File content as of revision 3:9c5cecd78963:

#include "mbed.h"
#include "AR610_LIB.h"
#include "Brushless_DC_LIB.h"
#include "MPU6050.h"

Serial pc(USBTX, USBRX);
BusOut LED(LED1, LED2, LED3, LED4);
MPU6050 Gyro(p9, p10);

int main() {
    
// I. Initprocedure...

    // I~SEC 
    
    bool SEC_MOTOR_FREE = false;
    
    // I~a Reciever Init 
    Receiver_obj Throttle(p15), Aile(p16),Elev(p17), Rudd(p18);
    
    // I~b Brushless Init (criticle procedure, [set for 4sec on 1kppm for Motorrealease...])
    
    wait(2);
    LED = 0x06;
    Motor_obj Brshlss(p24, p23, p22, p21);
    wait_ms(4000);
    
    // I~c Gyro Init and set Offset...
    
    float GyroData[3];
    float G_Offset[3];
    
      
    bool Test = Gyro.testConnection();
    if( Test == true ){
    LED = 0x0f;
    wait(2);
    
    SEC_MOTOR_FREE = true;
    
    Gyro.getGyro(GyroData);
    
    // GyroOffSet
    
    G_Offset[0] = GyroData[0];
    G_Offset[1] = GyroData[1];
    G_Offset[2] = GyroData[2];
    
    }else{
        SEC_MOTOR_FREE = false;
        Brshlss.setAllMotor(1000,1000,1000,1000);
        if(SEC_MOTOR_FREE == false){
            while(true){
            LED =0x0f;
            wait_ms(100);
            LED = 0x00;
            wait_ms(100); 
            }
        }
                                                                                                                            
    }
    
    LED = 0x09;
    int CurThrVal;
    
    
    while(true){

    Gyro.getGyro(GyroData);
    
    CurThrVal = Throttle.CurVal();
    if(CurThrVal >= 1100  && CurThrVal <= 2000){
    Brshlss.setAllMotor(CurThrVal + (GyroData[1] * 15) - (GyroData[0] * 15), CurThrVal + (GyroData[1] * 15) + (GyroData[0] * 15), CurThrVal - (GyroData[1] * 15) - (GyroData[0] * 15), CurThrVal - (GyroData[1] * 15) + (GyroData[0] * 15));
    } else {
         Brshlss.setAllMotor(1000, 1000, 1000, 1000);
         }
         
    
          

    /*
    
     XY Achse Regler
     
     Brshlss.setAllMotor(1200 + (GyroData[1] * 15) - (GyroData[0] * 15), 1200 + (GyroData[1] * 15) + (GyroData[0] * 15), 1200 - (GyroData[1] * 15) - (GyroData[0] * 15), 1200 - (GyroData[1] * 15) + (GyroData[0] * 15));
     
     X Achse Regler
     
     Brshlss.setAllMotor(1200 - (GyroData[0] * 15),1200 + (GyroData[0] * 15),1200 - (GyroData[0] * 15),1200 + (GyroData[0] * 15));
     
          
    wait(0.1);  
    Gyro.getGyro(GyroData);
    pc.printf("X: %f | Y: %f | Z: %f \n", GyroData[0], GyroData[1], GyroData[2]);
          

    */
   


   
    
    }
    
}