Ian Hua
/
Quadcopter-mbedRTOS
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Diff: RTOS-Threads/inc/Task2.h
- Revision:
- 21:b642c18eccd1
- Parent:
- 20:b193a50a2ba3
- Child:
- 22:ef8aa9728013
--- a/RTOS-Threads/inc/Task2.h Sat May 03 02:55:24 2014 +0000
+++ b/RTOS-Threads/inc/Task2.h Thu May 08 09:39:12 2014 +0000
@@ -8,9 +8,9 @@
// ms
#define TASK2_PERIOD 1000/TASK2_FREQUENCY
-extern int yaw_adjust;
-extern int pitch_adjust;
-extern int roll_adjust;
+extern volatile float adjust[3];
+
+extern volatile int gyro[3];
extern bool counterESC;
@@ -18,3 +18,18 @@
void Task2(void const *argument);
#endif
+
+/*} else {
+ yawPIDrate.setSetPoint(0);
+ pitchPIDrate.setSetPoint(0);
+ rollPIDrate.setSetPoint(0);
+
+ yawPIDrate.setProcessValue(gyro[2]);
+ pitchPIDrate.setProcessValue(gyro[1]);
+ rollPIDrate.setProcessValue(gyro[0]);
+
+ adjust[0] = yawPIDrate.compute();
+ adjust[1] = pitchPIDrate.compute();
+ adjust[2] = rollPIDrate.compute();
+}*/
+