Montvydas Klumbys / Quadcopter

A library used for controlling a quadcopter. It provides an easy to use interface, which allows to mount, calibrate and run motors. It is also able to calibrate the actual speed according to calculated PID roll & pitch difference. I used the original Servo library as ESC modules use the same PWM signal as Servo motors.

Dependents:   QuadcopterProgram

Diff: Quadcopter.cpp

Revision:
1:cadf589cab2f
Parent:
0:341a08dbf9ba
Child:
2:62e387f1d095
--- a/Quadcopter.cpp	Wed Feb 18 23:44:04 2015 +0000
+++ b/Quadcopter.cpp	Thu Feb 19 00:15:36 2015 +0000
@@ -25,11 +25,11 @@
     wait(2.0);  
 }
 //-------------------------------------Function for Stabilising---------------
-void Quadcoter::stabilise (float* speed, float* actSpeed, float rollDiff, float pitchDiff){
-    actSpeed[0] = speed[0] + (rollDif / 2) + (pitchDif / 2);
-    actSpeed[1] = speed[1] - (rollDif / 2) + (pitchDif / 2);
-    actSpeed[2] = speed[2] + (rollDif / 2) - (pitchDif / 2);
-    actSpeed[3] = speed[3] - (rollDif / 2) - (pitchDif / 2);
+void Quadcopter::stabilise (float* speed, float* actSpeed, float rollDiff, float pitchDiff){
+    actSpeed[0] = speed[0] + (rollDiff / 2) + (pitchDiff / 2);
+    actSpeed[1] = speed[1] - (rollDiff / 2) + (pitchDiff / 2);
+    actSpeed[2] = speed[2] + (rollDiff / 2) - (pitchDiff / 2);
+    actSpeed[3] = speed[3] - (rollDiff / 2) - (pitchDiff / 2);
 }
 //-----------------------Function for producing thrust in Z direction --------
 void Quadcopter::run (float* speed){