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@3:a49ab9168fb2, 2018-07-10 (annotated)

Committer:
Anaesthetix
Date:
Tue Jul 10 13:19:53 2018 +0000
Revision:
3:a49ab9168fb2
Parent:
2:61ad38ea550d
Child:
4:fab65ad01ab4
Added and tested PID controller.

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 3:a49ab9168fb2 9 //Rx variables
Anaesthetix 3:a49ab9168fb2 10 int ruddercenter = 1562;
Anaesthetix 3:a49ab9168fb2 11 int elevcenter = 1554;
Anaesthetix 3:a49ab9168fb2 12 int aileroncenter = 1550;
Anaesthetix 3:a49ab9168fb2 13
Anaesthetix 3:a49ab9168fb2 14 //Variables for calccomp
Anaesthetix 3:a49ab9168fb2 15 float xcomp = 0;
Anaesthetix 3:a49ab9168fb2 16 float ycomp = 0;
Anaesthetix 3:a49ab9168fb2 17 int xcomp2 = 0;
Anaesthetix 0:0929d3d566cf 18 // int ycomp2 = 0;
Anaesthetix 3:a49ab9168fb2 19 float ruddercomp = 0;
Anaesthetix 0:0929d3d566cf 20 // float ratio = 0.3;
Anaesthetix 3:a49ab9168fb2 21 int rud = 0;
Anaesthetix 3:a49ab9168fb2 22 int zcomp = 0;
Anaesthetix 3:a49ab9168fb2 23 int throttle = 0;
Anaesthetix 3:a49ab9168fb2 24 static signed int m1 = 0;
Anaesthetix 3:a49ab9168fb2 25 static signed int m2 = 0;
Anaesthetix 3:a49ab9168fb2 26 static signed int m3 = 0;
Anaesthetix 3:a49ab9168fb2 27 static signed int m4 = 0;
Anaesthetix 3:a49ab9168fb2 28 static bool armed = false;
Anaesthetix 3:a49ab9168fb2 29 float xcntrl = 0;
Anaesthetix 3:a49ab9168fb2 30 float ycntrl = 0;
Anaesthetix 3:a49ab9168fb2 31 float KPx, KPy, KIx, KIy, KDx, KDy;
Anaesthetix 3:a49ab9168fb2 32
Anaesthetix 0:0929d3d566cf 33 //Scale rx channels
Anaesthetix 0:0929d3d566cf 34 rud = (((float)(ctrl[0] - ruddercenter))/2.5);
Anaesthetix 0:0929d3d566cf 35 ycntrl = ((float)(ctrl[3] - elevcenter))/8;
Anaesthetix 0:0929d3d566cf 36 throttle = ctrl[2] - 20;
Anaesthetix 0:0929d3d566cf 37 xcntrl = ((float)(ctrl[1] - aileroncenter))/8;
Anaesthetix 0:0929d3d566cf 38
Anaesthetix 0:0929d3d566cf 39 //Limit throttle
Anaesthetix 0:0929d3d566cf 40 if(throttle > 1950) throttle = 1950;
Anaesthetix 0:0929d3d566cf 41
Anaesthetix 0:0929d3d566cf 42 //Start by mixing throttle
Anaesthetix 0:0929d3d566cf 43 m1 = throttle;
Anaesthetix 0:0929d3d566cf 44 m2 = throttle;
Anaesthetix 0:0929d3d566cf 45 m3 = throttle;
Anaesthetix 0:0929d3d566cf 46 m4 = throttle;
Anaesthetix 3:a49ab9168fb2 47
Anaesthetix 3:a49ab9168fb2 48 // Current values used on a 250 size mini racer (still needs tuning): P: 1.55, I: 2.4, D: 0.4
Anaesthetix 3:a49ab9168fb2 49 // Calc PID values and prevent integral windup on KIx
Anaesthetix 3:a49ab9168fb2 50 KPx = (angles[0] - xcntrl) * Kp;
Anaesthetix 3:a49ab9168fb2 51 KIx = KIx + ((angles[0] - xcntrl) * Ki * 0.001);
Anaesthetix 3:a49ab9168fb2 52
Anaesthetix 3:a49ab9168fb2 53 if(KIx > 30) KIx = 30;
Anaesthetix 3:a49ab9168fb2 54 if(KIx < -30) KIx = -30;
Anaesthetix 3:a49ab9168fb2 55 KDx = (angles[3] + (angles[0] - xcntrl)) * Kd;
Anaesthetix 3:a49ab9168fb2 56
Anaesthetix 3:a49ab9168fb2 57 xcomp = KPx + KIx + KDx;
Anaesthetix 3:a49ab9168fb2 58 xcomp2 = xcomp*-1;
Anaesthetix 3:a49ab9168fb2 59 /*
Anaesthetix 0:0929d3d566cf 60 //Calc aileron compensation and mix
Anaesthetix 0:0929d3d566cf 61 xcomp = ((((angles[0])-xcntrl)*Kp) + ((angles[3]+((angles[0]-xcntrl)*1.0f))*Kd));
Anaesthetix 0:0929d3d566cf 62 xcomp2 = (xcomp*-1);
Anaesthetix 3:a49ab9168fb2 63 // xcomp2 = 0;
Anaesthetix 3:a49ab9168fb2 64 */
Anaesthetix 0:0929d3d566cf 65 //Mix aileron
Anaesthetix 0:0929d3d566cf 66 m1 = m1 - xcomp2;
Anaesthetix 0:0929d3d566cf 67 m2 = m2 + xcomp2;
Anaesthetix 0:0929d3d566cf 68 m3 = m3 + xcomp2;
Anaesthetix 0:0929d3d566cf 69 m4 = m4 - xcomp2;
Anaesthetix 3:a49ab9168fb2 70
Anaesthetix 3:a49ab9168fb2 71 // Calc PID values and prevent integral windup on KIx
Anaesthetix 3:a49ab9168fb2 72 KPy = (angles[1] + ycntrl) * Kp;
Anaesthetix 3:a49ab9168fb2 73 KIy = KIy + ((angles[1] + ycntrl) * Ki * 0.001);
Anaesthetix 3:a49ab9168fb2 74
Anaesthetix 3:a49ab9168fb2 75 if(KIy > 30) KIy = 30;
Anaesthetix 3:a49ab9168fb2 76 if(KIy < -30) KIy = -30;
Anaesthetix 3:a49ab9168fb2 77 KDy = (angles[4] + (angles[1] + ycntrl)) * Kd;
Anaesthetix 3:a49ab9168fb2 78
Anaesthetix 3:a49ab9168fb2 79 ycomp = KPy + KIy + KDy;
Anaesthetix 3:a49ab9168fb2 80 ycomp = ycomp*-1;
Anaesthetix 3:a49ab9168fb2 81 /*
Anaesthetix 0:0929d3d566cf 82 //ycntrl = ycntrl+5;
Anaesthetix 0:0929d3d566cf 83 //Calc elevator compensation and mix
Anaesthetix 0:0929d3d566cf 84 ycomp = ((((angles[1])+(ycntrl))*Kp) + ((angles[4]+((angles[1]+ycntrl)*1.0f))*Kd));
Anaesthetix 0:0929d3d566cf 85 ycomp = ycomp*-1;
Anaesthetix 3:a49ab9168fb2 86 // ycomp2 = 0;
Anaesthetix 3:a49ab9168fb2 87 */
Anaesthetix 0:0929d3d566cf 88 //Mix elevator
Anaesthetix 0:0929d3d566cf 89 m1 = m1 + ycomp;
Anaesthetix 0:0929d3d566cf 90 m2 = m2 + ycomp;
Anaesthetix 0:0929d3d566cf 91 m3 = m3 - ycomp;
Anaesthetix 0:0929d3d566cf 92 m4 = m4 - ycomp;
Anaesthetix 0:0929d3d566cf 93
Anaesthetix 0:0929d3d566cf 94
Anaesthetix 0:0929d3d566cf 95 //Calc rudder compensation and mix
Anaesthetix 0:0929d3d566cf 96 ruddercomp = (rud + (angles[5]*1.0f)); //has drift
Anaesthetix 0:0929d3d566cf 97 zcomp = ruddercomp*-1;
Anaesthetix 3:a49ab9168fb2 98 //zcomp = 0;
Anaesthetix 0:0929d3d566cf 99
Anaesthetix 0:0929d3d566cf 100 //Mix rudder
Anaesthetix 0:0929d3d566cf 101 m1 = m1 - zcomp;
Anaesthetix 0:0929d3d566cf 102 m2 = m2 + zcomp;
Anaesthetix 0:0929d3d566cf 103 m3 = m3 - zcomp;
Anaesthetix 0:0929d3d566cf 104 m4 = m4 + zcomp;
Anaesthetix 0:0929d3d566cf 105
Anaesthetix 0:0929d3d566cf 106 //Prevent motors from stalling
Anaesthetix 0:0929d3d566cf 107 // if(m1 < 1075 && throttle > 1000) m1 = 1280;
Anaesthetix 0:0929d3d566cf 108 // if(m2 < 1075 && throttle > 1000) m2 = 1280;
Anaesthetix 0:0929d3d566cf 109 // if(m3 < 1075 && throttle > 1000) m3 = 1280;
Anaesthetix 0:0929d3d566cf 110 // if(m4 < 1075 && throttle > 1000) m4 = 1280;
Anaesthetix 0:0929d3d566cf 111
Anaesthetix 3:a49ab9168fb2 112 //When throttle down or if not armed, stop motors
Anaesthetix 0:0929d3d566cf 113 if(throttle < 1100 || armed == false) {
Anaesthetix 0:0929d3d566cf 114 m1=1000;
Anaesthetix 0:0929d3d566cf 115 m2=1000;
Anaesthetix 0:0929d3d566cf 116 m3=1000;
Anaesthetix 0:0929d3d566cf 117 m4=1000;
Anaesthetix 0:0929d3d566cf 118 }
Anaesthetix 0:0929d3d566cf 119
Anaesthetix 0:0929d3d566cf 120 //Stick arming
Anaesthetix 0:0929d3d566cf 121 if(throttle < 1100 && rud > 100) {
Anaesthetix 0:0929d3d566cf 122 armed = true;
Anaesthetix 0:0929d3d566cf 123 led1 = 0;
Anaesthetix 0:0929d3d566cf 124 }
Anaesthetix 0:0929d3d566cf 125 if(throttle < 1100 && rud < -100) {
Anaesthetix 0:0929d3d566cf 126 armed = false;
Anaesthetix 0:0929d3d566cf 127 led1 = 1;
Anaesthetix 0:0929d3d566cf 128 }
Anaesthetix 0:0929d3d566cf 129
Anaesthetix 0:0929d3d566cf 130
Anaesthetix 3:a49ab9168fb2 131
Anaesthetix 0:0929d3d566cf 132 //Output to motors
Anaesthetix 3:a49ab9168fb2 133 motor[0] = m1;
Anaesthetix 3:a49ab9168fb2 134 motor[1] = m2;
Anaesthetix 3:a49ab9168fb2 135 motor[2] = m3;
Anaesthetix 3:a49ab9168fb2 136 motor[3] = m4;
Anaesthetix 0:0929d3d566cf 137 }