勇輝 関本 / Mbed 2 deprecated Estrela_v10

４項目一応成功

Dependencies:   mbed

Fork of Estrela_v01 by Bot Furukawa

Estrela.h@9:182021b1df79, 2016-08-22 (annotated)

Committer:
motoseki
Date:
Mon Aug 22 09:03:15 2016 +0000
Revision:
9:182021b1df79
Parent:
6:13bb74a57a33 
??????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TUATBM 0:4013a9855dc8 1 #ifndef ESTRELA_H_
TUATBM 0:4013a9855dc8 2 #define ESTRELA_H_
TUATBM 0:4013a9855dc8 3
TUATBM 0:4013a9855dc8 4 #include "mbed.h"
TUATBM 0:4013a9855dc8 5
TUATBM 0:4013a9855dc8 6 //===========OUT channel======================
TUATBM 0:4013a9855dc8 7 /*
TUATBM 0:4013a9855dc8 8 Servo servo_AIL1(SERVO8);
TUATBM 0:4013a9855dc8 9 Servo servo_ELE(SERVO7);
TUATBM 0:4013a9855dc8 10 Servo servo_THR(SERVO6);
TUATBM 0:4013a9855dc8 11 Servo servo_RUD(SERVO5);
TUATBM 0:4013a9855dc8 12 Servo servo_O(SERVO4);
TUATBM 0:4013a9855dc8 13 Servo servo_AIL2(SERVO3);
TUATBM 0:4013a9855dc8 14 */
TUATBM 0:4013a9855dc8 15 //===========IN channel======================
TUATBM 0:4013a9855dc8 16
TUATBM 0:4013a9855dc8 17 //===========machine setting=================
TUATBM 0:4013a9855dc8 18
TUATBM 0:4013a9855dc8 19 /*<<<<<<<<<< Tips >>>>>>>>>
TUATBM 0:4013a9855dc8 20 サーボ入出力は0~1000(us)　これはPWMのパルス幅である
TUATBM 0:4013a9855dc8 21 だけど機体によってトリムがあるので、サーボ初期位置は必ず500とは限らない
TUATBM 0:4013a9855dc8 22 あたりまえだけど、プロポのほうの設定変更（舵角やミキシング量等）はここには反映されない
TUATBM 0:4013a9855dc8 23 反映したけりゃ自分でこのファイルを書き直すこと
TUATBM 0:4013a9855dc8 24
TUATBM 0:4013a9855dc8 25 AIL エルロン
TUATBM 0:4013a9855dc8 26 ELE エレベーター
TUATBM 0:4013a9855dc8 27 THR スロットル
TUATBM 0:4013a9855dc8 28 RUD ラダー
TUATBM 0:4013a9855dc8 29 SW1 (7ch)
TUATBM 0:4013a9855dc8 30 SW2 (8CH)
TUATBM 0:4013a9855dc8 31
TUATBM 0:4013a9855dc8 32 */
TUATBM 0:4013a9855dc8 33 //1ch AIL1
TUATBM 0:4013a9855dc8 34 //2ch ELE
TUATBM 0:4013a9855dc8 35 //3ch THR
TUATBM 0:4013a9855dc8 36 //4ch RUD
TUATBM 0:4013a9855dc8 37 //6cH AIL2
TUATBM 0:4013a9855dc8 38
TUATBM 0:4013a9855dc8 39
TUATBM 0:4013a9855dc8 40 /*自動操縦スイッチのしきい値　ch7のトリムやEPAを変えたらかならずチェックすること*/
TUATBM 0:4013a9855dc8 41 #define SWITCH_CHECK 1400 //下1052　上1972
TUATBM 0:4013a9855dc8 42 /*各舵のニュートラル値*/
motoseki 4:ba610b05751d 43 #define RUD_N 1573 // L 1790 N 1332 R 1032 width 822
motoseki 4:ba610b05751d 44 #define THR_N 1508 // low 1184 N 1507 hi 1832 width 813
motoseki 6:13bb74a57a33 45 #define ELE_N 1461 // up 1192 N 1412 dow 1690 width 739
motoseki 4:ba610b05751d 46 /*各舵の最大値*/
motoseki 4:ba610b05751d 47 #define RUD_MAX 1836
motoseki 6:13bb74a57a33 48 #define ELE_MAX 1628
motoseki 4:ba610b05751d 49 /*各舵の最小値*/
motoseki 4:ba610b05751d 50 #define RUD_MIN 1262
motoseki 6:13bb74a57a33 51 #define ELE_MIN 1304
motoseki 4:ba610b05751d 52 #define THR_MIN 1416
TUATBM 0:4013a9855dc8 53 /*各舵のリバース設定　１かー１のみ　直接掛け算するので*/
TUATBM 0:4013a9855dc8 54 #define THROTTLE_REV 1
TUATBM 0:4013a9855dc8 55 #define ELEVATOR_REV 1 //1
TUATBM 0:4013a9855dc8 56 #define RUDDER_REV 1 //1
TUATBM 0:4013a9855dc8 57 /*各舵の比例ゲイン値*/
TUATBM 0:4013a9855dc8 58 #define THROTTLE_GN 0.2
motoseki 6:13bb74a57a33 59 #define ELEVATOR_GN 1 //0.9
motoseki 6:13bb74a57a33 60 #define RUDDER_GN 1 //0.6
motoseki 4:ba610b05751d 61 /*各舵の微分ゲイン*/
motoseki 4:ba610b05751d 62 #define ELE_DGN 0.5
motoseki 4:ba610b05751d 63 #define RUD_DGN 0.5
TUATBM 0:4013a9855dc8 64 /*旋回時のラダー中心位置*/
TUATBM 0:4013a9855dc8 65 #define RUDDER_TURN 164
TUATBM 0:4013a9855dc8 66 /*旋回時のロール角度*/
TUATBM 0:4013a9855dc8 67 #define SENKAI_D 10
TUATBM 0:4013a9855dc8 68 /*通常迎角*/
TUATBM 0:4013a9855dc8 69 #define GEIKAKU 31
motoseki 4:ba610b05751d 70 /*機体設置状態ピッチ方向の傾き*/
motoseki 4:ba610b05751d 71 #define LAND_ANGLE 5
TUATBM 0:4013a9855dc8 72 /*旋回　積分量設定*/
TUATBM 0:4013a9855dc8 73 #define SENKAIDDD 10000000 //旋回時間　傾きの積分値と比較
TUATBM 0:4013a9855dc8 74 /*落下機構の動作位置*/
TUATBM 0:4013a9855dc8 75 #define OTEDAMA1 710
TUATBM 0:4013a9855dc8 76 #define OTEDAMA2 500
TUATBM 0:4013a9855dc8 77 #define OTEDAMA3 250
TUATBM 0:4013a9855dc8 78
TUATBM 0:4013a9855dc8 79 #define CHECKSW1_t 0.1
TUATBM 0:4013a9855dc8 80
TUATBM 0:4013a9855dc8 81 #define MANUAL_t 0.5
TUATBM 0:4013a9855dc8 82 #define SCALE_t 0.05
TUATBM 0:4013a9855dc8 83 #define GHPF 512
TUATBM 0:4013a9855dc8 84 #define ALPF 32
TUATBM 0:4013a9855dc8 85 #define ALPF_ 528
TUATBM 0:4013a9855dc8 86
TUATBM 0:4013a9855dc8 87 #define MANUAL_MS 25
TUATBM 0:4013a9855dc8 88 #define CHECKMODE_MS 0
TUATBM 0:4013a9855dc8 89 #define SENSING_MS 0
TUATBM 0:4013a9855dc8 90 #define AUTO_MS 25
TUATBM 0:4013a9855dc8 91 //#define G_MS 50
TUATBM 0:4013a9855dc8 92 //#define A_MS 50
TUATBM 0:4013a9855dc8 93 #define MOBIUS_T 144
TUATBM 0:4013a9855dc8 94 #define MOBIUS_NN 12
TUATBM 0:4013a9855dc8 95 #define MOBIUS_LO 60
TUATBM 0:4013a9855dc8 96
TUATBM 0:4013a9855dc8 97 //=====================================================
TUATBM 0:4013a9855dc8 98
TUATBM 0:4013a9855dc8 99 //===============global===============
TUATBM 0:4013a9855dc8 100 int Auto_RUD=RUD_N;
TUATBM 0:4013a9855dc8 101 int Auto_ELE=ELE_N;
TUATBM 0:4013a9855dc8 102 int Auto_THR=THR_N;
TUATBM 0:4013a9855dc8 103
TUATBM 0:4013a9855dc8 104
TUATBM 0:4013a9855dc8 105 #endif /* ESTRELA_H_ */
TUATBM 0:4013a9855dc8 106
TUATBM 0:4013a9855dc8 107 /*
TUATBM 0:4013a9855dc8 108 x軸回り ロール
TUATBM 0:4013a9855dc8 109 y軸回り ピッチ
TUATBM 0:4013a9855dc8 110 z軸回り ヨー
TUATBM 0:4013a9855dc8 111 */