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
definitions.h@36:ed8b7b7b6cfa, 2018-03-04 (annotated)
- Committer:
- edy05
- Date:
- Sun Mar 04 15:17:38 2018 +0000
- Branch:
- DistanceRegulation
- Revision:
- 36:ed8b7b7b6cfa
- Parent:
- 35:b09e19c855f6
- Child:
- 37:76bfd4e9c383
stable, PID fixed rate
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
edy05 | 2:d172c9963f87 | 1 | /* |
edy05 | 2:d172c9963f87 | 2 | NVIC_SetPriority(TIMER0_IRQn, 0); |
edy05 | 2:d172c9963f87 | 3 | NVIC_SetPriority(TIMER1_IRQn, 1); |
edy05 | 2:d172c9963f87 | 4 | NVIC_SetPriority(TIMER2_IRQn, 2); |
edy05 | 2:d172c9963f87 | 5 | NVIC_SetPriority(TIMER3_IRQn, 3); |
edy05 | 2:d172c9963f87 | 6 | */ |
edy05 | 2:d172c9963f87 | 7 | |
edy05 | 2:d172c9963f87 | 8 | #define PIEZZO_START 0.1 |
edy05 | 2:d172c9963f87 | 9 | #define PIEZZO_STOP 0.0 |
edy05 | 2:d172c9963f87 | 10 | #define CHANNELS 8 |
edy05 | 2:d172c9963f87 | 11 | |
edy05 | 2:d172c9963f87 | 12 | #define ROLL 0 |
edy05 | 2:d172c9963f87 | 13 | #define PITCH 1 |
edy05 | 2:d172c9963f87 | 14 | #define THROTTLE 2 |
edy05 | 2:d172c9963f87 | 15 | #define YAW 3 |
edy05 | 2:d172c9963f87 | 16 | #define AUX1 4 |
edy05 | 2:d172c9963f87 | 17 | #define AUX2 5 |
edy05 | 2:d172c9963f87 | 18 | |
edy05 | 34:5dca557e982f | 19 | #define THROTTLE_LIMIT 1600 |
edy05 | 31:5f1737e480f3 | 20 | |
edy05 | 34:5dca557e982f | 21 | |
edy05 | 36:ed8b7b7b6cfa | 22 | #define FLIGHT_CONTROLLER_FREQUENCY 200 |
edy05 | 31:5f1737e480f3 | 23 | |
edy05 | 2:d172c9963f87 | 24 | /* |
edy05 | 2:d172c9963f87 | 25 | pc.printf("ROLL %d\n\r", channels[ROLL]); |
edy05 | 2:d172c9963f87 | 26 | pc.printf("PITCH %d\n\r", channels[PITCH]); |
edy05 | 2:d172c9963f87 | 27 | pc.printf("YAW %d\n\r", channels[YAW]); |
edy05 | 2:d172c9963f87 | 28 | pc.printf("THROTTLE %d\n\r", channels[THROTTLE]); |
edy05 | 2:d172c9963f87 | 29 | pc.printf("AUX1 %d\n\r", channels[AUX1]); |
edy05 | 2:d172c9963f87 | 30 | pc.printf("AUX2 %d\n\r", channels[AUX2]); |
edy05 | 2:d172c9963f87 | 31 | |
edy05 | 2:d172c9963f87 | 32 | */ |