Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task4.cpp

Revision:
32:7a9be7761c46
Parent:
31:3dde2201e54d
Child:
33:f88a6ee18103
--- a/RTOS-Threads/src/Task4.cpp	Mon May 12 05:12:19 2014 +0000
+++ b/RTOS-Threads/src/Task4.cpp	Mon May 12 13:20:06 2014 +0000
@@ -25,15 +25,17 @@
         if (calibration_mode) {
             for (int i = 0; i < 4; i++)
                 ESC[i].pulsewidth_us(RCCommand[3]);
-        } else if (RCCommand[3] > 1150) {
+        } else if (RCCommand[3] > 1100) {
             if (counterESC) {
                 for (int i = 0; i < 3; i++)
                     adjust[i] /= 2.0;
 
-                ESCpower[0] = constrainESC((RCCommand[3]) + (adjust[1]) + (adjust[2]) - adjust[0]);
-                ESCpower[1] = constrainESC((RCCommand[3]) + (adjust[1]) - (adjust[2]) + adjust[0]);
-                ESCpower[2] = constrainESC((RCCommand[3]) - (adjust[1]) - (adjust[2]) - adjust[0]);
-                ESCpower[3] = constrainESC((RCCommand[3]) - (adjust[1]) + (adjust[2]) + adjust[0]);
+                int throttle = RCCommand[3] * 9/10;
+
+                ESCpower[0] = constrainESC(throttle + (adjust[1]) + (adjust[2]) - adjust[0]);
+                ESCpower[1] = constrainESC(throttle + (adjust[1]) - (adjust[2]) + adjust[0]);
+                ESCpower[2] = constrainESC(throttle - (adjust[1]) - (adjust[2]) - adjust[0]);
+                ESCpower[3] = constrainESC(throttle - (adjust[1]) + (adjust[2]) + adjust[0]);
 
                 for (int i = 0; i < 4; i++)
                     ESC[i].pulsewidth_us(ESCpower[i]);
@@ -41,7 +43,6 @@
                 counterESC = false;
             } else {
                 stallESC++;
-
                 if (stallESC > 1) {
                     imu.debugSerial.printf("ESC NOT UPDATED FAST ENOUGH!\n");
                     stallESC = 0;
@@ -60,21 +61,20 @@
         }
 
         for (int i = 0; i < 4; i++) {
-            ESCpower[i] = 980;
+            ESCpower[i] = 990;
             ESC[i].pulsewidth_us(ESCpower[i]);
         }
     }
 
     //if (ESC_check)
-      //  BT.printf("%4d %4d %4d %4d\n", ESCpower[0], ESCpower[1], ESCpower[2], ESCpower[3]);
-
+    //BT.printf("%4d %4d %4d %4d\n", ESCpower[0], ESCpower[1], ESCpower[2], ESCpower[3]);
 //Timer
 }
 
 int constrainESC(float input)
 {
-    if (input < 1150.0)
-        return 1150;
+    if (input < 1100.0)
+        return 1100;
     else if (input > 2000.0)
         return 2000;
     else