Ian Hua / Quadcopter-mbedRTOS

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Diff: RTOS-Threads/src/Task4.cpp

Revision:
3:605fbcb54e75
Parent:
2:ab967d7b4346
Child:
5:4879ef0e6d41
--- a/RTOS-Threads/src/Task4.cpp	Tue Apr 29 11:43:32 2014 +0000
+++ b/RTOS-Threads/src/Task4.cpp	Tue Apr 29 14:53:32 2014 +0000
@@ -8,10 +8,16 @@
 
 void Task4(void const *argurment)
 {
-    ESC1.pulsewidth_us(ESCpower[0]);
-    ESC2.pulsewidth_us(ESCpower[1]);
-    ESC3.pulsewidth_us(ESCpower[2]);
-    ESC3.pulsewidth_us(ESCpower[3]);
+    /* [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);
     
+    //BT.printf("%4d %4d %4d %4d\n", ESCpower[0], ESCpower[1], ESCpower[2], ESCpower[3]);
+
+    for (int i = 0; i < 4; i++)
+        ESC[i].pulsewidth_us(ESCpower[i]);
+
     //LED[4] = !LED[4];
 }