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

distanceRegulation.h@13:33024b5880b3, 2017-10-27 (annotated)

Committer:
edy05
Date:
Fri Oct 27 10:47:12 2017 +0000
Revision:
13:33024b5880b3
Parent:
3:6c9f80f5e865
Child:
16:9490bb68e1fb
merge

Who changed what in which revision?

UserRevisionLine numberNew contents of line
edy05 2:d172c9963f87 1 #include "mbed.h"
edy05 2:d172c9963f87 2 #include "rtos.h"
edy05 2:d172c9963f87 3 #include "hardware.h"
edy05 2:d172c9963f87 4 #include "definitions.h"
edy05 2:d172c9963f87 5
edy05 2:d172c9963f87 6 void distanceRegulationThread(){
edy05 2:d172c9963f87 7 uint16_t channels[CHANNELS];
edy05 2:d172c9963f87 8 int distance=0;
edy05 2:d172c9963f87 9 float groundDistancePidValue;
edy05 2:d172c9963f87 10 int newThrottleValue;
edy05 2:d172c9963f87 11
edy05 2:d172c9963f87 12 //setup PID
edy05 2:d172c9963f87 13 _groundDistance->setInputLimits(0, 500);
edy05 2:d172c9963f87 14 _groundDistance->setOutputLimits(-100, 100);
edy05 2:d172c9963f87 15 _groundDistance->setMode(AUTO_MODE);
edy05 2:d172c9963f87 16 _groundDistance->setSetPoint(0.0);
edy05 2:d172c9963f87 17 _groundDistance->setBias(0);
edy05 13:33024b5880b3 18 _groundDistance->setTunings(_P, _I, _D);
edy05 2:d172c9963f87 19
edy05 2:d172c9963f87 20 while(1){
edy05 2:d172c9963f87 21
edy05 2:d172c9963f87 22 _ppmRegen->getAllChannels(channels);
edy05 2:d172c9963f87 23 distance = _sonic->getDistan();
edy05 2:d172c9963f87 24
edy05 2:d172c9963f87 25 //calculate PID for given channel
edy05 13:33024b5880b3 26 if(pidChanged){
edy05 13:33024b5880b3 27 pidChanged = false;
edy05 13:33024b5880b3 28 pc.printf("PID tunings changed \n\r");
edy05 13:33024b5880b3 29 _groundDistance->setTunings(_P, _I, _D);
edy05 13:33024b5880b3 30 }
edy05 2:d172c9963f87 31 _groundDistance->setProcessValue(distance);
edy05 2:d172c9963f87 32 _groundDistance->setSetPoint(30);
edy05 2:d172c9963f87 33 groundDistancePidValue = _groundDistance->compute();
edy05 13:33024b5880b3 34
edy05 2:d172c9963f87 35 //Update PWM values
edy05 2:d172c9963f87 36 newThrottleValue = channels[THROTTLE] + groundDistancePidValue;
edy05 2:d172c9963f87 37
edy05 2:d172c9963f87 38 pc.printf("Sonic distance: %d \n\r", distance);
edy05 2:d172c9963f87 39 pc.printf("channel throttle pid value: %f \n\r", groundDistancePidValue);
edy05 2:d172c9963f87 40 pc.printf("channel throttle original value: %d \n\r", channels[THROTTLE]);
edy05 2:d172c9963f87 41 pc.printf("channel throttle final value: %d \n\r", newThrottleValue);
edy05 2:d172c9963f87 42
edy05 2:d172c9963f87 43 // Generate PWM
edy05 2:d172c9963f87 44 _roll->pulsewidth_us( channels[ROLL]);
edy05 2:d172c9963f87 45 _pitch->pulsewidth_us( channels[PITCH]);
edy05 2:d172c9963f87 46 _yaw->pulsewidth_us( channels[YAW]);
edy05 2:d172c9963f87 47 _throttle->pulsewidth_us(channels[THROTTLE]);
edy05 2:d172c9963f87 48 _aux1->pulsewidth_us( channels[AUX1]);
edy05 2:d172c9963f87 49 _aux2->pulsewidth_us( channels[AUX2]);
edy05 2:d172c9963f87 50
edy05 2:d172c9963f87 51 Thread::wait(500);
edy05 2:d172c9963f87 52
edy05 2:d172c9963f87 53
edy05 2:d172c9963f87 54 }
edy05 2:d172c9963f87 55
edy05 2:d172c9963f87 56 }