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

Rc/Rc.h@4:9ffbf9101992, 2015-05-08 (annotated)

Committer:
joe4465
Date:
Fri May 08 09:07:38 2015 +0000
Revision:
4:9ffbf9101992
Parent:
2:969dfa4f2436 
End of FYP

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 "Ppm.h"
joe4465 0:c6a85bb2a827 4 #include "filter.h"
joe4465 0:c6a85bb2a827 5 #include "Status.h"
joe4465 0:c6a85bb2a827 6
joe4465 0:c6a85bb2a827 7 #ifndef Rc_H
joe4465 0:c6a85bb2a827 8 #define Rc_H
joe4465 0:c6a85bb2a827 9
joe4465 0:c6a85bb2a827 10 class Rc
joe4465 0:c6a85bb2a827 11 {
joe4465 0:c6a85bb2a827 12 public:
joe4465 2:969dfa4f2436 13 Rc(Status& status, PinName pin);
joe4465 0:c6a85bb2a827 14 ~Rc();
joe4465 0:c6a85bb2a827 15
joe4465 0:c6a85bb2a827 16 struct MappedRc
joe4465 0:c6a85bb2a827 17 {
joe4465 2:969dfa4f2436 18 double yaw;
joe4465 2:969dfa4f2436 19 double pitch;
joe4465 2:969dfa4f2436 20 double roll;
joe4465 2:969dfa4f2436 21 double throttle;
joe4465 0:c6a85bb2a827 22 };
joe4465 0:c6a85bb2a827 23
joe4465 0:c6a85bb2a827 24 struct RawRc
joe4465 0:c6a85bb2a827 25 {
joe4465 2:969dfa4f2436 26 double channel0;
joe4465 2:969dfa4f2436 27 double channel1;
joe4465 2:969dfa4f2436 28 double channel2;
joe4465 2:969dfa4f2436 29 double channel3;
joe4465 2:969dfa4f2436 30 double channel4;
joe4465 2:969dfa4f2436 31 double channel5;
joe4465 2:969dfa4f2436 32 double channel6;
joe4465 2:969dfa4f2436 33 double channel7;
joe4465 0:c6a85bb2a827 34 };
joe4465 0:c6a85bb2a827 35
joe4465 0:c6a85bb2a827 36 MappedRc getMappedRc();
joe4465 0:c6a85bb2a827 37 RawRc getRawRc();
joe4465 0:c6a85bb2a827 38
joe4465 0:c6a85bb2a827 39 private:
joe4465 2:969dfa4f2436 40 double Map(double input, double inputMin, double inputMax, double outputMin, double outputMax);
joe4465 0:c6a85bb2a827 41
joe4465 0:c6a85bb2a827 42 Ppm* _ppm;
joe4465 2:969dfa4f2436 43 Status& _status;
joe4465 2:969dfa4f2436 44 filter* _yawMedianFilter;
joe4465 2:969dfa4f2436 45 filter* _pitchMedianFilter;
joe4465 2:969dfa4f2436 46 filter* _rollMedianFilter;
joe4465 2:969dfa4f2436 47 filter* _thrustMedianFilter;
joe4465 2:969dfa4f2436 48 filter* _armMedianFilter;
joe4465 2:969dfa4f2436 49 filter* _modeMedianFilter;
joe4465 2:969dfa4f2436 50 int _notConnectedIterator;
joe4465 2:969dfa4f2436 51 int _connectedIterator;
joe4465 0:c6a85bb2a827 52 };
joe4465 0:c6a85bb2a827 53
joe4465 0:c6a85bb2a827 54 #endif