Diff: quadCommand/quadCommand.cpp

Revision:

51:60258b84ebab

Parent:

50:197a18e49eb4

Child:

52:24590a45b807

--- a/quadCommand/quadCommand.cpp	Mon Jun 10 05:04:53 2013 +0000
+++ b/quadCommand/quadCommand.cpp	Mon Jun 10 05:57:47 2013 +0000
@@ -12,7 +12,8 @@
     pidYaw(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD)
 {
         motorProcess.attach(this, &quadCommand::updateMotors, MOTOR_UPDATE/1000);
-        sensorProcess.attach( this, &quadCommand::updateCurrent, SENSSOR_DELAY /1000 );
+        sensorProcess.attach( this, &quadCommand::updateCurrent, SENSSOR_DELAY/1000 );
+      //  sendProcess.attach( this, &quadCommand::sendTelemetry, SEND_DELAY/1000 );
      
         myCom = new com( TXPIN, RXPIN );            // Setup com object.       
         world = new sensors();                      // Setup the sensors.
@@ -36,12 +37,8 @@
 {   
     while(1)
     {     
-        DEBUG(pc.printf("\r\n------------------- IN RUN ---------------------\r\n");)
-        
         if( myCom->isData() ) 
-            rxInput();
-        
-        sendTelemetry();
+            rxInput();    
     }
 }
 
@@ -106,8 +103,8 @@
 
 void quadCommand::sendTelemetry()
 {
-    myCom->write( 2, (short)(currentPitch * 900 / 10 ) );
-    myCom->write( 3, (short)(currentRoll * 900 / 10 ) );
+    myCom->write( 2, (short)(currentPitch * 90) );
+    myCom->write( 3, (short)(currentRoll * 90) );
 }
 
 /************************** updateCurrent() ******************************/