Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task2_Master.cpp

Revision:
39:02782ad251db
Parent:
38:ef65533cca32
Child:
47:89a7077a70d3
Child:
48:9dbdc4144f00
--- a/RTOS-Threads/src/Task2_Master.cpp	Tue May 13 13:05:03 2014 +0000
+++ b/RTOS-Threads/src/Task2_Master.cpp	Wed May 14 12:42:39 2014 +0000
@@ -55,14 +55,14 @@
             case ATTITUDE:
             default:
 //Timer
-                pitchPIDstable.setProcessValue((int) (ypr[1] - ypr_offset[1]));
-                rollPIDstable.setProcessValue((int) (ypr[2] - ypr_offset[2]));
+                pitchPIDattitude.setProcessValue((int) (ypr[1] - ypr_offset[1]));
+                rollPIDattitude.setProcessValue((int) (ypr[2] - ypr_offset[2]));
 
-                pitchPIDstable.setSetPoint(inputYPR[1]);
-                rollPIDstable.setSetPoint(inputYPR[2]);
+                pitchPIDattitude.setSetPoint(inputYPR[1]);
+                rollPIDattitude.setSetPoint(inputYPR[2]);
 
-                adjust_attitude[1] = pitchPIDstable.compute();
-                adjust_attitude[2] = rollPIDstable.compute();
+                adjust_attitude[1] = pitchPIDattitude.compute();
+                adjust_attitude[2] = rollPIDattitude.compute();
                 adjust_attitude[2] *= -1;
 
                 //counterTask2Master = true;