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:
36:ed8b7b7b6cfa
Parent:
34:5dca557e982f
Child:
39:93d8aa47f4ce
--- a/main.cpp	Sat Mar 03 15:38:10 2018 +0000
+++ b/main.cpp	Sun Mar 04 15:17:38 2018 +0000
@@ -27,7 +27,8 @@
     
     // INITIALIZE CLASSES
     _ppmRegen = new PpmRegen(_interruptPort);
-    _groundDistance = new PID(0, 0, 0, 0.005);
+    float rate = (1.0 / FLIGHT_CONTROLLER_FREQUENCY);
+    _groundDistance = new PID(0, 0, 0, rate);
     
     //setup PID
     loadConfigFile();