Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task4.cpp

Revision:
5:4879ef0e6d41
Parent:
3:605fbcb54e75
Child:
7:3d28cfc4901b
--- a/RTOS-Threads/src/Task4.cpp	Wed Apr 30 06:37:42 2014 +0000
+++ b/RTOS-Threads/src/Task4.cpp	Wed Apr 30 07:13:11 2014 +0000
@@ -9,10 +9,10 @@
 void Task4(void const *argurment)
 {
     /* [YAW PITCH ROLL THROTTLE AUX] */
-    ESCpower[0] = RCCommand[3] + (pitch_adjust / 2) - (roll_adjust / 2) + (yaw_adjust / 2);
-    ESCpower[1] = RCCommand[3] + (pitch_adjust / 2) + (roll_adjust / 2) - (yaw_adjust / 2);
-    ESCpower[2] = RCCommand[3] - (pitch_adjust / 2) + (roll_adjust / 2) + (yaw_adjust / 2);
-    ESCpower[3] = RCCommand[3] - (pitch_adjust / 2) - (roll_adjust / 2) - (yaw_adjust / 2);
+    ESCpower[0] = (RCCommand[3]*9/10) + (pitch_adjust / 2) - (roll_adjust / 2) + (yaw_adjust / 2);
+    ESCpower[1] = (RCCommand[3]*9/10) + (pitch_adjust / 2) + (roll_adjust / 2) - (yaw_adjust / 2);
+    ESCpower[2] = (RCCommand[3]*9/10) - (pitch_adjust / 2) + (roll_adjust / 2) + (yaw_adjust / 2);
+    ESCpower[3] = (RCCommand[3]*9/10) - (pitch_adjust / 2) - (roll_adjust / 2) - (yaw_adjust / 2);
     
     //BT.printf("%4d %4d %4d %4d\n", ESCpower[0], ESCpower[1], ESCpower[2], ESCpower[3]);