ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
Diff: quadcopter.h
- Revision:
- 36:40b134328376
- Parent:
- 35:35997980a8ba
- Child:
- 42:d09dec5bb184
diff -r 35997980a8ba -r 40b134328376 quadcopter.h --- a/quadcopter.h Tue Apr 26 18:50:55 2016 +0000 +++ b/quadcopter.h Fri Apr 29 18:24:15 2016 +0000 @@ -6,8 +6,9 @@ #include "Serial_base.h" #include "MRF24J40.h" #include "Kalman.h" +#include "rtos.h" -#define FILTER_SIZE 3 +#define FILTER_SIZE 1 // a few struct declarations. Can possibly eliminated using the vector class in STL struct state { @@ -64,6 +65,8 @@ Timer rcTimer_; Timer *controlTimer; + Mutex *desired_mutex; + Kalman kalmanRoll; Kalman kalmanPitch; @@ -120,7 +123,7 @@ public: - Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr, Timer* timer); // constructor + Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr, Timer* timer, Mutex *desired); // constructor void controller(); void readSensorValues();