Eduard Medla / Mbed 2 deprecated Autonomous_quadcopter

Regenerating PPM signal based on distances from ultrasonic sensors, ESP8266 for connectin via wifi. Autonomous quadcopter behaviour, autonomou height holding. Flying direction based on front and back ultrasonic sensors.

Dependencies:   ConfigFile HCSR04 PID PPM2 mbed-rtos mbed

main.cpp@11:002927b2675d, 2017-10-27 (annotated)

Committer:
edy05
Date:
Fri Oct 27 10:30:06 2017 +0000
Revision:
11:002927b2675d
Parent:
9:86a5af9935b1
Child:
12:18b31682dfe9
Child:
25:69190c222dbf
Updated mbed, added function for writint errorLogs - not tested

Who changed what in which revision?

UserRevisionLine numberNew contents of line
edy05 0:5cefadfd5898 1 #include "mbed.h"
edy05 2:d172c9963f87 2 #include "rtos.h"
edy05 2:d172c9963f87 3 #include "hardware.h"
edy05 2:d172c9963f87 4 #include "Server.h"
edy05 1:3a5a074b39e0 5 #include "PpmRegen.h"
edy05 2:d172c9963f87 6 #include "distanceRegulation.h"
edy05 2:d172c9963f87 7 #include "hcsr04.h"
edy05 2:d172c9963f87 8 #include "PID.h"
edy05 8:b5128641d4cf 9 #include "ConfigFile.h"
edy05 0:5cefadfd5898 10
edy05 8:b5128641d4cf 11 //TEMP
edy05 11:002927b2675d 12
edy05 0:5cefadfd5898 13
edy05 2:d172c9963f87 14 //VARIABLES
edy05 2:d172c9963f87 15 uint16_t ppmInChannelsValue[CHANNELS];
edy05 2:d172c9963f87 16 volatile uint16_t distance = 0;
edy05 0:5cefadfd5898 17
edy05 0:5cefadfd5898 18 //FUNCTIONS
edy05 0:5cefadfd5898 19 void print_ppmIn(void);
edy05 0:5cefadfd5898 20
edy05 0:5cefadfd5898 21 int main(){
edy05 2:d172c9963f87 22
edy05 3:6c9f80f5e865 23 // INITIALIZE CLASSES
edy05 2:d172c9963f87 24 _ppmRegen = new PpmRegen(_interruptPort);
edy05 2:d172c9963f87 25 _sonic = new HCSR04(p29, p30);
edy05 2:d172c9963f87 26 _groundDistance = new PID(10, 0, 0, 2);
edy05 1:3a5a074b39e0 27
edy05 3:6c9f80f5e865 28 // STARTING THREADS
edy05 2:d172c9963f87 29 serverThread.start(serverRun);
edy05 2:d172c9963f87 30 distanceThread.start(distanceRegulationThread);
edy05 2:d172c9963f87 31
edy05 2:d172c9963f87 32 wait(1);
edy05 3:6c9f80f5e865 33
edy05 0:5cefadfd5898 34 while(1){
edy05 3:6c9f80f5e865 35 Thread::wait(osWaitForever);
edy05 0:5cefadfd5898 36 }
edy05 0:5cefadfd5898 37
edy05 0:5cefadfd5898 38 }
edy05 0:5cefadfd5898 39
edy05 2:d172c9963f87 40
edy05 0:5cefadfd5898 41 void print_ppmIn(){
edy05 2:d172c9963f87 42 _ppmRegen->getAllChannels(ppmInChannelsValue);
edy05 2:d172c9963f87 43 for(uint8_t channel= 0; channel < CHANNELS; channel++){
edy05 0:5cefadfd5898 44 pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
edy05 0:5cefadfd5898 45 }
edy05 0:5cefadfd5898 46 pc.printf("\n\r");
edy05 0:5cefadfd5898 47 }