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@40:0aa1cefe80ab, 2018-05-15 (annotated)

Committer:
edy05
Date:
Tue May 15 10:34:35 2018 +0000
Branch:
DistanceRegulation
Revision:
40:0aa1cefe80ab
Parent:
39:93d8aa47f4ce
Child:
41:5fe200d20022
some updates; sonics added

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 34:5dca557e982f 8 #include "front_sensor.h"
edy05 2:d172c9963f87 9 #include "PID.h"
edy05 8:b5128641d4cf 10 #include "ConfigFile.h"
edy05 0:5cefadfd5898 11
edy05 8:b5128641d4cf 12 //TEMP
edy05 11:002927b2675d 13
edy05 0:5cefadfd5898 14
edy05 2:d172c9963f87 15 //VARIABLES
edy05 2:d172c9963f87 16 uint16_t ppmInChannelsValue[CHANNELS];
edy05 2:d172c9963f87 17 volatile uint16_t distance = 0;
edy05 0:5cefadfd5898 18
edy05 0:5cefadfd5898 19 //FUNCTIONS
edy05 0:5cefadfd5898 20 void print_ppmIn(void);
edy05 0:5cefadfd5898 21
edy05 26:11539036f0fb 22 //RtosTimer distanceRegulation(distanceRegulationTask, osTimerPeriodic, (void *)0);
edy05 26:11539036f0fb 23
edy05 0:5cefadfd5898 24 int main(){
edy05 2:d172c9963f87 25
edy05 25:69190c222dbf 26 pc.baud(115200);
edy05 25:69190c222dbf 27
edy05 3:6c9f80f5e865 28 // INITIALIZE CLASSES
edy05 2:d172c9963f87 29 _ppmRegen = new PpmRegen(_interruptPort);
edy05 36:ed8b7b7b6cfa 30 float rate = (1.0 / FLIGHT_CONTROLLER_FREQUENCY);
edy05 36:ed8b7b7b6cfa 31 _groundDistance = new PID(0, 0, 0, rate);
edy05 1:3a5a074b39e0 32
edy05 31:5f1737e480f3 33 //setup PID
edy05 31:5f1737e480f3 34 loadConfigFile();
edy05 32:c729e6da7f9a 35 _newP = _P;
edy05 32:c729e6da7f9a 36 _newI = _I;
edy05 32:c729e6da7f9a 37 _newD = _D;
edy05 39:93d8aa47f4ce 38 _newGroundSetPoint = _groundSetPoint;
edy05 31:5f1737e480f3 39 // to show values in web browser after first load
edy05 31:5f1737e480f3 40 _groundDistance->setInputLimits(0, 300);
edy05 31:5f1737e480f3 41 _groundDistance->setMode(AUTO_MODE);
edy05 31:5f1737e480f3 42 _groundDistance->setTunings(_P, _I, _D);
edy05 31:5f1737e480f3 43 _groundDistance->setOutputLimits(_groundPidMinOutput, _groundPidMaxOutput);
edy05 31:5f1737e480f3 44 _groundDistance->setBias(_bias);
edy05 31:5f1737e480f3 45
edy05 3:6c9f80f5e865 46 // STARTING THREADS
edy05 33:a2f9fea05cb9 47 pc.printf("starting distance thread \n\r");
edy05 27:5956d5e3ff63 48 _distanceThread = new Thread(distanceRegulationThread);
edy05 27:5956d5e3ff63 49 _distanceThread->set_priority(osPriorityRealtime);
edy05 34:5dca557e982f 50
edy05 34:5dca557e982f 51 //_sonic = new HCSR04(p7, p8, p5, p6);
edy05 40:0aa1cefe80ab 52 _sonic = new HCSR04(p5, p6);
edy05 40:0aa1cefe80ab 53
edy05 40:0aa1cefe80ab 54 //_frontSensorThread.start(front_sensor);
edy05 40:0aa1cefe80ab 55 //_frontSensorThread.set_priority(osPriorityHigh);
edy05 40:0aa1cefe80ab 56
edy05 40:0aa1cefe80ab 57 //_leftSensorThread.start(left_sensor);
edy05 40:0aa1cefe80ab 58 //_leftSensorThread.set_priority(osPriorityHigh);
edy05 34:5dca557e982f 59
edy05 40:0aa1cefe80ab 60 _leftSensorThread.start(callback(semaphore_thread, (void *)"leftSensor"));
edy05 40:0aa1cefe80ab 61 _frontSensorThread.start(callback(semaphore_thread, (void *)"frontSensor"));
edy05 40:0aa1cefe80ab 62 _rightSensorThread.start(callback(semaphore_thread, (void *)"rightSensor"));
edy05 40:0aa1cefe80ab 63 _backSensorThread.start(callback(semaphore_thread, (void *)"backSensor"));
edy05 40:0aa1cefe80ab 64 _frontSensorThread.set_priority(osPriorityHigh);
edy05 40:0aa1cefe80ab 65 _leftSensorThread.set_priority(osPriorityHigh);
edy05 40:0aa1cefe80ab 66 _rightSensorThread.set_priority(osPriorityHigh);
edy05 40:0aa1cefe80ab 67 _backSensorThread.set_priority(osPriorityHigh);
edy05 40:0aa1cefe80ab 68
edy05 40:0aa1cefe80ab 69
edy05 34:5dca557e982f 70
edy05 34:5dca557e982f 71
edy05 34:5dca557e982f 72 pc.printf("starting server thread \n\r");
edy05 34:5dca557e982f 73 _serverThread.start(serverRun);
edy05 34:5dca557e982f 74 _serverThread.set_priority(osPriorityHigh);
edy05 34:5dca557e982f 75
edy05 26:11539036f0fb 76 //distanceRegulation.start(2);
edy05 27:5956d5e3ff63 77 //_distanceThread.start(distanceRegulationTask);
edy05 2:d172c9963f87 78
edy05 26:11539036f0fb 79 //wait(1);
edy05 3:6c9f80f5e865 80
edy05 0:5cefadfd5898 81 while(1){
edy05 3:6c9f80f5e865 82 Thread::wait(osWaitForever);
edy05 0:5cefadfd5898 83 }
edy05 0:5cefadfd5898 84
edy05 0:5cefadfd5898 85 }
edy05 0:5cefadfd5898 86
edy05 2:d172c9963f87 87
edy05 0:5cefadfd5898 88 void print_ppmIn(){
edy05 2:d172c9963f87 89 _ppmRegen->getAllChannels(ppmInChannelsValue);
edy05 2:d172c9963f87 90 for(uint8_t channel= 0; channel < CHANNELS; channel++){
edy05 0:5cefadfd5898 91 pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
edy05 0:5cefadfd5898 92 }
edy05 0:5cefadfd5898 93 pc.printf("\n\r");
edy05 0:5cefadfd5898 94 }