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:
38:801fee0330e2
Parent:
36:ed8b7b7b6cfa
Child:
39:93d8aa47f4ce
--- a/distanceRegulation.h	Fri Mar 23 14:29:09 2018 +0000
+++ b/distanceRegulation.h	Fri Mar 23 14:45:52 2018 +0000
@@ -28,6 +28,7 @@
     int distance2=0;
     float groundDistancePIDValue;
     int regulatedThrottle;
+    int regulatedRoll = 0;
     
     //PID SETUP
     if(_configChanges){
@@ -93,8 +94,14 @@
         //pc.printf("channel throttle original value: %d \n\r", channels[THROTTLE]);
         //pc.printf("channel throttle final value: %d \n\r", regulatedThrottle);
         
-        // Generate  regulated PWM
-        _roll->pulsewidth_us(    channels[ROLL]);
+        // goAhead for ROLL
+        if(_goAhead == true){
+            _roll->pulsewidth_us(    REGULATED_ROLL);
+        }
+        else{
+            _roll->pulsewidth_us(    channels[ROLL]);
+        }
+        
         _pitch->pulsewidth_us(   channels[PITCH]);
         _yaw->pulsewidth_us(     channels[YAW]);
         _throttle->pulsewidth_us(regulatedThrottle);