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@2:d172c9963f87, 2017-10-26 (annotated)

Committer:
edy05
Date:
Thu Oct 26 15:54:47 2017 +0000
Revision:
2:d172c9963f87
Child:
3:6c9f80f5e865
stable release with distanceRegulation thread

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 //_ppmRegen = new PpmRegen(_interruptPort);
edy05 2:d172c9963f87 8 //HCSR04 sonic(p6, p7);
edy05 2:d172c9963f87 9 uint16_t channels[CHANNELS];
edy05 2:d172c9963f87 10 int distance=0;
edy05 2:d172c9963f87 11 float groundDistancePidValue;
edy05 2:d172c9963f87 12 int newThrottleValue;
edy05 2:d172c9963f87 13
edy05 2:d172c9963f87 14 //setup PID
edy05 2:d172c9963f87 15 //_groundDistance = new PID(1, 1, 1, 2);
edy05 2:d172c9963f87 16 _groundDistance->setInputLimits(0, 500);
edy05 2:d172c9963f87 17 _groundDistance->setOutputLimits(-100, 100);
edy05 2:d172c9963f87 18 _groundDistance->setMode(AUTO_MODE);
edy05 2:d172c9963f87 19 _groundDistance->setSetPoint(0.0);
edy05 2:d172c9963f87 20 _groundDistance->setBias(0);
edy05 2:d172c9963f87 21
edy05 2:d172c9963f87 22 while(1){
edy05 2:d172c9963f87 23
edy05 2:d172c9963f87 24 _ppmRegen->getAllChannels(channels);
edy05 2:d172c9963f87 25
edy05 2:d172c9963f87 26 distance = _sonic->getDistan();
edy05 2:d172c9963f87 27
edy05 2:d172c9963f87 28 //calculate PID for given channel
edy05 2:d172c9963f87 29 _groundDistance->setProcessValue(distance);
edy05 2:d172c9963f87 30 _groundDistance->setSetPoint(30);
edy05 2:d172c9963f87 31 groundDistancePidValue = _groundDistance->compute();
edy05 2:d172c9963f87 32 //Update PWM values
edy05 2:d172c9963f87 33 //channels[THROTTLE] += groundDistancePidValue;
edy05 2:d172c9963f87 34 newThrottleValue = channels[THROTTLE] + groundDistancePidValue;
edy05 2:d172c9963f87 35
edy05 2:d172c9963f87 36 pc.printf("Sonic distance: %d \n\r", distance);
edy05 2:d172c9963f87 37 pc.printf("channel throttle pid value: %f \n\r", groundDistancePidValue);
edy05 2:d172c9963f87 38 pc.printf("channel throttle original value: %d \n\r", channels[THROTTLE]);
edy05 2:d172c9963f87 39 pc.printf("channel throttle final value: %d \n\r", newThrottleValue);
edy05 2:d172c9963f87 40
edy05 2:d172c9963f87 41
edy05 2:d172c9963f87 42
edy05 2:d172c9963f87 43
edy05 2:d172c9963f87 44 // Generate PWM
edy05 2:d172c9963f87 45 _roll->pulsewidth_us( channels[ROLL]);
edy05 2:d172c9963f87 46 _pitch->pulsewidth_us( channels[PITCH]);
edy05 2:d172c9963f87 47 _yaw->pulsewidth_us( channels[YAW]);
edy05 2:d172c9963f87 48 _throttle->pulsewidth_us(channels[THROTTLE]);
edy05 2:d172c9963f87 49 _aux1->pulsewidth_us( channels[AUX1]);
edy05 2:d172c9963f87 50 _aux2->pulsewidth_us( channels[AUX2]);
edy05 2:d172c9963f87 51
edy05 2:d172c9963f87 52 Thread::wait(500);
edy05 2:d172c9963f87 53
edy05 2:d172c9963f87 54
edy05 2:d172c9963f87 55 }
edy05 2:d172c9963f87 56
edy05 2:d172c9963f87 57 }