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.

Filters/LPfilter.h@8:981f7e2365b6, 2018-07-31 (annotated)

Committer:
Anaesthetix
Date:
Tue Jul 31 20:36:57 2018 +0000
Revision:
8:981f7e2365b6
Parent:
7:d86c41443f6d 
Switched from Madgwick to Mahony as I'm having trouble with slow oscillations caused by the madgwick filter. Fixed an error on the PID algorithm also.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Anaesthetix 4:fab65ad01ab4 1 // Coded by Erik van de Coevering
Anaesthetix 4:fab65ad01ab4 2
Anaesthetix 0:0929d3d566cf 3 #ifndef __LPfilter_H__
Anaesthetix 0:0929d3d566cf 4 #define __LPfilter_H__
Anaesthetix 0:0929d3d566cf 5
Anaesthetix 0:0929d3d566cf 6 #define LP_A 0.02008336556421
Anaesthetix 0:0929d3d566cf 7 #define LP_B 1.561018075801
Anaesthetix 0:0929d3d566cf 8 #define LP_C -0.6413515380576
Anaesthetix 0:0929d3d566cf 9 #define LP_D 1.0f
Anaesthetix 0:0929d3d566cf 10 #define LP_E 2.0f
Anaesthetix 0:0929d3d566cf 11 #define LP_F 1.0f
Anaesthetix 0:0929d3d566cf 12
Anaesthetix 7:d86c41443f6d 13 /*
Anaesthetix 0:0929d3d566cf 14 class LPfilter {
Anaesthetix 0:0929d3d566cf 15 private:
Anaesthetix 0:0929d3d566cf 16 float filterbuffer[3];
Anaesthetix 0:0929d3d566cf 17 float out;
Anaesthetix 0:0929d3d566cf 18 public:
Anaesthetix 0:0929d3d566cf 19 float run(float input);
Anaesthetix 0:0929d3d566cf 20 };
Anaesthetix 0:0929d3d566cf 21
Anaesthetix 0:0929d3d566cf 22 class LPfilter2 {
Anaesthetix 0:0929d3d566cf 23 private:
Anaesthetix 0:0929d3d566cf 24 float filterbuffer1[3];
Anaesthetix 0:0929d3d566cf 25 float filterbuffer2[3];
Anaesthetix 0:0929d3d566cf 26 float out_temp;
Anaesthetix 0:0929d3d566cf 27 float out;
Anaesthetix 0:0929d3d566cf 28 public:
Anaesthetix 0:0929d3d566cf 29 float run(float input);
Anaesthetix 0:0929d3d566cf 30 };
Anaesthetix 0:0929d3d566cf 31
Anaesthetix 0:0929d3d566cf 32 class LPfilter2_1 {
Anaesthetix 0:0929d3d566cf 33 private:
Anaesthetix 0:0929d3d566cf 34 float filterbuffer1[3];
Anaesthetix 0:0929d3d566cf 35 float filterbuffer2[3];
Anaesthetix 0:0929d3d566cf 36 float out_temp;
Anaesthetix 0:0929d3d566cf 37 float out;
Anaesthetix 0:0929d3d566cf 38 public:
Anaesthetix 0:0929d3d566cf 39 float run(float input);
Anaesthetix 0:0929d3d566cf 40 };
Anaesthetix 7:d86c41443f6d 41 */
Anaesthetix 7:d86c41443f6d 42 class LPfilter8 {
Anaesthetix 7:d86c41443f6d 43 private:
Anaesthetix 7:d86c41443f6d 44 float filterbuffer1[3];
Anaesthetix 7:d86c41443f6d 45 float filterbuffer2[3];
Anaesthetix 7:d86c41443f6d 46 float filterbuffer3[3];
Anaesthetix 7:d86c41443f6d 47 float filterbuffer4[3];
Anaesthetix 7:d86c41443f6d 48 float out_temp1, out_temp2, out_temp3;
Anaesthetix 7:d86c41443f6d 49 float out;
Anaesthetix 7:d86c41443f6d 50 public:
Anaesthetix 7:d86c41443f6d 51 float run(float input);
Anaesthetix 7:d86c41443f6d 52 };
Anaesthetix 0:0929d3d566cf 53
Anaesthetix 0:0929d3d566cf 54 #endif
Anaesthetix 0:0929d3d566cf 55