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

Committer:
edy05
Date:
Sun Nov 26 17:27:39 2017 +0000
Branch:
DistanceRegulation
Revision:
25:69190c222dbf
Parent:
11:002927b2675d
Child:
26:11539036f0fb
Server fix, Server added pid Limits, bias

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 25:69190c222dbf 23 pc.baud(115200);
edy05 25:69190c222dbf 24
edy05 3:6c9f80f5e865 25 // INITIALIZE CLASSES
edy05 2:d172c9963f87 26 _ppmRegen = new PpmRegen(_interruptPort);
edy05 2:d172c9963f87 27 _sonic = new HCSR04(p29, p30);
edy05 25:69190c222dbf 28 _groundDistance = new PID(0, 0, 0, 10);
edy05 1:3a5a074b39e0 29
edy05 3:6c9f80f5e865 30 // STARTING THREADS
edy05 2:d172c9963f87 31 serverThread.start(serverRun);
edy05 2:d172c9963f87 32 distanceThread.start(distanceRegulationThread);
edy05 2:d172c9963f87 33
edy05 2:d172c9963f87 34 wait(1);
edy05 3:6c9f80f5e865 35
edy05 0:5cefadfd5898 36 while(1){
edy05 3:6c9f80f5e865 37 Thread::wait(osWaitForever);
edy05 0:5cefadfd5898 38 }
edy05 0:5cefadfd5898 39
edy05 0:5cefadfd5898 40 }
edy05 0:5cefadfd5898 41
edy05 2:d172c9963f87 42
edy05 0:5cefadfd5898 43 void print_ppmIn(){
edy05 2:d172c9963f87 44 _ppmRegen->getAllChannels(ppmInChannelsValue);
edy05 2:d172c9963f87 45 for(uint8_t channel= 0; channel < CHANNELS; channel++){
edy05 0:5cefadfd5898 46 pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
edy05 0:5cefadfd5898 47 }
edy05 0:5cefadfd5898 48 pc.printf("\n\r");
edy05 0:5cefadfd5898 49 }