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@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?

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 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 }