Diff: quadcopter.cpp

Revision:

15:90e07946186f

Parent:

14:64b06476d943

Child:

16:2be2aab63198

diff -r 64b06476d943 -r 90e07946186f quadcopter.cpp
--- a/quadcopter.cpp	Thu Apr 07 02:07:33 2016 +0000
+++ b/quadcopter.cpp	Thu Apr 07 21:14:27 2016 +0000
@@ -6,7 +6,7 @@
 //#include "mbed.h"
 
 // constructor
-Quadcopter::Quadcopter(Serial *pcPntr)
+Quadcopter::Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr)
 {   
     pc_= pcPntr;  // enable printing
     // initSensors(accel_, mag_, gyro_, offsetAngRate_);  // IMU
@@ -35,10 +35,9 @@
     // initSensors(accel_, mag_, gyro_, offsetAngRate_);  // IMU
     
     // prepare for communication with remote control   
-    MRF24J40 mrf_var(p11, p12, p13, p14, p21);
-    mrf_ = &mrf_var;  // RF tranceiver to link with handheld.
+    mrf_ = mrfPntr;  // RF tranceiver to link with handheld.
     rcIterations_ = 100;
-    rcLength_ = 50;
+    rcLength_ = 250;
     rcChannel_ = 3;
 }
 
@@ -113,7 +112,6 @@
 
     
 void Quadcopter::readRc() {
-    
     //write to class variables additional thrust double F_des_, desired state: phi, theta, psi.
     
     // RF tranceiver to link with handheld.
@@ -148,7 +146,7 @@
     for (int i = 0; i < rcIterations_; i++) {
         receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1);
         if (receive > 0) {
-            pc_->printf("%s \r\n", rxBuffer);
+            pc_->printf("RX: %s \r\n", rxBuffer);
             result = sscanf(rxBuffer, "%f,%f,%f,%f", &thrust, &yaw, &pitch, &roll);
             if (result != 4) {
                 pc_->printf("Parse failure\r\n");