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:
34:5dca557e982f
Parent:
33:a2f9fea05cb9
Child:
36:ed8b7b7b6cfa
--- a/main.cpp	Sun Feb 18 17:10:48 2018 +0000
+++ b/main.cpp	Sun Feb 25 18:32:13 2018 +0000
@@ -5,6 +5,7 @@
 #include "PpmRegen.h"
 #include "distanceRegulation.h"
 #include "hcsr04.h"
+#include "front_sensor.h"
 #include "PID.h"
 #include "ConfigFile.h"
 
@@ -26,7 +27,6 @@
     
     // INITIALIZE CLASSES
     _ppmRegen = new PpmRegen(_interruptPort);
-    _sonic = new HCSR04(p5, p6);
     _groundDistance = new PID(0, 0, 0, 0.005);
     
     //setup PID
@@ -42,12 +42,21 @@
     _groundDistance->setBias(_bias);
 
     // STARTING THREADS
-    pc.printf("starting server thread \n\r");
-    serverThread.start(serverRun);
-    serverThread.set_priority(osPriorityLow);
     pc.printf("starting distance thread \n\r");
     _distanceThread = new Thread(distanceRegulationThread);
     _distanceThread->set_priority(osPriorityRealtime);
+    
+    //_sonic = new HCSR04(p7, p8, p5, p6);
+    _sonic = new HCSR04(p5, p6, p7, p8);
+    
+    _frontSensorThread.start(front_sensor);
+    _frontSensorThread.set_priority(osPriorityLow);
+    
+    
+    pc.printf("starting server thread \n\r");
+    _serverThread.start(serverRun);
+    _serverThread.set_priority(osPriorityHigh);
+    
     //distanceRegulation.start(2);
     //_distanceThread.start(distanceRegulationTask);