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@4:c909ed06dc1f, 2017-10-26 (annotated)

Committer:
edy05
Date:
Thu Oct 26 16:10:36 2017 +0000
Revision:
4:c909ed06dc1f
Parent:
2:d172c9963f87
Child:
5:1ad4ca4ee9d8
add config file comment

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 0:5cefadfd5898 9
edy05 4:c909ed06dc1f 10 //ad config file
edy05 0:5cefadfd5898 11
edy05 2:d172c9963f87 12 //VARIABLES
edy05 2:d172c9963f87 13 uint16_t ppmInChannelsValue[CHANNELS];
edy05 2:d172c9963f87 14 volatile uint16_t distance = 0;
edy05 0:5cefadfd5898 15
edy05 0:5cefadfd5898 16 //FUNCTIONS
edy05 0:5cefadfd5898 17 void print_ppmIn(void);
edy05 2:d172c9963f87 18 void dist(int);
edy05 2:d172c9963f87 19 //HCSR04 sonic(p6, p7);
edy05 2:d172c9963f87 20 //_ppmRegen = new PpmRegen(_interruptPort, _roll, _pitch, _yaw, _throttle, _aux1, _aux2);
edy05 0:5cefadfd5898 21
edy05 0:5cefadfd5898 22 int main(){
edy05 2:d172c9963f87 23
edy05 2:d172c9963f87 24 _ppmRegen = new PpmRegen(_interruptPort);
edy05 2:d172c9963f87 25 _sonic = new HCSR04(p29, p30);
edy05 2:d172c9963f87 26 _groundDistance = new PID(10, 0, 0, 2);
edy05 1:3a5a074b39e0 27
edy05 2:d172c9963f87 28 serverThread.start(serverRun);
edy05 2:d172c9963f87 29 distanceThread.start(distanceRegulationThread);
edy05 2:d172c9963f87 30 //_sonic.startUpdates();
edy05 2:d172c9963f87 31
edy05 2:d172c9963f87 32 wait(1);
edy05 0:5cefadfd5898 33 while(1){
edy05 1:3a5a074b39e0 34 //print_ppmIn();
edy05 2:d172c9963f87 35 //_sonic.checkDistance();
edy05 2:d172c9963f87 36 //distance = _sonic.getCurrentDistance();
edy05 2:d172c9963f87 37 //distance = sonic.getDistance();
edy05 2:d172c9963f87 38 //pc.printf("Distance: %d \n\r", distance);
edy05 2:d172c9963f87 39 Thread::wait(100);
edy05 2:d172c9963f87 40
edy05 0:5cefadfd5898 41 }
edy05 0:5cefadfd5898 42
edy05 0:5cefadfd5898 43 }
edy05 0:5cefadfd5898 44
edy05 2:d172c9963f87 45
edy05 2:d172c9963f87 46 void dist(int distan)
edy05 2:d172c9963f87 47 {
edy05 2:d172c9963f87 48 //pc.printf("Distance: %d \n\r", distan);
edy05 2:d172c9963f87 49 distance = distan;
edy05 2:d172c9963f87 50 }
edy05 2:d172c9963f87 51
edy05 0:5cefadfd5898 52 void print_ppmIn(){
edy05 2:d172c9963f87 53 _ppmRegen->getAllChannels(ppmInChannelsValue);
edy05 2:d172c9963f87 54 for(uint8_t channel= 0; channel < CHANNELS; channel++){
edy05 0:5cefadfd5898 55 pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
edy05 0:5cefadfd5898 56 }
edy05 0:5cefadfd5898 57 pc.printf("\n\r");
edy05 0:5cefadfd5898 58 }