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:
4:fab65ad01ab4
Parent:
3:a49ab9168fb2
Child:
5:0f4204941604
--- a/calccomp.h	Tue Jul 10 13:19:53 2018 +0000
+++ b/calccomp.h	Thu Jul 12 13:53:55 2018 +0000
@@ -1,3 +1,5 @@
+// Coded by Erik van de Coevering
+
 #include "mbed.h"
 
 DigitalOut led1(LED1); // for stick arming (leds are active low)
@@ -15,9 +17,7 @@
     float xcomp = 0;
     float ycomp = 0;
     int xcomp2 = 0;
-//		int ycomp2 = 0;
     float ruddercomp = 0;
-//		float ratio = 0.3;
     int rud = 0;
     int zcomp = 0;
     int throttle = 0;
@@ -45,46 +45,35 @@
     m3 = throttle;
     m4 = throttle;
 
-    // Current values used on a 250 size mini racer (still needs tuning): P: 1.55, I: 2.4, D: 0.4
+    // Current values used on a 250 size mini racer (still needs tuning): P: 1.45, I: 1.5, D: 0.34
     // Calc PID values and prevent integral windup on KIx
     KPx = (angles[0] - xcntrl) * Kp;
     KIx = KIx + ((angles[0] - xcntrl) * Ki * 0.001);
 
-    if(KIx > 30) KIx = 30;
-    if(KIx < -30) KIx = -30;
+    if(KIx > 50) KIx = 50;
+    if(KIx < -50) KIx = -50;
     KDx = (angles[3] + (angles[0] - xcntrl)) * Kd;
 
     xcomp = KPx + KIx + KDx;
     xcomp2 = xcomp*-1;
-    /*
-    //Calc aileron compensation and mix
-    xcomp = ((((angles[0])-xcntrl)*Kp) + ((angles[3]+((angles[0]-xcntrl)*1.0f))*Kd));
-    xcomp2 = (xcomp*-1);
-    //   xcomp2 = 0;
-    */
+
     //Mix aileron
     m1 = m1 - xcomp2;
     m2 = m2 + xcomp2;
     m3 = m3 + xcomp2;
     m4 = m4 - xcomp2;
 
-    // Calc PID values and prevent integral windup on KIx
+    // Calc PID values and prevent integral windup on KIy
     KPy = (angles[1] + ycntrl) * Kp;
     KIy = KIy + ((angles[1] + ycntrl) * Ki * 0.001);
 
-    if(KIy > 30) KIy = 30;
-    if(KIy < -30) KIy = -30;
+    if(KIy > 50) KIy = 50;
+    if(KIy < -50) KIy = -50;
     KDy = (angles[4] + (angles[1] + ycntrl)) * Kd;
 
     ycomp = KPy + KIy + KDy;
     ycomp = ycomp*-1;
-    /*
-    //ycntrl = ycntrl+5;
-    //Calc elevator compensation and mix
-    ycomp = ((((angles[1])+(ycntrl))*Kp) + ((angles[4]+((angles[1]+ycntrl)*1.0f))*Kd));
-    ycomp = ycomp*-1;
-    // ycomp2 = 0;
-    */
+
     //Mix elevator
     m1 = m1 + ycomp;
     m2 = m2 + ycomp;
@@ -103,12 +92,6 @@
     m3 = m3 - zcomp;
     m4 = m4 + zcomp;
 
-    //Prevent motors from stalling
-//           if(m1 < 1075 && throttle > 1000) m1 = 1280;
-//           if(m2 < 1075 && throttle > 1000) m2 = 1280;
-//           if(m3 < 1075 && throttle > 1000) m3 = 1280;
-//           if(m4 < 1075 && throttle > 1000) m4 = 1280;
-
     //When throttle down or if not armed, stop motors
     if(throttle < 1100 || armed == false) {
         m1=1000;