Diff: Global/Global.h

Revision:

3:4823d6750629

Parent:

2:969dfa4f2436

--- a/Global/Global.h	Wed Apr 01 11:19:21 2015 +0000
+++ b/Global/Global.h	Fri Apr 24 16:50:20 2015 +0000
@@ -3,15 +3,14 @@
 #ifndef GLOBAL_H
 #define GLOBAL_H
 
-#if 1
-  #define DEBUG(...) printf(__VA_ARGS__)
-#else
-  #define DEBUG(a) (void)0
-#endif
+#define DEBUG(...) printf(__VA_ARGS__)
+//#define DEBUG(a) (void)0
+
 
 #define MOTORS_ENABLED
 
 #define MOD(a) ((a > 180.0) ? (a - 360.0) : ((a < -180.0) ? (a + 360.0) : a))
+#define PI 3.14159265
 
 #define             IMU_YAW_ANGLE_MAX 180
 #define             IMU_YAW_ANGLE_MIN -180
@@ -45,6 +44,7 @@
 #define             RC_THRUST_MAX 1
 #define             RC_THRUST_MIN 0
 #define             RC_DEAD_ZONE 0.1
+#define             RC_HOVER 0.6
 
 #define             MOTORS_OFF 0
 #define             MOTORS_ARMED 1060
@@ -56,8 +56,8 @@
 
 #define             ALTITUDE_MIN 0
 #define             ALTITUDE_MAX 1000
-#define             MAX_CLIMB_RATE 25
-#define             MIN_CLIMB_RATE -25
+#define             MAX_CLIMB_RATE 2.5
+#define             MIN_CLIMB_RATE -2.5
 
 #define             FLIGHT_CONTROLLER_FREQUENCY 500