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

Files at this revision

API Documentation at this revision

Revision 39:9fd3f4439978, committed 2013-08-28

Comitter:
maetugr
Date:
Wed Aug 28 00:30:38 2013 +0000
Parent:
38:ff95fd524c9e
Child:
40:2ca410923691
Commit message:
Before new IMU_10DOF

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Mon Jun 24 14:18:47 2013 +0000
+++ b/main.cpp	Wed Aug 28 00:30:38 2013 +0000
@@ -7,7 +7,7 @@
 #include "BMP085_old.h"     // Alt (Altitude sensor)
 #include "RC_Channel.h" // RemoteControl Channels with PPM
 #include "Servo_PWM.h"  // Motor PPM using PwmOut
-#include "PID.h"        // PID Library by Aaron Berk
+#include "PID.h"        // PID Library (slim, self written)
 #include "IMU_Filter.h" // Class to calculate position angles
 #include "Mixer.h"      // Class to calculate motorspeeds from Angles, Regulation and RC-Signals
 
@@ -67,8 +67,7 @@
 Mixer       MIX(1); // 0 for +-Formation, 1 for X-Formation 
 PID     Controller[] = {PID(P, I, D, INTEGRAL_MAX), PID(P, I, D, INTEGRAL_MAX), PID(PY, IY, DY, INTEGRAL_MAX)}; // 0:X:Roll 1:Y:Pitch 2:Z:Yaw
 
-void dutycycle() // method which is called by the Ticker Dutycycler every RATE seconds
-{
+void dutycycle() { // method which is called by the Ticker Dutycycler every RATE seconds
     time_read_sensors = GlobalTimer.read(); // start time measure for sensors
     
     // read data from sensors // ATTENTION! the I2C option repeated true is important because otherwise interrupts while bus communications cause crashes
@@ -206,7 +205,7 @@
     
     // Start!
     GlobalTimer.start();
-    Dutycycler.attach(&dutycycle, RATE);     // start to process all RATEms
+    Dutycycler.attach(&dutycycle, RATE);     // start to process all RATE seconds
     
     while(1) { 
         #ifdef PC_CONNECTED