Diff: main.cpp

Revision:

31:d473eacfc271

Parent:

30:4820042e67b5

Child:

34:eaea0ae92dfa

diff -r 4820042e67b5 -r d473eacfc271 main.cpp
--- a/main.cpp	Wed Apr 20 02:29:37 2016 +0000
+++ b/main.cpp	Thu Apr 21 20:57:19 2016 +0000
@@ -20,6 +20,8 @@
 DigitalOut batteryLed(LED1);
 DigitalOut shutDownLed(LED2);
 
+Timer timer; // timer ;) 
+
 int emergencyOff = 0;
 //int lowThrust= {0,0,0};
 int nLowThrust = 0;
@@ -63,7 +65,7 @@
 
         myQuadcopter.readSensorValues();
 
-        myQuadcopter.controller();
+        myQuadcopter.controller(timer.read());
         motors motorsPwm = myQuadcopter.getPwm();
 
         motor_1 = motorsPwm.m1;
@@ -131,6 +133,8 @@
     motor_4 = 0.1;
 
     wait(3); // hold startup duty cycle for 2 seconds
+    
+    timer.start();
 
     // TODO assign priorities to threads, test if it really works as we expect
     Thread battery(battery_thread);