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

main.cpp

Committer:
edy05
Date:
2017-09-27
Revision:
1:3a5a074b39e0
Parent:
0:5cefadfd5898
Child:
2:d172c9963f87

File content as of revision 1:3a5a074b39e0:

#include "mbed.h"
#include "PpmRegen.h"
//#include "ultrasonic.h"
//#include "MyPID.h"


#define AUX1 4
#define PIEZZO_START 0.1
#define PIEZZO_STOP 0.0
#define PPMOUT_CHANNELS 6
#define PPMIN_CHANNELS 8
#define PPMIN_FILTERS 5

#define ROLL 0
#define PITCH 1
#define YAW 2   
#define THROTTLE 3

//PPM SETTINGS
PpmRegen ppmRegen(p28, p21, p22, p23, p24, p25, p26);
Serial pc(USBTX, USBRX); // tx, rx

uint16_t ppmInChannelsValue[PPMIN_CHANNELS];

//FUNCTIONS
void print_ppmIn(void);

int main(){
    //PPMIN SETTINGS
    /*
    NVIC_SetPriority(TIMER0_IRQn, 0);
    NVIC_SetPriority(TIMER1_IRQn, 1);
    NVIC_SetPriority(TIMER2_IRQn, 2);
    NVIC_SetPriority(TIMER3_IRQn, 3);
    */
    
    while(1){
        //print_ppmIn();
        //print_ppmOut();
                        
    }
        
}

void print_ppmIn(){
    ppmRegen.getAllChannels(ppmInChannelsValue);
    for(uint8_t channel= 0; channel < PPMIN_CHANNELS; channel++){
        pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
    }
    pc.printf("\n\r");
}