Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task2.cpp

Revision:
18:af657c4c3944
Parent:
17:18c3bd016e49
Child:
21:b642c18eccd1
--- a/RTOS-Threads/src/Task2.cpp	Sat May 03 01:47:54 2014 +0000
+++ b/RTOS-Threads/src/Task2.cpp	Sat May 03 02:05:51 2014 +0000
@@ -48,9 +48,9 @@
             pitch_adjust = pitchPIDrate.compute();
             roll_adjust = rollPIDrate.compute();
         } else {
-            yawPIDrate.setSetPoint((RCCommand[0]-1500)*9/100);
-            pitchPIDrate.setSetPoint((RCCommand[1]-1500)*-1*9/100);
-            rollPIDrate.setSetPoint((RCCommand[2]-1500)*9/100);
+            yawPIDrate.setSetPoint(0);
+            pitchPIDrate.setSetPoint(0);
+            rollPIDrate.setSetPoint(0);
 
             imu.getRotation(&gx, &gy, &gz);
             gyro[0] = ((float) gx / 32.8) + 2;