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

Committer:
joe4465
Date:
2015-03-04
Revision:
0:c6a85bb2a827
Child:
2:969dfa4f2436

File content as of revision 0:c6a85bb2a827:

#include "mbed.h"
#include "Global.h"
#include "MODSERIAL.h"
#include "Status.h"
#include "Sensors.h"
#include "BaseStation.h"
#include "Rc.h"
#include "FlightController.h"
#include "NavigationController.h"

MODSERIAL                           _debug(USBTX, USBRX);

//Wireless Serial
MODSERIAL                           _base(p9, p10);

//GPS Serial
//MODSERIAL                           _gps(p13, p14);

//Onboard LED's
//DigitalOut                          _led1(LED1);
//DigitalOut                          _led2(LED2);
//DigitalOut                          _led3(LED3);
//DigitalOut                          _led4(LED4);

//MaxBotix Ping sensor
//Timer                               _maxBotixTimer;
//Sonar                               _maxBotixSensor(p15, _maxBotixTimer);

//Lidar
//LidarLite                           _lidar(p28, p27);

//Unused analog pins
DigitalOut                          _spare1(p16);
DigitalOut                          _spare2(p17);
DigitalOut                          _spare3(p18);
DigitalOut                          _spare4(p19);

//Classes
Status                              _status;
//Sensors                             *_sensors(_status, p13, p14, p15, p28, p27);
//BaseStation                         *_baseStation(p9, p10);
Rc                                  _rc;
FlightController                    _flightController;
//NavigationController                *_navigationController;           

int main()
{
    _base.baud(115200);
    
    DEBUG("\r\n");  
    DEBUG("********************************************************************************\r\n");
    DEBUG("Starting Setup\r\n");
    DEBUG("********************************************************************************\r\n");
    
    //Set Status
    _status.initialise();
    
    //Initalise Base Station
        
    //Initialise RC
    _rc.initialise(_status, p8);
    
    //Initialise Sensors
    
    //Initialise Navigation
    
    //Initialise Flight Controller
    _flightController.initialise(_status, _sensors, _navigationController, p21, p22, p23, p24);
    
    
    
    DEBUG("********************************************************************************\r\n");
    DEBUG("Finished Setup\r\n");
    DEBUG("********************************************************************************\r\n"); 
}