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:
31:5f1737e480f3
Parent:
27:5956d5e3ff63
Child:
32:c729e6da7f9a
--- a/main.cpp	Sat Jan 20 12:09:04 2018 +0000
+++ b/main.cpp	Sun Feb 04 15:21:12 2018 +0000
@@ -29,6 +29,18 @@
     _sonic = new HCSR04(p29, p30);
     _groundDistance = new PID(0, 0, 0, 0.005);
     
+    //setup PID
+    loadConfigFile();
+    // to show values in web browser after first load
+    _tempP = _P;
+    _tempI = _I;
+    _tempD = _D;
+    _groundDistance->setInputLimits(0, 300);
+    _groundDistance->setMode(AUTO_MODE);
+    _groundDistance->setTunings(_P, _I, _D);
+    _groundDistance->setOutputLimits(_groundPidMinOutput, _groundPidMaxOutput);
+    _groundDistance->setBias(_bias);
+
     // STARTING THREADS
     serverThread.start(serverRun);
     serverThread.set_priority(osPriorityLow);