David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

Diff: quadcopter.h

Revision:
36:40b134328376
Parent:
35:35997980a8ba
Child:
42:d09dec5bb184
--- a/quadcopter.h	Tue Apr 26 18:50:55 2016 +0000
+++ b/quadcopter.h	Fri Apr 29 18:24:15 2016 +0000
@@ -6,8 +6,9 @@
 #include "Serial_base.h"
 #include "MRF24J40.h"
 #include "Kalman.h"
+#include "rtos.h"
 
-#define FILTER_SIZE 3
+#define FILTER_SIZE 1
 
 // a few struct declarations. Can possibly eliminated using the vector class in STL
 struct state {
@@ -64,6 +65,8 @@
     Timer rcTimer_;
     Timer *controlTimer;
     
+    Mutex *desired_mutex;
+    
     Kalman kalmanRoll;
     Kalman kalmanPitch;
 
@@ -120,7 +123,7 @@
 
 
 public:
-    Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr, Timer* timer);  // constructor
+    Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr, Timer* timer, Mutex *desired);  // constructor
 
     void controller();
     void readSensorValues();