Colin Stearns / Mbed 2 deprecated qcControl

QC Control software

Dependencies:   mbed

Fork of dgps by Colin Stearns

flight/flightControl.cpp@66:5d43988d100c, 2014-05-05 (annotated)

Committer:
dylanembed123
Date:
Mon May 05 13:20:35 2014 +0000
Revision:
66:5d43988d100c
Parent:
9:da906eeac51e 
Final Project;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dylanembed123 9:da906eeac51e 1 #include "flightControl.h"
stearnsc 8:28b866df62cf 2
stearnsc 8:28b866df62cf 3 PwmOut throttle(p21);
stearnsc 8:28b866df62cf 4 PwmOut roll(p22);
stearnsc 8:28b866df62cf 5 PwmOut pitch(p23);
stearnsc 8:28b866df62cf 6 //PwmOut yaw(p24);
stearnsc 8:28b866df62cf 7 PwmOut arm(p25);
stearnsc 8:28b866df62cf 8 PwmOut baroHold(p26);
stearnsc 8:28b866df62cf 9
dylanembed123 9:da906eeac51e 10 //TODO see if pwm output gets initialized
dylanembed123 9:da906eeac51e 11 void FlightControl::startPwm(){
dylanembed123 9:da906eeac51e 12 throttle.period_ms(20);
dylanembed123 9:da906eeac51e 13 roll.period_ms(20);
dylanembed123 9:da906eeac51e 14 pitch.period_ms(20);
dylanembed123 9:da906eeac51e 15 // yaw.period_ms(20);
dylanembed123 9:da906eeac51e 16 arm.period_ms(20);
dylanembed123 9:da906eeac51e 17 }
dylanembed123 9:da906eeac51e 18
dylanembed123 9:da906eeac51e 19 void FlightControl::stopPwm(){
dylanembed123 9:da906eeac51e 20 throttle.pulsewidth_us(0);
dylanembed123 9:da906eeac51e 21 roll.pulsewidth_us(0);
dylanembed123 9:da906eeac51e 22 pitch.pulsewidth_us(0);
stearnsc 8:28b866df62cf 23 // yaw.pulsewidth_us(0);
dylanembed123 9:da906eeac51e 24 throttle.pulsewidth_us(0);
dylanembed123 9:da906eeac51e 25 }
dylanembed123 9:da906eeac51e 26
dylanembed123 9:da906eeac51e 27 //-500 means full back; 500 means full forward
dylanembed123 9:da906eeac51e 28 void FlightControl::setPitch(int val){
dylanembed123 9:da906eeac51e 29 if (val > 500) val = 500;
dylanembed123 9:da906eeac51e 30 else if (val < -500) val = 0;
dylanembed123 9:da906eeac51e 31 pitch.pulsewidth_us(1500 + val);
dylanembed123 9:da906eeac51e 32 }
stearnsc 8:28b866df62cf 33
dylanembed123 9:da906eeac51e 34 //-500 means full left; 500 means full right
dylanembed123 9:da906eeac51e 35 void FlightControl::setRoll(int val){
dylanembed123 9:da906eeac51e 36 if (val > 500) val = 500;
dylanembed123 9:da906eeac51e 37 else if (val < -500) val = 0;
dylanembed123 9:da906eeac51e 38 roll.pulsewidth_us(1500 + val);
dylanembed123 9:da906eeac51e 39 }
dylanembed123 9:da906eeac51e 40
dylanembed123 9:da906eeac51e 41 //0 means no throttle, 1000 means full throttle
dylanembed123 9:da906eeac51e 42 void FlightControl::setThrottle(int val){
dylanembed123 9:da906eeac51e 43 if (val > 1000) val = 1000;
dylanembed123 9:da906eeac51e 44 else if (val < 0) val = 0;
dylanembed123 9:da906eeac51e 45 throttle.pulsewidth_us(1000 + val);
dylanembed123 9:da906eeac51e 46 }
dylanembed123 9:da906eeac51e 47
dylanembed123 9:da906eeac51e 48 void FlightControl::setArmState(bool armState){
dylanembed123 9:da906eeac51e 49 if (armState) arm.pulsewidth_us(2000);
dylanembed123 9:da906eeac51e 50 else arm.pulsewidth_us(1000);
dylanembed123 9:da906eeac51e 51 }
dylanembed123 9:da906eeac51e 52
dylanembed123 9:da906eeac51e 53 void FlightControl::setHoldAltitude(bool hold){
dylanembed123 9:da906eeac51e 54 if (hold) baroHold.pulsewidth_us(2000);
dylanembed123 9:da906eeac51e 55 else baroHold.pulsewidth_us(1000);
dylanembed123 9:da906eeac51e 56 }