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

Diff: distanceRegulation.h

Revision:
3:6c9f80f5e865
Parent:
2:d172c9963f87
Child:
13:33024b5880b3
diff -r d172c9963f87 -r 6c9f80f5e865 distanceRegulation.h
--- a/distanceRegulation.h	Thu Oct 26 15:54:47 2017 +0000
+++ b/distanceRegulation.h	Thu Oct 26 16:07:21 2017 +0000
@@ -4,15 +4,12 @@
 #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);
@@ -30,7 +27,6 @@
         _groundDistance->setSetPoint(30);
         groundDistancePidValue = _groundDistance->compute();
         //Update PWM values
-        //channels[THROTTLE] += groundDistancePidValue;
         newThrottleValue = channels[THROTTLE] + groundDistancePidValue;
         
         pc.printf("Sonic distance: %d \n\r", distance);
@@ -38,9 +34,6 @@
         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]);