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:
2018-03-25
Branch:
DistanceRegulation
Revision:
39:93d8aa47f4ce
Parent:
36:ed8b7b7b6cfa
Child:
40:0aa1cefe80ab

File content as of revision 39:93d8aa47f4ce:

#include "mbed.h"
#include "rtos.h"
#include "hardware.h"
#include "Server.h"
#include "PpmRegen.h"
#include "distanceRegulation.h"
#include "hcsr04.h"
#include "front_sensor.h"
#include "PID.h"
#include "ConfigFile.h"

//TEMP


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

//FUNCTIONS
void print_ppmIn(void);

//RtosTimer distanceRegulation(distanceRegulationTask, osTimerPeriodic,  (void *)0);

int main(){
    
    pc.baud(115200);
    
    // INITIALIZE CLASSES
    _ppmRegen = new PpmRegen(_interruptPort);
    float rate = (1.0 / FLIGHT_CONTROLLER_FREQUENCY);
    _groundDistance = new PID(0, 0, 0, rate);
    
    //setup PID
    loadConfigFile();
    _newP = _P;
    _newI = _I;
    _newD = _D;
    _newGroundSetPoint = _groundSetPoint;
    // to show values in web browser after first load
    _groundDistance->setInputLimits(0, 300);
    _groundDistance->setMode(AUTO_MODE);
    _groundDistance->setTunings(_P, _I, _D);
    _groundDistance->setOutputLimits(_groundPidMinOutput, _groundPidMaxOutput);
    _groundDistance->setBias(_bias);

    // STARTING THREADS
    pc.printf("starting distance thread \n\r");
    _distanceThread = new Thread(distanceRegulationThread);
    _distanceThread->set_priority(osPriorityRealtime);
    
    //_sonic = new HCSR04(p7, p8, p5, p6);
    _sonic = new HCSR04(p5, p6, p7, p8);
    
    _frontSensorThread.start(front_sensor);
    _frontSensorThread.set_priority(osPriorityLow);
    
    
    pc.printf("starting server thread \n\r");
    _serverThread.start(serverRun);
    _serverThread.set_priority(osPriorityHigh);
    
    //distanceRegulation.start(2);
    //_distanceThread.start(distanceRegulationTask);
    
    //wait(1);
    
    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");
}