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:
33:a2f9fea05cb9
Parent:
32:c729e6da7f9a
Child:
34:5dca557e982f
--- a/distanceRegulation.h	Sat Feb 17 15:48:49 2018 +0000
+++ b/distanceRegulation.h	Sun Feb 18 17:10:48 2018 +0000
@@ -21,7 +21,7 @@
 
 void distanceRegulationTask(void const *args){
     
-    pc.printf("Flight controller task started\r\n");
+    //pc.printf("Flight controller task started\r\n");
     
     uint16_t channels[CHANNELS];
     int distance=0;
@@ -54,7 +54,7 @@
         _ppmRegen->getAllChannels(channels);
         
         distance = _sonic->getDistan();
-        pc.printf("distance: %d \n\r", distance);
+        //pc.printf("distance: %d \n\r", distance);
         _groundDistance->setProcessValue(distance);
         groundDistancePIDValue = _groundDistance->compute();
         //groundDistancePIDValue += _bias;
@@ -91,10 +91,17 @@
         //distance = _sonic->getDistan();
         //pc.printf("Sonic distance: %d \n\r", distance);
         //pc.printf("channel throttle pid value: %f \n\r", groundDistancePIDValue); 
-        pc.printf("channel throttle original value: %d \n\r", channels[THROTTLE]);
+        
         //pc.printf("channel throttle final value: %d \n\r", regulatedThrottle);
         // Generate PWM
         _ppmRegen->getAllChannels(channels);
+        //pc.printf("channel value: %d \n\r", channels[ROLL]);
+        //pc.printf("channel value: %d \n\r", channels[PITCH]);
+        //pc.printf("channel value: %d \n\r", channels[YAW]);
+        //pc.printf("channel value: %d \n\r", channels[THROTTLE]);
+        //pc.printf("channel value: %d \n\r", channels[AUX1]);
+        //pc.printf("channel value: %d \n\r", channels[AUX2]);
+        
         _roll->pulsewidth_us(    channels[ROLL]);
         _pitch->pulsewidth_us(   channels[PITCH]);
         _yaw->pulsewidth_us(     channels[YAW]);