David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

quadcopter.cpp@30:4820042e67b5, 2016-04-20 (annotated)

Committer:
ivo_david_michelle
Date:
Wed Apr 20 02:29:37 2016 +0000
Revision:
30:4820042e67b5
Parent:
29:ae765492fa8b
Child:
31:d473eacfc271
began tuning the proportional and derivative gains

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 14:64b06476d943 3 #include "receiver.h"
ivo_david_michelle 14:64b06476d943 4 #include <string>
ivo_david_michelle 23:04338a5ef404 5
ivo_david_michelle 23:04338a5ef404 6 #ifndef M_PI
ivo_david_michelle 23:04338a5ef404 7 #define M_PI 3.14159265358979323846
ivo_david_michelle 23:04338a5ef404 8 #endif
ivo_david_michelle 9:f1bd96708a21 9
ivo_david_michelle 10:e7d1801e966a 10 // constructor
ivo_david_michelle 15:90e07946186f 11 Quadcopter::Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr)
ivo_david_michelle 24:e220fbb70ded 12 {
ivo_david_michelle 14:64b06476d943 13 pc_= pcPntr; // enable printing
ivo_david_michelle 23:04338a5ef404 14 g_= 9.81;
ivo_david_michelle 23:04338a5ef404 15 l_= 0.25;
ivo_david_michelle 23:04338a5ef404 16 gamma_= 1;
ivo_david_michelle 24:e220fbb70ded 17
ivo_david_michelle 30:4820042e67b5 18 zeroVelPwm=0.11;
ivo_david_michelle 27:11116aa69f32 19 maxPwm=0.15;
ivo_david_michelle 27:11116aa69f32 20
ivo_david_michelle 27:11116aa69f32 21 // control gains set s.t. 100% joystick results in 15% (actually: (maxPwm-zeroVelPwm+0.1)) duty cycle.
ivo_david_michelle 29:ae765492fa8b 22 kp_f_ = (maxPwm - zeroVelPwm) * 4 / 0.5;
ivo_david_michelle 30:4820042e67b5 23 kp_phi_ = 0.2 * (maxPwm - zeroVelPwm) * l_ / 0.5 * 4 / M_PI;
ivo_david_michelle 30:4820042e67b5 24 kp_theta_ = 0.2 * (maxPwm - zeroVelPwm) * l_ / 0.5 * 4 / M_PI;
ivo_david_michelle 29:ae765492fa8b 25 kp_psi_ = 0;
ivo_david_michelle 30:4820042e67b5 26 //kp_phi_ = 0;
ivo_david_michelle 30:4820042e67b5 27 //kp_theta_ = 0;
ivo_david_michelle 10:e7d1801e966a 28
ivo_david_michelle 10:e7d1801e966a 29 // derivative attitude control gains
ivo_david_michelle 30:4820042e67b5 30 kd_phi_ = 0.3 * (maxPwm - zeroVelPwm) * 2 / M_PI;
ivo_david_michelle 30:4820042e67b5 31 kd_theta_ = 0.3 * (maxPwm - zeroVelPwm) * 2 / M_PI;
ivo_david_michelle 29:ae765492fa8b 32 kd_psi_ = 0.1;
ivo_david_michelle 10:e7d1801e966a 33
ivo_david_michelle 10:e7d1801e966a 34 // desired values (will come from joystick)
ivo_david_michelle 10:e7d1801e966a 35 F_des_ = 0; // desired thrust force (excluding weight compensation)
ivo_david_michelle 9:f1bd96708a21 36
ivo_david_michelle 9:f1bd96708a21 37 dof_ = Adafruit_9DOF();
ivo_david_michelle 9:f1bd96708a21 38 accel_ = Adafruit_LSM303_Accel_Unified(30301);
ivo_david_michelle 9:f1bd96708a21 39 mag_ = Adafruit_LSM303_Mag_Unified(30302);
ivo_david_michelle 9:f1bd96708a21 40 gyro_ = Adafruit_L3GD20_Unified(20);
ivo_david_michelle 24:e220fbb70ded 41
ivo_david_michelle 24:e220fbb70ded 42 // prepare for communication with remote control
ivo_david_michelle 16:2be2aab63198 43 rcTimer_.start();
ivo_david_michelle 15:90e07946186f 44 mrf_ = mrfPntr; // RF tranceiver to link with handheld.
ivo_david_michelle 15:90e07946186f 45 rcLength_ = 250;
ivo_david_michelle 16:2be2aab63198 46 mrf_->SetChannel(3); //Set the Channel. 0 is default, 15 is max
ivo_david_michelle 27:11116aa69f32 47
ivo_david_michelle 24:e220fbb70ded 48 initial_offsets_ = (offset*) malloc(sizeof(offset));
ivo_david_michelle 24:e220fbb70ded 49 initSensors(*this); // IMU
ivo_david_michelle 9:f1bd96708a21 50 }
ivo_david_michelle 9:f1bd96708a21 51
ivo_david_michelle 9:f1bd96708a21 52 void Quadcopter::readSensorValues()
ivo_david_michelle 9:f1bd96708a21 53 {
ivo_david_michelle 9:f1bd96708a21 54 accel_.getEvent(&accel_event_);
ivo_david_michelle 9:f1bd96708a21 55 if (dof_.accelGetOrientation(&accel_event_, &orientation_)) {
ivo_david_michelle 9:f1bd96708a21 56 }
ivo_david_michelle 9:f1bd96708a21 57 /* Calculate the heading using the magnetometer */
ivo_david_michelle 9:f1bd96708a21 58 mag_.getEvent(&mag_event_);
ivo_david_michelle 9:f1bd96708a21 59 if (dof_.magGetOrientation(SENSOR_AXIS_Z, &mag_event_, &orientation_)) {
ivo_david_michelle 9:f1bd96708a21 60 }
ivo_david_michelle 9:f1bd96708a21 61
ivo_david_michelle 13:291ba30c7806 62 gyro_.getEvent(&gyro_event_);
ivo_david_michelle 11:5c54826d23a7 63
ivo_david_michelle 24:e220fbb70ded 64 gyro_event_.gyro.x -= initial_offsets_->gyro_x;
ivo_david_michelle 24:e220fbb70ded 65 gyro_event_.gyro.y -= initial_offsets_->gyro_y;
ivo_david_michelle 24:e220fbb70ded 66 gyro_event_.gyro.z -= initial_offsets_->gyro_z;
ivo_david_michelle 24:e220fbb70ded 67 orientation_.roll -= initial_offsets_->roll;
ivo_david_michelle 24:e220fbb70ded 68 orientation_.pitch -= initial_offsets_->pitch;
ivo_david_michelle 24:e220fbb70ded 69 orientation_.heading -= initial_offsets_->heading;
ivo_david_michelle 13:291ba30c7806 70
ivo_david_michelle 10:e7d1801e966a 71 // angular velocities in body coordinate system
ivo_david_michelle 30:4820042e67b5 72 state_.p = gyro_event_.gyro.x * M_PI / 180;
ivo_david_michelle 30:4820042e67b5 73 state_.q = gyro_event_.gyro.y * M_PI / 180;
ivo_david_michelle 30:4820042e67b5 74 state_.r = gyro_event_.gyro.z * M_PI / 180;
ivo_david_michelle 24:e220fbb70ded 75
ivo_david_michelle 23:04338a5ef404 76 state_.phi = orientation_.roll * M_PI / 180;
ivo_david_michelle 28:61f7356325c3 77 state_.theta = -orientation_.pitch * M_PI / 180;
ivo_david_michelle 24:e220fbb70ded 78 state_.psi = orientation_.heading * M_PI / 180;
ivo_david_michelle 29:ae765492fa8b 79 //pc_->printf("Roll: %f\tPitch: %f\tYaw: %f\tVel x: %f\tVel y: %f\tVel z: %f\r\n", state_.phi, state_.theta, state_.psi, state_.p, state_.q, state_.r);
ivo_david_michelle 9:f1bd96708a21 80 }
ivo_david_michelle 9:f1bd96708a21 81
ivo_david_michelle 10:e7d1801e966a 82 void Quadcopter::controller()
ivo_david_michelle 10:e7d1801e966a 83 {
ivo_david_michelle 10:e7d1801e966a 84 // PD controller
ivo_david_michelle 29:ae765492fa8b 85 controlInput_.f = kp_f_ * F_des_;//m_*g_ + F_des_;
ivo_david_michelle 29:ae765492fa8b 86 controlInput_.mx = kp_phi_ * (desiredState_.phi - state_.phi) + kd_phi_ * (desiredState_.p - state_.p);
ivo_david_michelle 29:ae765492fa8b 87 controlInput_.my = kp_theta_ * (desiredState_.theta - state_.theta) + kd_theta_ * (desiredState_.q - state_.q);
ivo_david_michelle 29:ae765492fa8b 88 controlInput_.mz = kd_psi_ * desiredState_.r; // feedforward desired yaw rate. // kp_psi_*(desiredState_.psi-state_.psi)+kd_psi_*(desiredState_.r-state_.r);
ivo_david_michelle 24:e220fbb70ded 89
ivo_david_michelle 20:efa15ed008b4 90 // set pwm values
ivo_david_michelle 29:ae765492fa8b 91 double forcePerMotor = 0.25 * controlInput_.f;
ivo_david_michelle 29:ae765492fa8b 92 double yawMomentPerMotor = 0.25 / gamma_ * controlInput_.mz;
ivo_david_michelle 29:ae765492fa8b 93 double rollMomentPerMotor = 0.5 / l_ * controlInput_.mx;
ivo_david_michelle 29:ae765492fa8b 94 double pitchMomentPerMotor = 0.5 / l_ * controlInput_.my;
ivo_david_michelle 29:ae765492fa8b 95 motorPwm_.m1 = zeroVelPwm + forcePerMotor - pitchMomentPerMotor - yawMomentPerMotor;
ivo_david_michelle 29:ae765492fa8b 96 motorPwm_.m2 = zeroVelPwm + forcePerMotor + rollMomentPerMotor + yawMomentPerMotor;
ivo_david_michelle 29:ae765492fa8b 97 motorPwm_.m3 = zeroVelPwm + forcePerMotor + pitchMomentPerMotor - yawMomentPerMotor;
ivo_david_michelle 29:ae765492fa8b 98 motorPwm_.m4 = zeroVelPwm + forcePerMotor - rollMomentPerMotor + yawMomentPerMotor;
ivo_david_michelle 27:11116aa69f32 99
ivo_david_michelle 29:ae765492fa8b 100 // cut off at max PWM
ivo_david_michelle 30:4820042e67b5 101 //pc_->printf("m1: %f\tm2: %f\tm3: %f\tm4: %f\r\n", motorPwm_.m1, motorPwm_.m2, motorPwm_.m3, motorPwm_.m4);
ivo_david_michelle 27:11116aa69f32 102 motorPwm_.m1 = min(maxPwm, motorPwm_.m1);
ivo_david_michelle 27:11116aa69f32 103 motorPwm_.m2 = min(maxPwm, motorPwm_.m2);
ivo_david_michelle 27:11116aa69f32 104 motorPwm_.m3 = min(maxPwm, motorPwm_.m3);
ivo_david_michelle 27:11116aa69f32 105 motorPwm_.m4 = min(maxPwm, motorPwm_.m4);
ivo_david_michelle 13:291ba30c7806 106 }
ivo_david_michelle 10:e7d1801e966a 107
ivo_david_michelle 12:422963993df5 108 motors Quadcopter::getPwm()
ivo_david_michelle 11:5c54826d23a7 109 {
ivo_david_michelle 22:92401a4fec13 110 return motorPwm_;
ivo_david_michelle 22:92401a4fec13 111 }
ivo_david_michelle 20:efa15ed008b4 112
ivo_david_michelle 22:92401a4fec13 113 state Quadcopter::getState()
ivo_david_michelle 22:92401a4fec13 114 {
ivo_david_michelle 22:92401a4fec13 115 return state_;
ivo_david_michelle 11:5c54826d23a7 116 }
ivo_david_michelle 14:64b06476d943 117
ivo_david_michelle 24:e220fbb70ded 118 Adafruit_LSM303_Accel_Unified Quadcopter::getAccel()
ivo_david_michelle 24:e220fbb70ded 119 {
ivo_david_michelle 24:e220fbb70ded 120 return accel_;
ivo_david_michelle 24:e220fbb70ded 121 }
ivo_david_michelle 24:e220fbb70ded 122
ivo_david_michelle 24:e220fbb70ded 123 Adafruit_LSM303_Mag_Unified Quadcopter::getMag()
ivo_david_michelle 24:e220fbb70ded 124 {
ivo_david_michelle 24:e220fbb70ded 125 return mag_;
ivo_david_michelle 24:e220fbb70ded 126 }
ivo_david_michelle 24:e220fbb70ded 127
ivo_david_michelle 24:e220fbb70ded 128 Adafruit_L3GD20_Unified Quadcopter::getGyro()
ivo_david_michelle 24:e220fbb70ded 129 {
ivo_david_michelle 24:e220fbb70ded 130 return gyro_;
ivo_david_michelle 24:e220fbb70ded 131 }
ivo_david_michelle 24:e220fbb70ded 132
ivo_david_michelle 24:e220fbb70ded 133 offset* Quadcopter::getOffset()
ivo_david_michelle 24:e220fbb70ded 134 {
ivo_david_michelle 24:e220fbb70ded 135 return initial_offsets_;
ivo_david_michelle 24:e220fbb70ded 136 }
ivo_david_michelle 24:e220fbb70ded 137
ivo_david_michelle 24:e220fbb70ded 138 Adafruit_9DOF Quadcopter::getIMU()
ivo_david_michelle 24:e220fbb70ded 139 {
ivo_david_michelle 24:e220fbb70ded 140 return dof_;
ivo_david_michelle 24:e220fbb70ded 141 }
ivo_david_michelle 24:e220fbb70ded 142
ivo_david_michelle 27:11116aa69f32 143 double Quadcopter::getForce()
ivo_david_michelle 27:11116aa69f32 144 {
ivo_david_michelle 27:11116aa69f32 145 return F_des_;
ivo_david_michelle 27:11116aa69f32 146 }
ivo_david_michelle 27:11116aa69f32 147
ivo_david_michelle 24:e220fbb70ded 148 void Quadcopter::readRc()
ivo_david_michelle 24:e220fbb70ded 149 {
ivo_david_michelle 14:64b06476d943 150 uint8_t zero = 0;
ivo_david_michelle 14:64b06476d943 151 uint8_t *rssi = &zero;
ivo_david_michelle 14:64b06476d943 152
ivo_david_michelle 14:64b06476d943 153 uint8_t receive = 0;
ivo_david_michelle 14:64b06476d943 154
ivo_david_michelle 14:64b06476d943 155 char rxBuffer[rcLength_];
ivo_david_michelle 24:e220fbb70ded 156
ivo_david_michelle 27:11116aa69f32 157 float thrust;
ivo_david_michelle 27:11116aa69f32 158 float yaw;
ivo_david_michelle 27:11116aa69f32 159 float pitch;
ivo_david_michelle 27:11116aa69f32 160 float roll;
ivo_david_michelle 27:11116aa69f32 161 long long id;
ivo_david_michelle 24:e220fbb70ded 162
ivo_david_michelle 16:2be2aab63198 163 receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1);
ivo_david_michelle 16:2be2aab63198 164 if (receive > 0) {
ivo_david_michelle 17:96d0c72e413e 165 sscanf(rxBuffer, "%lld,%f,%f,%f,%f", &id, &thrust, &yaw, &pitch, &roll);
ivo_david_michelle 16:2be2aab63198 166 } else {
ivo_david_michelle 16:2be2aab63198 167 pc_->printf("Receive failure\r\n");
ivo_david_michelle 24:e220fbb70ded 168 }
ivo_david_michelle 24:e220fbb70ded 169
ivo_david_michelle 25:d44610851105 170 // convert to radians, range is = +-40° or +-0.698132 radians
ivo_david_michelle 28:61f7356325c3 171 desiredState_.phi = -((roll - 0.5) * 80) * M_PI / 180; // minus, because joystick to right should result in positive moment
ivo_david_michelle 25:d44610851105 172 desiredState_.theta = ((pitch - 0.5) * 80) * M_PI / 180;
ivo_david_michelle 27:11116aa69f32 173 desiredState_.r = yaw-0.5; // number between 0 and 1 //((yaw - 0.5) * 80) * M_PI / 180;
ivo_david_michelle 30:4820042e67b5 174 F_des_ = thrust-0.5; // number between 0 and 1 -> number between -0.5 and 0.5. //((thrust - 0.5) * 80) * M_PI / 180;
ivo_david_michelle 27:11116aa69f32 175
ivo_david_michelle 25:d44610851105 176 // print id with thrust, yaw, pitch, and roll
ivo_david_michelle 28:61f7356325c3 177 //pc_->printf("%lld: thrust: %f, yaw: %f, pitch: %f, roll: %f\r\n", id, F_des_, desiredState_.psi, desiredState_.theta, desiredState_.phi);
ivo_david_michelle 14:64b06476d943 178 }
ivo_david_michelle 14:64b06476d943 179