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:
- 2017-10-26
- Revision:
- 2:d172c9963f87
- Parent:
- 1:3a5a074b39e0
- Child:
- 3:6c9f80f5e865
- Child:
- 4:c909ed06dc1f
File content as of revision 2:d172c9963f87:
#include "mbed.h" #include "rtos.h" #include "hardware.h" #include "Server.h" #include "PpmRegen.h" #include "distanceRegulation.h" #include "hcsr04.h" #include "PID.h" //VARIABLES uint16_t ppmInChannelsValue[CHANNELS]; volatile uint16_t distance = 0; //FUNCTIONS void print_ppmIn(void); void dist(int); //HCSR04 sonic(p6, p7); //_ppmRegen = new PpmRegen(_interruptPort, _roll, _pitch, _yaw, _throttle, _aux1, _aux2); int main(){ _ppmRegen = new PpmRegen(_interruptPort); _sonic = new HCSR04(p29, p30); _groundDistance = new PID(10, 0, 0, 2); serverThread.start(serverRun); distanceThread.start(distanceRegulationThread); //_sonic.startUpdates(); wait(1); while(1){ //print_ppmIn(); //_sonic.checkDistance(); //distance = _sonic.getCurrentDistance(); //distance = sonic.getDistance(); //pc.printf("Distance: %d \n\r", distance); Thread::wait(100); } } void dist(int distan) { //pc.printf("Distance: %d \n\r", distan); distance = distan; } 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"); }