Fabio Bobrow / CrazyflieController

Library containing Crazyflie 2.0 controller classes: - Attitude estimator - Horizontal estimator - Vertical estimator - Attitude controller - Horizontal controller - Vertical controller - Mixer

Parameters/Parameters.h@22:5f2323e30cdc, 2018-10-25 (annotated)

Committer:
fbob
Date:
Thu Oct 25 12:41:50 2018 +0000
Revision:
22:5f2323e30cdc
Parent:
21:169cc2b1d2ff
Child:
23:4905fbc2b31a
Adjust flow resolution

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fbob 5:b9947e3d20cf 1 #ifndef Parameters_h
fbob 5:b9947e3d20cf 2 #define Parameters_h
fbob 5:b9947e3d20cf 3
fbob 13:1a871ebd35bb 4 // Interrupt frequencies
fbob 15:155ca63b7884 5 const float f = 500.0f; // Hz
fbob 13:1a871ebd35bb 6 const float f_range = 20.0f; // Hz
fbob 21:169cc2b1d2ff 7 const float f_flow = 500.0f; // Hz
fbob 13:1a871ebd35bb 8 const float dt = 1.0f/f; // s
fbob 13:1a871ebd35bb 9 const float dt_range = 1.0f/f_range;// s
fbob 13:1a871ebd35bb 10 const float dt_flow = 1.0f/f_flow; // s
fbob 9:15058b4fa090 11
fbob 21:169cc2b1d2ff 12 // Quadcopter dimensions
fbob 21:169cc2b1d2ff 13 const float m = 30e-3f; // kg
fbob 21:169cc2b1d2ff 14 const float I_xx = 16.0e-6f; // kg.m^2
fbob 21:169cc2b1d2ff 15 const float I_yy = 16.0e-6f; // kg.m^2
fbob 21:169cc2b1d2ff 16 const float I_zz = 29.0e-6f; // kg.m^2
fbob 21:169cc2b1d2ff 17 const float l = 33e-3f; // m
fbob 21:169cc2b1d2ff 18
fbob 21:169cc2b1d2ff 19 // Physical constants
fbob 21:169cc2b1d2ff 20 const float pi = 3.1416f;
fbob 21:169cc2b1d2ff 21 const float g = 9.81f; // m/s^2
fbob 21:169cc2b1d2ff 22
fbob 5:b9947e3d20cf 23 // Motor constants
fbob 5:b9947e3d20cf 24 const float alpha = 1.16e-07f;
fbob 5:b9947e3d20cf 25 const float beta = 7.149e-10f;
fbob 5:b9947e3d20cf 26
fbob 5:b9947e3d20cf 27 // Propeller constants
fbob 9:15058b4fa090 28 const float kl = 1.726e-08f; // N.s^2/rad^2
fbob 9:15058b4fa090 29 const float kd = 1.426e-10f; // N.m.s^2/rad^2
fbob 5:b9947e3d20cf 30
fbob 9:15058b4fa090 31 // Attitude estimator weighthing (accelerometer X gyroscope)
fbob 15:155ca63b7884 32 const float rho_att = 0.01f;
fbob 5:b9947e3d20cf 33
fbob 19:83b357d6806e 34 // Attitude controller gains (roll/pitch)
fbob 21:169cc2b1d2ff 35 const float Ts_phi = 0.4f; // s
fbob 21:169cc2b1d2ff 36 const float OS_phi = 0.005f; // %
fbob 19:83b357d6806e 37 const float zeta_phi = abs(log(OS_phi))/sqrt(pow(log(OS_phi),2)+pow(pi,2));
fbob 19:83b357d6806e 38 const float omega_n_phi = 4.0f/(Ts_phi*zeta_phi);
fbob 21:169cc2b1d2ff 39 const float kp_phi = pow(omega_n_phi,2.0f);
fbob 21:169cc2b1d2ff 40 const float kd_phi = 2.0f*zeta_phi*omega_n_phi;
fbob 21:169cc2b1d2ff 41 const float kp_theta = kp_phi;
fbob 21:169cc2b1d2ff 42 const float kd_theta = kd_phi;
fbob 19:83b357d6806e 43
fbob 19:83b357d6806e 44 // Attitude controller gains (yaw)
fbob 20:4d0614886c80 45 const float Ts_psi = 0.8f; // s
fbob 22:5f2323e30cdc 46 const float OS_psi = 0.005f; // %
fbob 19:83b357d6806e 47 const float zeta_psi = abs(log(OS_psi))/sqrt(pow(log(OS_psi),2)+pow(pi,2));
fbob 19:83b357d6806e 48 const float omega_n_psi = 4.0f/(Ts_psi*zeta_psi);
fbob 21:169cc2b1d2ff 49 const float kd_psi = pow(omega_n_psi,2.0f);
fbob 21:169cc2b1d2ff 50 const float kp_psi = 2.0f*zeta_psi*omega_n_psi;
fbob 5:b9947e3d20cf 51
fbob 9:15058b4fa090 52 // Vertical estimator weighthing (measurement X prediction)
fbob 9:15058b4fa090 53 const float rho_ver = 0.3f;
fbob 7:220ce3839be8 54
fbob 21:169cc2b1d2ff 55 // Vertical controller gains (z)
fbob 22:5f2323e30cdc 56 const float Ts_z = 2.0f; // s
fbob 22:5f2323e30cdc 57 const float OS_z = 0.005f; // %
fbob 19:83b357d6806e 58 const float zeta_z = abs(log(OS_z))/sqrt(pow(log(OS_z),2)+pow(pi,2));
fbob 19:83b357d6806e 59 const float omega_n_z = 4.0f/(Ts_z*zeta_z);
fbob 21:169cc2b1d2ff 60 const float kp_z = pow(omega_n_z,2.0f);
fbob 21:169cc2b1d2ff 61 const float kd_z = 2.0f*zeta_z*omega_n_z;
fbob 9:15058b4fa090 62
fbob 22:5f2323e30cdc 63 // Optical flow sensor constant
fbob 22:5f2323e30cdc 64 const float gamma = 42.0f;
fbob 22:5f2323e30cdc 65 const float resolution = 420.0f;
fbob 22:5f2323e30cdc 66 const float sigma = (1.0f/dt_flow)*(2.0f*tan((gamma*pi/180.0f)/2.0f))/resolution;
fbob 22:5f2323e30cdc 67
fbob 9:15058b4fa090 68 // Horizontal estimator weighthing (measurement X prediction)
fbob 22:5f2323e30cdc 69 const float rho_hor = 0.3f;
fbob 8:d05fe9f8bfb6 70
fbob 21:169cc2b1d2ff 71 // Horizontal controller gains (x/y)
fbob 22:5f2323e30cdc 72 const float Ts_x = 4.0f; // s
fbob 22:5f2323e30cdc 73 const float OS_x = 0.005f; // %
fbob 21:169cc2b1d2ff 74 const float zeta_x = abs(log(OS_x))/sqrt(pow(log(OS_x),2)+pow(pi,2));
fbob 19:83b357d6806e 75 const float omega_n_x = 4.0f/(Ts_x*zeta_x);
fbob 21:169cc2b1d2ff 76 const float kp_x = pow(omega_n_x,2.0f);
fbob 21:169cc2b1d2ff 77 const float kd_x = 2.0f*zeta_x*omega_n_x;
fbob 21:169cc2b1d2ff 78 const float kp_y = kp_x;
fbob 21:169cc2b1d2ff 79 const float kd_y = kd_x;
fbob 7:220ce3839be8 80
fbob 6:3188b00263e8 81 #endif