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: main.cpp
- Branch:
- DistanceRegulation
- Revision:
- 31:5f1737e480f3
- Parent:
- 27:5956d5e3ff63
- Child:
- 32:c729e6da7f9a
diff -r c35bcfe62c77 -r 5f1737e480f3 main.cpp --- a/main.cpp Sat Jan 20 12:09:04 2018 +0000 +++ b/main.cpp Sun Feb 04 15:21:12 2018 +0000 @@ -29,6 +29,18 @@ _sonic = new HCSR04(p29, p30); _groundDistance = new PID(0, 0, 0, 0.005); + //setup PID + loadConfigFile(); + // to show values in web browser after first load + _tempP = _P; + _tempI = _I; + _tempD = _D; + _groundDistance->setInputLimits(0, 300); + _groundDistance->setMode(AUTO_MODE); + _groundDistance->setTunings(_P, _I, _D); + _groundDistance->setOutputLimits(_groundPidMinOutput, _groundPidMaxOutput); + _groundDistance->setBias(_bias); + // STARTING THREADS serverThread.start(serverRun); serverThread.set_priority(osPriorityLow);