File content as of revision 3:64b5ea1e088f:

#include "mbed.h"
#include "Servo.h"
#include "PwmIn.h"

//Initialize left and right servos
Servo back_servo(p23);
Servo front_servo(p24);



//Pins for Thruster Power
Servo front_thrust(p25);
Servo back_thrust(p26);


//Initialize receiver pins
PwmIn thro(p17);
PwmIn elev(p15);
PwmIn gear(p13);
PwmIn aile(p14);
PwmIn rudd(p16);

//Set all PWM values to a defaalt of 0
float throttle_output = 0.0;
float elevation_output = 0.0;
float ESTOP_output = 0.0;
float rudder_output = 0.0;
float aileron_output = 0.0;


int main() {
    
    //Calibration Sequence
    back_servo = 0.0;
    front_servo = 0.0;
    back_thrust = 0.0;
    front_thrust = 0.0;
    wait(0.5); //ESC detects signal
    //Required ESC Calibration/Arming sequence  
    //sends longest and shortest PWM pulse to learn and arm at power on
    back_servo = 1.0;
    front_servo = 1.0;
    back_thrust = 1.0;
    front_thrust = 1.0;
    wait(0.1);
    back_servo = 0.0;
    front_servo = 0.0;
    back_thrust = 0.0;
    front_thrust = 0.0;
    wait(0.5);
    //End calibration sequence
    
    
    while(1) {
        
        //Enable Servo to turn 180 degrees
        back_servo.calibrate(0.00085,90.0);
        front_servo.calibrate(0.00085,90.0);
        
        
        //Read in all PWM signals and set them to a value between 0 and 1
        elevation_output = (elev.pulsewidth()*1000)-1;
        throttle_output = (thro.pulsewidth()*1000)-1;
        rudder_output = (rudd.pulsewidth()*1000)-1;
        aileron_output = (aile.pulsewidth()*1000)-1;
        
        //ESTOP PWM
        ESTOP_output = (gear.pulsewidth()*1000)-1;  // >.5 run... <.5 STOP
        

        if(ESTOP_output > 0.5)
            {   
                
                //Servo Controllers
                back_servo = aileron_output;
                front_servo = rudder_output;
                
                //Thrust Controllers
                back_thrust = throttle_output - 0.04;
                front_thrust = elevation_output - 0.04;
            }
        else
            {
                front_thrust = 0.46;
                back_thrust = 0.46;
            }

        wait(0.1);
        
        printf("\t\t:PWM: %4.2f\t", elevation_output); 
        printf(" \r\n");        
        }
}