From 27fc11183cdb88b692bb477c49bb4ed941ded25b Mon Sep 17 00:00:00 2001 From: jasonshort Date: Thu, 10 Feb 2011 07:11:55 +0000 Subject: [PATCH] debug code updated git-svn-id: https://arducopter.googlecode.com/svn/trunk@1624 f9c3cf11-9bcb-44bc-f272-b75c42450872 --- ArduCopterMega/motors.pde | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/ArduCopterMega/motors.pde b/ArduCopterMega/motors.pde index c3d69f2c76..89203d243b 100644 --- a/ArduCopterMega/motors.pde +++ b/ArduCopterMega/motors.pde @@ -182,8 +182,8 @@ set_servos_4() write_int(motor_out[CH_3]); write_int(motor_out[CH_4]); - write_int((int)(dcm.roll_sensor / 100)); - write_int((int)(dcm.pitch_sensor / 100)); + write_int((int)(cos_yaw_x * 100)); + write_int((int)(sin_yaw_y * 100)); write_int((int)(dcm.yaw_sensor / 100)); write_int((int)(nav_yaw / 100)); @@ -192,9 +192,14 @@ set_servos_4() write_int((int)nav_roll); write_int((int)nav_pitch); + //24 + write_long(home.lat); //28 + write_long(home.lng); //32 + write_int((int)home.alt); //34 - write_int((int)current_loc.alt); - write_int((int)altitude_error); + write_long(next_WP.lat); + write_long(next_WP.lng); + write_int((int)next_WP.alt); //44 flush(10); //*/