Quadcopter software. Flying - Contact me for more details or a copy of the PC ground station code
Dependencies: ConfigFile PID PPM MODSERIAL mbed-rtos mbed MaxbotixDriver TinyGPS filter
Diff: hardware.h
- Revision:
- 7:bc5822aa8878
- Parent:
- 6:4c207e7b1203
- Child:
- 9:7b194f83e567
diff -r 4c207e7b1203 -r bc5822aa8878 hardware.h --- a/hardware.h Thu Jan 22 18:03:22 2015 +0000 +++ b/hardware.h Tue Feb 10 20:55:44 2015 +0000 @@ -36,10 +36,10 @@ #define RC_ROLL_RATE_MIN -90 #define RC_PITCH_RATE_MAX 90 #define RC_PITCH_RATE_MIN -90 -#define RC_ROLL_ANGLE_MAX 15 -#define RC_ROLL_ANGLE_MIN -15 -#define RC_PITCH_ANGLE_MAX 15 -#define RC_PITCH_ANGLE_MIN -15 +#define RC_ROLL_ANGLE_MAX 45 +#define RC_ROLL_ANGLE_MIN -45 +#define RC_PITCH_ANGLE_MAX 45 +#define RC_PITCH_ANGLE_MIN -45 #define RC_THRUST_MAX 1 #define RC_THRUST_MIN 0 @@ -104,12 +104,12 @@ char* _str = new char[1024]; //RC filters -medianFilter *_yawMedianFilter; -medianFilter *_pitchMedianFilter; -medianFilter *_rollMedianFilter; -medianFilter *_thrustMedianFilter; -medianFilter *_channel7MedianFilter; -medianFilter *_channel8MedianFilter; +//medianFilter *_yawMedianFilter; +//medianFilter *_pitchMedianFilter; +//medianFilter *_rollMedianFilter; +//medianFilter *_thrustMedianFilter; +//medianFilter *_channel7MedianFilter; +//medianFilter *_channel8MedianFilter; //HARDWARE//////////////////////////////////////////////////////////////////////////////////// // M1 M2 @@ -120,10 +120,10 @@ // M3 M4 //Motors -PwmOut _motor1(p22); -PwmOut _motor2(p23); -PwmOut _motor3(p24); -PwmOut _motor4(p25); +PwmOut _motor1(p21); +PwmOut _motor2(p22); +PwmOut _motor3(p23); +PwmOut _motor4(p24); //USB serial Serial _wiredSerial(USBTX, USBRX); @@ -136,7 +136,7 @@ //PPM in PPM *_ppm; -InterruptIn *_interruptPin = new InterruptIn(p7); +InterruptIn *_interruptPin = new InterruptIn(p8); //Battery monitor //DigitalIn _batteryMonitor(p8); @@ -148,20 +148,23 @@ DigitalOut _led4(LED4); //Outputs -DigitalOut _output1(p11); -DigitalOut _output2(p12); -DigitalOut _output3(p5); -DigitalOut _output4(p6); +//DigitalOut _output1(p11); +//DigitalOut _output2(p12); +//DigitalOut _output3(p5); +//DigitalOut _output4(p6); //IMU FreeIMU _freeIMU; +//Buzzer +DigitalOut _buzzer(p20); + //Functions/////////////////////////////////////////////////////////////////////////////////////////////// //Zero gyro and arm void Arm() { //Don't arm unless throttle is equal to 0 and the transmitter is connected - if(_rcMappedCommands[3] < (RC_THRUST_MIN + 0.1) && _rcMappedCommands[3] != -1) + if(_rcMappedCommands[3] < (RC_THRUST_MIN + 0.2) && _rcMappedCommands[3] != -1 && _armed == false) { //Zero gyro _freeIMU.zeroGyro(); @@ -174,14 +177,17 @@ //Disarm void Disarm() { - //Set armed to false - _armed = false; - - //Disable modes - _levelOffset = false; - - //Save settings - WriteSettingsToConfig(); + if(_armed == true) + { + //Set armed to false + _armed = false; + + //Disable modes + _levelOffset = false; + + //Save settings + WriteSettingsToConfig(); + } } //Zero pitch and roll