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@36:ed8b7b7b6cfa, 2018-03-04 (annotated)
- Committer:
- edy05
- Date:
- Sun Mar 04 15:17:38 2018 +0000
- Branch:
- DistanceRegulation
- Revision:
- 36:ed8b7b7b6cfa
- Parent:
- 34:5dca557e982f
- Child:
- 39:93d8aa47f4ce
stable, PID fixed rate
Who changed what in which revision?
User | Revision | Line number | New 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 | 34:5dca557e982f | 8 | #include "front_sensor.h" |
edy05 | 2:d172c9963f87 | 9 | #include "PID.h" |
edy05 | 8:b5128641d4cf | 10 | #include "ConfigFile.h" |
edy05 | 0:5cefadfd5898 | 11 | |
edy05 | 8:b5128641d4cf | 12 | //TEMP |
edy05 | 11:002927b2675d | 13 | |
edy05 | 0:5cefadfd5898 | 14 | |
edy05 | 2:d172c9963f87 | 15 | //VARIABLES |
edy05 | 2:d172c9963f87 | 16 | uint16_t ppmInChannelsValue[CHANNELS]; |
edy05 | 2:d172c9963f87 | 17 | volatile uint16_t distance = 0; |
edy05 | 0:5cefadfd5898 | 18 | |
edy05 | 0:5cefadfd5898 | 19 | //FUNCTIONS |
edy05 | 0:5cefadfd5898 | 20 | void print_ppmIn(void); |
edy05 | 0:5cefadfd5898 | 21 | |
edy05 | 26:11539036f0fb | 22 | //RtosTimer distanceRegulation(distanceRegulationTask, osTimerPeriodic, (void *)0); |
edy05 | 26:11539036f0fb | 23 | |
edy05 | 0:5cefadfd5898 | 24 | int main(){ |
edy05 | 2:d172c9963f87 | 25 | |
edy05 | 25:69190c222dbf | 26 | pc.baud(115200); |
edy05 | 25:69190c222dbf | 27 | |
edy05 | 3:6c9f80f5e865 | 28 | // INITIALIZE CLASSES |
edy05 | 2:d172c9963f87 | 29 | _ppmRegen = new PpmRegen(_interruptPort); |
edy05 | 36:ed8b7b7b6cfa | 30 | float rate = (1.0 / FLIGHT_CONTROLLER_FREQUENCY); |
edy05 | 36:ed8b7b7b6cfa | 31 | _groundDistance = new PID(0, 0, 0, rate); |
edy05 | 1:3a5a074b39e0 | 32 | |
edy05 | 31:5f1737e480f3 | 33 | //setup PID |
edy05 | 31:5f1737e480f3 | 34 | loadConfigFile(); |
edy05 | 32:c729e6da7f9a | 35 | _newP = _P; |
edy05 | 32:c729e6da7f9a | 36 | _newI = _I; |
edy05 | 32:c729e6da7f9a | 37 | _newD = _D; |
edy05 | 31:5f1737e480f3 | 38 | // to show values in web browser after first load |
edy05 | 31:5f1737e480f3 | 39 | _groundDistance->setInputLimits(0, 300); |
edy05 | 31:5f1737e480f3 | 40 | _groundDistance->setMode(AUTO_MODE); |
edy05 | 31:5f1737e480f3 | 41 | _groundDistance->setTunings(_P, _I, _D); |
edy05 | 31:5f1737e480f3 | 42 | _groundDistance->setOutputLimits(_groundPidMinOutput, _groundPidMaxOutput); |
edy05 | 31:5f1737e480f3 | 43 | _groundDistance->setBias(_bias); |
edy05 | 31:5f1737e480f3 | 44 | |
edy05 | 3:6c9f80f5e865 | 45 | // STARTING THREADS |
edy05 | 33:a2f9fea05cb9 | 46 | pc.printf("starting distance thread \n\r"); |
edy05 | 27:5956d5e3ff63 | 47 | _distanceThread = new Thread(distanceRegulationThread); |
edy05 | 27:5956d5e3ff63 | 48 | _distanceThread->set_priority(osPriorityRealtime); |
edy05 | 34:5dca557e982f | 49 | |
edy05 | 34:5dca557e982f | 50 | //_sonic = new HCSR04(p7, p8, p5, p6); |
edy05 | 34:5dca557e982f | 51 | _sonic = new HCSR04(p5, p6, p7, p8); |
edy05 | 34:5dca557e982f | 52 | |
edy05 | 34:5dca557e982f | 53 | _frontSensorThread.start(front_sensor); |
edy05 | 34:5dca557e982f | 54 | _frontSensorThread.set_priority(osPriorityLow); |
edy05 | 34:5dca557e982f | 55 | |
edy05 | 34:5dca557e982f | 56 | |
edy05 | 34:5dca557e982f | 57 | pc.printf("starting server thread \n\r"); |
edy05 | 34:5dca557e982f | 58 | _serverThread.start(serverRun); |
edy05 | 34:5dca557e982f | 59 | _serverThread.set_priority(osPriorityHigh); |
edy05 | 34:5dca557e982f | 60 | |
edy05 | 26:11539036f0fb | 61 | //distanceRegulation.start(2); |
edy05 | 27:5956d5e3ff63 | 62 | //_distanceThread.start(distanceRegulationTask); |
edy05 | 2:d172c9963f87 | 63 | |
edy05 | 26:11539036f0fb | 64 | //wait(1); |
edy05 | 3:6c9f80f5e865 | 65 | |
edy05 | 0:5cefadfd5898 | 66 | while(1){ |
edy05 | 3:6c9f80f5e865 | 67 | Thread::wait(osWaitForever); |
edy05 | 0:5cefadfd5898 | 68 | } |
edy05 | 0:5cefadfd5898 | 69 | |
edy05 | 0:5cefadfd5898 | 70 | } |
edy05 | 0:5cefadfd5898 | 71 | |
edy05 | 2:d172c9963f87 | 72 | |
edy05 | 0:5cefadfd5898 | 73 | void print_ppmIn(){ |
edy05 | 2:d172c9963f87 | 74 | _ppmRegen->getAllChannels(ppmInChannelsValue); |
edy05 | 2:d172c9963f87 | 75 | for(uint8_t channel= 0; channel < CHANNELS; channel++){ |
edy05 | 0:5cefadfd5898 | 76 | pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]); |
edy05 | 0:5cefadfd5898 | 77 | } |
edy05 | 0:5cefadfd5898 | 78 | pc.printf("\n\r"); |
edy05 | 0:5cefadfd5898 | 79 | } |