Prosper Van / Mbed 2 deprecated quadCommand2

added gy80 dcm

Dependencies:   mbed DCM_AHRS_GY80 PID MMA8451Q

Fork of quadCommand by Greg Abdo

Diff: quadCommand/quadCommand.h

Revision:
6:21ae5e53bb5f
Parent:
1:9b90e7de6e09
Child:
8:72791d8c36b7
diff -r 3448cc00eb85 -r 21ae5e53bb5f quadCommand/quadCommand.h
--- a/quadCommand/quadCommand.h	Sun Jun 09 22:35:16 2013 +0000
+++ b/quadCommand/quadCommand.h	Sun Jun 09 23:05:22 2013 +0000
@@ -18,6 +18,8 @@
 const PinName TXPIN     =   PTD3;   // Pin used for xbee TX.
 const PinName RXPIN     =   PTD2;   // Pin used for xbee RX.
 
+#define DEFAULT_WINDUP_GUARD 20.0f
+
 class quadCommand 
 {
     public:
@@ -41,6 +43,10 @@
         float targetPitch;
         float targetRoll;
         float targetYaw;
+        
+        PID pidPitch(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD);
+        PID pidRoll(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD);
+        PID pidYaw(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD);
 };
 
 #endif
\ No newline at end of file