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"); }