Oskar Weigl / Mbed 2 deprecated Quadcopter_copy

Very early flyable code.

Dependencies:   mbed RF12B

GlobalsNDefines.h@0:9fcb3bf5c231, 2011-10-01 (annotated)

Committer:
madcowswe
Date:
Sat Oct 01 12:57:23 2011 +0000
Revision:
0:9fcb3bf5c231
This edit is for testing: not flyable

Who changed what in which revision?

UserRevisionLine numberNew contents of line
madcowswe 0:9fcb3bf5c231 1 /*
madcowswe 0:9fcb3bf5c231 2 #ifndef GlobalsNDefines_H_
madcowswe 0:9fcb3bf5c231 3 #define GlobalsNDefines_H_
madcowswe 0:9fcb3bf5c231 4 */
madcowswe 0:9fcb3bf5c231 5
madcowswe 0:9fcb3bf5c231 6 #include "mbed.h"
madcowswe 0:9fcb3bf5c231 7 #include "RF12B.h"
madcowswe 0:9fcb3bf5c231 8
madcowswe 0:9fcb3bf5c231 9 Serial pc(USBTX, USBRX); // tx, rx
madcowswe 0:9fcb3bf5c231 10 I2C i2c(p28, p27);
madcowswe 0:9fcb3bf5c231 11 //Rfm12b rfm12b(p5, p6, p7, p8, p11);
madcowswe 0:9fcb3bf5c231 12 RF12B radiolink(p5, p6, p7, p8, p9);
madcowswe 0:9fcb3bf5c231 13 DigitalOut myled(LED1);
madcowswe 0:9fcb3bf5c231 14 DigitalOut motormaxled(LED2);
madcowswe 0:9fcb3bf5c231 15 DigitalIn Nkill(p10);
madcowswe 0:9fcb3bf5c231 16 Ticker watchdog;
madcowswe 0:9fcb3bf5c231 17
madcowswe 0:9fcb3bf5c231 18 PwmOut PWMfront(p23);
madcowswe 0:9fcb3bf5c231 19 PwmOut PWMrear(p22);
madcowswe 0:9fcb3bf5c231 20 PwmOut PWMleft(p24);
madcowswe 0:9fcb3bf5c231 21 PwmOut PWMright(p21);
madcowswe 0:9fcb3bf5c231 22
madcowswe 0:9fcb3bf5c231 23 AnalogIn altsensor(p15);
madcowswe 0:9fcb3bf5c231 24
madcowswe 0:9fcb3bf5c231 25 #define RPSPUNIT -0.00126766
madcowswe 0:9fcb3bf5c231 26 #define NOPOWER 0.063
madcowswe 0:9fcb3bf5c231 27 #define ACCADDRESS 0x4C
madcowswe 0:9fcb3bf5c231 28 #define LOOPTIME 0.01
madcowswe 0:9fcb3bf5c231 29 #define ACCDECAY 50
madcowswe 0:9fcb3bf5c231 30 #define YAWCAP 1.5f
madcowswe 0:9fcb3bf5c231 31 #define COMMANDPERIOD 0.1;
madcowswe 0:9fcb3bf5c231 32 #define ALTGAIN
madcowswe 0:9fcb3bf5c231 33 //#define ALTSENSOR
madcowswe 0:9fcb3bf5c231 34
madcowswe 0:9fcb3bf5c231 35 float gyrcalib[] = {0.0, 0.0, 0.0};
madcowswe 0:9fcb3bf5c231 36 bool loopalive = 1;
madcowswe 0:9fcb3bf5c231 37 bool commandsalive = 1;
madcowswe 0:9fcb3bf5c231 38
madcowswe 0:9fcb3bf5c231 39
madcowswe 0:9fcb3bf5c231 40 //#endif