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@30:4d1b3926a3cc, 2018-01-21 (annotated)

Committer:
edy05
Date:
Sun Jan 21 17:58:41 2018 +0000
Branch:
DistanceRegulation
Revision:
30:4d1b3926a3cc
Parent:
27:5956d5e3ff63 
Added pressure sensor ms5611 - not working - too slow

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 30:4d1b3926a3cc 6 //#include "distanceRegulation.h"
edy05 30:4d1b3926a3cc 7 #include "altitudeRegulation.h"
edy05 30:4d1b3926a3cc 8 #include "ms5611Thread.h"
edy05 2:d172c9963f87 9 #include "hcsr04.h"
edy05 2:d172c9963f87 10 #include "PID.h"
edy05 8:b5128641d4cf 11 #include "ConfigFile.h"
edy05 30:4d1b3926a3cc 12 #include "ms5611.h"
edy05 0:5cefadfd5898 13
edy05 8:b5128641d4cf 14 //TEMP
edy05 11:002927b2675d 15
edy05 0:5cefadfd5898 16
edy05 2:d172c9963f87 17 //VARIABLES
edy05 2:d172c9963f87 18 uint16_t ppmInChannelsValue[CHANNELS];
edy05 2:d172c9963f87 19 volatile uint16_t distance = 0;
edy05 0:5cefadfd5898 20
edy05 0:5cefadfd5898 21 //FUNCTIONS
edy05 0:5cefadfd5898 22 void print_ppmIn(void);
edy05 0:5cefadfd5898 23
edy05 26:11539036f0fb 24 //RtosTimer distanceRegulation(distanceRegulationTask, osTimerPeriodic, (void *)0);
edy05 30:4d1b3926a3cc 25 float currentAltitude = 0.0;
edy05 26:11539036f0fb 26
edy05 0:5cefadfd5898 27 int main(){
edy05 25:69190c222dbf 28 pc.baud(115200);
edy05 25:69190c222dbf 29
edy05 3:6c9f80f5e865 30 // INITIALIZE CLASSES
edy05 2:d172c9963f87 31 _ppmRegen = new PpmRegen(_interruptPort);
edy05 30:4d1b3926a3cc 32 //_sonic = new HCSR04(p29, p30);
edy05 27:5956d5e3ff63 33 _groundDistance = new PID(0, 0, 0, 0.005);
edy05 1:3a5a074b39e0 34
edy05 3:6c9f80f5e865 35 // STARTING THREADS
edy05 2:d172c9963f87 36 serverThread.start(serverRun);
edy05 27:5956d5e3ff63 37 serverThread.set_priority(osPriorityLow);
edy05 30:4d1b3926a3cc 38 //_distanceThread = new Thread(distanceRegulationThread);
edy05 30:4d1b3926a3cc 39 //_distanceThread->set_priority(osPriorityRealtime);
edy05 2:d172c9963f87 40
edy05 30:4d1b3926a3cc 41 ms.cmd_reset();
edy05 30:4d1b3926a3cc 42 _ms5611Thread = new Thread(ms5611Thread);
edy05 30:4d1b3926a3cc 43 _ms5611Thread->set_priority(osPriorityHigh);
edy05 30:4d1b3926a3cc 44
edy05 30:4d1b3926a3cc 45 _altitudeThread = new Thread(altitudeRegulationThread);
edy05 30:4d1b3926a3cc 46 _altitudeThread->set_priority(osPriorityRealtime);
edy05 30:4d1b3926a3cc 47
edy05 3:6c9f80f5e865 48
edy05 0:5cefadfd5898 49 while(1){
edy05 30:4d1b3926a3cc 50
edy05 3:6c9f80f5e865 51 Thread::wait(osWaitForever);
edy05 0:5cefadfd5898 52 }
edy05 0:5cefadfd5898 53
edy05 0:5cefadfd5898 54 }
edy05 0:5cefadfd5898 55
edy05 2:d172c9963f87 56
edy05 0:5cefadfd5898 57 void print_ppmIn(){
edy05 2:d172c9963f87 58 _ppmRegen->getAllChannels(ppmInChannelsValue);
edy05 2:d172c9963f87 59 for(uint8_t channel= 0; channel < CHANNELS; channel++){
edy05 0:5cefadfd5898 60 pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
edy05 0:5cefadfd5898 61 }
edy05 0:5cefadfd5898 62 pc.printf("\n\r");
edy05 0:5cefadfd5898 63 }