Marco Friedmann / Mbed 2 deprecated Quadrocopter2

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Dependencies:   mbed TextLCD

Fork of Quadrocopter by Chris Elsholz

Diff: main.cpp

Revision:
21:f09823a13ac6
Parent:
20:76e25a3c8684
Child:
23:c99a4bd60609
--- a/main.cpp	Mon Sep 11 12:39:27 2017 +0000
+++ b/main.cpp	Thu Sep 14 15:31:32 2017 +0000
@@ -8,7 +8,7 @@
                           
 #define RAD 57.29577951
 
-uint16_t dt;
+double dt;
 uint32_t zeit2;
 
 uint8_t k;
@@ -111,12 +111,12 @@
                 while(1)
                 {    
                     i++;                   
-                    dt = timer.read_us();
+                    dt = timer.read_us()*0.000001;
                     timer.reset();
                     aktuell_roh(&z_g, &x_g, &y_g, &z_a, &x_a, &y_a);
-                    gain_g = gain_g + ((z_g - z_off) * 1/16.4);
-                    pitch_g = pitch_g + ((y_g  - y_off) * 1/16.4);
-                    roll_g = roll_g + ((x_g - x_off) * 1/16.4);
+                    gain_g = ((z_g - z_off) * 1/16.4);
+                    pitch_g = ((y_g  - y_off) * 1/16.4);
+                    roll_g = ((x_g - x_off) * 1/16.4);
                     y = y_a / 16384.00;      
                     x = x_a / 16384.00;      
                     z = z_a / 16384.00;