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This diff has been restricted to the following files: 'motor.c'
# # old_revision [d0420ebd87c820e33a32b29727989516e15980a8] # new_revision [64de686d701acb9539dc52fe0bff299405612ab0] # # patch "motor.c" # from [500d9a9173fe983ae7c50cf5fac1d37efa96d8ce] # to [b9920bb4788532a73cb93301787e4d0540cc3d56] # ============================================================ --- motor.c 500d9a9173fe983ae7c50cf5fac1d37efa96d8ce +++ motor.c b9920bb4788532a73cb93301787e4d0540cc3d56 @@ -4,6 +4,7 @@ #include "timer.h" #include "dcm.h" #include "uart.h" +#include "status.h" float integral[3] = {0.0f, 0.0f, 0.0f}; float last[3]; @@ -69,7 +70,7 @@ void motor_pid_update(float troll, float out[1] = pitch * Kp + integral[1] * Ki + derivative[1] * Kd; out[2] = yaw * Kp_y + integral[2] * Ki_y + derivative[2] * Kd_y; - if (armed) { + if (status_armed()) { /* Front right */ motor[0] = throttle + out[0] + out[1] + out[2]; /* Front left */ @@ -147,7 +148,7 @@ void motor_set_throttle(float t) { } void motor_set_throttle(float t) { - if (armed) + if (status_armed()) throttle = t; }