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: main.cpp

Revision:
6:033ad7377fee
Parent:
5:0f4204941604
Child:
7:d86c41443f6d
diff -r 0f4204941604 -r 033ad7377fee main.cpp
--- a/main.cpp	Fri Jul 13 14:27:30 2018 +0000
+++ b/main.cpp	Sat Jul 14 10:30:20 2018 +0000
@@ -47,9 +47,9 @@
 PwmOut motor1(p22);
 PwmOut motor2(p21);
 
-float Kp = 1.05f;
-float Ki = 0;
-float Kd = 0.45;
+float KP_x, KI_x, KD_x;
+float KP_y, KI_y, KD_y;
+float KP_z, KI_z, KD_z;
 
 Timer trx0, trx1, trx2, trx3, trx4, trx5;
 int rx_data[6] = {0};
@@ -163,14 +163,14 @@
         while(1) {
             PIDsetup = pc1->getc();
             if(PIDsetup == 'R') {
-                for(int i=0; i<6; i++) {
+                for(int i=0; i<18; i++) {
                     pc1->putc(addr[i]);
                     wait_ms(1);
                 }
             }
 
             if(PIDsetup == 'W') {
-                for(int i=0; i<6; i++) {
+                for(int i=0; i<18; i++) {
                     mem[i] = pc1->getc();
                 }
                 iap.prepare( TARGET_SECTOR, TARGET_SECTOR );
@@ -239,18 +239,40 @@
 
     tempval = addr[0];
     tempval = tempval + (addr[1] << 8);
-    Kp = ((float)tempval) / 100;
+    KP_x = ((float)tempval) / 100;
     tempval = addr[2];
     tempval = tempval + (addr[3] << 8);
-    Ki = ((float)tempval) / 100;
+    KI_x = ((float)tempval) / 100;
     tempval = addr[4];
     tempval = tempval + (addr[5] << 8);
-    Kd = ((float)tempval) / 100;
+    KD_x = ((float)tempval) / 100;
+
+    tempval = addr[6];
+    tempval = tempval + (addr[7] << 8);
+    KP_y = ((float)tempval) / 100;
+    tempval = addr[8];
+    tempval = tempval + (addr[9] << 8);
+    KI_y = ((float)tempval) / 100;
+    tempval = addr[19];
+    tempval = tempval + (addr[11] << 8);
+    KD_y = ((float)tempval) / 100;
+
+    tempval = addr[12];
+    tempval = tempval + (addr[13] << 8);
+    KP_z = ((float)tempval) / 100;
+    tempval = addr[14];
+    tempval = tempval + (addr[15] << 8);
+    KI_z = ((float)tempval) / 100;
+    tempval = addr[16];
+    tempval = tempval + (addr[17] << 8);
+    KD_z = ((float)tempval) / 100;
 
     mpu9250.init(1,BITS_DLPF_CFG_188HZ);
-
-    pc.printf("%.2f		%.2f		%.2f\r\n", Kp, Ki, Kd);
-
+    /*
+    pc.printf("%.2f		%.2f		%.2f\r\n", KP_x, KI_x, KD_x);
+    pc.printf("%.2f		%.2f		%.2f\r\n", KP_y, KI_y, KD_y);
+    pc.printf("%.2f		%.2f		%.2f\r\n", KP_z, KI_z, KD_z);
+    */
     rx_rud.rise(&rx0);
     rx_elev.rise(&rx1);
     rx_thr.rise(&rx2);
@@ -278,7 +300,6 @@
         temp3 = temp2*temp;
 
         // Temperature compensation
-        // Derived from datalogging gyro data over a wide temperature range and using the fitting tool in Matlab's plotter
         tempcomp[0] = -1.77e-6*temp2 + 0.000233*temp + 0.02179;
         tempcomp[1] = 0.0005727*temp - 0.01488;
         tempcomp[2] = -2.181e-7*temp3 + 1.754e-5*temp2 - 0.0004955*temp;
@@ -338,6 +359,7 @@
             //				pc.printf("%d		%d		%d		%d\r\n", motor[0], motor[1], motor[2], motor[3]);
         }
 
+        // To change VTX channel/band/power with the remote
         if(rx_data[5] > 1650) ch_sw = 0;
         else ch_sw = 1;
 
@@ -347,5 +369,11 @@
         motor2.pulsewidth_us(motor[1]);
         motor3.pulsewidth_us(motor[2]);
         motor4.pulsewidth_us(motor[3]);
+        /*
+        motor1.pulsewidth_us(rx_data[2]-20);
+        motor2.pulsewidth_us(rx_data[2]-20);
+        motor3.pulsewidth_us(rx_data[2]-20);
+        motor4.pulsewidth_us(rx_data[2]-20);
+        */
     }
 }