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

Revision:
3:6c9f80f5e865
Parent:
2:d172c9963f87
Child:
6:c81abfa61bce
Child:
8:b5128641d4cf
--- a/main.cpp	Thu Oct 26 15:54:47 2017 +0000
+++ b/main.cpp	Thu Oct 26 16:07:21 2017 +0000
@@ -14,40 +14,27 @@
 
 //FUNCTIONS
 void print_ppmIn(void);
-void dist(int);
-//HCSR04 sonic(p6, p7);
-//_ppmRegen = new PpmRegen(_interruptPort, _roll, _pitch, _yaw, _throttle, _aux1, _aux2); 
 
 int main(){
     
+    // INITIALIZE CLASSES
     _ppmRegen = new PpmRegen(_interruptPort);
     _sonic = new HCSR04(p29, p30);
     _groundDistance = new PID(10, 0, 0, 2);
     
+    // STARTING THREADS
     serverThread.start(serverRun);
     distanceThread.start(distanceRegulationThread);
-    //_sonic.startUpdates();
     
     wait(1);
+    
     while(1){
-        //print_ppmIn();
-        //_sonic.checkDistance();
-        //distance = _sonic.getCurrentDistance();
-        //distance = sonic.getDistance();
-        //pc.printf("Distance: %d \n\r", distance);
-        Thread::wait(100);
-        
+        Thread::wait(osWaitForever);
     }
         
 }
 
 
-void dist(int distan)
-{
-    //pc.printf("Distance: %d \n\r", distan);
-    distance = distan;
-}
-
 void print_ppmIn(){
     _ppmRegen->getAllChannels(ppmInChannelsValue);
     for(uint8_t channel= 0; channel < CHANNELS; channel++){