Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task3.cpp

Revision:
40:27e344adfdb9
Parent:
39:02782ad251db
Child:
44:4be5c01c6de2
--- a/RTOS-Threads/src/Task3.cpp	Wed May 14 12:42:39 2014 +0000
+++ b/RTOS-Threads/src/Task3.cpp	Wed May 14 13:38:19 2014 +0000
@@ -64,14 +64,15 @@
 
     /* Command decoder: */
     inputYPR[0] = (RCCommand[0]-1500)*9/100*STICK_GAIN_YAW;
-    inputYPR[1] = deadbandInputYPR((RCCommand[1]-1500)*-1*9/100*STICK_GAIN);
     switch (mode) {
         case RATE:
+            inputYPR[1] = deadbandInputYPR((RCCommand[1]-1500)*-1*9/100*STICK_GAIN);
             inputYPR[2] = deadbandInputYPR((RCCommand[2]-1500)*9/100*STICK_GAIN);
             break;
         case ATTITUDE:
         default:
-            inputYPR[2] = deadbandInputYPR((RCCommand[2]-1500)*-1*9/100*STICK_GAIN);
+            inputYPR[1] = deadbandInputYPR((RCCommand[1]-1500)*-1*6/100*STICK_GAIN);
+            inputYPR[2] = deadbandInputYPR((RCCommand[2]-1500)*-1*6/100*STICK_GAIN);
             break;
     }
 
@@ -124,10 +125,10 @@
 
 int constrainInputYPR(int input)
 {
-    if (input < -45)
-        return -45;
-    else if (input > 45)
-        return 45;
+    if (input < -30)
+        return -30;
+    else if (input > 30)
+        return 30;
     else
         return input;
 }