Oskar Weigl / Mbed 2 deprecated Quadcopterv2

This is for ICRS\' second generation Quadcopter

Dependencies:   mbed

Diff: System.h

Revision:
0:0bbf2f16da9c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/System.h	Fri Nov 18 18:23:33 2011 +0000
@@ -0,0 +1,32 @@
+
+//General system functions
+
+#include <string>
+
+//
+void kill(string reason = "Killed for no reason!") {
+    PWMleft = NOPOWER - 0.004;
+    PWMright = NOPOWER - 0.004;
+    PWMfront = NOPOWER - 0.004;
+    PWMrear = NOPOWER - 0.004;
+    //TODO: send this over RF as well..
+    pc.printf("%s\r\n", reason.c_str());
+    /*wait(0.5);
+    left = 0;
+    right = 0;
+    front = 0;
+    rear = 0;
+    */
+    while (1);
+}
+
+//
+void wdt() {
+    if (!loopalive)
+        kill("Killed by WDT: loop has stalled");
+    if (!commandsalive)
+        kill("Killed by WDT: command starvation");
+
+    loopalive = 0;
+    commandsalive = 0;
+}