Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Setup/inc/setup.h

Revision:
39:02782ad251db
Parent:
32:7a9be7761c46
Child:
48:9dbdc4144f00
--- a/RTOS-Setup/inc/setup.h	Tue May 13 13:05:03 2014 +0000
+++ b/RTOS-Setup/inc/setup.h	Wed May 14 12:42:39 2014 +0000
@@ -14,6 +14,8 @@
 #include "PID.h"
 #include "MPL3115A2.h"
 
+#include "config.h"
+
 #ifdef ENABLE_COMPASS
 #include "HMC5883L.h"
 #endif
@@ -22,15 +24,17 @@
 #define _SETUP_H_
 
 /* PID Gains: */
-extern float KP_PITCH_STABLE;
-extern float KP_ROLL_STABLE;
 extern float KP_YAW_RATE;
 extern float KP_PITCH_RATE;
 extern float KP_ROLL_RATE;
 extern float TI_YAW_RATE;
 extern float TI_PITCH_RATE;
 extern float TI_ROLL_RATE;
-extern float PID_TI_STABLE;
+
+extern float KP_PITCH_ATTITUDE;
+extern float KP_ROLL_ATTITUDE;
+extern float TI_PITCH_ATTITUDE;
+extern float TI_ROLL_ATTITUDE;
 
 /* Sensors and devices: */
 extern Serial BT;
@@ -41,8 +45,8 @@
 extern PwmOut ESC[4];
 
 /* PID Devices: */
-extern PID pitchPIDstable;
-extern PID rollPIDstable;
+extern PID pitchPIDattitude;
+extern PID rollPIDattitude;
 extern PID yawPIDrate;
 extern PID pitchPIDrate;
 extern PID rollPIDrate;