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
Diff: hardware.h
- Branch:
- DistanceRegulation
- Revision:
- 30:4d1b3926a3cc
- Parent:
- 27:5956d5e3ff63
diff -r c35bcfe62c77 -r 4d1b3926a3cc hardware.h --- a/hardware.h Sat Jan 20 12:09:04 2018 +0000 +++ b/hardware.h Sun Jan 21 17:58:41 2018 +0000 @@ -6,6 +6,7 @@ #include "PID.h" #include "hcsr04.h" #include "ConfigFile.h" +#include "ms5611.h" void loadConfigFile(void); @@ -43,13 +44,19 @@ float _P = 0; float _I = 0; float _D = 0; -int _groundSetPoint = 0; +float _groundSetPoint = 0; int _bias = 0; int _groundPidMinOutput = 0; int _groundPidMaxOutput = 0; bool _groundRegulation = false; - +// ms5611 - pressure senzor +Thread *_altitudeThread; +ms5611 ms(p9, p10, ms5611::CSBpin_0); +Thread *_ms5611Thread; +float _startAltitude = 0.0; +float _setPointAltitude = 0.0; +float _currentAltitude = 0.0;