Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task3.cpp

Revision:
51:04c6af4319e1
Parent:
50:8a0accb23007
diff -r 8a0accb23007 -r 04c6af4319e1 RTOS-Threads/src/Task3.cpp
--- a/RTOS-Threads/src/Task3.cpp	Mon May 19 14:16:47 2014 +0000
+++ b/RTOS-Threads/src/Task3.cpp	Mon May 19 15:30:05 2014 +0000
@@ -40,8 +40,11 @@
 
     /* Lost signal (throttle): */
     if (rxModule[2].stallTimer.read_us() > 18820) {
-        for (int i = 0; i < 5; i++)
-            RCCommand[i] = 1000;
+        RCCommand[0] = 1500;
+        RCCommand[1] = 1500;
+        RCCommand[2] = 1500;
+        RCCommand[3] = 1000;
+        RCCommand[4] = 1000;
     } else {
         for (int i = 0; i < 5; i++)
             RCCommand[i] = constrainRCCommand(RCCommand[i]);
@@ -53,16 +56,12 @@
         } else if (mode == ATTITUDE) {
             mode = RATE;
             yawPIDrate.reset();
-            //pitchPIDrate.setTunings(KP_PITCH_RATE, TI_PITCH_RATE, 0.0);
-            //rollPIDrate.setTunings(KP_ROLL_RATE, TI_ROLL_RATE, 0.0);
         } else {}
     } else {
         if (mode == ATTITUDE) {
         } else if (mode == RATE) {
             mode = ATTITUDE;
             yawPIDrate.reset();
-            //pitchPIDrate.setTunings(KP_PITCH_RATE, TI_PITCH_RATE, 0.0);
-            //rollPIDrate.setTunings(KP_ROLL_RATE, TI_PITCH_RATE, 0.0);
         }
     }