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

Diff: hardware.h

Branch:
DistanceRegulation
Revision:
14:076ef843e1ba
Parent:
13:33024b5880b3
Child:
15:9cdf757269fb
--- a/hardware.h	Fri Oct 27 10:47:12 2017 +0000
+++ b/hardware.h	Fri Oct 27 14:59:21 2017 +0000
@@ -12,6 +12,7 @@
 void writeSettingsToConfig(void);
 void writeErrorLog(char *message);
 void ConvertToCharArray(float number);
+void ConvertToCharArray(int number);
 
 Serial pc(USBTX, USBRX); // tx, rx
 PID* _groundDistance;
@@ -38,6 +39,7 @@
 float _P = 0;
 float _I = 0;
 float _D = 0;
+int _groundSetPoint = 0;
 
 
 
@@ -53,6 +55,8 @@
         _I = atof(value);
     if (_configFile.getValue("D", &value[0], sizeof(value)))
         _D = atof(value);
+    if (_configFile.getValue("groundSetPoint", &value[0], sizeof(value)))
+        _groundSetPoint = atof(value);
         
 }
 
@@ -63,6 +67,8 @@
     _configFile.setValue("I", _str);
     ConvertToCharArray(_D);
     _configFile.setValue("D", _str);
+    ConvertToCharArray(_groundSetPoint);
+    _configFile.setValue("groundSetPoint", _str);
     
     _configFile.write("/local/config.cfg");        
     
@@ -85,5 +91,11 @@
     sprintf(_str, "%4.2f", number );  
 }
 
+//Converts integer to char array
+void ConvertToCharArray(int number)
+{
+    sprintf(_str, "%d", number );  
+}
+
 
 #endif
\ No newline at end of file