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:
- 2015-05-08
- Revision:
- 4:9ffbf9101992
- Parent:
- 2:969dfa4f2436
File content as of revision 4:9ffbf9101992:
#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" #include "ConfigFileWrapper.h" //Debug serial MODSERIAL _debug(USBTX, USBRX); //Unused analog pins, set to DigitalOut to remove noise. DigitalOut _spare1(p16); DigitalOut _spare2(p17); DigitalOut _spare3(p18); DigitalOut _spare4(p19); int main() { _debug.baud(115200); DEBUG("\r\n"); DEBUG("********************************************************************************\r\n"); DEBUG("Starting Setup\r\n"); DEBUG("********************************************************************************\r\n"); ConfigFileWrapper _configFileWrapper = ConfigFileWrapper(); // No update Thread::wait(100); Status _status = Status(); // 10 Hz called from main Thread::wait(100); Sensors _sensors = Sensors(_status, _configFileWrapper, p13, p14, p28, p27, p15); // 50Hz called from navigation controller Thread::wait(100); Rc _rc = Rc(_status, p8); // 50Hz called from navigation controller Thread::wait(100); NavigationController _navigationController = NavigationController(_status, _sensors, _rc, _configFileWrapper); // 50Hz internal thread Thread::wait(100); FlightController _flightController = FlightController(_status, _sensors, _navigationController, _configFileWrapper, p21, p22, p23, p24); // 500Hz internal thread Thread::wait(100); BaseStation _baseStation = BaseStation(_status, _rc, _sensors, _navigationController, _flightController, _configFileWrapper, p9, p10); // 5Hz internal thread Thread::wait(100); //Thread::wait(10000); DEBUG("********************************************************************************\r\n"); DEBUG("Finished Setup\r\n"); DEBUG("********************************************************************************\r\n"); _status.setInitialised(true); osThreadSetPriority(osThreadGetId(), osPriorityNormal); while(true) { _status.update(); Thread::wait(100); } }