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"); }