Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/inc/Task2_Master.h

Revision:
38:ef65533cca32
Parent:
36:d95e3d6f2fc4
Child:
44:4be5c01c6de2
--- a/RTOS-Threads/inc/Task2_Master.h	Tue May 13 05:28:05 2014 +0000
+++ b/RTOS-Threads/inc/Task2_Master.h	Tue May 13 13:05:03 2014 +0000
@@ -4,7 +4,6 @@
  * Purpose:     Thread2M: Master PID control loop (attitude)
  * Functions:   AHRSSample: Read MPU6050 DMP and calculate YPR
  * Settings:    200Hz
- * Timing:      //40us
  */
 #include "mbed.h"
 #include "rtos.h"
@@ -14,14 +13,15 @@
 #define _TASK2_MASTER_H_
 
 // ms timing: Refer to tasks.h to change frequency of Task2_Master.
-#define TASK2_MASTER_PERIOD 1000/TASK2_MASTER_FREQUENCY
+#define TASK2_MASTER_PERIOD             1000/TASK2_MASTER_FREQUENCY
 
 
 #ifdef ENABLE_COMPASS
 extern double heading;
 #endif
 
-extern float ypr[3];
+extern float ypr_rad[3];
+extern volatile float ypr[3];
 extern volatile float adjust_attitude[3];
 
 /* Thread2-Master: Attitude PID Control */