Erik van de Coevering / Mbed 2 deprecated Multicopter_2018

Latest version of my quadcopter controller with an LPC1768 and MPU9250.

Dependencies:   mbed

Currently running on a custom PCB with 30.5 x 30.5mm mounts. There are also 2 PC apps that go with the software; one to set up the PID controller and one to balance the motors and props. If anyone is interested, send me a message and I'll upload them.

Diff: calccomp.h

Revision:
2:61ad38ea550d
Parent:
0:0929d3d566cf
Child:
3:a49ab9168fb2
--- a/calccomp.h	Mon Jul 09 16:37:24 2018 +0000
+++ b/calccomp.h	Mon Jul 09 19:18:20 2018 +0000
@@ -28,11 +28,7 @@
 		static bool armed = false;
 		float xcntrl = 0;
 		float ycntrl = 0;
-		
-//		float KPx, KDx, KPy, KDy;
-//		static float KIx = 0;
-//		static float KIy = 0;
-	
+			
     //Scale rx channels
     rud = (((float)(ctrl[0] - ruddercenter))/2.5);
     ycntrl = ((float)(ctrl[3] - elevcenter))/8;
@@ -49,12 +45,12 @@
     m4 = throttle;
 	/*
 		// Calc PID values and prevent integral windup on KIx
-		KPx = (angles[0] + xcntrl) * 1.05f;
-		KIx = KIx + ((angles[0] + xcntrl) * 0.001f);
+		KPx = (angles[0] + xcntrl) * Kp;
+		KIx = KIx + ((angles[0] + xcntrl) * Kd);
 		
 		if(KIx > 30) KIx = 30;
 		if(KIx < -30) KIx = -30;
-		KDx = (angles[3] + (angles[0] + xcntrl)*0.8f) * 0.45f;
+		KDx = (angles[3] + (angles[0] + xcntrl)) Kd;
 		
 		xcomp = KPx + KIx + KDx;
 		xcomp2 = xcomp*-1;
@@ -71,12 +67,12 @@
     m4 = m4 - xcomp2;
 	/*
 		// Calc PID values and prevent integral windup on KIx
-		KPy = (angles[1] + ycntrl) * 1.05f;
-		KIy = KIx + ((angles[1] + ycntrl) * 0.001f);
+		KPy = (angles[1] + ycntrl) * Kd;
+		KIy = KIx + ((angles[1] + ycntrl) * Ki);
 		
 		if(KIy > 30) KIy = 30;
 		if(KIy < -30) KIy = -30;
-		KDx = (angles[4] + (angles[1] + ycntrl)*0.8f) * 0.45f;
+		KDx = (angles[4] + (angles[1] + ycntrl)) * Kd;
 		
 		ycomp = KPy + KIy + KDy;
 	*/
@@ -136,4 +132,3 @@
 		motor[2] = m3;
 		motor[3] = m4;
 }
-