Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task3.cpp

Revision:
20:b193a50a2ba3
Parent:
18:af657c4c3944
Child:
21:b642c18eccd1
--- a/RTOS-Threads/src/Task3.cpp	Sat May 03 02:11:41 2014 +0000
+++ b/RTOS-Threads/src/Task3.cpp	Sat May 03 02:55:24 2014 +0000
@@ -21,7 +21,16 @@
 {
     if (BT.readable()) {
         char data = BT.getc();
-        if (data == 'B') {
+
+        if (data == '0' || data == '9') {
+            box_demo = false;
+            rc_out = false;
+            gyro_out = false;
+
+            yawPIDrate.reset();
+            pitchPIDrate.reset();
+            rollPIDrate.reset();
+        } else if (data == 'B') {
             box_demo = true;
             rc_out = false;
             gyro_out = false;
@@ -40,10 +49,24 @@
             box_demo = false;
             rc_out = false;
             gyro_out = true;
-        } else if (data == '0') {
+        } else if (data == '1') {
             box_demo = false;
             rc_out = false;
             gyro_out = false;
+            KP_YAW_RATE += 0.1;
+            BT.printf("KP Y Rate: %3.4f\n", KP_YAW_RATE);
+        } else if (data == '2') {
+            box_demo = false;
+            rc_out = false;
+            gyro_out = false;
+            KP_PITCH_RATE += 0.1;
+            BT.printf("KP P Rate: %3.4f\n", KP_PITCH_RATE);
+        } else if (data == '3') {
+            box_demo = false;
+            rc_out = false;
+            gyro_out = false;
+            KP_ROLL_RATE += 0.1;
+            BT.printf("KP R Rate: %3.4f\n", KP_ROLL_RATE);
         }
     }