Ian Hua
/
Quadcopter-mbedRTOS
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RTOS-Threads/inc/Task4.h@21:b642c18eccd1, 2014-05-08 (annotated)
- Committer:
- pHysiX
- Date:
- Thu May 08 09:39:12 2014 +0000
- Revision:
- 21:b642c18eccd1
- Parent:
- 19:bd88749c8db4
- Child:
- 22:ef8aa9728013
Primary PID disabled. Secondary (rate) PID enabled. P gain tuned
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| pHysiX | 1:43f8ac7ca6d7 | 1 | #include "mbed.h" |
| pHysiX | 1:43f8ac7ca6d7 | 2 | #include "rtos.h" |
| pHysiX | 1:43f8ac7ca6d7 | 3 | #include "tasks.h" |
| pHysiX | 1:43f8ac7ca6d7 | 4 | |
| pHysiX | 1:43f8ac7ca6d7 | 5 | #ifndef _TASK4_H_ |
| pHysiX | 1:43f8ac7ca6d7 | 6 | #define _TASK4_H_ |
| pHysiX | 1:43f8ac7ca6d7 | 7 | |
| pHysiX | 1:43f8ac7ca6d7 | 8 | #define TASK4_PERIOD 1000/TASK4_FREQUENCY |
| pHysiX | 1:43f8ac7ca6d7 | 9 | |
| pHysiX | 2:ab967d7b4346 | 10 | extern int ESCpower[4]; |
| pHysiX | 2:ab967d7b4346 | 11 | |
| pHysiX | 14:267368c83b6a | 12 | extern bool armed; |
| pHysiX | 21:b642c18eccd1 | 13 | extern bool ESC_check; |
| pHysiX | 21:b642c18eccd1 | 14 | extern bool calibration_mode; |
| pHysiX | 14:267368c83b6a | 15 | |
| pHysiX | 2:ab967d7b4346 | 16 | /* Update ESC */ |
| pHysiX | 2:ab967d7b4346 | 17 | /* 200Hz <= PWM frequency <= 400Hz */ |
| pHysiX | 1:43f8ac7ca6d7 | 18 | void Task4(void const *argument); |
| pHysiX | 1:43f8ac7ca6d7 | 19 | |
| pHysiX | 21:b642c18eccd1 | 20 | int constrainESC(float input); |
| pHysiX | 19:bd88749c8db4 | 21 | |
| pHysiX | 1:43f8ac7ca6d7 | 22 | #endif |