Quadcopterv2 - This is for ICRS\' second generation Quadcopter

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This is for ICRS\' second generation Quadcopter

System.h@0:0bbf2f16da9c, 2011-11-18 (annotated)

User	Revision	Line number	New contents of line
madcowswe	0:0bbf2f16da9c	1
madcowswe	0:0bbf2f16da9c	2	//General system functions
madcowswe	0:0bbf2f16da9c	3
madcowswe	0:0bbf2f16da9c	4	#include <string>
madcowswe	0:0bbf2f16da9c	5
madcowswe	0:0bbf2f16da9c	6	//
madcowswe	0:0bbf2f16da9c	7	void kill(string reason = "Killed for no reason!") {
madcowswe	0:0bbf2f16da9c	8	PWMleft = NOPOWER - 0.004;
madcowswe	0:0bbf2f16da9c	9	PWMright = NOPOWER - 0.004;
madcowswe	0:0bbf2f16da9c	10	PWMfront = NOPOWER - 0.004;
madcowswe	0:0bbf2f16da9c	11	PWMrear = NOPOWER - 0.004;
madcowswe	0:0bbf2f16da9c	12	//TODO: send this over RF as well..
madcowswe	0:0bbf2f16da9c	13	pc.printf("%s\r\n", reason.c_str());
madcowswe	0:0bbf2f16da9c	14	/*wait(0.5);
madcowswe	0:0bbf2f16da9c	15	left = 0;
madcowswe	0:0bbf2f16da9c	16	right = 0;
madcowswe	0:0bbf2f16da9c	17	front = 0;
madcowswe	0:0bbf2f16da9c	18	rear = 0;
madcowswe	0:0bbf2f16da9c	19	*/
madcowswe	0:0bbf2f16da9c	20	while (1);
madcowswe	0:0bbf2f16da9c	21	}
madcowswe	0:0bbf2f16da9c	22
madcowswe	0:0bbf2f16da9c	23	//
madcowswe	0:0bbf2f16da9c	24	void wdt() {
madcowswe	0:0bbf2f16da9c	25	if (!loopalive)
madcowswe	0:0bbf2f16da9c	26	kill("Killed by WDT: loop has stalled");
madcowswe	0:0bbf2f16da9c	27	if (!commandsalive)
madcowswe	0:0bbf2f16da9c	28	kill("Killed by WDT: command starvation");
madcowswe	0:0bbf2f16da9c	29
madcowswe	0:0bbf2f16da9c	30	loopalive = 0;
madcowswe	0:0bbf2f16da9c	31	commandsalive = 0;
madcowswe	0:0bbf2f16da9c	32	}