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

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

Committer:
maetugr
Date:
Thu Apr 04 14:25:21 2013 +0000
Revision:
33:fd98776b6cc7
Parent:
27:9e546fa47c33
Child:
34:3aa1cbcde59d
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 7:9d4313510646 1 #ifndef RC_CHANNEL_H
maetugr 7:9d4313510646 2 #define RC_CHANNEL_H
maetugr 7:9d4313510646 3
maetugr 7:9d4313510646 4 #include "mbed.h"
maetugr 7:9d4313510646 5
maetugr 7:9d4313510646 6 class RC_Channel
maetugr 7:9d4313510646 7 {
maetugr 7:9d4313510646 8 public:
maetugr 27:9e546fa47c33 9 RC_Channel(PinName mypin, int index); // NO p19/p20!!!!, they don't support InterruptIn
maetugr 10:953afcbcebfc 10 int read(); // read the last measured data
maetugr 7:9d4313510646 11
maetugr 7:9d4313510646 12 private:
maetugr 27:9e546fa47c33 13 int index; // to know which channel of the RC an instance has
maetugr 27:9e546fa47c33 14 int time; // last measurement data
maetugr 27:9e546fa47c33 15 float scale; // calibration values
maetugr 27:9e546fa47c33 16 float offset;
maetugr 27:9e546fa47c33 17
maetugr 10:953afcbcebfc 18 InterruptIn myinterrupt; // interrupt on the pin to react when signal falls or rises
maetugr 10:953afcbcebfc 19 void rise(); // start the time measurement when signal rises
maetugr 10:953afcbcebfc 20 void fall(); // stop the time mesurement and save the value when signal falls
maetugr 10:953afcbcebfc 21 Timer timer; // timer to measure the up time of the signal and if the signal timed out
maetugr 10:953afcbcebfc 22
maetugr 10:953afcbcebfc 23 Ticker timeoutchecker; // Ticker to see if signal broke down
maetugr 10:953afcbcebfc 24 void timeoutcheck(); // to check for timeout, checked every second
maetugr 27:9e546fa47c33 25
maetugr 27:9e546fa47c33 26 // Calibration value saving
maetugr 27:9e546fa47c33 27 void saveCalibrationValue(float * value, char * fileextension);
maetugr 27:9e546fa47c33 28 void loadCalibrationValue(float * value, char * fileextension);
maetugr 7:9d4313510646 29 };
maetugr 7:9d4313510646 30
maetugr 7:9d4313510646 31 #endif