Diff: quadCommand/quadCommand.cpp

Revision:

53:cce34958f952

Parent:

52:24590a45b807

Child:

54:6fc1c3b14bc8

Child:

55:bca9c9e92da6

diff -r 24590a45b807 -r cce34958f952 quadCommand/quadCommand.cpp
--- a/quadCommand/quadCommand.cpp	Tue Jun 11 01:24:31 2013 +0000
+++ b/quadCommand/quadCommand.cpp	Tue Jun 11 02:36:12 2013 +0000
@@ -12,8 +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 );
-      //  sendProcess.attach( this, &quadCommand::sendTelemetry, SEND_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.
@@ -71,6 +71,7 @@
 
 void quadCommand::updateMotors() 
 {
+    updateCurrent();
     float throttle, pitch, roll, yaw;
     
     throttle = pidThrottle.correct(currentThrottle, targetThrottle, MOTOR_UPDATE);