From 16ae08dafdd8e7e2324514ae6765cac5dd185cf3 Mon Sep 17 00:00:00 2001
From: franchioping <franchioping@galard.uk>
Date: Sun, 19 Apr 2026 21:49:24 +0100
Subject: [PATCH] remove print that crashes when usb is not plugged in for some
 fucking reason

---
 main/drone.cpp |  2 +-
 main/drone.h   |  4 ++--
 main/main.cpp  | 20 +++++++++++---------
 3 files changed, 14 insertions(+), 12 deletions(-)

diff --git a/main/drone.cpp b/main/drone.cpp
index 7db37ad..1449de7 100644
--- a/main/drone.cpp
+++ b/main/drone.cpp
@@ -129,7 +129,7 @@ void motor_throttles_task(void *params) {
       if (atomic_load(&killswitch_active)) {
         throttle = 0.0;
       }
-      motors[i]->sendThrottlePercent(throttle);
+      motors[i]->sendThrottlePercent(5.0);
     }
     vTaskDelay(2);
   }
diff --git a/main/drone.h b/main/drone.h
index 19cfc60..af1ed61 100644
--- a/main/drone.h
+++ b/main/drone.h
@@ -171,10 +171,10 @@ struct drone_cont_state {
                                       .yaw_input = cont_input.lx,
                                       .pitch_input = cont_input.ry},
                          .acceleration = {0.0, 0.0, 0.0},
-                         .rotation = {0.0, 0.0, 0.0},
+                         .rotation = {1.0, 0.0, 0.0},
                          .velocity = {0.0, 0.0, 0.0},
                          .position = {0.0, 0.0, 0.0},
-                         .mode = dcont::ModeInput::Acro});
+                         .mode = dcont::ModeInput::Rotation});
       } else {
         drone_cont_stabilize();
       }
diff --git a/main/main.cpp b/main/main.cpp
index c9f0b96..355bf0d 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -49,15 +49,6 @@ extern "C" void app_main(void) {
 
   xTaskCreatePinnedToCore(gps_poll_task, "gps_poll", 8192, NULL, 5, NULL, 0);
 
-  xTaskCreatePinnedToCore(drone_controller_task,   // Function name
-                          "drone_controller_task", // Name for debugging
-                          1024 * 32,               // Stack size in bytes
-                          NULL,                    // Parameters
-                          20,   // Priority (higher = more urgent)
-                          NULL, // Task handle
-                          1     // Core ID
-  );
-
   xTaskCreatePinnedToCore(motor_throttles_task,   // Function name
                           "motor_throttles_task", // Name for debugging
                           1024 * 4,               // Stack size in bytes
@@ -67,6 +58,17 @@ extern "C" void app_main(void) {
                           1     // Core ID
   );
 
+  vTaskDelay(2);
+
+  xTaskCreatePinnedToCore(drone_controller_task,   // Function name
+                          "drone_controller_task", // Name for debugging
+                          1024 * 32,               // Stack size in bytes
+                          NULL,                    // Parameters
+                          20,   // Priority (higher = more urgent)
+                          NULL, // Task handle
+                          0     // Core ID
+  );
+
   // vTaskDelay(5000);
   // for (int i = 0; i < 4; i++) {
   //   motor_throttles[i] = 10.0;