Eduard Medla / Mbed 2 deprecated Autonomous_quadcopter

Regenerating PPM signal based on distances from ultrasonic sensors, ESP8266 for connectin via wifi. Autonomous quadcopter behaviour, autonomou height holding. Flying direction based on front and back ultrasonic sensors.

Dependencies:   ConfigFile HCSR04 PID PPM2 mbed-rtos mbed

definitions.h@41:5fe200d20022, 2018-05-22 (annotated)

Committer:
edy05
Date:
Tue May 22 19:43:09 2018 +0000
Branch:
DistanceRegulation
Revision:
41:5fe200d20022
Parent:
40:0aa1cefe80ab 
final updates

Who changed what in which revision?

UserRevisionLine numberNew contents of line
edy05 2:d172c9963f87 1 /*
edy05 2:d172c9963f87 2 NVIC_SetPriority(TIMER0_IRQn, 0);
edy05 2:d172c9963f87 3 NVIC_SetPriority(TIMER1_IRQn, 1);
edy05 2:d172c9963f87 4 NVIC_SetPriority(TIMER2_IRQn, 2);
edy05 2:d172c9963f87 5 NVIC_SetPriority(TIMER3_IRQn, 3);
edy05 2:d172c9963f87 6 */
edy05 2:d172c9963f87 7
edy05 2:d172c9963f87 8 #define PIEZZO_START 0.1
edy05 2:d172c9963f87 9 #define PIEZZO_STOP 0.0
edy05 2:d172c9963f87 10 #define CHANNELS 8
edy05 2:d172c9963f87 11
edy05 2:d172c9963f87 12 #define ROLL 0
edy05 2:d172c9963f87 13 #define PITCH 1
edy05 2:d172c9963f87 14 #define THROTTLE 2
edy05 2:d172c9963f87 15 #define YAW 3
edy05 2:d172c9963f87 16 #define AUX1 4
edy05 2:d172c9963f87 17 #define AUX2 5
edy05 2:d172c9963f87 18
edy05 41:5fe200d20022 19 #define THROTTLE_LIMIT 1500
edy05 41:5fe200d20022 20 #define PITCH_MOVE_FORWARD 15
edy05 41:5fe200d20022 21 #define PITCH_MOVE_BACKWARD 15
edy05 41:5fe200d20022 22 #define LANDING_HEIGHT 6
edy05 31:5f1737e480f3 23
edy05 34:5dca557e982f 24
edy05 37:76bfd4e9c383 25 #define FLIGHT_CONTROLLER_FREQUENCY 100
edy05 31:5f1737e480f3 26
edy05 2:d172c9963f87 27 /*
edy05 2:d172c9963f87 28 pc.printf("ROLL %d\n\r", channels[ROLL]);
edy05 2:d172c9963f87 29 pc.printf("PITCH %d\n\r", channels[PITCH]);
edy05 2:d172c9963f87 30 pc.printf("YAW %d\n\r", channels[YAW]);
edy05 2:d172c9963f87 31 pc.printf("THROTTLE %d\n\r", channels[THROTTLE]);
edy05 2:d172c9963f87 32 pc.printf("AUX1 %d\n\r", channels[AUX1]);
edy05 2:d172c9963f87 33 pc.printf("AUX2 %d\n\r", channels[AUX2]);
edy05 2:d172c9963f87 34
edy05 2:d172c9963f87 35 */