The unified diff between revisions [4f22e7ef..] and [3dc5e7ac..] is displayed below. It can also be downloaded as a raw diff.

This diff has been restricted to the following files: 'stick.c'

#
# old_revision [4f22e7ef7d3064e3b51a5b868a4722f3f13c747b]
# new_revision [3dc5e7ac4bcb952cc267892653dd78ed095d8778]
#
# patch "stick.c"
#  from [57244f98d116ac872a524b6de2c760af161fd0a0]
#    to [c994ce958c11d747045e0cd4d6879a1fc4d7b4e5]
#
============================================================
--- stick.c	57244f98d116ac872a524b6de2c760af161fd0a0
+++ stick.c	c994ce958c11d747045e0cd4d6879a1fc4d7b4e5
@@ -12,9 +12,9 @@
 #include "timer.h"
 #include "trig.h"
 #include "motor.h"
-#include "wmp.h"
 #include "status.h"
 #include "watchdog.h"
+#include "log.h"
 
 #define TWO_PI 6.28318531f
 #define PI 3.14159265f
@@ -59,9 +59,9 @@ unsigned int stick_counter;
 
 unsigned int stick_counter;
 
-void stick_update(float x, float y, float z)
+void stick_update(vec3f stick)
 {
-	float tz = delta_t * z;
+	float tz = delta_t * stick.z;
 
 	stick_yaw += tz;
 
@@ -72,16 +72,16 @@ void stick_update(float x, float y, floa
 	    stick_yaw -= TWO_PI;
 
 #if 0
-	z = stick_yaw;
+	stick.z = stick_yaw;
 #endif
 
-	x = sine(x);
-	y = sine(y);
+	stick.x = sine(stick.x);
+	stick.y = sine(stick.y);
 #if 0
-	z = 1.0/fisqrt(1-x*x-y*y);
+	stick.z = 1.0/fisqrt(1-stick.x*stick.x-stick.y*stick.y);
 #endif
 
-	dcm_attitude_error(x, y, z);
+	dcm_attitude_error(stick);
 }
 
 #ifdef STICK_DEBUG_CALIBRATE
@@ -105,12 +105,24 @@ void stick_input(void) {
 
 void stick_input(void) {
 	float x, y, z, throttle;
+	unsigned int xi, yi, zi, throttlei;
+
 	if (timer_allvalid()) {
-		x = timer_input(0);
-		y = timer_input(1);
-		throttle = timer_input(2);
-		z = timer_input(3);
+		xi = timer_input(0);
+		yi = timer_input(1);
+		throttlei = timer_input(2);
+		zi = timer_input(3);
 
+		log_put_uint16(xi);
+		log_put_uint16(yi);
+		log_put_uint16(throttlei);
+		log_put_uint16(zi);
+
+		x = xi;
+		y = yi;
+		throttle = throttlei;
+		z = zi;
+
 #ifdef STICK_DEBUG_CALIBRATE
 		if ((stick_counter % 100) == 0)
 			stick_debug_calibrate();
@@ -140,6 +152,10 @@ void stick_input(void) {
 		if (throttle < 0.0)
 			throttle = 0.0;
 	} else {
+		log_put_uint16(0);
+		log_put_uint16(0);
+		log_put_uint16(0);
+		log_put_uint16(0);
 		x = 0.0f;
 		y = 0.0f;
 		z = 0.0f;
@@ -152,9 +168,7 @@ void stick_input(void) {
 	watchdog_kick(WATCHDOG_STICK);
 
 	/* So the controls are back to front. Let's fix that. */
-	x = -x;
-	y = -y;
-	z = -z;
+	vec3f stick = {-x, -y, -z};
 
 #if 0
 	if ((stick_counter % 100) == 0) {
@@ -165,10 +179,10 @@ void stick_input(void) {
 #endif
 
 #if 1
-	stick_update(x, y, z);
+	stick_update(stick);
 #else
 	if ((stick_counter % 100) == 0)
-		stick_update(x, y, z);
+		stick_update(stick);
 #endif
 
 /*