Chris Elsholz / Mbed 2 deprecated Quadrocopter

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Dependencies:   mbed TextLCD

Fork of Quadrocopter by Marco Friedmann

main.cpp@15:742683a8efda, 2017-08-23 (annotated)

Committer:
MarcoF89
Date:
Wed Aug 23 11:53:22 2017 +0000
Revision:
15:742683a8efda
Parent:
13:5f0a2103c707
Child:
16:59d80bf88bf8
Sensoren zusammengef?gt

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MarcoF89 13:5f0a2103c707 1 #include <Timer.h>
MarcoF89 13:5f0a2103c707 2 #include <math.h>
MarcoF89 15:742683a8efda 3 #include "mbed.h"
MarcoF89 15:742683a8efda 4 #include "stdio.h"
MarcoF89 13:5f0a2103c707 5 #include "deklaration.h"
MarcoF89 13:5f0a2103c707 6 #include "messen.h"
MarcoF89 15:742683a8efda 7
MarcoF89 15:742683a8efda 8 #define RAD 57.29577951
MarcoF89 15:742683a8efda 9
MarcoF89 15:742683a8efda 10 uint16_t zeit;
MarcoF89 15:742683a8efda 11 uint32_t zeit2;
MarcoF89 15:742683a8efda 12
MarcoF89 15:742683a8efda 13 uint8_t k;
MarcoF89 15:742683a8efda 14
MarcoF89 15:742683a8efda 15
MarcoF89 15:742683a8efda 16
MarcoF89 15:742683a8efda 17
MarcoF89 13:5f0a2103c707 18
MarcoF89 6:27a09e8bebfb 19 int main()
MarcoF89 15:742683a8efda 20 {
MarcoF89 15:742683a8efda 21 gain_g = 0;
MarcoF89 15:742683a8efda 22 z_off = 0;
MarcoF89 15:742683a8efda 23 zeit = 0;
MarcoF89 15:742683a8efda 24 k = 0;
MarcoF89 15:742683a8efda 25 drift_z = 0;
MarcoF89 15:742683a8efda 26
MarcoF89 13:5f0a2103c707 27 Motor1.period_ms(2);
MarcoF89 11:8457b851e3e1 28 Motor2.period_ms(2);
MarcoF89 11:8457b851e3e1 29 Motor3.period_ms(2);
MarcoF89 11:8457b851e3e1 30 Motor4.period_ms(2);
MarcoF89 12:4a4dad7a3432 31 initialisierung_gyro();
MarcoF89 13:5f0a2103c707 32 initialisierung_acc();
MarcoF89 12:4a4dad7a3432 33 if (taster2)
MarcoF89 12:4a4dad7a3432 34 {
MarcoF89 13:5f0a2103c707 35 viberationen(&rauschen, &Motor1, &Motor2, &Motor3, &Motor4, &taster4);
MarcoF89 12:4a4dad7a3432 36 }
MarcoF89 12:4a4dad7a3432 37 if (taster3)
MarcoF89 12:4a4dad7a3432 38 {
MarcoF89 13:5f0a2103c707 39 anlernen(&Motor1, &Motor2, &Motor3, &Motor4, &taster1, &taster2, &taster4);
MarcoF89 11:8457b851e3e1 40 }
MarcoF89 15:742683a8efda 41 pc.printf("Druecke Taster1 fuer den Start\n\r");
MarcoF89 13:5f0a2103c707 42 n1 = n2 = n3 = n4 = 700;
MarcoF89 11:8457b851e3e1 43 Motor1.pulsewidth_us(n1);
MarcoF89 11:8457b851e3e1 44 Motor2.pulsewidth_us(n2);
MarcoF89 11:8457b851e3e1 45 Motor3.pulsewidth_us(n3);
MarcoF89 13:5f0a2103c707 46 Motor4.pulsewidth_us(n4);
MarcoF89 13:5f0a2103c707 47 while(1)
MarcoF89 13:5f0a2103c707 48 {
MarcoF89 15:742683a8efda 49 if (1)//(taster1)
MarcoF89 11:8457b851e3e1 50 {
MarcoF89 15:742683a8efda 51 while(1)//(!taster4)
MarcoF89 15:742683a8efda 52 {
MarcoF89 15:742683a8efda 53 pc.printf("\n\rOffset und Driftberechnung wird durchgefuehrt, halte die Drohne still");
MarcoF89 15:742683a8efda 54 offset_gyro(&z_off, &x_off, &y_off);
MarcoF89 15:742683a8efda 55 drift_gyro(&drift_z, &drift_x, &drift_y, &timer, &timer2, &gain_g, &roll_g, &pitch_g, &z_off, &x_off, &y_off);
MarcoF89 15:742683a8efda 56 pc.printf("\n\rOffgesamt:\n\rZ = %3.5f\tY = %3.5f\tZ = %3.5f\t\n\r", z_off, x_off, y_off);
MarcoF89 15:742683a8efda 57 pc.printf("\n\rDrift:Z: %3.10f\tX: %3.10f\tY: %3.10f\n\r", drift_z, drift_x, drift_y);
MarcoF89 15:742683a8efda 58
MarcoF89 15:742683a8efda 59 /********//******/
MarcoF89 15:742683a8efda 60 /*Messen*//*Gyro*/
MarcoF89 15:742683a8efda 61 /********//******/
MarcoF89 15:742683a8efda 62 timer.stop();
MarcoF89 15:742683a8efda 63 timer2.stop();
MarcoF89 15:742683a8efda 64 timer.reset();
MarcoF89 15:742683a8efda 65 timer2.reset();
MarcoF89 15:742683a8efda 66 gain_g = 0;
MarcoF89 15:742683a8efda 67 pitch_g = 0;
MarcoF89 15:742683a8efda 68 roll_g = 0;
MarcoF89 15:742683a8efda 69 timer.start();
MarcoF89 15:742683a8efda 70 timer2.start();
MarcoF89 15:742683a8efda 71 int i = 0;
MarcoF89 15:742683a8efda 72 while(1)
MarcoF89 15:742683a8efda 73 {
MarcoF89 15:742683a8efda 74 i++;
MarcoF89 15:742683a8efda 75 zeit = timer.read_us();
MarcoF89 15:742683a8efda 76 timer.reset();
MarcoF89 15:742683a8efda 77 aktuell_roh(&z_g, &x_g, &y_g, &z_a, &x_a, &y_a);
MarcoF89 15:742683a8efda 78 gain_g = gain_g + ((z_g - z_off) * zeit * 0.000001 * 1/16.4);
MarcoF89 15:742683a8efda 79 pitch_g = pitch_g + ((y_g - y_off) * zeit * 0.000001 * 1/16.4);
MarcoF89 15:742683a8efda 80 roll_g = roll_g + ((x_g - x_off) * zeit * 0.000001 * 1/16.4);
MarcoF89 15:742683a8efda 81 y = y_a / 16384.00;
MarcoF89 15:742683a8efda 82 x = x_a / 16384.00;
MarcoF89 15:742683a8efda 83 z = z_a / 16384.00;
MarcoF89 15:742683a8efda 84 roll_a = atan2(y, sqrt(x * x + z * z)) * RAD;
MarcoF89 15:742683a8efda 85 pitch_a = atan2(-x, z) * RAD;
MarcoF89 15:742683a8efda 86 if (timer2.read_ms() >= 2000)
MarcoF89 15:742683a8efda 87 {
MarcoF89 15:742683a8efda 88 gain_g -= drift_z;
MarcoF89 15:742683a8efda 89 pitch_g -= drift_y;
MarcoF89 15:742683a8efda 90 roll_g -= drift_x;
MarcoF89 15:742683a8efda 91 timer2.reset();
MarcoF89 15:742683a8efda 92 }
MarcoF89 15:742683a8efda 93 gain = gain_g;
MarcoF89 15:742683a8efda 94 pitch = pitch_g * 0.9 + pitch_a * 0.1;
MarcoF89 15:742683a8efda 95 roll = roll_g * 0.9 + roll_a * 0.1;
MarcoF89 15:742683a8efda 96 if (i == 2000)
MarcoF89 15:742683a8efda 97 {
MarcoF89 15:742683a8efda 98 pc.printf("gain: %2.5f\tpitch: %2.5f\troll: %2.5f\t\n\r",pitch, roll, gain);
MarcoF89 15:742683a8efda 99 i = 0;
MarcoF89 15:742683a8efda 100 }
MarcoF89 15:742683a8efda 101
MarcoF89 15:742683a8efda 102 }
MarcoF89 11:8457b851e3e1 103 }
MarcoF89 11:8457b851e3e1 104 }
MarcoF89 10:16ca5e9ee0dc 105 }
MarcoF89 13:5f0a2103c707 106 }