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:
32:c729e6da7f9a
Parent:
31:5f1737e480f3
Child:
33:a2f9fea05cb9
--- a/distanceRegulation.h	Sun Feb 04 15:21:12 2018 +0000
+++ b/distanceRegulation.h	Sat Feb 17 15:48:49 2018 +0000
@@ -21,38 +21,40 @@
 
 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;
     float groundDistancePIDValue;
     int regulatedThrottle;
     
+    //PID SETUP
+    if(_configChanges){
+        _configChanges = false;
+        if(_onlyDistanChanged){
+            _onlyDistanChanged = false;
+            //change only set point
+            pc.printf("Only distance changed \n\r");
+            _groundDistance->setSetPoint(_groundSetPoint);
+        }
+        else{
+            _groundDistance->resetError();
+            //pc.printf("PID tunings changed \n\r");    
+            _groundDistance->setTunings(_P, _I, _D);
+            _groundDistance->setSetPoint(_groundSetPoint);
+            _groundDistance->setOutputLimits(_groundPidMinOutput, _groundPidMaxOutput);
+            _groundDistance->setBias(_bias);
+        }
+    }
+    
     if(_groundRegulation){
         //timer.reset();
         //timer.start();
         
         _ppmRegen->getAllChannels(channels);
-        //PID SETUP
-        if(_configChanges){
-            _configChanges = false;
-            
-            if(_onlyDistanChanged){
-                _onlyDistanChanged = false;
-                //change only set point
-                pc.printf("Only distance changed \n\r");
-                _groundDistance->setSetPoint(_groundSetPoint);
-            }
-            else{
-                _groundDistance->resetError();
-                //pc.printf("PID tunings changed \n\r");    
-                _groundDistance->setTunings(_P, _I, _D);
-                _groundDistance->setSetPoint(_groundSetPoint);
-                _groundDistance->setOutputLimits(_groundPidMinOutput, _groundPidMaxOutput);
-                _groundDistance->setBias(_bias);
-            }
-        }
+        
         distance = _sonic->getDistan();
+        pc.printf("distance: %d \n\r", distance);
         _groundDistance->setProcessValue(distance);
         groundDistancePIDValue = _groundDistance->compute();
         //groundDistancePIDValue += _bias;
@@ -89,7 +91,7 @@
         //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 original value: %d \n\r", channels[THROTTLE]);
         //pc.printf("channel throttle final value: %d \n\r", regulatedThrottle);
         // Generate PWM
         _ppmRegen->getAllChannels(channels);