Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task3.cpp

Revision:
44:4be5c01c6de2
Parent:
40:27e344adfdb9
Child:
45:3847d7bf8b2c
diff -r ec2146e37922 -r 4be5c01c6de2 RTOS-Threads/src/Task3.cpp
--- a/RTOS-Threads/src/Task3.cpp	Fri May 16 23:20:01 2014 +0000
+++ b/RTOS-Threads/src/Task3.cpp	Fri May 16 23:34:20 2014 +0000
@@ -12,10 +12,10 @@
 AnalogIn voltageSense(p20);
 
 /* [YAW PITCH ROLL THROTTLE AUX] */
-int RCCommand[5] = {0, 0, 0, 0, 0};
+volatile int RCCommand[5] = {0, 0, 0, 0, 0};
 /* Decoded input: [YAW PITCH ROLL] */
-int inputYPR[3];
-float ypr_offset[3];
+volatile int inputYPR[3];
+volatile float ypr_offset[3];
 
 float vIn = 0.0;
 
@@ -66,8 +66,8 @@
     inputYPR[0] = (RCCommand[0]-1500)*9/100*STICK_GAIN_YAW;
     switch (mode) {
         case RATE:
-            inputYPR[1] = deadbandInputYPR((RCCommand[1]-1500)*-1*9/100*STICK_GAIN);
-            inputYPR[2] = deadbandInputYPR((RCCommand[2]-1500)*9/100*STICK_GAIN);
+            inputYPR[1] = deadbandInputYPR((RCCommand[1]-1500)*-1*6/100*STICK_GAIN);
+            inputYPR[2] = deadbandInputYPR((RCCommand[2]-1500)*6/100*STICK_GAIN);
             break;
         case ATTITUDE:
         default: