Matthias Grob / Mbed 2 deprecated FlyBed1

NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.

Dependencies:   mbed MODI2C

Mixer/Mixer.h@33:fd98776b6cc7, 2013-04-04 (annotated)

Committer:
maetugr
Date:
Thu Apr 04 14:25:21 2013 +0000
Revision:
33:fd98776b6cc7
Parent:
30:021e13b62575 
New version developed in eastern holidays, ported Madgwick Filter, added support for chaning PID values while flying over bluetooth, still not flying stable or even controllable

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 26:96a072233d7a 1 // by MaEtUgR
maetugr 26:96a072233d7a 2
maetugr 26:96a072233d7a 3 #ifndef MIXER_H
maetugr 26:96a072233d7a 4 #define MIXER_H
maetugr 26:96a072233d7a 5
maetugr 30:021e13b62575 6 #define RT 0.70710678118654752440084436210485 // 1 / squrt(2) for the X configuration
maetugr 30:021e13b62575 7
maetugr 26:96a072233d7a 8 #include "mbed.h"
maetugr 26:96a072233d7a 9
maetugr 26:96a072233d7a 10 class Mixer
maetugr 26:96a072233d7a 11 {
maetugr 26:96a072233d7a 12 public:
maetugr 30:021e13b62575 13 Mixer(int Configuration);
maetugr 33:fd98776b6cc7 14 void compute(int Throttle, const float * controller_value);
maetugr 30:021e13b62575 15 float Motor_speed[4]; // calculated motor speeds to send to the ESCs
maetugr 26:96a072233d7a 16 private:
maetugr 30:021e13b62575 17 int Configuration; // number of the configuration used (for example +)
maetugr 26:96a072233d7a 18 };
maetugr 26:96a072233d7a 19
maetugr 26:96a072233d7a 20 #endif