Diff: quadcopter.h

Revision:

13:291ba30c7806

Parent:

12:422963993df5

Child:

14:64b06476d943

diff -r 422963993df5 -r 291ba30c7806 quadcopter.h
--- a/quadcopter.h	Sat Apr 02 21:40:37 2016 +0000
+++ b/quadcopter.h	Sat Apr 02 22:06:46 2016 +0000
@@ -5,7 +5,7 @@
 #include "Adafruit_9DOF.h"
 #include "Serial_base.h"
 
-
+// a few struct declarations. Can possibly eliminated using the vector class in STL
 struct state {
     double phi; // roll
     double theta; // pitch
@@ -23,7 +23,6 @@
     double mz;
 };
 
-// do one struct called "vector", or use standart template library
 struct offset {
     double x;
     double y;
@@ -35,7 +34,7 @@
     double m2;
     double m3;
     double m4;
-    };
+};
 
 
 class Quadcopter
@@ -46,24 +45,24 @@
     controlInput controlInput_;
     //pwmOut * _pwmOut; // give address to constructor, than change this value
     motors motorPwm_;
-
+    
+    // declarations for IMU use
     Adafruit_9DOF dof_;
     Adafruit_LSM303_Accel_Unified accel_;
     Adafruit_LSM303_Mag_Unified mag_;
     Adafruit_L3GD20_Unified gyro_;
-
     sensors_event_t accel_event_;
     sensors_event_t mag_event_;
     sensors_event_t gyro_event_;
     sensors_vec_t   orientation_;
+    offset offsetAngRate_;
+    offset offsetAttitude_; // used later to compensate default tilt of IMU
 
-    offset offsetAngRate_;
-    offset offsetAttitude_; // used later to compensate tilt of IMU
-    
     Serial *pcPntr_; // used to access serial communication
 
     double g_;  // gravity [m/s^2]
     double m_; // mass [kg]
+    
     // proportional attitude control gains
     double kp_phi_;
     double kp_theta_;
@@ -91,7 +90,7 @@
     motors getPwm();
 
     // not implemented yet
-    void setGains();
+    //void setGains();
     //void setPwm();
     //void initializePwm();
 };