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"); }