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

Branch:
DistanceRegulation
Revision:
35:b09e19c855f6
Parent:
34:5dca557e982f
Child:
36:ed8b7b7b6cfa
diff -r 5dca557e982f -r b09e19c855f6 distanceRegulation.h
--- a/distanceRegulation.h	Sun Feb 25 18:32:13 2018 +0000
+++ b/distanceRegulation.h	Sat Mar 03 15:38:10 2018 +0000
@@ -39,12 +39,17 @@
             _groundDistance->setSetPoint(_groundSetPoint);
         }
         else{
+            pc.printf("P %f \n\r", _P);
+            pc.printf("I %f \n\r", _I);
+            pc.printf("D %f \n\r", _D);
+            pc.printf("setpoint %f \n\r", _groundSetPoint);
+            pc.printf("bias %f \n\r", _bias);
             _groundDistance->resetError();
             //pc.printf("PID tunings changed \n\r");    
             _groundDistance->setTunings(_P, _I, _D);
             _groundDistance->setSetPoint(_groundSetPoint);
             _groundDistance->setOutputLimits(_groundPidMinOutput, _groundPidMaxOutput);
-            _groundDistance->setBias(_bias);
+            //_groundDistance->setBias(_bias);
         }
     }
     
@@ -59,15 +64,14 @@
         
         distance1 = _sonic->getDistan1();
         //distance2 = _sonic->getDistan2();
-        //pc.printf("%d \n\r", distance1);
+        pc.printf("%d \n\r", distance1);
         //pc.printf("distance2: %d \n\r", distance2);
         _groundDistance->setProcessValue(distance1);
         groundDistancePIDValue = _groundDistance->compute();
-        //groundDistancePIDValue += _bias;
-        
+        pc.printf("pid value %f \n\r", groundDistancePIDValue);
         
         //Update PWM values
-        regulatedThrottle = channels[THROTTLE] + groundDistancePIDValue;
+        regulatedThrottle = channels[THROTTLE] + _bias + groundDistancePIDValue;
         if(channels[AUX2] < 1500){
             channels[THROTTLE] = 1010;    
         }
@@ -77,9 +81,9 @@
             regulatedThrottle = 1010;
         
         
-        //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", regulatedThrottle);
+        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", regulatedThrottle);
         
         // Generate  regulated PWM
         _roll->pulsewidth_us(    channels[ROLL]);