Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/inc/Task3.h

Revision:
22:ef8aa9728013
Parent:
21:b642c18eccd1
Child:
25:a7cfe421cb4a
--- a/RTOS-Threads/inc/Task3.h	Thu May 08 09:39:12 2014 +0000
+++ b/RTOS-Threads/inc/Task3.h	Thu May 08 10:33:43 2014 +0000
@@ -1,3 +1,10 @@
+/* File:        Task3.h
+ * Author:      Trung Tin Ian HUA
+ * Date:        May 2014
+ * Purpose:     Thread3: RC & BT Command, and Telemetry
+ * Settings:    50Hz
+ */ 
+
 #include "mbed.h"
 #include "rtos.h"
 #include "tasks.h"
@@ -5,13 +12,13 @@
 #ifndef _TASK3_H_
 #define _TASKS3_H_
 
+// ms timing: Refer to tasks.h to change frequency of Task3.
 #define TASK3_PERIOD 1000/TASK3_FREQUENCY
 
 /* Scale:
 Vin = ADC * Vread * scale
 Vin = (2^n-1)/3.3 * k*Vin * scale * ADJUST
 */
-//#define VOLTAGE_DIVIDER 0.05061465
 #define VOLTAGE_SCALE 49.60248447
 
 extern float ypr_offset[3];
@@ -22,11 +29,10 @@
 extern bool command_check;
 extern bool adjust_check;
 
-/* [YAW PITCH ROLL THROTTLE AUX] */
 extern int RCCommand[5];
 extern int inputYPR[3];
 
-/* RC & BT Command & Telemetry (50Hz) */
+/* Thread3: RC & BT Command, and Telemetry */
 void Task3(void const *argument);
 
 int constrainRCCommand(int input);