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:
28:ba6ca9f4def4
Parent:
26:96a072233d7a
Child:
29:8b7362a2ee14
--- a/Mixer/Mixer.cpp	Wed Nov 28 12:29:02 2012 +0000
+++ b/Mixer/Mixer.cpp	Sat Dec 01 07:13:04 2012 +0000
@@ -9,22 +9,20 @@
 void Mixer::compute(unsigned long dt, const float * angle, int Throttle, const float * controller_value)
 {
     // Calculate new motorspeeds
-    // Pitch
-    Motor_speed[0] = Throttle +controller_value[1];
-    Motor_speed[2] = Throttle -controller_value[1];
+    
+    for(int i=0; i<4; i++)
+        Motor_speed[i] = Throttle;
+    
+    Motor_speed[1] += +controller_value[0]; // Roll
+    Motor_speed[3] -= -controller_value[0];
     
-    #if 1
-        // Roll
-        Motor_speed[1] = Throttle +controller_value[0];
-        Motor_speed[3] = Throttle -controller_value[0];
-        
-        /*// Yaw
-        Motor_speed[0] -= controller_value[2];
-        Motor_speed[2] -= controller_value[2];
-        
-        Motor_speed[1] += controller_value[2];
-        Motor_speed[3] += controller_value[2];*/
-    #endif
+    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];
     
     for(int i = 0; i < 4; i++) // make shure no motor stands still
         Motor_speed[i] = Motor_speed[i] > 50 ? Motor_speed[i] : 50;