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: main.cpp

Branch:
DistanceRegulation
Revision:
32:c729e6da7f9a
Parent:
31:5f1737e480f3
Child:
33:a2f9fea05cb9
diff -r 5f1737e480f3 -r c729e6da7f9a main.cpp
--- a/main.cpp	Sun Feb 04 15:21:12 2018 +0000
+++ b/main.cpp	Sat Feb 17 15:48:49 2018 +0000
@@ -31,10 +31,10 @@
     
     //setup PID
     loadConfigFile();
+    _newP = _P;
+    _newI = _I;
+    _newD = _D;
     // 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);
@@ -42,8 +42,10 @@
     _groundDistance->setBias(_bias);
 
     // STARTING THREADS
+    printf("starting server thread \n\r");
     serverThread.start(serverRun);
-    serverThread.set_priority(osPriorityLow);
+    serverThread.set_priority(osPriorityHigh);
+    printf("starting distance thread \n\r");
     _distanceThread = new Thread(distanceRegulationThread);
     _distanceThread->set_priority(osPriorityRealtime);
     //distanceRegulation.start(2);