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:
31:5f1737e480f3
Parent:
27:5956d5e3ff63
Child:
32:c729e6da7f9a
--- a/distanceRegulation.h	Sat Jan 20 12:09:04 2018 +0000
+++ b/distanceRegulation.h	Sun Feb 04 15:21:12 2018 +0000
@@ -12,7 +12,7 @@
     pc.printf("Flight controller thread started\r\n");
     
     _groudRegulationUpdateTimer = new RtosTimer(distanceRegulationTask, osTimerPeriodic, (void *)0);   
-    int rate = 5; 
+    int rate = (1.0 / FLIGHT_CONTROLLER_FREQUENCY) * 1000; 
     _groudRegulationUpdateTimer->start(rate);
     
     Thread::wait(osWaitForever);
@@ -28,17 +28,6 @@
     float groundDistancePIDValue;
     int regulatedThrottle;
     
-    //setup PID
-    _groundDistance->setInputLimits(0, 300);
-    //_groundDistance->setOutputLimits(100, 300);
-    _groundDistance->setMode(AUTO_MODE);
-    //_groundDistance->setSetPoint(0.0);
-    //_groundDistance->setBias(0);
-    _groundDistance->setTunings(_P, _I, _D);
-    
-    //Timer timer;
-    
-    
     if(_groundRegulation){
         //timer.reset();
         //timer.start();
@@ -47,17 +36,26 @@
         //PID SETUP
         if(_configChanges){
             _configChanges = false;
-            _groundDistance->resetError();
-            //pc.printf("PID tunings changed \n\r");    
-            _groundDistance->setTunings(_P, _I, _D);
-            _groundDistance->setSetPoint(_groundSetPoint);
-            _groundDistance->setOutputLimits(_groundPidMinOutput, _groundPidMaxOutput);
-            _groundDistance->setBias(_bias);
+            
+            if(_onlyDistanChanged){
+                _onlyDistanChanged = false;
+                //change only set point
+                pc.printf("Only distance changed \n\r");
+                _groundDistance->setSetPoint(_groundSetPoint);
+            }
+            else{
+                _groundDistance->resetError();
+                //pc.printf("PID tunings changed \n\r");    
+                _groundDistance->setTunings(_P, _I, _D);
+                _groundDistance->setSetPoint(_groundSetPoint);
+                _groundDistance->setOutputLimits(_groundPidMinOutput, _groundPidMaxOutput);
+                _groundDistance->setBias(_bias);
+            }
         }
         distance = _sonic->getDistan();
         _groundDistance->setProcessValue(distance);
         groundDistancePIDValue = _groundDistance->compute();
-        groundDistancePIDValue += _bias;
+        //groundDistancePIDValue += _bias;
         
         
         //Update PWM values