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

distanceRegulation.h

Committer:
edy05
Date:
2017-10-26
Revision:
2:d172c9963f87
Child:
3:6c9f80f5e865

File content as of revision 2:d172c9963f87:

#include "mbed.h"
#include "rtos.h"
#include "hardware.h"
#include "definitions.h"

void distanceRegulationThread(){
    //_ppmRegen = new PpmRegen(_interruptPort); 
    //HCSR04 sonic(p6, p7);
    uint16_t channels[CHANNELS];
    int distance=0;
    float groundDistancePidValue;
    int newThrottleValue;
    
    //setup PID
    //_groundDistance = new PID(1, 1, 1, 2);
    _groundDistance->setInputLimits(0, 500);
    _groundDistance->setOutputLimits(-100, 100);
    _groundDistance->setMode(AUTO_MODE);
    _groundDistance->setSetPoint(0.0);
    _groundDistance->setBias(0);
    
    while(1){
        
        _ppmRegen->getAllChannels(channels);
        
        distance = _sonic->getDistan();
        
        //calculate PID for given channel
        _groundDistance->setProcessValue(distance);
        _groundDistance->setSetPoint(30);
        groundDistancePidValue = _groundDistance->compute();
        //Update PWM values
        //channels[THROTTLE] += groundDistancePidValue;
        newThrottleValue = channels[THROTTLE] + groundDistancePidValue;
        
        pc.printf("Sonic distance: %d \n\r", distance);
        pc.printf("channel throttle pid value: %f \n\r", groundDistancePidValue); 
        pc.printf("channel throttle original value: %d \n\r", channels[THROTTLE]);
        pc.printf("channel throttle final value: %d \n\r", newThrottleValue);
        
        
        
        
        // Generate PWM
        _roll->pulsewidth_us(    channels[ROLL]);
        _pitch->pulsewidth_us(   channels[PITCH]);
        _yaw->pulsewidth_us(     channels[YAW]);
        _throttle->pulsewidth_us(channels[THROTTLE]);
        _aux1->pulsewidth_us(    channels[AUX1]);
        _aux2->pulsewidth_us(    channels[AUX2]);
        
        Thread::wait(500);
            
        
    }
    
}