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:
34:5dca557e982f
Parent:
33:a2f9fea05cb9
Child:
35:b09e19c855f6
--- a/distanceRegulation.h	Sun Feb 18 17:10:48 2018 +0000
+++ b/distanceRegulation.h	Sun Feb 25 18:32:13 2018 +0000
@@ -24,7 +24,8 @@
     //pc.printf("Flight controller task started\r\n");
     
     uint16_t channels[CHANNELS];
-    int distance=0;
+    int distance1=0;
+    int distance2=0;
     float groundDistancePIDValue;
     int regulatedThrottle;
     
@@ -47,15 +48,20 @@
         }
     }
     
+    //distance1 = _sonic->getDistan1();
+    //pc.printf("%d \n\r", distance1);
+    
     if(_groundRegulation){
         //timer.reset();
         //timer.start();
         
         _ppmRegen->getAllChannels(channels);
         
-        distance = _sonic->getDistan();
-        //pc.printf("distance: %d \n\r", distance);
-        _groundDistance->setProcessValue(distance);
+        distance1 = _sonic->getDistan1();
+        //distance2 = _sonic->getDistan2();
+        //pc.printf("%d \n\r", distance1);
+        //pc.printf("distance2: %d \n\r", distance2);
+        _groundDistance->setProcessValue(distance1);
         groundDistancePIDValue = _groundDistance->compute();
         //groundDistancePIDValue += _bias;
         
@@ -65,13 +71,12 @@
         if(channels[AUX2] < 1500){
             channels[THROTTLE] = 1010;    
         }
-        if(regulatedThrottle > 2000)
-            regulatedThrottle = 2000;
+        if(regulatedThrottle > THROTTLE_LIMIT)
+            regulatedThrottle = THROTTLE_LIMIT;
         if(regulatedThrottle < 1010)
             regulatedThrottle = 1010;
         
         
-        //pc.printf("Sonic distance: %d \n\r", distance);
         //pc.printf("channel throttle pid value: %f \n\r", groundDistancePIDValue); 
         //pc.printf("channel throttle original value: %d \n\r", channels[THROTTLE]);
         //pc.printf("channel throttle final value: %d \n\r", regulatedThrottle);