Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task3.cpp

Revision:
22:ef8aa9728013
Parent:
21:b642c18eccd1
Child:
24:54a8cdf17378
--- a/RTOS-Threads/src/Task3.cpp	Thu May 08 09:39:12 2014 +0000
+++ b/RTOS-Threads/src/Task3.cpp	Thu May 08 10:33:43 2014 +0000
@@ -1,4 +1,9 @@
-/* RC & BT Command & Telemetry (50Hz) */
+/* File:        Task3.cpp
+ * Author:      Trung Tin Ian HUA
+ * Date:        May 2014
+ * Purpose:     Thread3: RC & BT Command, and Telemetry
+ * Settings:    50Hz
+ */ 
 
 #define STICK_GAIN 2
 #define STICK_GAIN_YAW 4
@@ -22,6 +27,7 @@
 
 /* [YAW PITCH ROLL THROTTLE AUX] */
 int RCCommand[5] = {0, 0, 0, 0, 0};
+/* Decoded input: [YAW PITCH ROLL] */
 int inputYPR[3];
 
 void Task3(void const *argument)
@@ -285,7 +291,6 @@
         //armed = false;
         for (int i = 0; i < 5; i++)
             RCCommand[i] = 0;
-        // Perhaps need to directly control ESCpower[i] instead of writing to RCCommand
     } else {
         for (int i = 0; i < 5; i++)
             RCCommand[i] = constrainRCCommand(RCCommand[i]);
@@ -298,8 +303,6 @@
         BT.printf("%5d %5d %5d %5d %5d\n", RCCommand[0], RCCommand[1], RCCommand[2], RCCommand[3], RCCommand[4]);
     else if (command_check)
         BT.printf("%3d %3d %3d\n", inputYPR[0], inputYPR[1], inputYPR[2]);
-
-    //LED[3] = !LED[3];
 }
 
 int constrainRCCommand(int input)