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:
27:5956d5e3ff63
Parent:
26:11539036f0fb
Child:
30:4d1b3926a3cc
Child:
31:5f1737e480f3
--- a/main.cpp	Fri Dec 01 11:11:23 2017 +0000
+++ b/main.cpp	Sat Jan 20 11:44:46 2018 +0000
@@ -27,14 +27,15 @@
     // INITIALIZE CLASSES
     _ppmRegen = new PpmRegen(_interruptPort);
     _sonic = new HCSR04(p29, p30);
-    _groundDistance = new PID(0, 0, 0, 0.002);
+    _groundDistance = new PID(0, 0, 0, 0.005);
     
     // STARTING THREADS
     serverThread.start(serverRun);
-    //_distanceThread = new Thread(distanceRegulationThread);
-    //_distanceThread->set_priority(osPriorityRealtime);
+    serverThread.set_priority(osPriorityLow);
+    _distanceThread = new Thread(distanceRegulationThread);
+    _distanceThread->set_priority(osPriorityRealtime);
     //distanceRegulation.start(2);
-    _distanceThread.start(distanceRegulationTask);
+    //_distanceThread.start(distanceRegulationTask);
     
     //wait(1);