Oskar Weigl
/
Quadcopter_copy
Very early flyable code.
Diff: GlobalsNDefines.h
- Revision:
- 0:9fcb3bf5c231
diff -r 000000000000 -r 9fcb3bf5c231 GlobalsNDefines.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/GlobalsNDefines.h Sat Oct 01 12:57:23 2011 +0000 @@ -0,0 +1,40 @@ +/* +#ifndef GlobalsNDefines_H_ +#define GlobalsNDefines_H_ +*/ + +#include "mbed.h" +#include "RF12B.h" + +Serial pc(USBTX, USBRX); // tx, rx +I2C i2c(p28, p27); +//Rfm12b rfm12b(p5, p6, p7, p8, p11); +RF12B radiolink(p5, p6, p7, p8, p9); +DigitalOut myled(LED1); +DigitalOut motormaxled(LED2); +DigitalIn Nkill(p10); +Ticker watchdog; + +PwmOut PWMfront(p23); +PwmOut PWMrear(p22); +PwmOut PWMleft(p24); +PwmOut PWMright(p21); + +AnalogIn altsensor(p15); + +#define RPSPUNIT -0.00126766 +#define NOPOWER 0.063 +#define ACCADDRESS 0x4C +#define LOOPTIME 0.01 +#define ACCDECAY 50 +#define YAWCAP 1.5f +#define COMMANDPERIOD 0.1; +#define ALTGAIN +//#define ALTSENSOR + +float gyrcalib[] = {0.0, 0.0, 0.0}; +bool loopalive = 1; +bool commandsalive = 1; + + +//#endif \ No newline at end of file