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
- Revision:
- 3:6c9f80f5e865
- Parent:
- 2:d172c9963f87
- Child:
- 13:33024b5880b3
--- a/distanceRegulation.h Thu Oct 26 15:54:47 2017 +0000 +++ b/distanceRegulation.h Thu Oct 26 16:07:21 2017 +0000 @@ -4,15 +4,12 @@ #include "definitions.h" void distanceRegulationThread(){ - //_ppmRegen = new PpmRegen(_interruptPort); - //HCSR04 sonic(p6, p7); uint16_t channels[CHANNELS]; int distance=0; float groundDistancePidValue; int newThrottleValue; //setup PID - //_groundDistance = new PID(1, 1, 1, 2); _groundDistance->setInputLimits(0, 500); _groundDistance->setOutputLimits(-100, 100); _groundDistance->setMode(AUTO_MODE); @@ -30,7 +27,6 @@ _groundDistance->setSetPoint(30); groundDistancePidValue = _groundDistance->compute(); //Update PWM values - //channels[THROTTLE] += groundDistancePidValue; newThrottleValue = channels[THROTTLE] + groundDistancePidValue; pc.printf("Sonic distance: %d \n\r", distance); @@ -38,9 +34,6 @@ pc.printf("channel throttle original value: %d \n\r", channels[THROTTLE]); pc.printf("channel throttle final value: %d \n\r", newThrottleValue); - - - // Generate PWM _roll->pulsewidth_us( channels[ROLL]); _pitch->pulsewidth_us( channels[PITCH]);