David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

quadcopter.cpp@12:422963993df5, 2016-04-02 (annotated)

Committer:
ivo_david_michelle
Date:
Sat Apr 02 21:40:37 2016 +0000
Revision:
12:422963993df5
Parent:
11:5c54826d23a7
Child:
13:291ba30c7806
working stand with x axis control and quadcopter class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ivo_david_michelle 6:6f3ffd97d808 1 #include "quadcopter.h"
ivo_david_michelle 9:f1bd96708a21 2 #include "sensor.h"
ivo_david_michelle 9:f1bd96708a21 3 #include "Adafruit_9DOF.h"
ivo_david_michelle 9:f1bd96708a21 4 #include "Serial_base.h"
ivo_david_michelle 9:f1bd96708a21 5
ivo_david_michelle 9:f1bd96708a21 6
ivo_david_michelle 10:e7d1801e966a 7 // constructor
ivo_david_michelle 6:6f3ffd97d808 8 Quadcopter::Quadcopter()
ivo_david_michelle 6:6f3ffd97d808 9 {
ivo_david_michelle 10:e7d1801e966a 10 m_=1;
ivo_david_michelle 10:e7d1801e966a 11 g_=9.81;
ivo_david_michelle 10:e7d1801e966a 12 // proportional attitude control gains
ivo_david_michelle 10:e7d1801e966a 13 kp_phi_ = 1;
ivo_david_michelle 10:e7d1801e966a 14 kp_theta_ = 1;
ivo_david_michelle 10:e7d1801e966a 15 kp_psi_ = 1;
ivo_david_michelle 10:e7d1801e966a 16
ivo_david_michelle 10:e7d1801e966a 17 // derivative attitude control gains
ivo_david_michelle 10:e7d1801e966a 18 kd_phi_ = 0;
ivo_david_michelle 10:e7d1801e966a 19 kd_theta_ = 0;
ivo_david_michelle 10:e7d1801e966a 20 kd_psi_ = 0;
ivo_david_michelle 10:e7d1801e966a 21
ivo_david_michelle 10:e7d1801e966a 22 // desired values (will come from joystick)
ivo_david_michelle 10:e7d1801e966a 23 F_des_ = 0; // desired thrust force (excluding weight compensation)
ivo_david_michelle 9:f1bd96708a21 24
ivo_david_michelle 9:f1bd96708a21 25 dof_ = Adafruit_9DOF();
ivo_david_michelle 9:f1bd96708a21 26 accel_ = Adafruit_LSM303_Accel_Unified(30301);
ivo_david_michelle 9:f1bd96708a21 27 mag_ = Adafruit_LSM303_Mag_Unified(30302);
ivo_david_michelle 9:f1bd96708a21 28 gyro_ = Adafruit_L3GD20_Unified(20);
ivo_david_michelle 12:422963993df5 29
ivo_david_michelle 12:422963993df5 30
ivo_david_michelle 12:422963993df5 31
ivo_david_michelle 9:f1bd96708a21 32 }
ivo_david_michelle 9:f1bd96708a21 33
ivo_david_michelle 9:f1bd96708a21 34 void Quadcopter::initAllSensors()
ivo_david_michelle 9:f1bd96708a21 35 {
ivo_david_michelle 9:f1bd96708a21 36 initSensors(accel_, mag_, gyro_,offsetAngRate_); // IMU
ivo_david_michelle 6:6f3ffd97d808 37 }
ivo_david_michelle 9:f1bd96708a21 38
ivo_david_michelle 9:f1bd96708a21 39 void Quadcopter::readSensorValues()
ivo_david_michelle 9:f1bd96708a21 40 {
ivo_david_michelle 9:f1bd96708a21 41 accel_.getEvent(&accel_event_);
ivo_david_michelle 9:f1bd96708a21 42 if (dof_.accelGetOrientation(&accel_event_, &orientation_)) {
ivo_david_michelle 9:f1bd96708a21 43 }
ivo_david_michelle 9:f1bd96708a21 44 /* Calculate the heading using the magnetometer */
ivo_david_michelle 9:f1bd96708a21 45 mag_.getEvent(&mag_event_);
ivo_david_michelle 9:f1bd96708a21 46 if (dof_.magGetOrientation(SENSOR_AXIS_Z, &mag_event_, &orientation_)) {
ivo_david_michelle 9:f1bd96708a21 47 }
ivo_david_michelle 9:f1bd96708a21 48
ivo_david_michelle 11:5c54826d23a7 49 gyro_.getEvent(&gyro_event_);
ivo_david_michelle 11:5c54826d23a7 50
ivo_david_michelle 11:5c54826d23a7 51 gyro_event_.gyro.x -= offsetAngRate_.x;
ivo_david_michelle 11:5c54826d23a7 52 gyro_event_.gyro.y -= offsetAngRate_.y;
ivo_david_michelle 11:5c54826d23a7 53 gyro_event_.gyro.z -= offsetAngRate_.z;
ivo_david_michelle 11:5c54826d23a7 54
ivo_david_michelle 11:5c54826d23a7 55
ivo_david_michelle 10:e7d1801e966a 56 // measured values (will come from IMU/parameter class/Input to function later)
ivo_david_michelle 10:e7d1801e966a 57 // angles
ivo_david_michelle 10:e7d1801e966a 58 state_.phi = orientation_.roll;
ivo_david_michelle 10:e7d1801e966a 59 state_.theta =orientation_.pitch;
ivo_david_michelle 10:e7d1801e966a 60 state_.psi =orientation_.heading;
ivo_david_michelle 10:e7d1801e966a 61 // angular velocities in body coordinate system
ivo_david_michelle 10:e7d1801e966a 62 state_.p = gyro_event_.gyro.x;
ivo_david_michelle 10:e7d1801e966a 63 state_.q = gyro_event_.gyro.y;
ivo_david_michelle 10:e7d1801e966a 64 state_.r = gyro_event_.gyro.z;
ivo_david_michelle 10:e7d1801e966a 65 }
ivo_david_michelle 9:f1bd96708a21 66
ivo_david_michelle 10:e7d1801e966a 67 // Date member function
ivo_david_michelle 10:e7d1801e966a 68 void Quadcopter::setState(state *source, state *goal)
ivo_david_michelle 10:e7d1801e966a 69 {
ivo_david_michelle 10:e7d1801e966a 70 goal->phi = source->phi;
ivo_david_michelle 10:e7d1801e966a 71 goal->theta = source->theta;
ivo_david_michelle 10:e7d1801e966a 72 goal->psi = source->psi;
ivo_david_michelle 10:e7d1801e966a 73 goal->p = source->p;
ivo_david_michelle 10:e7d1801e966a 74 goal->q = source->q;
ivo_david_michelle 10:e7d1801e966a 75 goal->r = source->r;
ivo_david_michelle 9:f1bd96708a21 76
ivo_david_michelle 9:f1bd96708a21 77 }
ivo_david_michelle 9:f1bd96708a21 78
ivo_david_michelle 10:e7d1801e966a 79 void Quadcopter::print(char * myString)
ivo_david_michelle 6:6f3ffd97d808 80 {
ivo_david_michelle 10:e7d1801e966a 81 pcPntr_->printf(myString);
ivo_david_michelle 10:e7d1801e966a 82 pcPntr_->printf("\n\r");
ivo_david_michelle 9:f1bd96708a21 83 }
ivo_david_michelle 9:f1bd96708a21 84
ivo_david_michelle 10:e7d1801e966a 85 void Quadcopter::controller()
ivo_david_michelle 10:e7d1801e966a 86 {
ivo_david_michelle 10:e7d1801e966a 87
ivo_david_michelle 10:e7d1801e966a 88 // compute desired angles (in the case we decide not to set
ivo_david_michelle 10:e7d1801e966a 89 // the angles, but for instance the velocity with the Joystick
ivo_david_michelle 9:f1bd96708a21 90
ivo_david_michelle 10:e7d1801e966a 91 // PD controller
ivo_david_michelle 10:e7d1801e966a 92 controlInput_.f = m_*g_ + F_des_;
ivo_david_michelle 10:e7d1801e966a 93 controlInput_.mx = kp_phi_*(desiredState_.phi-state_.phi)+kd_phi_*(desiredState_.p-state_.p);
ivo_david_michelle 10:e7d1801e966a 94 controlInput_.my = kp_theta_*(desiredState_.theta-state_.theta)+kd_theta_*(desiredState_.q-state_.q);
ivo_david_michelle 10:e7d1801e966a 95 controlInput_.mz = kp_psi_*(desiredState_.psi-state_.psi)+kd_psi_*(desiredState_.r-state_.r);
ivo_david_michelle 10:e7d1801e966a 96 print("Calculated Control");
ivo_david_michelle 10:e7d1801e966a 97
ivo_david_michelle 10:e7d1801e966a 98 //print("F: %f M_x: %f M_y: %f M_z: %f\n\r", controlInput_.f, controlInput_.mz, controlInput_.my, controlInput_.mz);
ivo_david_michelle 10:e7d1801e966a 99 // pc.printf("F: %f\n\r", F);
ivo_david_michelle 10:e7d1801e966a 100
ivo_david_michelle 10:e7d1801e966a 101
ivo_david_michelle 10:e7d1801e966a 102
ivo_david_michelle 11:5c54826d23a7 103 }
ivo_david_michelle 12:422963993df5 104 motors Quadcopter::getPwm()
ivo_david_michelle 11:5c54826d23a7 105 {
ivo_david_michelle 12:422963993df5 106 //motors motorPwm_;// weired errror, should not be necessary
ivo_david_michelle 11:5c54826d23a7 107 motorPwm_.m1=0;
ivo_david_michelle 12:422963993df5 108 motorPwm_.m2=0.65+controlInput_.mx/100;
ivo_david_michelle 11:5c54826d23a7 109 motorPwm_.m3=0;
ivo_david_michelle 12:422963993df5 110 motorPwm_.m4=0.65-controlInput_.mx/100;
ivo_david_michelle 12:422963993df5 111 return motorPwm_;
ivo_david_michelle 11:5c54826d23a7 112 }