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:
36:ed8b7b7b6cfa
Parent:
35:b09e19c855f6
Child:
38:801fee0330e2
--- a/distanceRegulation.h	Sat Mar 03 15:38:10 2018 +0000
+++ b/distanceRegulation.h	Sun Mar 04 15:17:38 2018 +0000
@@ -24,7 +24,7 @@
     //pc.printf("Flight controller task started\r\n");
     
     uint16_t channels[CHANNELS];
-    int distance1=0;
+    float distance1=0;
     int distance2=0;
     float groundDistancePIDValue;
     int regulatedThrottle;
@@ -64,11 +64,19 @@
         
         distance1 = _sonic->getDistan1();
         //distance2 = _sonic->getDistan2();
-        pc.printf("%d \n\r", distance1);
+        //pc.printf("%f \n\r", distance1);
+        //float p = _groundDistance->getPParam();
+        //float i = _groundDistance->getIParam();
+        //float d = _groundDistance->getDParam();
+        //float max = _groundDistance->getInMax();
+        //pc.printf("%f \n\r", max);
+        //pc.printf("%f \n\r", p);
+        //pc.printf("%f \n\r", i);
+        //pc.printf("%f \n\r", d);
         //pc.printf("distance2: %d \n\r", distance2);
         _groundDistance->setProcessValue(distance1);
         groundDistancePIDValue = _groundDistance->compute();
-        pc.printf("pid value %f \n\r", groundDistancePIDValue);
+        //pc.printf("pid value %f \n\r", groundDistancePIDValue);
         
         //Update PWM values
         regulatedThrottle = channels[THROTTLE] + _bias + groundDistancePIDValue;
@@ -81,9 +89,9 @@
             regulatedThrottle = 1010;
         
         
-        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);
+        //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  regulated PWM
         _roll->pulsewidth_us(    channels[ROLL]);