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: rcCommandMonitor.h
- Revision:
- 9:7b194f83e567
- Parent:
- 7:bc5822aa8878
diff -r 5a7efcd0c0dd -r 7b194f83e567 rcCommandMonitor.h --- a/rcCommandMonitor.h Tue Feb 10 20:58:12 2015 +0000 +++ b/rcCommandMonitor.h Sun Feb 22 20:10:12 2015 +0000 @@ -34,10 +34,10 @@ i = 0; //Map yaw channel - _rcMappedCommands[0] = - /*_yawMedianFilter->process(*/Map(_rcCommands[3], RC_OUT_MIN, RC_OUT_MAX, RC_YAW_RATE_MIN, RC_YAW_RATE_MAX);//); + _rcMappedCommands[0] = - _yawMedianFilter->process(Map(_rcCommands[3], RC_OUT_MIN, RC_OUT_MAX, RC_YAW_RATE_MIN, RC_YAW_RATE_MAX)); //Map thust channel - _rcMappedCommands[3] = /*_thrustMedianFilter->process(*/Map(_rcCommands[2], RC_OUT_MIN, RC_OUT_MAX, RC_THRUST_MIN, RC_THRUST_MAX);//); + _rcMappedCommands[3] = _thrustMedianFilter->process(Map(_rcCommands[2], RC_OUT_MIN, RC_OUT_MAX, RC_THRUST_MIN, RC_THRUST_MAX)); //Map arm channel. if(_rcCommands[4] > 0.5 && _armed == false) Arm(); @@ -62,16 +62,16 @@ if(_rate == false && _stab == true)//Stability mode { //Roll - _rcMappedCommands[2] = /*_rollMedianFilter->process(*/Map(_rcCommands[0], RC_OUT_MIN, RC_OUT_MAX, RC_ROLL_ANGLE_MIN, RC_ROLL_ANGLE_MAX);//); + _rcMappedCommands[2] = _rollMedianFilter->process(Map(_rcCommands[0], RC_OUT_MIN, RC_OUT_MAX, RC_ROLL_ANGLE_MIN, RC_ROLL_ANGLE_MAX)); //Pitch - _rcMappedCommands[1] = /*_pitchMedianFilter->process(*/-Map(_rcCommands[1], RC_OUT_MIN, RC_OUT_MAX, RC_PITCH_ANGLE_MIN, RC_PITCH_ANGLE_MAX);//); //Needs to be reverse + _rcMappedCommands[1] = _pitchMedianFilter->process(-Map(_rcCommands[1], RC_OUT_MIN, RC_OUT_MAX, RC_PITCH_ANGLE_MIN, RC_PITCH_ANGLE_MAX)); //Needs to be reverse } else if(_rate == true && _stab == false)//Rate mode { //Roll - _rcMappedCommands[2] = /*_rollMedianFilter->process(*/Map(_rcCommands[0], RC_OUT_MIN, RC_OUT_MAX, RC_ROLL_RATE_MIN, RC_ROLL_RATE_MAX);//); + _rcMappedCommands[2] = _rollMedianFilter->process(Map(_rcCommands[0], RC_OUT_MIN, RC_OUT_MAX, RC_ROLL_RATE_MIN, RC_ROLL_RATE_MAX)); //Pitch - _rcMappedCommands[1] = /*_pitchMedianFilter->process(*/-Map(_rcCommands[1], RC_OUT_MIN, RC_OUT_MAX, RC_PITCH_RATE_MIN, RC_PITCH_RATE_MAX);//); //Needs to be reverse + _rcMappedCommands[1] = _pitchMedianFilter->process(-Map(_rcCommands[1], RC_OUT_MIN, RC_OUT_MAX, RC_PITCH_RATE_MIN, RC_PITCH_RATE_MAX)); //Needs to be reverse } else { @@ -84,12 +84,6 @@ //Transmitter not connected so increase iterator i++; - //Set commands to 0 - _rcMappedCommands[0] = 0; - _rcMappedCommands[1] = 0; - _rcMappedCommands[2] = 0; - _rcMappedCommands[3] = -1; - //If connection has been down for 10 loops then assume the connection really is lost if(i > 10 && _armed == true) Disarm(); }