Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task3.cpp

Revision:
27:18b6580eb0b1
Parent:
25:a7cfe421cb4a
Child:
30:d9b988f8d84f
--- a/RTOS-Threads/src/Task3.cpp	Sat May 10 01:04:17 2014 +0000
+++ b/RTOS-Threads/src/Task3.cpp	Sat May 10 01:39:02 2014 +0000
@@ -30,7 +30,7 @@
 /* Decoded input: [YAW PITCH ROLL] */
 int inputYPR[3];
 
-FLIGHT_MODE mode = STABLE;
+FLIGHT_MODE mode = ATTITUDE;
 
 void Task3(void const *argument)
 {
@@ -321,9 +321,9 @@
                     case RATE:
                         BT.printf("RATE MODE\n");
                         break;
-                    case STABLE:
+                    case ATTITUDE:
                     default:
-                        BT.printf("STABLE MODE\n");
+                        BT.printf("ATTITUDE MODE\n");
                         break;
                 }
                 break;
@@ -342,7 +342,7 @@
     if (RCCommand[4] > 1500)
         mode = RATE;
     else
-        mode = STABLE;
+        mode = ATTITUDE;
 
     inputYPR[0] = (RCCommand[0]-1500)*9/100*STICK_GAIN_YAW;
     inputYPR[1] = (RCCommand[1]-1500)*-1*9/100*STICK_GAIN;
@@ -350,7 +350,7 @@
         case RATE:
             inputYPR[2] = (RCCommand[2]-1500)*9/100*STICK_GAIN;
             break;
-        case STABLE:
+        case ATTITUDE:
         default:
             inputYPR[2] = (RCCommand[2]-1500)*-1*9/100*STICK_GAIN;
             break;