Chris Elsholz / Mbed 2 deprecated Quadrocopter

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed TextLCD

Fork of Quadrocopter by Marco Friedmann

Diff: main.cpp

Revision:
19:ac98ad146067
Parent:
18:78e7de067ddb
Child:
20:76e25a3c8684
--- a/main.cpp	Mon Sep 11 09:24:18 2017 +0000
+++ b/main.cpp	Mon Sep 11 11:07:54 2017 +0000
@@ -13,7 +13,7 @@
 
 uint8_t k;
 
-Kalman Kalman();
+
                         
              
                                 
@@ -31,7 +31,7 @@
     Motor4.period_ms(2);
     initialisierung_gyro();
     initialisierung_acc();
-    
+    Kalman(&Q_angle, &Q_bias, &R_measure, &bias, P);
     if (taster2)
     {   
         viberationen(&rauschen, &Motor1, &Motor2, &Motor3, &Motor4, &taster4);
@@ -122,7 +122,7 @@
                     z = z_a / 16384.00;      
                     roll_a = atan2(y, sqrt(x * x + z * z)) * RAD;
                     pitch_a = atan2(-x, z) * RAD;
-                    Kalman.getAngle(pitch_a,pitch_g,zeit);
+                    
                     if (timer2.read_ms() >= 2000)
                     {
                         gain_g -= drift_z;