Joseph Roberts / Mbed 2 deprecated Quadcopter_mk2

New version of quadcopter software written to OO principles

Dependencies:   mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS

main.cpp@2:969dfa4f2436, 2015-04-01 (annotated)

Committer:
joe4465
Date:
Wed Apr 01 11:19:21 2015 +0000
Revision:
2:969dfa4f2436
Parent:
0:c6a85bb2a827 
Altitude hold with 2 PID's working. Exported to offline compiler

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joe4465 0:c6a85bb2a827 1 #include "mbed.h"
joe4465 0:c6a85bb2a827 2 #include "Global.h"
joe4465 0:c6a85bb2a827 3 #include "MODSERIAL.h"
joe4465 0:c6a85bb2a827 4 #include "Status.h"
joe4465 0:c6a85bb2a827 5 #include "Sensors.h"
joe4465 0:c6a85bb2a827 6 #include "BaseStation.h"
joe4465 0:c6a85bb2a827 7 #include "Rc.h"
joe4465 0:c6a85bb2a827 8 #include "FlightController.h"
joe4465 0:c6a85bb2a827 9 #include "NavigationController.h"
joe4465 2:969dfa4f2436 10 #include "ConfigFileWrapper.h"
joe4465 0:c6a85bb2a827 11
joe4465 2:969dfa4f2436 12 //Debug serial
joe4465 0:c6a85bb2a827 13 MODSERIAL _debug(USBTX, USBRX);
joe4465 0:c6a85bb2a827 14
joe4465 2:969dfa4f2436 15 //Unused analog pins, set to DigitalOut to remove noise.
joe4465 0:c6a85bb2a827 16 DigitalOut _spare1(p16);
joe4465 0:c6a85bb2a827 17 DigitalOut _spare2(p17);
joe4465 0:c6a85bb2a827 18 DigitalOut _spare3(p18);
joe4465 0:c6a85bb2a827 19 DigitalOut _spare4(p19);
joe4465 2:969dfa4f2436 20
joe4465 0:c6a85bb2a827 21 int main()
joe4465 0:c6a85bb2a827 22 {
joe4465 2:969dfa4f2436 23 _debug.baud(115200);
joe4465 0:c6a85bb2a827 24
joe4465 0:c6a85bb2a827 25 DEBUG("\r\n");
joe4465 0:c6a85bb2a827 26 DEBUG("********************************************************************************\r\n");
joe4465 0:c6a85bb2a827 27 DEBUG("Starting Setup\r\n");
joe4465 0:c6a85bb2a827 28 DEBUG("********************************************************************************\r\n");
joe4465 0:c6a85bb2a827 29
joe4465 2:969dfa4f2436 30 ConfigFileWrapper _configFileWrapper = ConfigFileWrapper(); // No update
joe4465 2:969dfa4f2436 31 Thread::wait(100);
joe4465 2:969dfa4f2436 32 Status _status = Status(); // 10 Hz called from main
joe4465 2:969dfa4f2436 33 Thread::wait(100);
joe4465 2:969dfa4f2436 34 Sensors _sensors = Sensors(_status, _configFileWrapper, p13, p14, p28, p27, p15); // 50Hz called from navigation controller
joe4465 2:969dfa4f2436 35 Thread::wait(100);
joe4465 2:969dfa4f2436 36 Rc _rc = Rc(_status, p8); // 50Hz called from navigation controller
joe4465 2:969dfa4f2436 37 Thread::wait(100);
joe4465 2:969dfa4f2436 38 NavigationController _navigationController = NavigationController(_status, _sensors, _rc, _configFileWrapper); // 50Hz internal thread
joe4465 2:969dfa4f2436 39 Thread::wait(100);
joe4465 2:969dfa4f2436 40 FlightController _flightController = FlightController(_status, _sensors, _navigationController, _configFileWrapper, p21, p22, p23, p24); // 500Hz internal thread
joe4465 2:969dfa4f2436 41 Thread::wait(100);
joe4465 2:969dfa4f2436 42 BaseStation _baseStation = BaseStation(_status, _rc, _sensors, _navigationController, _flightController, _configFileWrapper, p9, p10); // 5Hz internal thread
joe4465 2:969dfa4f2436 43 Thread::wait(100);
joe4465 0:c6a85bb2a827 44
joe4465 2:969dfa4f2436 45 //Thread::wait(10000);
joe4465 0:c6a85bb2a827 46
joe4465 0:c6a85bb2a827 47 DEBUG("********************************************************************************\r\n");
joe4465 0:c6a85bb2a827 48 DEBUG("Finished Setup\r\n");
joe4465 0:c6a85bb2a827 49 DEBUG("********************************************************************************\r\n");
joe4465 2:969dfa4f2436 50
joe4465 2:969dfa4f2436 51 _status.setInitialised(true);
joe4465 2:969dfa4f2436 52
joe4465 2:969dfa4f2436 53 osThreadSetPriority(osThreadGetId(), osPriorityNormal);
joe4465 2:969dfa4f2436 54 while(true)
joe4465 2:969dfa4f2436 55 {
joe4465 2:969dfa4f2436 56 _status.update();
joe4465 2:969dfa4f2436 57 Thread::wait(100);
joe4465 2:969dfa4f2436 58 }
joe4465 0:c6a85bb2a827 59 }