Diff: hardware.h

Revision:

1:045edcf091f3

Parent:

0:0010a5abcc31

Child:

2:b3b771c8f7d1

--- a/hardware.h	Fri May 09 10:04:36 2014 +0000
+++ b/hardware.h	Fri May 16 14:18:05 2014 +0000
@@ -22,16 +22,16 @@
 #define IMU_ROLL_RATE_MIN -360
 #define IMU_PITCH_RATE_MAX 360
 #define IMU_PITCH_RATE_MIN -360
-#define RC_YAW_RATE_MAX 360
-#define RC_YAW_RATE_MIN -360
-#define RC_ROLL_RATE_MAX 360
-#define RC_ROLL_RATE_MIN -360
-#define RC_PITCH_RATE_MAX 360
-#define RC_PITCH_RATE_MIN -360
-#define RC_ROLL_ANGLE_MAX 25
-#define RC_ROLL_ANGLE_MIN -25
-#define RC_PITCH_ANGLE_MAX 25
-#define RC_PITCH_ANGLE_MIN -25
+#define RC_YAW_RATE_MAX 90
+#define RC_YAW_RATE_MIN -90
+#define RC_ROLL_RATE_MAX 90
+#define RC_ROLL_RATE_MIN -90
+#define RC_PITCH_RATE_MAX 90
+#define RC_PITCH_RATE_MIN -90
+#define RC_ROLL_ANGLE_MAX 45
+#define RC_ROLL_ANGLE_MIN -45
+#define RC_PITCH_ANGLE_MAX 45
+#define RC_PITCH_ANGLE_MIN -45
 #define RC_THRUST_MAX 1
 #define RC_THRUST_MIN 0
 #define MOTORS_OFF 0
@@ -42,6 +42,8 @@
 #define RATE_PID_CONTROLLER_OUTPUT_MIN -1
 #define UPDATE_FREQUENCY 500
 #define MOTOR_PWM_FREQUENCY 500
+#define RCMIN -127
+#define RCMAX 127
 
 //Shared Variables
 float _yawRatePIDControllerP, _yawRatePIDControllerI, _yawRatePIDControllerD, _pitchRatePIDControllerP, _pitchRatePIDControllerI, _pitchRatePIDControllerD, _rollRatePIDControllerP, _rollRatePIDControllerI, _rollRatePIDControllerD;
@@ -51,7 +53,7 @@
 float _stabPIDControllerOutputs[3] = {0,0,0}; //Yaw, pitch, roll
 float _motorPower [4] = {0,0,0,0};
 float _ypr[3] = {0,0,0}; // Yaw, pitch, roll
-float _rcCommands[4] = {0,0,0,0}; //Yaw, pitch, roll, thrust
+float _rcMappedCommands[4] = {0,0,0,0}; //Yaw, pitch, roll, thrust
 bool _armed = false;
 bool _rate = false;
 bool _stab = true;
@@ -74,9 +76,6 @@
 Thread *_serialPortMonitorThread;
 Thread *_flightControllerThread;
 
-//Timers
-RtosTimer *_updateTimer;
-
 //HARDWARE////////////////////////////////////////////////////////////////////////////////////
 // M1  M2
 //  \  /
@@ -98,7 +97,7 @@
 Serial _wirelessSerial(p9, p10);
 
 //PPM
-DigitalIn _ppm(p7);
+InterruptIn _PPMSignal(p7);
 
 //Battery monitor
 DigitalIn _batteryMonitor(p8);