Latest version of my quadcopter controller with an LPC1768 and MPU9250.
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:
- 3:a49ab9168fb2
- Parent:
- 1:53628713ede9
- Child:
- 4:fab65ad01ab4
--- a/main.cpp Mon Jul 09 19:18:20 2018 +0000 +++ b/main.cpp Tue Jul 10 13:19:53 2018 +0000 @@ -132,7 +132,6 @@ float temp = 0; float temp2 = 0; float temp3 = 0; - float lptest = 0; bool exit = true; float noise = 0; int count = 0; @@ -142,10 +141,10 @@ // Init pwm motor1.period_ms(10); - motor1.pulsewidth_us(1000); - motor2.pulsewidth_us(1000); - motor3.pulsewidth_us(1000); - motor4.pulsewidth_us(1000); + motor1.pulsewidth_us(1000); + motor2.pulsewidth_us(1000); + motor3.pulsewidth_us(1000); + motor4.pulsewidth_us(1000); filter.begin(1500); @@ -320,6 +319,7 @@ print.stop(); print.reset(); print.start(); + //led2 = !led2; // pc.printf("X: %.2f Y: %.2f %.0f\r\n", angles[0], angles[1], samplef); pc.printf("%.2f %.0f\r\n", angles[1], samplef); } @@ -328,7 +328,7 @@ if(rxd) { led2 = !led2; rxd = false; -// pc.printf("%d %d %d %d\r\n", motor[0], motor[1], motor[2], motor[3]); + // pc.printf("%d %d %d %d\r\n", motor[0], motor[1], motor[2], motor[3]); } if(rx_data[5] > 1650) ch_sw = 0;