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