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:
17:1896d242945b
Parent:
16:9490bb68e1fb
Child:
18:e0c5ab76f337
--- a/distanceRegulation.h	Sun Oct 29 10:22:06 2017 +0000
+++ b/distanceRegulation.h	Sun Oct 29 10:25:58 2017 +0000
@@ -23,13 +23,13 @@
         distance = _sonic->getDistan();
         
         //calculate PID for given channel
-        if(_pidChanged){
-            _pidChanged = false;
+        if(_configChanges){
+            _configChanges = false;
             pc.printf("PID tunings changed \n\r");    
             _groundDistance->setTunings(_P, _I, _D);
+            _groundDistance->setSetPoint(_groundSetPoint);
         }
         _groundDistance->setProcessValue(distance);
-        _groundDistance->setSetPoint(30);
         groundDistancePidValue = _groundDistance->compute();
         
         //Update PWM values