Matthias Grob / Mbed 2 deprecated FlyBed1

NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.

Dependencies:   mbed MODI2C

Diff: Mixer/Mixer.cpp

Revision:
29:8b7362a2ee14
Parent:
28:ba6ca9f4def4
Child:
30:021e13b62575
--- a/Mixer/Mixer.cpp	Sat Dec 01 07:13:04 2012 +0000
+++ b/Mixer/Mixer.cpp	Sat Dec 15 08:42:36 2012 +0000
@@ -6,23 +6,25 @@
         Motor_speed[i]=0;
 }
 
-void Mixer::compute(unsigned long dt, const float * angle, int Throttle, const float * controller_value)
+void Mixer::compute(unsigned long dt, int Throttle, const float * controller_value)
 {
     // Calculate new motorspeeds
     
     for(int i=0; i<4; i++)
         Motor_speed[i] = Throttle;
     
-    Motor_speed[1] += +controller_value[0]; // Roll
-    Motor_speed[3] -= -controller_value[0];
+    Motor_speed[1] -= controller_value[0]; // Roll
+    Motor_speed[3] += controller_value[0];
+    
+    Motor_speed[0] -= controller_value[1]; // Pitch
+    Motor_speed[2] += controller_value[1];
     
-    Motor_speed[0] += controller_value[1]; // Pitch
-    Motor_speed[2] -= controller_value[1];
-    
-    Motor_speed[1] += controller_value[2]; // Yaw
-    Motor_speed[3] += controller_value[2];
-    Motor_speed[0] -= controller_value[2];
-    Motor_speed[2] -= controller_value[2];
+    #if 0
+        Motor_speed[1] -= controller_value[2]; // Yaw
+        Motor_speed[3] -= controller_value[2];
+        Motor_speed[0] += controller_value[2];
+        Motor_speed[2] += controller_value[2];
+    #endif
     
     for(int i = 0; i < 4; i++) // make shure no motor stands still
         Motor_speed[i] = Motor_speed[i] > 50 ? Motor_speed[i] : 50;