Diff: rcCommandMonitor.h

Revision:

7:bc5822aa8878

Parent:

6:4c207e7b1203

Child:

9:7b194f83e567

--- a/rcCommandMonitor.h	Thu Jan 22 18:03:22 2015 +0000
+++ b/rcCommandMonitor.h	Tue Feb 10 20:55:44 2015 +0000
@@ -34,13 +34,13 @@
             i = 0;
             
             //Map yaw channel
-            _rcMappedCommands[0] = - _yawMedianFilter->process(Map(_rcCommands[3], RC_OUT_MIN, RC_OUT_MAX, RC_YAW_RATE_MIN, RC_YAW_RATE_MAX));
+            _rcMappedCommands[0] = - /*_yawMedianFilter->process(*/Map(_rcCommands[3], RC_OUT_MIN, RC_OUT_MAX, RC_YAW_RATE_MIN, RC_YAW_RATE_MAX);//);
         
             //Map thust channel
-            _rcMappedCommands[3] = _thrustMedianFilter->process(Map(_rcCommands[2], RC_OUT_MIN, RC_OUT_MAX, RC_THRUST_MIN, RC_THRUST_MAX));
+            _rcMappedCommands[3] = /*_thrustMedianFilter->process(*/Map(_rcCommands[2], RC_OUT_MIN, RC_OUT_MAX, RC_THRUST_MIN, RC_THRUST_MAX);//);
         
             //Map arm channel.
-            if(_rcCommands[4] > 0.5 && _initialised == true && _armed == false) Arm();
+            if(_rcCommands[4] > 0.5 && _armed == false) Arm();
             else if(_rcCommands[4] <= 0.5 && _armed == true)
             {
                 Disarm();
@@ -62,16 +62,16 @@
             if(_rate == false && _stab == true)//Stability mode
             {
                 //Roll
-                _rcMappedCommands[2] = _rollMedianFilter->process(Map(_rcCommands[0], RC_OUT_MIN, RC_OUT_MAX, RC_ROLL_ANGLE_MIN, RC_ROLL_ANGLE_MAX));
+                _rcMappedCommands[2] = /*_rollMedianFilter->process(*/Map(_rcCommands[0], RC_OUT_MIN, RC_OUT_MAX, RC_ROLL_ANGLE_MIN, RC_ROLL_ANGLE_MAX);//);
                 //Pitch
-                _rcMappedCommands[1] = _pitchMedianFilter->process(-Map(_rcCommands[1], RC_OUT_MIN, RC_OUT_MAX, RC_PITCH_ANGLE_MIN, RC_PITCH_ANGLE_MAX)); //Needs to be reverse
+                _rcMappedCommands[1] = /*_pitchMedianFilter->process(*/-Map(_rcCommands[1], RC_OUT_MIN, RC_OUT_MAX, RC_PITCH_ANGLE_MIN, RC_PITCH_ANGLE_MAX);//); //Needs to be reverse
             }
             else if(_rate == true && _stab == false)//Rate mode
             {
                 //Roll
-                _rcMappedCommands[2] = _rollMedianFilter->process(Map(_rcCommands[0], RC_OUT_MIN, RC_OUT_MAX, RC_ROLL_RATE_MIN, RC_ROLL_RATE_MAX));
+                _rcMappedCommands[2] = /*_rollMedianFilter->process(*/Map(_rcCommands[0], RC_OUT_MIN, RC_OUT_MAX, RC_ROLL_RATE_MIN, RC_ROLL_RATE_MAX);//);
                 //Pitch
-                _rcMappedCommands[1] = _pitchMedianFilter->process(-Map(_rcCommands[1], RC_OUT_MIN, RC_OUT_MAX, RC_PITCH_RATE_MIN, RC_PITCH_RATE_MAX)); //Needs to be reverse
+                _rcMappedCommands[1] = /*_pitchMedianFilter->process(*/-Map(_rcCommands[1], RC_OUT_MIN, RC_OUT_MAX, RC_PITCH_RATE_MIN, RC_PITCH_RATE_MAX);//); //Needs to be reverse
             }
             else
             {
@@ -91,7 +91,7 @@
             _rcMappedCommands[3] = -1;
             
             //If connection has been down for 10 loops then assume the connection really is lost
-            if(i > 10) Disarm();
+            if(i > 10 && _armed == true) Disarm();
         }
         Thread::wait(20);
     }