Joseph Roberts / Mbed 2 deprecated QuadCopter

Quadcopter software. Flying - Contact me for more details or a copy of the PC ground station code

Dependencies:   ConfigFile PID PPM MODSERIAL mbed-rtos mbed MaxbotixDriver TinyGPS filter

Diff: flightController.h

Revision:
2:b3b771c8f7d1
Parent:
1:045edcf091f3
Child:
3:82665e39f1ea
--- a/flightController.h	Fri May 16 14:18:05 2014 +0000
+++ b/flightController.h	Fri May 16 14:22:18 2014 +0000
@@ -11,10 +11,15 @@
 
 //Variables
 float _gyroRate[3] ={}; // Yaw, Pitch, Roll
+float _ypr[3] = {0,0,0}; // Yaw, pitch, roll
 float _yawTarget = 0;
 int _notFlying = 0; 
 float _altitude = 0;
 int _10HzIterator = 0;
+float _ratePIDControllerOutputs[3] = {0,0,0}; //Yaw, pitch, roll
+float _stabPIDControllerOutputs[3] = {0,0,0}; //Yaw, pitch, roll
+float _motorPower [4] = {0,0,0,0};
+
 
 //Timers
 RtosTimer *_updateTimer;