Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task2.cpp

Revision:
3:605fbcb54e75
Parent:
2:ab967d7b4346
Child:
5:4879ef0e6d41
diff -r ab967d7b4346 -r 605fbcb54e75 RTOS-Threads/src/Task2.cpp
--- a/RTOS-Threads/src/Task2.cpp	Tue Apr 29 11:43:32 2014 +0000
+++ b/RTOS-Threads/src/Task2.cpp	Tue Apr 29 14:53:32 2014 +0000
@@ -2,10 +2,32 @@
 
 #include "Task2.h"
 #include "setup.h"
+#include "PID.h"
+
+int yaw_adjust = 0;
+int pitch_adjust = 0;
+int roll_adjust = 0;
+
+int16_t gx, gy, gz;
 
 void Task2(void const *argument)
 {
+    yawPIDrate.setSetPoint(RCCommand[0]);
+    pitchPIDrate.setSetPoint(RCCommand[1]);
+    rollPIDrate.setSetPoint(RCCommand[2]);
     
+    imu.getRotation(&gx, &gy, &gz);
+    gx /= 32.8;
+    gy /= 32.8;
+    gz /= 32.8;
+    
+    yawPIDrate.setProcessValue(gz);
+    pitchPIDrate.setProcessValue(gy);
+    rollPIDrate.setProcessValue(gz);
+    
+    yaw_adjust = yawPIDrate.compute();
+    pitch_adjust = pitchPIDrate.compute();
+    roll_adjust = rollPIDrate.compute();
     
     //LED[2] = !LED[2];
 }
\ No newline at end of file