Diff: quadcopter.cpp

Revision:

17:96d0c72e413e

Parent:

16:2be2aab63198

Child:

18:a00d6b065c6b

--- a/quadcopter.cpp	Thu Apr 07 22:04:03 2016 +0000
+++ b/quadcopter.cpp	Thu Apr 07 22:13:17 2016 +0000
@@ -39,10 +39,11 @@
     mrf_ = mrfPntr;  // RF tranceiver to link with handheld.
     rcLength_ = 250;
     mrf_->SetChannel(3);  //Set the Channel. 0 is default, 15 is max
-    thrust_ = 0.5;
-    yaw_ = 0.5;
-    pitch_ = 0.5;
-    roll_ = 0.5;
+    thrust = 0.5;
+    yaw = 0.5;
+    pitch = 0.5;
+    roll = 0.5;
+    id = -1;
 }
 
 
@@ -116,21 +117,16 @@
 
     
 void Quadcopter::readRc() {    
-    long long id = -1;
     uint8_t zero = 0;
     uint8_t *rssi = &zero;
 
     uint8_t receive = 0;
-    int result = 0;
 
     char rxBuffer[rcLength_];
     
     receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1);
     if (receive > 0) {
-        result = sscanf(rxBuffer, "%lld,%f,%f,%f,%f", &id, &thrust_, &yaw_, &pitch_, &roll_);
-        if (result == 5) {
-            pc_->printf("%lld: %f,%f,%f,%f\r\n", id, thrust_, yaw_, pitch_, roll_);
-        }
+        sscanf(rxBuffer, "%lld,%f,%f,%f,%f", &id, &thrust, &yaw, &pitch, &roll);
     } else {
         pc_->printf("Receive failure\r\n");
     }