Diff: quadcopter.h

Revision:

46:4bcf2e679f96

Parent:

42:d09dec5bb184

Child:

48:0346cdff12a7

--- a/quadcopter.h	Thu May 05 14:42:30 2016 +0000
+++ b/quadcopter.h	Thu May 05 15:58:49 2016 +0000
@@ -115,9 +115,10 @@
     //double ki_psi_;
     double i_e_phi_;
     double i_e_theta_;
-    float prev_time_; 
     
-    float prev_kalman_time;
+    // previous times
+    float prev_controller_time_; 
+    float prev_sensor_time;
     double compAngleX;
     double compAngleY;
 
@@ -126,7 +127,7 @@
 
 
 public:
-    Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr, Timer* timer, Mutex *desired);  // constructor
+    Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr, Timer* timer);  // constructor
 
     void controller();
     void readSensorValues();
@@ -135,7 +136,7 @@
     motors getPwm();
     state getState();
     Adafruit_LSM303_Accel_Unified getAccel();
-    Adafruit_LSM303_Mag_Unified getMag();
+    //Adafruit_LSM303_Mag_Unified getMag();
     Adafruit_L3GD20_Unified getGyro();
     Adafruit_9DOF getIMU();
     offset* getOffset();