Diff: quadcopter.cpp

Revision:

18:a00d6b065c6b

Parent:

17:96d0c72e413e

Child:

20:efa15ed008b4

diff -r 96d0c72e413e -r a00d6b065c6b quadcopter.cpp
--- a/quadcopter.cpp	Thu Apr 07 22:13:17 2016 +0000
+++ b/quadcopter.cpp	Fri Apr 08 23:08:32 2016 +0000
@@ -109,9 +109,9 @@
 {
     //motors motorPwm_;// weired errror, should not be necessary
     motorPwm_.m1=0;
-    motorPwm_.m2=0.5 + controlInput_.mx/100;
+    motorPwm_.m2=0.5 + controlInput_.mx/2.5;
     motorPwm_.m3=0;
-    motorPwm_.m4=0.5 - controlInput_.mx/100;
+    motorPwm_.m4=0.5 - controlInput_.mx/2.5;
     return motorPwm_;
 }
 
@@ -119,16 +119,22 @@
 void Quadcopter::readRc() {    
     uint8_t zero = 0;
     uint8_t *rssi = &zero;
+    
 
     uint8_t receive = 0;
 
     char rxBuffer[rcLength_];
     
+    
     receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1);
     if (receive > 0) {
         sscanf(rxBuffer, "%lld,%f,%f,%f,%f", &id, &thrust, &yaw, &pitch, &roll);
     } else {
         pc_->printf("Receive failure\r\n");
     }  
+    desiredState_.phi=roll-0.5;
+    desiredState_.theta=pitch-0.5;
+    desiredState_.psi=yaw-0.5;
+    F_des_=thrust-0.5;
 }