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.

calccomp.h@2:61ad38ea550d, 2018-07-09 (annotated)

Committer:
Anaesthetix
Date:
Mon Jul 09 19:18:20 2018 +0000
Revision:
2:61ad38ea550d
Parent:
0:0929d3d566cf
Child:
3:a49ab9168fb2
Minor changes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Anaesthetix 0:0929d3d566cf 1 #include "mbed.h"
Anaesthetix 0:0929d3d566cf 2
Anaesthetix 0:0929d3d566cf 3 DigitalOut led1(LED1); // for stick arming (leds are active low)
Anaesthetix 0:0929d3d566cf 4
Anaesthetix 0:0929d3d566cf 5 extern float Kp, Ki, Kd;
Anaesthetix 0:0929d3d566cf 6
Anaesthetix 0:0929d3d566cf 7 void calccomp(int* ctrl, float* angles, int* motor) //ctrl: 0-rud 1-elev 2-throttle 3-aileron angles: 0-ax 1-ay 2-az 3-gx 4-gy 5-gz
Anaesthetix 0:0929d3d566cf 8 {
Anaesthetix 0:0929d3d566cf 9 //Rx variables
Anaesthetix 0:0929d3d566cf 10 int ruddercenter = 1562;
Anaesthetix 0:0929d3d566cf 11 int elevcenter = 1554;
Anaesthetix 0:0929d3d566cf 12 int aileroncenter = 1550;
Anaesthetix 0:0929d3d566cf 13
Anaesthetix 0:0929d3d566cf 14 //Variables for calccomp
Anaesthetix 0:0929d3d566cf 15 float xcomp = 0;
Anaesthetix 0:0929d3d566cf 16 float ycomp = 0;
Anaesthetix 0:0929d3d566cf 17 int xcomp2 = 0;
Anaesthetix 0:0929d3d566cf 18 // int ycomp2 = 0;
Anaesthetix 0:0929d3d566cf 19 float ruddercomp = 0;
Anaesthetix 0:0929d3d566cf 20 // float ratio = 0.3;
Anaesthetix 0:0929d3d566cf 21 int rud = 0;
Anaesthetix 0:0929d3d566cf 22 int zcomp = 0;
Anaesthetix 0:0929d3d566cf 23 int throttle = 0;
Anaesthetix 0:0929d3d566cf 24 static signed int m1 = 0;
Anaesthetix 0:0929d3d566cf 25 static signed int m2 = 0;
Anaesthetix 0:0929d3d566cf 26 static signed int m3 = 0;
Anaesthetix 0:0929d3d566cf 27 static signed int m4 = 0;
Anaesthetix 0:0929d3d566cf 28 static bool armed = false;
Anaesthetix 0:0929d3d566cf 29 float xcntrl = 0;
Anaesthetix 0:0929d3d566cf 30 float ycntrl = 0;
Anaesthetix 2:61ad38ea550d 31
Anaesthetix 0:0929d3d566cf 32 //Scale rx channels
Anaesthetix 0:0929d3d566cf 33 rud = (((float)(ctrl[0] - ruddercenter))/2.5);
Anaesthetix 0:0929d3d566cf 34 ycntrl = ((float)(ctrl[3] - elevcenter))/8;
Anaesthetix 0:0929d3d566cf 35 throttle = ctrl[2] - 20;
Anaesthetix 0:0929d3d566cf 36 xcntrl = ((float)(ctrl[1] - aileroncenter))/8;
Anaesthetix 0:0929d3d566cf 37
Anaesthetix 0:0929d3d566cf 38 //Limit throttle
Anaesthetix 0:0929d3d566cf 39 if(throttle > 1950) throttle = 1950;
Anaesthetix 0:0929d3d566cf 40
Anaesthetix 0:0929d3d566cf 41 //Start by mixing throttle
Anaesthetix 0:0929d3d566cf 42 m1 = throttle;
Anaesthetix 0:0929d3d566cf 43 m2 = throttle;
Anaesthetix 0:0929d3d566cf 44 m3 = throttle;
Anaesthetix 0:0929d3d566cf 45 m4 = throttle;
Anaesthetix 0:0929d3d566cf 46 /*
Anaesthetix 0:0929d3d566cf 47 // Calc PID values and prevent integral windup on KIx
Anaesthetix 2:61ad38ea550d 48 KPx = (angles[0] + xcntrl) * Kp;
Anaesthetix 2:61ad38ea550d 49 KIx = KIx + ((angles[0] + xcntrl) * Kd);
Anaesthetix 0:0929d3d566cf 50
Anaesthetix 0:0929d3d566cf 51 if(KIx > 30) KIx = 30;
Anaesthetix 0:0929d3d566cf 52 if(KIx < -30) KIx = -30;
Anaesthetix 2:61ad38ea550d 53 KDx = (angles[3] + (angles[0] + xcntrl)) Kd;
Anaesthetix 0:0929d3d566cf 54
Anaesthetix 0:0929d3d566cf 55 xcomp = KPx + KIx + KDx;
Anaesthetix 0:0929d3d566cf 56 xcomp2 = xcomp*-1;
Anaesthetix 0:0929d3d566cf 57 */
Anaesthetix 0:0929d3d566cf 58 //Calc aileron compensation and mix
Anaesthetix 0:0929d3d566cf 59 xcomp = ((((angles[0])-xcntrl)*Kp) + ((angles[3]+((angles[0]-xcntrl)*1.0f))*Kd));
Anaesthetix 0:0929d3d566cf 60 xcomp2 = (xcomp*-1);
Anaesthetix 0:0929d3d566cf 61 // xcomp2 = 0;
Anaesthetix 0:0929d3d566cf 62
Anaesthetix 0:0929d3d566cf 63 //Mix aileron
Anaesthetix 0:0929d3d566cf 64 m1 = m1 - xcomp2;
Anaesthetix 0:0929d3d566cf 65 m2 = m2 + xcomp2;
Anaesthetix 0:0929d3d566cf 66 m3 = m3 + xcomp2;
Anaesthetix 0:0929d3d566cf 67 m4 = m4 - xcomp2;
Anaesthetix 0:0929d3d566cf 68 /*
Anaesthetix 0:0929d3d566cf 69 // Calc PID values and prevent integral windup on KIx
Anaesthetix 2:61ad38ea550d 70 KPy = (angles[1] + ycntrl) * Kd;
Anaesthetix 2:61ad38ea550d 71 KIy = KIx + ((angles[1] + ycntrl) * Ki);
Anaesthetix 0:0929d3d566cf 72
Anaesthetix 0:0929d3d566cf 73 if(KIy > 30) KIy = 30;
Anaesthetix 0:0929d3d566cf 74 if(KIy < -30) KIy = -30;
Anaesthetix 2:61ad38ea550d 75 KDx = (angles[4] + (angles[1] + ycntrl)) * Kd;
Anaesthetix 0:0929d3d566cf 76
Anaesthetix 0:0929d3d566cf 77 ycomp = KPy + KIy + KDy;
Anaesthetix 0:0929d3d566cf 78 */
Anaesthetix 0:0929d3d566cf 79 //ycntrl = ycntrl+5;
Anaesthetix 0:0929d3d566cf 80 //Calc elevator compensation and mix
Anaesthetix 0:0929d3d566cf 81 ycomp = ((((angles[1])+(ycntrl))*Kp) + ((angles[4]+((angles[1]+ycntrl)*1.0f))*Kd));
Anaesthetix 0:0929d3d566cf 82 ycomp = ycomp*-1;
Anaesthetix 0:0929d3d566cf 83 // ycomp2 = 0;
Anaesthetix 0:0929d3d566cf 84
Anaesthetix 0:0929d3d566cf 85 //Mix elevator
Anaesthetix 0:0929d3d566cf 86 m1 = m1 + ycomp;
Anaesthetix 0:0929d3d566cf 87 m2 = m2 + ycomp;
Anaesthetix 0:0929d3d566cf 88 m3 = m3 - ycomp;
Anaesthetix 0:0929d3d566cf 89 m4 = m4 - ycomp;
Anaesthetix 0:0929d3d566cf 90
Anaesthetix 0:0929d3d566cf 91
Anaesthetix 0:0929d3d566cf 92 //Calc rudder compensation and mix
Anaesthetix 0:0929d3d566cf 93 ruddercomp = (rud + (angles[5]*1.0f)); //has drift
Anaesthetix 0:0929d3d566cf 94 zcomp = ruddercomp*-1;
Anaesthetix 0:0929d3d566cf 95 //zcomp = 0;
Anaesthetix 0:0929d3d566cf 96
Anaesthetix 0:0929d3d566cf 97 //Mix rudder
Anaesthetix 0:0929d3d566cf 98 m1 = m1 - zcomp;
Anaesthetix 0:0929d3d566cf 99 m2 = m2 + zcomp;
Anaesthetix 0:0929d3d566cf 100 m3 = m3 - zcomp;
Anaesthetix 0:0929d3d566cf 101 m4 = m4 + zcomp;
Anaesthetix 0:0929d3d566cf 102
Anaesthetix 0:0929d3d566cf 103 //Prevent motors from stalling
Anaesthetix 0:0929d3d566cf 104 // if(m1 < 1075 && throttle > 1000) m1 = 1280;
Anaesthetix 0:0929d3d566cf 105 // if(m2 < 1075 && throttle > 1000) m2 = 1280;
Anaesthetix 0:0929d3d566cf 106 // if(m3 < 1075 && throttle > 1000) m3 = 1280;
Anaesthetix 0:0929d3d566cf 107 // if(m4 < 1075 && throttle > 1000) m4 = 1280;
Anaesthetix 0:0929d3d566cf 108
Anaesthetix 0:0929d3d566cf 109 //When throttle down or if not armed, stop motors
Anaesthetix 0:0929d3d566cf 110 if(throttle < 1100 || armed == false) {
Anaesthetix 0:0929d3d566cf 111 m1=1000;
Anaesthetix 0:0929d3d566cf 112 m2=1000;
Anaesthetix 0:0929d3d566cf 113 m3=1000;
Anaesthetix 0:0929d3d566cf 114 m4=1000;
Anaesthetix 0:0929d3d566cf 115 }
Anaesthetix 0:0929d3d566cf 116
Anaesthetix 0:0929d3d566cf 117 //Stick arming
Anaesthetix 0:0929d3d566cf 118 if(throttle < 1100 && rud > 100) {
Anaesthetix 0:0929d3d566cf 119 armed = true;
Anaesthetix 0:0929d3d566cf 120 led1 = 0;
Anaesthetix 0:0929d3d566cf 121 }
Anaesthetix 0:0929d3d566cf 122 if(throttle < 1100 && rud < -100) {
Anaesthetix 0:0929d3d566cf 123 armed = false;
Anaesthetix 0:0929d3d566cf 124 led1 = 1;
Anaesthetix 0:0929d3d566cf 125 }
Anaesthetix 0:0929d3d566cf 126
Anaesthetix 0:0929d3d566cf 127
Anaesthetix 0:0929d3d566cf 128
Anaesthetix 0:0929d3d566cf 129 //Output to motors
Anaesthetix 0:0929d3d566cf 130 motor[0] = m1;
Anaesthetix 0:0929d3d566cf 131 motor[1] = m2;
Anaesthetix 0:0929d3d566cf 132 motor[2] = m3;
Anaesthetix 0:0929d3d566cf 133 motor[3] = m4;
Anaesthetix 0:0929d3d566cf 134 }