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: main.cpp

Branch:
DistanceRegulation
Revision:
26:11539036f0fb
Parent:
25:69190c222dbf
Child:
27:5956d5e3ff63
--- a/main.cpp	Sun Nov 26 17:27:39 2017 +0000
+++ b/main.cpp	Fri Dec 01 11:11:23 2017 +0000
@@ -18,6 +18,8 @@
 //FUNCTIONS
 void print_ppmIn(void);
 
+//RtosTimer distanceRegulation(distanceRegulationTask, osTimerPeriodic,  (void *)0);
+
 int main(){
     
     pc.baud(115200);
@@ -25,13 +27,16 @@
     // INITIALIZE CLASSES
     _ppmRegen = new PpmRegen(_interruptPort);
     _sonic = new HCSR04(p29, p30);
-    _groundDistance = new PID(0, 0, 0, 10);
+    _groundDistance = new PID(0, 0, 0, 0.002);
     
     // STARTING THREADS
     serverThread.start(serverRun);
-    distanceThread.start(distanceRegulationThread);
+    //_distanceThread = new Thread(distanceRegulationThread);
+    //_distanceThread->set_priority(osPriorityRealtime);
+    //distanceRegulation.start(2);
+    _distanceThread.start(distanceRegulationTask);
     
-    wait(1);
+    //wait(1);
     
     while(1){
         Thread::wait(osWaitForever);