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:
2018-01-21
Branch:
DistanceRegulation
Revision:
30:4d1b3926a3cc
Parent:
27:5956d5e3ff63

File content as of revision 30:4d1b3926a3cc:

#include "mbed.h"
#include "rtos.h"
#include "hardware.h"
#include "Server.h"
#include "PpmRegen.h"
//#include "distanceRegulation.h"
#include "altitudeRegulation.h"
#include "ms5611Thread.h"
#include "hcsr04.h"
#include "PID.h"
#include "ConfigFile.h"
#include "ms5611.h"

//TEMP


//VARIABLES
uint16_t ppmInChannelsValue[CHANNELS];
volatile uint16_t distance = 0;

//FUNCTIONS
void print_ppmIn(void);

//RtosTimer distanceRegulation(distanceRegulationTask, osTimerPeriodic,  (void *)0);
float currentAltitude = 0.0;

int main(){
    pc.baud(115200);
    
    // INITIALIZE CLASSES
    _ppmRegen = new PpmRegen(_interruptPort);
    //_sonic = new HCSR04(p29, p30);
    _groundDistance = new PID(0, 0, 0, 0.005);
    
    // STARTING THREADS
    serverThread.start(serverRun);
    serverThread.set_priority(osPriorityLow);
    //_distanceThread = new Thread(distanceRegulationThread);
    //_distanceThread->set_priority(osPriorityRealtime);
    
    ms.cmd_reset();
    _ms5611Thread = new Thread(ms5611Thread);
    _ms5611Thread->set_priority(osPriorityHigh);
    
    _altitudeThread = new Thread(altitudeRegulationThread);
    _altitudeThread->set_priority(osPriorityRealtime);
    
    
    while(1){

        Thread::wait(osWaitForever);
    }
        
}


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