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@1:3a5a074b39e0, 2017-09-27 (annotated)

Committer:
edy05
Date:
Wed Sep 27 17:06:19 2017 +0000
Revision:
1:3a5a074b39e0
Parent:
0:5cefadfd5898
Child:
2:d172c9963f87
Stable release PpmRegen class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
edy05 0:5cefadfd5898 1 #include "mbed.h"
edy05 1:3a5a074b39e0 2 #include "PpmRegen.h"
edy05 0:5cefadfd5898 3 //#include "ultrasonic.h"
edy05 0:5cefadfd5898 4 //#include "MyPID.h"
edy05 0:5cefadfd5898 5
edy05 0:5cefadfd5898 6
edy05 0:5cefadfd5898 7 #define AUX1 4
edy05 0:5cefadfd5898 8 #define PIEZZO_START 0.1
edy05 0:5cefadfd5898 9 #define PIEZZO_STOP 0.0
edy05 0:5cefadfd5898 10 #define PPMOUT_CHANNELS 6
edy05 0:5cefadfd5898 11 #define PPMIN_CHANNELS 8
edy05 1:3a5a074b39e0 12 #define PPMIN_FILTERS 5
edy05 0:5cefadfd5898 13
edy05 1:3a5a074b39e0 14 #define ROLL 0
edy05 1:3a5a074b39e0 15 #define PITCH 1
edy05 1:3a5a074b39e0 16 #define YAW 2
edy05 1:3a5a074b39e0 17 #define THROTTLE 3
edy05 1:3a5a074b39e0 18
edy05 1:3a5a074b39e0 19 //PPM SETTINGS
edy05 1:3a5a074b39e0 20 PpmRegen ppmRegen(p28, p21, p22, p23, p24, p25, p26);
edy05 0:5cefadfd5898 21 Serial pc(USBTX, USBRX); // tx, rx
edy05 0:5cefadfd5898 22
edy05 0:5cefadfd5898 23 uint16_t ppmInChannelsValue[PPMIN_CHANNELS];
edy05 0:5cefadfd5898 24
edy05 0:5cefadfd5898 25 //FUNCTIONS
edy05 0:5cefadfd5898 26 void print_ppmIn(void);
edy05 0:5cefadfd5898 27
edy05 0:5cefadfd5898 28 int main(){
edy05 1:3a5a074b39e0 29 //PPMIN SETTINGS
edy05 1:3a5a074b39e0 30 /*
edy05 1:3a5a074b39e0 31 NVIC_SetPriority(TIMER0_IRQn, 0);
edy05 1:3a5a074b39e0 32 NVIC_SetPriority(TIMER1_IRQn, 1);
edy05 1:3a5a074b39e0 33 NVIC_SetPriority(TIMER2_IRQn, 2);
edy05 1:3a5a074b39e0 34 NVIC_SetPriority(TIMER3_IRQn, 3);
edy05 1:3a5a074b39e0 35 */
edy05 1:3a5a074b39e0 36
edy05 0:5cefadfd5898 37 while(1){
edy05 1:3a5a074b39e0 38 //print_ppmIn();
edy05 1:3a5a074b39e0 39 //print_ppmOut();
edy05 0:5cefadfd5898 40
edy05 0:5cefadfd5898 41 }
edy05 0:5cefadfd5898 42
edy05 0:5cefadfd5898 43 }
edy05 0:5cefadfd5898 44
edy05 0:5cefadfd5898 45 void print_ppmIn(){
edy05 1:3a5a074b39e0 46 ppmRegen.getAllChannels(ppmInChannelsValue);
edy05 0:5cefadfd5898 47 for(uint8_t channel= 0; channel < PPMIN_CHANNELS; channel++){
edy05 0:5cefadfd5898 48 pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
edy05 0:5cefadfd5898 49 }
edy05 0:5cefadfd5898 50 pc.printf("\n\r");
edy05 0:5cefadfd5898 51 }