Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task4.cpp

Revision:
22:ef8aa9728013
Parent:
21:b642c18eccd1
Child:
24:54a8cdf17378
--- a/RTOS-Threads/src/Task4.cpp	Thu May 08 09:39:12 2014 +0000
+++ b/RTOS-Threads/src/Task4.cpp	Thu May 08 10:33:43 2014 +0000
@@ -1,5 +1,11 @@
-/* Update ESC (100Hz) */
-/* 200Hz <= PWM frequency (400Hz) <= 400Hz */
+/* File:        Task4.h
+ * Author:      Trung Tin Ian HUA
+ * Date:        May 2014
+ * Purpose:     Thread4: ESC pulsewidth update. Note this is INDEPENDENT of the pulse frequency.
+ * Settings:    200Hz
+ * 200Hz <= PWM frequency <= 400Hz
+ * Refer to setup.h to change PWM frequency 
+ */ 
 
 #include "tasks.h"
 #include "setup.h"
@@ -18,9 +24,7 @@
             for (int i = 0; i < 4; i++)
                 ESC[i].pulsewidth_us(RCCommand[3]);
         } else if (RCCommand[3] > 1150) {
-            if (counterESC) {
-                /* [YAW PITCH ROLL THROTTLE AUX] */
-                
+            if (counterESC) {             
                 for (int i = 0; i < 3; i++)
                     adjust[i] /= 2.0;
                 
@@ -61,8 +65,6 @@
 
     if (ESC_check)
         BT.printf("%4d %4d %4d %4d\n", ESCpower[0], ESCpower[1], ESCpower[2], ESCpower[3]);
-
-    //LED[4] = !LED[4];
 }
 
 int constrainESC(float input)