Diff: main.cpp

Revision:

10:e7d1801e966a

Parent:

9:f1bd96708a21

Child:

11:5c54826d23a7

--- a/main.cpp	Sat Apr 02 14:54:46 2016 +0000
+++ b/main.cpp	Sat Apr 02 17:41:37 2016 +0000
@@ -39,6 +39,10 @@
     myQuadcopter.setSerial(pcPntr); // give Quadcopter object pc Pointer in order to print
     myQuadcopter.initAllSensors(); // initialize sensors
 
+// get desired values from joystick
+// myQuadcopter.setDes(...)
+
+
     control result;
     offset offset_gyro;
 
@@ -104,9 +108,9 @@
         }
         /* Get angular rate data from gyroscope */
         gyro.getEvent(&gyro_event);
-        gyro_event.gyro.x -= offset_gyro.x_offset;
-        gyro_event.gyro.y -= offset_gyro.y_offset;
-        gyro_event.gyro.z -= offset_gyro.z_offset;
+        gyro_event.gyro.x -= offset_gyro.x;
+        gyro_event.gyro.y -= offset_gyro.y;
+        gyro_event.gyro.z -= offset_gyro.z;
 
         wait(0.01);