Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Setup/src/setup.cpp

Revision:
10:ef5fe86f67fe
Parent:
9:371950017779
Child:
12:953d25061417
--- a/RTOS-Setup/src/setup.cpp	Wed Apr 30 13:49:12 2014 +0000
+++ b/RTOS-Setup/src/setup.cpp	Thu May 01 23:50:21 2014 +0000
@@ -4,6 +4,7 @@
 Serial BT(p28, p27);
 DigitalOut BT_CMD(p29);
 
+/* MPU6050 SDA, SCL (18, 19) */
 MPU6050 imu(p9, p10);
 
 //DigitalOut LED[4] = {LED1, LED2, LED3, LED4};
@@ -23,17 +24,14 @@
 bool setupALLdevices(void)
 {
     bool error = false;
+    
+    box_demo = true;
 
     if (!setup_ESC()) {
         imu.debugSerial.printf("ESC FAILED!!!\n");
         error = true;
     }
 
-    /*
-    if (!setup_led())
-        error = true;
-    */
-
     if (setup_bt())
         BT.printf("BT established!\n");
     else error = true;
@@ -85,7 +83,7 @@
     yawPIDrate.setInputLimits(-1100, 1100);
     yawPIDrate.setOutputLimits(-1000, 1000);
     yawPIDrate.setMode(AUTO_MODE);
-
+    
     pitchPIDrate.setInputLimits(-1100, 1100);
     pitchPIDrate.setOutputLimits(-1000, 1000);
     pitchPIDrate.setMode(AUTO_MODE);
@@ -93,6 +91,7 @@
     rollPIDrate.setInputLimits(-1100, 1100);
     rollPIDrate.setOutputLimits(-1000, 1000);
     rollPIDrate.setMode(AUTO_MODE);
+    
     return true;
 }