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:
30:4d1b3926a3cc
Parent:
27:5956d5e3ff63
--- a/hardware.h	Sat Jan 20 12:09:04 2018 +0000
+++ b/hardware.h	Sun Jan 21 17:58:41 2018 +0000
@@ -6,6 +6,7 @@
 #include "PID.h"
 #include "hcsr04.h"
 #include "ConfigFile.h"
+#include "ms5611.h"
 
 
 void loadConfigFile(void);
@@ -43,13 +44,19 @@
 float _P = 0;
 float _I = 0;
 float _D = 0;
-int _groundSetPoint = 0;
+float _groundSetPoint = 0;
 int _bias = 0;
 int _groundPidMinOutput = 0;
 int _groundPidMaxOutput = 0;
 bool _groundRegulation = false;
 
-
+// ms5611 - pressure senzor
+Thread *_altitudeThread;
+ms5611 ms(p9, p10, ms5611::CSBpin_0);
+Thread *_ms5611Thread;
+float _startAltitude = 0.0;
+float _setPointAltitude = 0.0;
+float _currentAltitude = 0.0;