Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/inc/Task2_Slave.h

Revision:
38:ef65533cca32
Parent:
36:d95e3d6f2fc4
Child:
50:8a0accb23007
--- a/RTOS-Threads/inc/Task2_Slave.h	Tue May 13 05:28:05 2014 +0000
+++ b/RTOS-Threads/inc/Task2_Slave.h	Tue May 13 13:05:03 2014 +0000
@@ -4,7 +4,6 @@
  * Purpose:     Thread2S: Slave PID control loop (rate)
  * Functions:   Gyro sample
  * Settings:    400Hz
- * Timing:      290us
  */
 #include "mbed.h"
 #include "rtos.h"
@@ -17,11 +16,13 @@
 #define TASK2_SLAVE_PERIOD 1000/TASK2_MASTER_FREQUENCY
 
 extern volatile float adjust[3];
+extern int16_t gz;
 extern volatile int gyro[3];
 extern bool counterESC;
 
 /* Thread2-Slave: Gyro sample and Rate PID Control */
 void Task2_Slave(void const *argument);
 void gyroSample(void);
+float deadbandGyroYaw(float input);
 
 #endif