File content as of revision 4:e02ad2d9ba69:

#include "mbed.h"
#include "Servo.h"
#include "PwmIn.h"






////////////////////////////////////////////////////////////////////////////////
/////////////////////////////        setup        //////////////////////////////
////////////////////////////////////////////////////////////////////////////////

//Initialize left and right servos
Servo back_servo(p23);
Servo front_servo(p24);


//Pins for Thruster Power
Servo front_thrust(p25);
Servo back_thrust(p26);


//Initialize receiver pins
PwmIn thro(p17);
PwmIn elev(p15);
PwmIn gear(p13);
PwmIn aile(p14);
PwmIn rudd(p16);
PwmIn aux(p18);

Serial pc(USBTX, USBRX);


////////////////////////////////////////////////////////////////////////////////
/////////////////////////////  global variables   //////////////////////////////
////////////////////////////////////////////////////////////////////////////////

//Set all PWM values to a defaalt of 0
float throttle_output = 0.0;
float elevation_output = 0.0;
float ESTOP_output = 0.0;
float rudder_output = 0.0;
float aileron_output = 0.0;
float aux_output = 0.0;

//Variables for Serial Communcation with Labview
volatile bool newData = false;
volatile float inputs[4];



////////////////////////////////////////////////////////////////////////////////
/////////////////////////////     Functions      ///////////////////////////////
////////////////////////////////////////////////////////////////////////////////

//Function changes 0 t 1 input into 0.08 to 0.92
float RangeChange(float x)
{
    float y;
    y = ((x * 0.84) + 0.08);
    return y;
}






//Function Reads Serial com
void onSerialRx()
{
    static char serialInBuffer[100]; 
    static int serialCount = 0;
 
    while (pc.readable())// in case two bytes are ready
    {
        char byteIn = pc.getc();//Read serial message
        
        if (byteIn == 0x65)// if an end of line is found
        { 
            serialInBuffer[serialCount] == 0; // null terminate the input                
            float w,x,y,z;
            if (sscanf(serialInBuffer,"%f,%f,%f,%fe",&w,&x,&y,&z) == 4)// managed to read all 4 values
            { 
                inputs[0] = w;
                inputs[1] = x;
                inputs[2] = y;
                inputs[3] = z;
                newData = true;
            }
            serialCount = 0; // reset the buffer
        } 
        else
        {
            serialInBuffer[serialCount] = byteIn;// store the character
            if (serialCount<100)
            {
                serialCount++;// increase the counter.
            }
        }
    }
}




void Calibrate()
{
    //Calibration Sequence
    back_servo = 0.0;
    front_servo = 0.0;
    back_thrust = 0.0;
    front_thrust = 0.0;
    wait(0.1); //ESC detects signal
    //Required ESC Calibration/Arming sequence  
    //sends longest and shortest PWM pulse to learn and arm at power on
    back_servo = 1.0;
    front_servo = 1.0;
    back_thrust = 1.0;
    front_thrust = 1.0;
    wait(0.1);
    back_servo = 0.0;
    front_servo = 0.0;
    back_thrust = 0.0;
    front_thrust = 0.0;
    wait(0.1);
    //End calibration sequence
}



////////////////////////////////////////////////////////////////////////////////
/////////////////////////////        Main        ///////////////////////////////
////////////////////////////////////////////////////////////////////////////////

int main() {
    
    Calibrate();
    
    pc.attach(&onSerialRx);
    unsigned int expired = 0;
    
    while(1) {
        
        
        //Enable Servo to turn 180 degrees
        back_servo.calibrate(0.00085,90.0);
        front_servo.calibrate(0.00085,90.0);
        
        
        //Read in all PWM signals and set them to a value between 0 and 1
        elevation_output = (elev.pulsewidth()*1000)-1;
        throttle_output = (thro.pulsewidth()*1000)-1;
        rudder_output = (rudd.pulsewidth()*1000)-1;
        aileron_output = (aile.pulsewidth()*1000)-1;
        
        //RC vs Auto PWM
        aux_output = (aux.pulsewidth()*1000)-1; // >.5 RC... <.5 Auto    
        
        //ESTOP PWM
        ESTOP_output = (gear.pulsewidth()*1000)-1;  // >.5 run... <.5 STOP
        
        
        
        if(ESTOP_output > 0.5)
        {   
                
            if(aux_output > 0.5) //RC
            {
                //Servo Controllers
                back_servo = aileron_output;
                front_servo = rudder_output;
                
                //Thrust Controllers
                back_thrust = throttle_output - 0.04;
                front_thrust = elevation_output - 0.04;
                    
            }
            else //Auto
            {   
                if (newData)
                {  
                    newData = false;//Reset NewData Boolean
                    
                    front_servo = inputs[0];//Set thruster values
                    front_thrust = RangeChange(inputs[1]) - 0.04;
                    back_servo = inputs[2];
                    back_thrust = RangeChange(inputs[3]) - 0.04;
                    
                    expired = 0;//Reset Expried
                }
                else
                {
                    expired++; //Count the number of loops without new data
                }
        
                if(expired > 10000000) //If too many loops have passed with no new data, assume Labview crashed
                {
                    //indicate loss of labview com
                    back_thrust = 0.46;
                    front_thrust = 0.46;
                }                
            }
        }
        else
        {
            front_thrust = 0.46;
            back_thrust = 0.46;
            
        }         
    }
}