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/Task3.cpp

Revision:
25:a7cfe421cb4a
Parent:
24:54a8cdf17378
Child:
27:18b6580eb0b1
--- a/RTOS-Threads/src/Task3.cpp	Thu May 08 13:00:50 2014 +0000
+++ b/RTOS-Threads/src/Task3.cpp	Thu May 08 13:35:13 2014 +0000
@@ -6,7 +6,7 @@
  */
 
 #define STICK_GAIN 2
-#define STICK_GAIN_YAW 8
+#define STICK_GAIN_YAW 16
 
 #include "tasks.h"
 #include "setup.h"
@@ -30,13 +30,7 @@
 /* Decoded input: [YAW PITCH ROLL] */
 int inputYPR[3];
 
-//typedef enum {
-enum FLIGHT_MODE {
-    RATE,
-    STABLE
-};
-
-FLIGHT_MODE mode;
+FLIGHT_MODE mode = STABLE;
 
 void Task3(void const *argument)
 {
@@ -321,6 +315,19 @@
                 armed? BT.printf("ARMED\n") : BT.printf("ARM FAILED\n");
                 break;
 
+            case 'M':
+            case 'm':
+                switch (mode) {
+                    case RATE:
+                        BT.printf("RATE MODE\n");
+                        break;
+                    case STABLE:
+                    default:
+                        BT.printf("STABLE MODE\n");
+                        break;
+                }
+                break;
+
             default:
                 break;
         }
@@ -334,10 +341,20 @@
 
     if (RCCommand[4] > 1500)
         mode = RATE;
+    else
+        mode = STABLE;
 
     inputYPR[0] = (RCCommand[0]-1500)*9/100*STICK_GAIN_YAW;
     inputYPR[1] = (RCCommand[1]-1500)*-1*9/100*STICK_GAIN;
-    inputYPR[2] = (RCCommand[2]-1500)*-1*9/100*STICK_GAIN;
+    switch (mode) {
+        case RATE:
+            inputYPR[2] = (RCCommand[2]-1500)*9/100*STICK_GAIN;
+            break;
+        case STABLE:
+        default:
+            inputYPR[2] = (RCCommand[2]-1500)*-1*9/100*STICK_GAIN;
+            break;
+    }
 
     if (rxModule[1].stallTimer.read_us() > 18820) {
         //armed = false;