Diff: main.cpp

Revision:

39:fff0a72633ee

Parent:

38:14bf11115f9f

Child:

40:09a59d5b7944

diff -r 14bf11115f9f -r fff0a72633ee main.cpp
--- a/main.cpp	Sun May 01 21:59:10 2016 +0000
+++ b/main.cpp	Sun May 01 22:13:01 2016 +0000
@@ -192,24 +192,25 @@
 
     //controller.set_priority(osPriorityRealtime);
     //thread_rc.set_priority(osPriorityRealtime);
+
     int i = 0;
     float previousTime =0;
     float currentTime = 0;
     while (1) {
         i++;
 
-       /* if (i % 5000 == 0) {
+        // can be used to measure frequency
+        /* 
+        if (i % 5000 == 0) {
             currentTime = timer.read();
             printf("%d, %f, %f\r\n", i, 5000.0 / (currentTime - previousTime), currentTime);
             previousTime = currentTime;
 
-        } */
-        
+        }
+        */
         
         myQuadcopter.readRc();
         
-        
-        
         int shutdown = getLowThrust(-0.3);
         if (shutdown == 1) {
             emergencyShutdown();
@@ -218,13 +219,16 @@
             break;
         }
         myQuadcopter.readSensorValues();
-       /* state mystate = myQuadcopter.getState();
+        
+        // can be used to test responsiveness of the IMU
+        /* 
+        state mystate = myQuadcopter.getState();
         if (mystate.phi > 0.0785) {
             quicknessLed = 1;
         } else {
             quicknessLed = 0;
-        } */
-
+        } 
+        */
 
         myQuadcopter.controller();
         motors motorsPwm = myQuadcopter.getPwm();