From ca21fc01eeb91b23f5842a936e87301409ecf8cb Mon Sep 17 00:00:00 2001
From: CaranchoEngineering
 <CaranchoEngineering@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Wed, 21 Jul 2010 08:03:26 +0000
Subject: [PATCH] changed transmitter pitch direction back to how Jose had it

git-svn-id: https://arducopter.googlecode.com/svn/trunk@49 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 Arducopter/Arducopter.pde | 24 ++++++++++++++++++++----
 Arducopter/DCM.pde        |  4 ++--
 2 files changed, 22 insertions(+), 6 deletions(-)

diff --git a/Arducopter/Arducopter.pde b/Arducopter/Arducopter.pde
index bbb88404fb..c00148c70f 100644
--- a/Arducopter/Arducopter.pde
+++ b/Arducopter/Arducopter.pde
@@ -22,6 +22,21 @@
 /*   GPS_UBLOX or GPS_NMEA: GPS library    [optional]                     */
 /* ********************************************************************** */
 
+/*
+**** Switch Functions *****
+AUX1 ON = Stable Mode
+AUX1 OFF = Acro Mode
+GEAR ON = GPS Hold
+GEAR OFF = Flight Assist (Stable Mode)
+
+**** LED Feedback ****
+Green LED On = APM Initialization Finished
+Yellow LED On = GPS Hold Mode
+Yellow LED Off = Flight Assist Mode (No GPS)
+Red LED On = GPS Fix
+Red LED Off = No GPS Fix
+*/
+
 #include <Wire.h>
 #include <APM_ADC.h>
 #include <APM_RC.h>
@@ -29,6 +44,7 @@
 #include <APM_Compass.h>
 // Put your GPS library here:
 #include <GPS_NMEA.h>  // MTK GPS
+//#include <GPS_UBLOX.h>
 
 // EEPROM storage for user configurable values
 #include <EEPROM.h>
@@ -586,7 +602,7 @@ void loop(){
       command_rx_roll = (ch_roll-CHANN_CENTER)/12.0;
       command_rx_roll_diff = command_rx_roll-command_rx_roll_old;
       command_rx_pitch_old = command_rx_pitch;
-      command_rx_pitch = (CHANN_CENTER-ch_pitch)/12.0;
+      command_rx_pitch = (ch_pitch-CHANN_CENTER)/12.0;
       command_rx_pitch_diff = command_rx_pitch-command_rx_pitch_old;
       aux_float = (ch_yaw-Neutro_yaw)/180.0;
       command_rx_yaw += aux_float;
@@ -655,9 +671,9 @@ void loop(){
       
       //Output GPS data
       //Serial.print(",");
-      //Serial.print(GPS.Lattitude);
-      //Serial.print(",");
-      //Serial.print(GPS.Longitude);
+      Serial.print(GPS.Lattitude);
+      Serial.print(",");
+      Serial.print(GPS.Longitude);
      
       // Write GPS data to DataFlash log
       Log_Write_GPS(GPS.Time, GPS.Lattitude,GPS.Longitude,GPS.Altitude, GPS.Ground_Speed, GPS.Ground_Course, GPS.Fix, GPS.NumSats);
diff --git a/Arducopter/DCM.pde b/Arducopter/DCM.pde
index cd73a922b5..2553badcc0 100644
--- a/Arducopter/DCM.pde
+++ b/Arducopter/DCM.pde
@@ -121,7 +121,7 @@ void Matrix_update(void)
   
   //Accel_adjust();//adjusting centrifugal acceleration. // Not used for quadcopter
   
- #if OUTPUTMODE==1
+ #if OUTPUTMODE==1 // corrected mode
   Update_Matrix[0][0]=0;
   Update_Matrix[0][1]=-G_Dt*Omega_Vector[2];//-z
   Update_Matrix[0][2]=G_Dt*Omega_Vector[1];//y
@@ -132,7 +132,7 @@ void Matrix_update(void)
   Update_Matrix[2][1]=G_Dt*Omega_Vector[0];//x
   Update_Matrix[2][2]=0;
   #endif
-  #if OUTPUTMODE==0
+  #if OUTPUTMODE==0 // uncorrected data of the gyros (with drift)
   Update_Matrix[0][0]=0;
   Update_Matrix[0][1]=-G_Dt*Gyro_Vector[2];//-z
   Update_Matrix[0][2]=G_Dt*Gyro_Vector[1];//y