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@3:8c01b4f33389, 2016-08-20 (annotated)

Committer:
TUATBM
Date:
Sat Aug 20 01:44:54 2016 +0000
Revision:
3:8c01b4f33389
Parent:
2:b88f73d7073c
Child:
4:ba610b05751d
???

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*/
TUATBM 2:b88f73d7073c 43 #define RUD_N 1480 // L 1790 N 1332 R 1032 width 822
TUATBM 0:4013a9855dc8 44 #define THR_N 1480 // low 1184 N 1507 hi 1832 width 813
TUATBM 3:8c01b4f33389 45 #define ELE_N 1400 // up 1192 N 1412 dow 1690 width 739
TUATBM 0:4013a9855dc8 46 /*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 47 #define THROTTLE_REV 1
TUATBM 0:4013a9855dc8 48 #define ELEVATOR_REV 1 //1
TUATBM 0:4013a9855dc8 49 #define RUDDER_REV 1 //1
TUATBM 0:4013a9855dc8 50 /*各舵の比例ゲイン値*/
TUATBM 0:4013a9855dc8 51 #define THROTTLE_GN 0.2
TUATBM 0:4013a9855dc8 52 #define ELEVATOR_GN 0.4 //0.9
TUATBM 0:4013a9855dc8 53 #define RUDDER_GN 0.2 //0.6
TUATBM 0:4013a9855dc8 54 /*旋回時のラダー中心位置*/
TUATBM 0:4013a9855dc8 55 #define RUDDER_TURN 164
TUATBM 0:4013a9855dc8 56 /*旋回時のロール角度*/
TUATBM 0:4013a9855dc8 57 #define SENKAI_D 10
TUATBM 0:4013a9855dc8 58 /*通常迎角*/
TUATBM 0:4013a9855dc8 59 #define GEIKAKU 31
TUATBM 0:4013a9855dc8 60 /*旋回　積分量設定*/
TUATBM 0:4013a9855dc8 61 #define SENKAIDDD 10000000 //旋回時間　傾きの積分値と比較
TUATBM 0:4013a9855dc8 62 /*落下機構の動作位置*/
TUATBM 0:4013a9855dc8 63 #define OTEDAMA1 710
TUATBM 0:4013a9855dc8 64 #define OTEDAMA2 500
TUATBM 0:4013a9855dc8 65 #define OTEDAMA3 250
TUATBM 0:4013a9855dc8 66
TUATBM 0:4013a9855dc8 67 #define CHECKSW1_t 0.1
TUATBM 0:4013a9855dc8 68
TUATBM 0:4013a9855dc8 69 #define MANUAL_t 0.5
TUATBM 0:4013a9855dc8 70 #define SCALE_t 0.05
TUATBM 0:4013a9855dc8 71 #define GHPF 512
TUATBM 0:4013a9855dc8 72 #define ALPF 32
TUATBM 0:4013a9855dc8 73 #define ALPF_ 528
TUATBM 0:4013a9855dc8 74
TUATBM 0:4013a9855dc8 75 #define MANUAL_MS 25
TUATBM 0:4013a9855dc8 76 #define CHECKMODE_MS 0
TUATBM 0:4013a9855dc8 77 #define SENSING_MS 0
TUATBM 0:4013a9855dc8 78 #define AUTO_MS 25
TUATBM 0:4013a9855dc8 79 //#define G_MS 50
TUATBM 0:4013a9855dc8 80 //#define A_MS 50
TUATBM 0:4013a9855dc8 81 #define MOBIUS_T 144
TUATBM 0:4013a9855dc8 82 #define MOBIUS_NN 12
TUATBM 0:4013a9855dc8 83 #define MOBIUS_LO 60
TUATBM 0:4013a9855dc8 84
TUATBM 0:4013a9855dc8 85 //=====================================================
TUATBM 0:4013a9855dc8 86
TUATBM 0:4013a9855dc8 87 //===============global===============
TUATBM 0:4013a9855dc8 88 int Auto_RUD=RUD_N;
TUATBM 0:4013a9855dc8 89 int Auto_ELE=ELE_N;
TUATBM 0:4013a9855dc8 90 int Auto_THR=THR_N;
TUATBM 0:4013a9855dc8 91
TUATBM 0:4013a9855dc8 92
TUATBM 0:4013a9855dc8 93 #endif /* ESTRELA_H_ */
TUATBM 0:4013a9855dc8 94
TUATBM 0:4013a9855dc8 95 /*
TUATBM 0:4013a9855dc8 96 x軸回り ロール
TUATBM 0:4013a9855dc8 97 y軸回り ピッチ
TUATBM 0:4013a9855dc8 98 z軸回り ヨー
TUATBM 0:4013a9855dc8 99 */