Diff: quadcopter.cpp

Revision:

11:5c54826d23a7

Parent:

10:e7d1801e966a

Child:

12:422963993df5

--- a/quadcopter.cpp	Sat Apr 02 17:41:37 2016 +0000
+++ b/quadcopter.cpp	Sat Apr 02 18:01:36 2016 +0000
@@ -43,6 +43,13 @@
     if (dof_.magGetOrientation(SENSOR_AXIS_Z, &mag_event_, &orientation_)) {
     }
 
+        gyro_.getEvent(&gyro_event_);
+
+        gyro_event_.gyro.x -= offsetAngRate_.x;
+        gyro_event_.gyro.y -= offsetAngRate_.y;
+        gyro_event_.gyro.z -= offsetAngRate_.z;
+        
+        
     // measured values (will come from IMU/parameter class/Input to function later)
     // angles
     state_.phi = orientation_.roll;
@@ -90,4 +97,14 @@
 
 
 
-}
\ No newline at end of file
+}
+
+motors getPwm()
+{
+    motors motorPwm_;
+    motorPwm_.m1=0;
+    motorPwm_.m2=0.6+controlInput_.mx/100;
+    motorPwm_.m3=0;
+    motorPwm_.m4=0.6-controlInput_.mx/100;
+    return motorPwm;
+}