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

distanceRegulation.h

Committer:
edy05
Date:
2017-10-27
Revision:
13:33024b5880b3
Parent:
3:6c9f80f5e865
Child:
16:9490bb68e1fb

File content as of revision 13:33024b5880b3:

#include "mbed.h"
#include "rtos.h"
#include "hardware.h"
#include "definitions.h"

void distanceRegulationThread(){
    uint16_t channels[CHANNELS];
    int distance=0;
    float groundDistancePidValue;
    int newThrottleValue;
    
    //setup PID
    _groundDistance->setInputLimits(0, 500);
    _groundDistance->setOutputLimits(-100, 100);
    _groundDistance->setMode(AUTO_MODE);
    _groundDistance->setSetPoint(0.0);
    _groundDistance->setBias(0);
    _groundDistance->setTunings(_P, _I, _D);
    
    while(1){
        
        _ppmRegen->getAllChannels(channels);
        distance = _sonic->getDistan();
        
        //calculate PID for given channel
        if(pidChanged){
            pidChanged = false;
            pc.printf("PID tunings changed \n\r");    
            _groundDistance->setTunings(_P, _I, _D);
        }
        _groundDistance->setProcessValue(distance);
        _groundDistance->setSetPoint(30);
        groundDistancePidValue = _groundDistance->compute();
        
        //Update PWM values
        newThrottleValue = channels[THROTTLE] + groundDistancePidValue;
        
        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", newThrottleValue);
        
        // Generate PWM
        _roll->pulsewidth_us(    channels[ROLL]);
        _pitch->pulsewidth_us(   channels[PITCH]);
        _yaw->pulsewidth_us(     channels[YAW]);
        _throttle->pulsewidth_us(channels[THROTTLE]);
        _aux1->pulsewidth_us(    channels[AUX1]);
        _aux2->pulsewidth_us(    channels[AUX2]);
        
        Thread::wait(500);
            
        
    }
    
}