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: distanceRegulation.h

Branch:
DistanceRegulation
Revision:
40:0aa1cefe80ab
Parent:
39:93d8aa47f4ce
Child:
41:5fe200d20022
--- a/distanceRegulation.h	Sun Mar 25 12:57:04 2018 +0000
+++ b/distanceRegulation.h	Tue May 15 10:34:35 2018 +0000
@@ -53,7 +53,7 @@
     }
     
     //distance1 = _sonic->getDistan1();
-    //pc.printf("%d \n\r", distance1);
+    //pc.printf("%f \n\r", distance1);
     
     if(_groundRegulation){
         //timer.reset();
@@ -93,14 +93,27 @@
         //pc.printf("channel throttle final value: %d \n\r", regulatedThrottle);
         
         // goAhead for ROLL
-        if(_goAhead == true){
-            _roll->pulsewidth_us(    REGULATED_ROLL);
+        if(_goAhead == true && _groundDistance->quadStabilized() && _frontDistance >= 40){
+            _pitch->pulsewidth_us(    PITCH_GO_AHEAD);
+        }
+        if(_frontDistance < 40){
+            _goAhead = false;
+            _frontWall = true;
+            _pitch->pulsewidth_us(    PITCH_GO_BACK);    
         }
         else{
-            _roll->pulsewidth_us(    channels[ROLL]);
+            _pitch->pulsewidth_us(   channels[PITCH]);
         }
+        //pc.printf("front distance %d \n\r", _frontDistance);
         
-        _pitch->pulsewidth_us(   channels[PITCH]);
+        //if(_frontWall){
+        //        
+        //}
+        
+        
+        
+        
+        _roll->pulsewidth_us(    channels[ROLL]);
         _yaw->pulsewidth_us(     channels[YAW]);
         _throttle->pulsewidth_us(regulatedThrottle);
         _aux1->pulsewidth_us(    channels[AUX1]);