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:
33:a2f9fea05cb9
Parent:
32:c729e6da7f9a
Child:
34:5dca557e982f
--- a/main.cpp	Sat Feb 17 15:48:49 2018 +0000
+++ b/main.cpp	Sun Feb 18 17:10:48 2018 +0000
@@ -26,7 +26,7 @@
     
     // INITIALIZE CLASSES
     _ppmRegen = new PpmRegen(_interruptPort);
-    _sonic = new HCSR04(p29, p30);
+    _sonic = new HCSR04(p5, p6);
     _groundDistance = new PID(0, 0, 0, 0.005);
     
     //setup PID
@@ -42,10 +42,10 @@
     _groundDistance->setBias(_bias);
 
     // STARTING THREADS
-    printf("starting server thread \n\r");
+    pc.printf("starting server thread \n\r");
     serverThread.start(serverRun);
-    serverThread.set_priority(osPriorityHigh);
-    printf("starting distance thread \n\r");
+    serverThread.set_priority(osPriorityLow);
+    pc.printf("starting distance thread \n\r");
     _distanceThread = new Thread(distanceRegulationThread);
     _distanceThread->set_priority(osPriorityRealtime);
     //distanceRegulation.start(2);