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:
30:4d1b3926a3cc
Parent:
27:5956d5e3ff63
--- a/main.cpp	Sat Jan 20 12:09:04 2018 +0000
+++ b/main.cpp	Sun Jan 21 17:58:41 2018 +0000
@@ -3,10 +3,13 @@
 #include "hardware.h"
 #include "Server.h"
 #include "PpmRegen.h"
-#include "distanceRegulation.h"
+//#include "distanceRegulation.h"
+#include "altitudeRegulation.h"
+#include "ms5611Thread.h"
 #include "hcsr04.h"
 #include "PID.h"
 #include "ConfigFile.h"
+#include "ms5611.h"
 
 //TEMP
 
@@ -19,27 +22,32 @@
 void print_ppmIn(void);
 
 //RtosTimer distanceRegulation(distanceRegulationTask, osTimerPeriodic,  (void *)0);
+float currentAltitude = 0.0;
 
 int main(){
-    
     pc.baud(115200);
     
     // INITIALIZE CLASSES
     _ppmRegen = new PpmRegen(_interruptPort);
-    _sonic = new HCSR04(p29, p30);
+    //_sonic = new HCSR04(p29, p30);
     _groundDistance = new PID(0, 0, 0, 0.005);
     
     // STARTING THREADS
     serverThread.start(serverRun);
     serverThread.set_priority(osPriorityLow);
-    _distanceThread = new Thread(distanceRegulationThread);
-    _distanceThread->set_priority(osPriorityRealtime);
-    //distanceRegulation.start(2);
-    //_distanceThread.start(distanceRegulationTask);
+    //_distanceThread = new Thread(distanceRegulationThread);
+    //_distanceThread->set_priority(osPriorityRealtime);
     
-    //wait(1);
+    ms.cmd_reset();
+    _ms5611Thread = new Thread(ms5611Thread);
+    _ms5611Thread->set_priority(osPriorityHigh);
+    
+    _altitudeThread = new Thread(altitudeRegulationThread);
+    _altitudeThread->set_priority(osPriorityRealtime);
+    
     
     while(1){
+
         Thread::wait(osWaitForever);
     }