File content as of revision 1:d8c9f6b16279:

#define PI 3.141592653589793
#include "mbed.h"
#define _MBED_
#include "LinearCharacteristics.h"
#include "UAV.h"
#include "RCin.h"
#include "define_constants.h"
#include "PID_Cntrl.h"
#include "IIR_filter.h"
#include "data_structs.h"
#include "Signal.h"
#include "RangeFinder.h"
#include "AHRS.h"
#include "TFMini_i2c.h"
#include "data_structs.h"
#include "Controller_Loops.h"
#include "QK_StateMachine.h"
#include "Data_Logger.h"
#include "Read_Xtern_Sensors.h"


// ----------------------------------------------------------------------------
// ----------------------------------------------------------------------------
// define IOs
Serial pc(SERIAL_TX, SERIAL_RX,115200);        // serial connection via USB - programmer
PwmOut motor_pwms[4] = {PC_6,PC_8,PB_14,PB_9};
// ----------------------------------------------------------------------------
RCin myRC(PB_6);                // read PWM of RC (Graupner Hott)
// ----------------------------------------------------------------------------
// PX4 Optical flow (OF), use same i2c like imu
I2C i2c(PC_9, PA_8);
PX4Flow optical_flow(i2c);
TFMini_i2c tfmini(&i2c,0x10);

// -----------------------------------------------------------------------------
// Timers
Timer global_timer;             // in main loop
// -----------------------------------------------------------------------------
// The copter!
UAV copter(QUAD2,AIRGEAR350);   // Copter and Motor definition
// -----------------------------------------------------------------------------
DATA_Xchange data;
// -----------------------------------------------------------------------------
// sample rates
float Ts200 = 0.005f;
float Ts100 = 0.01f;
float Ts50 = 0.02f;
float Ts25 = 0.04f;
// -----------------------------------
float TsCntrl = Ts200;
// -----------------------------------
// some values needed
float dt;               // time elapsed in current state
// ------  THREADS  ---  THREADS  ---  THREADS  ---  THREADS  ---  THREADS  ---  
Controller_Loops controller(TsCntrl,4,4,true);  // run ahrs within the controller Thread
                                                // controllers are not properly initialized at this point (esp limits)!!!
//AHRS ahrs(1,Ts100,true);
Read_Xtern_Sensors xternal_sens(Ts50);          // read external sensors (OF, Lidar etc.
QK_StateMachine main_statemachine(Ts50);        // the main state machine
Data_Logger my_datalogger(22,Ts50);             // the data logger
// -----------------------------------------------------------------------------
//          MAIN     MAIN     MAIN     MAIN     MAIN     MAIN     MAIN     MAIN 
// -----------------------------------------------------------------------------
int main() {
    i2c.frequency(400000);
    copter.calc_copter();                       // calc the copter (length, etc)
    controller.set_controller_limits(copter);   // finalize init function for controllers
    wait(.1);
    for(uint8_t k=0;k < copter.nb_motors;k++)
        motor_pwms[k].period_ms(5);
    wait(0.1);
    myRC.map_Channels();
    wait(0.01);
    global_timer.reset();
    global_timer.start();
    wait(.1);
    while(!myRC.isAlive) 
        {
        wait(.5);
        pc.printf("Failed to receive RC - signal!\r\n");
        }
    pc.printf("RC - signal is on!\r\n");
    wait(.5);
    // start main threads:
    controller.init_loop();
    wait(0.1);
    controller.start_loop();
    wait(0.1);
    xternal_sens.start_loop();
    wait(0.1);
    main_statemachine.start_loop();
    wait(0.1);
    my_datalogger.start_logging();
    //ahrs.start_loop();
    wait(0.1);
    while(1)
        wait(1);
            
}