx,2);
         tx[1] = 0x5C | ((contrast >> 4) & 0x03);
         _i2c.write(LCD_addr,tx,2);
-        tx[1] = 0x6A;
+        tx[1] = 0x6C;
         _i2c.write(LCD_addr,tx,2);
         wait(0.3);
         tx[1] = 0x0C;

--- a/config.h	Tue Feb 24 09:28:29 2015 +0000
+++ b/config.h	Tue Apr 28 01:48:21 2015 +0000
@@ -3,7 +3,7 @@
 
 //#define SERIAL_LCD
 //#define SOFT_PWM
-//#define LPCXpresso
+#define LPCXpresso
 //#define LocalFileOut
 
 #define TX_TYPE 0               // 0:FM 1:IR
@@ -33,6 +33,7 @@
 #define _L3GD20   0x01
 #define TICK_TIME 0.05
 #define GYRO_ADJUST 2
+#define THR_MIDRANGE 80
 
 enum PlaneType{Quad_X=0,Quad_VP,Quad_3D,Delta,Delta_TW,AirPlane};
 enum JR{_THR=0,_AIL,_ELE,_RUD,_GYRO,_AUX1,_AUX2,_AUX3,_AUX4};       //JR 信号の順番
@@ -77,7 +78,7 @@
     float Thro_Limit_Rate;
 public:
     config() {
-        Revision = 3.10;
+        Revision = 3.11;
         Struct_Size = sizeof(config);
         Stick_Ref[0] = 1500;
         Stick_Ref[1] = 1500;

--- a/main.cpp	Tue Feb 24 09:28:29 2015 +0000
+++ b/main.cpp	Tue Apr 28 01:48:21 2015 +0000
@@ -533,7 +533,7 @@
 void PWM_Out(bool mode)
 {
     int reg[3];
-    int i;
+    int i,j,k;
     float gain;
 //    float cur_height;
     
@@ -563,9 +563,17 @@
             M5 = THR + conf.Throttl_Trim;
             break;
         case Quad_3D:
-            i = (int)throLimit.calc((float)THR);
-            if ( abs(i-conf.Reverse_Point) > 100 ) i = THR;
-            M1 = M2 = M3 = M4 = i + conf.Throttl_Trim;
+            j = THR + conf.Throttl_Trim;
+            if ( Stick[GAIN] < 0 )  {
+                k = THR - conf.Reverse_Point;
+                if ( abs(k) < THR_MIDRANGE )   { 
+                    if ( k > 0 ) j = conf.Reverse_Point + THR_MIDRANGE;
+                    else j = conf.Reverse_Point - THR_MIDRANGE;
+                }
+            }
+//           i = (int)throLimit.calc((float)THR);
+ //           if ( abs(i-conf.Reverse_Point) > 100 ) i = THR;
+            M1 = M2 = M3 = M4 = j;
             break;
         case Delta:
         case Delta_TW:
@@ -655,32 +663,28 @@
         M4 -= reg[YAW];
         break;
     }
-    int h = conf.Model_Type;
-    for ( int i=0; i<6; i++ ) {
+    j = conf.Model_Type;
+    for ( i=0; i<6; i++ ) {
         if ( M[i] > Pulse_Max )   M[i] = Pulse_Max; 
         if ( M[i] < Pulse_Min )   M[i] = Pulse_Min;
-        if ( Servo_idx[h][i] == 1 )
+        if ( Servo_idx[j][i] == 1 )
         {
             M[i] = conf.Stick_Ref[i] + ( ( M[i] - conf.Stick_Ref[i] ) * conf.Servo_Dir[i] );
         }
         else    {
-            if ( h == Quad_3D ) {
+            if ( j == Quad_3D ) {
                 if ( Stick[GAIN] > 0 )  {
                     if ( THR < conf.Reverse_Point ) 
                         M[i] = conf.Reverse_Point;
                 }
-                else    {
-                    if ( abs(THR - conf.Reverse_Point ) < 10 )
-                        M[i] = conf.Reverse_Point;
-                }            
             }
             else    {
- //               if ( Stick[COL] < Thro_Zero ) M[i] = conf.Stick_Ref[COL];
+                if ( Stick[COL] < Thro_Zero ) M[i] = conf.Stick_Ref[COL];
             }
         }
     }
     if ( mode ) {
-        h = conf.Stick_Ref[THR];
+//        h = conf.Stick_Ref[THR];
         for ( i=0;i<6;i++ ) {
 //           while ( !pwmpin[i] );
             if ( conf.PWM_Mode == 1 )