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.

main.cpp

Committer:
Anaesthetix
Date:
5 months ago
Revision:
8:981f7e2365b6
Parent:
7:d86c41443f6d

File content as of revision 8:981f7e2365b6:

// Coded by: Erik van de Coevering

#include "mbed.h"
#include "MadgwickAHRS.h"
#include "MahonyAHRS.h"
#include "MAfilter.h"
#include "MPU9250_SPI.h"
#include "calccomp.h"
#include "SerialBuffered.h"
#include "IAP.h"
#include "LPfilter.h"


#define     MEM_SIZE        256
#define     TARGET_SECTOR    29     //  use sector 29 as target sector

DigitalOut led2(LED2);					// leds are active low
DigitalOut ch_sw(p26);

Serial pc(USBTX, USBRX);
SerialBuffered *pc1 = new SerialBuffered( 100, USBTX, USBRX);

SPI spi(p11, p12, p13);
mpu9250_spi mpu9250(spi, p14);

//Madgwick filter;
Mahony filter;

Timer timer;
Timer tijd;
Timer t;
Timer print;

LPfilter8 lp1, lp2, lp3;
MAfilter10 MAgx, MAgy, MAgz;

IAP iap;

InterruptIn rx_rud(p5);
InterruptIn rx_elev(p6);
InterruptIn rx_thr(p7);
InterruptIn rx_ail(p8);
InterruptIn rx_p1(p29);
InterruptIn rx_p2(p30);

PwmOut motor4(p24);
PwmOut motor3(p23);
PwmOut motor1(p22);
PwmOut motor2(p21);

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};
bool rxd = false;

char mcommand;

void rx0()
{
    trx0.start();
}

void rx1()
{
    trx1.start();
    trx0.stop();
    if(trx0.read_us() > 900 && trx0.read_us() < 2200) rx_data[0] = trx0.read_us();
    trx0.reset();
}

void rx2()
{
    trx2.start();
    trx1.stop();
    if(trx1.read_us() > 900 && trx1.read_us() < 2200) rx_data[1] = trx1.read_us();
    trx1.reset();
}

void rx3()
{
    trx3.start();
    trx2.stop();
    if(trx2.read_us() > 900 && trx2.read_us() < 2200) rx_data[2] = trx2.read_us();
    trx2.reset();
}

void rx4()
{
    trx4.start();
    trx3.stop();
    if(trx3.read_us() > 900 && trx3.read_us() < 2200) rx_data[3] = trx3.read_us();
    trx3.reset();
}

void rx5()
{
    trx5.start();
    trx4.stop();
    if(trx4.read_us() > 900 && trx4.read_us() < 2200) rx_data[4] = trx4.read_us();
    trx4.reset();
}

void rx6()
{
    trx5.stop();
    if(trx5.read_us() > 900 && trx5.read_us() < 2200) rx_data[5] = trx5.read_us();
    trx5.reset();
    rxd = true;
}


int main()
{
    ch_sw = 1;
    led1 = 1;
    led2 = 0;
    pc1->baud(230400);
    pc1->setTimeout(1);
    pc.baud(230400);
    spi.frequency(4000000);


    //IAP variables
    char* addr = sector_start_adress[TARGET_SECTOR];
    char  mem[ MEM_SIZE ];    //  memory, it should be aligned to word boundary
    char 	PIDsetup = 0;
    int		r;
    int 	tempval;

    //IMU variables
    float angles[6] = {0};
    float time = 0;
    float samplef = 0;
    float gyrodata[3] = {0};
    float acceldata[3] = {0};
    float angles_temp[2] = {0};
    float roll, pitch;
    float tempcomp[6] = {0};
    float temp = 0;
    float temp2 = 0;
    float temp3 = 0;
    bool exit = true;
    float noise = 0;
    int count = 0;

    //Rx variables
    int motor[4] = {0};

    // Init pwm
    motor1.period_ms(10);
    motor1.pulsewidth_us(1000);
    motor2.pulsewidth_us(1000);
    motor3.pulsewidth_us(1000);
    motor4.pulsewidth_us(1000);

    filter.begin(1500);

    pc.putc('c');
    PIDsetup = pc1->getc();
    if(PIDsetup == 'c') {
        while(1) {
            PIDsetup = pc1->getc();
            if(PIDsetup == 'R') {
                for(int i=0; i<18; i++) {
                    pc1->putc(addr[i]);
                    wait_ms(1);
                }
            }

            if(PIDsetup == 'W') {
                for(int i=0; i<18; i++) {
                    mem[i] = pc1->getc();
                }
                iap.prepare( TARGET_SECTOR, TARGET_SECTOR );
                r   = iap.erase( TARGET_SECTOR, TARGET_SECTOR );
                iap.prepare( TARGET_SECTOR, TARGET_SECTOR );
                r   = iap.write( mem, sector_start_adress[ TARGET_SECTOR ], MEM_SIZE );
            }
        }
    }


    if(PIDsetup == 'W') {
        mpu9250.init2(1,BITS_DLPF_CFG_188HZ);
        pc1->setTimeout(0.01);

        rx_rud.rise(&rx0);
        rx_elev.rise(&rx1);
        rx_thr.rise(&rx2);
        rx_ail.rise(&rx3);
        rx_p1.rise(&rx4);
        rx_p2.rise(&rx5);
        rx_p2.fall(&rx6);
        mcommand = 'a';

        while(exit) {
            wait_ms(1);
            if(mcommand == '5') {
                motor1.pulsewidth_us(rx_data[2] - 20);
                motor2.pulsewidth_us(1000);
                motor3.pulsewidth_us(1000);
                motor4.pulsewidth_us(1000);
            } else if(mcommand == '6') {
                motor1.pulsewidth_us(1000);
                motor2.pulsewidth_us(rx_data[2] - 20);
                motor3.pulsewidth_us(1000);
                motor4.pulsewidth_us(1000);
            } else if(mcommand == '3') {
                motor1.pulsewidth_us(1000);
                motor2.pulsewidth_us(1000);
                motor3.pulsewidth_us(rx_data[2] - 20);
                motor4.pulsewidth_us(1000);
            } else if(mcommand == '4') {
                motor1.pulsewidth_us(1000);
                motor2.pulsewidth_us(1000);
                motor3.pulsewidth_us(1000);
                motor4.pulsewidth_us(rx_data[2] - 20);
            }
            if(mcommand == 'E') exit = 0;

            if(rxd) {
                led2 = !led2;
                rxd = false;
            }

            mpu9250.read_all();
            if(mpu9250.accelerometer_data[0] >= 0) noise = noise*0.99 + 0.01*mpu9250.accelerometer_data[0];

            if(count>100) {
                count = 0;
                pc.printf("%.2f\n", noise);
                mcommand = pc1->getc();
            }
            count++;
        }
    }

    tempval = addr[0];
    tempval = tempval + (addr[1] << 8);
    KP_x = ((float)tempval) / 100;
    tempval = addr[2];
    tempval = tempval + (addr[3] << 8);
    KI_x = ((float)tempval) / 100;
    tempval = addr[4];
    tempval = tempval + (addr[5] << 8);
    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[10];
    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_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);
    rx_ail.rise(&rx3);
    rx_p1.rise(&rx4);
    rx_p2.rise(&rx5);
    rx_p2.fall(&rx6);

    t.start();

    while(1) {
        print.start();
        t.stop();
        time = (float)t.read();
        t.reset();
        t.start();
        filter.invSampleFreq = time;
        samplef = 1/time;

        mpu9250.read_all();
        if(mpu9250.Temperature < 6.0f) temp = 6.0f;
        else if(mpu9250.Temperature > 60.0f) temp = 60.0f;
        else temp = 0.999*temp + 0.001*mpu9250.Temperature;
        temp2 = temp*temp;
        temp3 = temp2*temp;

        // Temperature compensation
        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;
        tempcomp[3] = -0.0002814*temp2 + 0.005545*temp - 1.4;
        tempcomp[4] = -3.011e-5*temp3 + 0.002823*temp2 - 0.1073*temp + 3.618;
        tempcomp[5] = 9.364e-5*temp2 + 0.009138*temp - 0.8939;

        // Low pass filters on accelerometer data (calculated with the help of Matlab's FDAtool)
        acceldata[0] = lp1.run(mpu9250.accelerometer_data[0] - tempcomp[0]);
        acceldata[1] = lp2.run(mpu9250.accelerometer_data[1] - tempcomp[1]);
        acceldata[2] = lp3.run((mpu9250.accelerometer_data[2] - tempcomp[2])*-1);

        // 10-term moving average to remove some noise
        gyrodata[0] = MAgx.run((mpu9250.gyroscope_data[0] - tempcomp[3])*-1);
        gyrodata[1] = MAgy.run((mpu9250.gyroscope_data[1] - tempcomp[4])*-1);
        gyrodata[2] = MAgz.run((mpu9250.gyroscope_data[2] - tempcomp[5])*-1);

        // Madgwick's quaternion algorithm
        filter.updateIMU(gyrodata[0], gyrodata[1], gyrodata[2], acceldata[0],
                         acceldata[1], acceldata[2]);

        //	filter.update(gyrodata[0], gyrodata[1], gyrodata[2], acceldata[0], acceldata[1], acceldata[2], mpu9250.Magnetometer[0], mpu9250.Magnetometer[1], mpu9250.Magnetometer[2]);
        //
        roll = filter.getRoll();
        pitch = filter.getPitch();

        angles[3] = gyrodata[1];
        angles[4] = gyrodata[0];
        angles[5] = gyrodata[2];

        //Simple first order complementary filter -> TODO: CHECK STEP RESPONSE
        angles[0] = 0.95f*(angles[0] + (gyrodata[1]*time)) + 0.05f*pitch;
        angles[1] = 0.95f*(angles[1] + (gyrodata[0]*time)) + 0.05f*roll;

//				angles[0] = pitch;
//				angles[1] = roll;

        // If [VAR] is NaN use previous value
        if(angles[0] != angles[0]) angles[0] = angles_temp[0];
        if(angles[1] != angles[1]) angles[1] = angles_temp[1];
        if(angles[0] == angles[0]) angles_temp[0] = angles[0];
        if(angles[1] == angles[1]) angles_temp[1] = angles[1];

        tijd.stop();
        tijd.reset();
        tijd.start();

        /*
        		if(print.read_ms() > 100) {
        			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);
        		}
        		*/
        pc.printf("%.0f		%.0f\r\n", pitch, roll);
        if(rxd) {
            led2 = !led2;
            rxd = false;
            //			pc.printf("%d		%d		%d		%d\r\n", rx_data[0], rx_data[1], rx_data[2], rx_data[3]);
        }

        // To change VTX channel/band/power with the remote
        if(rx_data[5] > 1650) ch_sw = 0;
        else ch_sw = 1;

        calccomp(rx_data, angles, motor);

        motor1.pulsewidth_us(motor[0]);
        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);
        */
    }
}