David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

quadcopter.cpp@49:59c3427e6838, 2016-05-06 (annotated)

Committer:
ivo_david_michelle
Date:
Fri May 06 13:54:18 2016 +0000
Revision:
49:59c3427e6838
Parent:
48:0346cdff12a7
Child:
50:c9831bb5a660
working stand

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 48:0346cdff12a7 10 DigitalOut initializationLED(LED3);
ivo_david_michelle 48:0346cdff12a7 11
ivo_david_michelle 10:e7d1801e966a 12 // constructor
ivo_david_michelle 46:4bcf2e679f96 13 Quadcopter::Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr, Timer *timer)
ivo_david_michelle 24:e220fbb70ded 14 {
ivo_david_michelle 14:64b06476d943 15 pc_= pcPntr; // enable printing
ivo_david_michelle 23:04338a5ef404 16 g_= 9.81;
ivo_david_michelle 23:04338a5ef404 17 l_= 0.25;
ivo_david_michelle 23:04338a5ef404 18 gamma_= 1;
ivo_david_michelle 24:e220fbb70ded 19
ivo_david_michelle 46:4bcf2e679f96 20 //desired_mutex = desired;
ivo_david_michelle 27:11116aa69f32 21
ivo_david_michelle 32:e12b01c94b4a 22 // control gains set s.t. 100% joystick results in 15% (actually: (maxPwm-zeroVelPwm+0.1)) duty cycle.
ivo_david_michelle 42:d09dec5bb184 23 kp_f_ = (MAX_PWM - OFF_PWM) * 4 / 0.5;
ivo_david_michelle 45:9f74298eee78 24 kp_phi_ = 0.3 * (MAX_PWM - OFF_PWM) * l_ / 0.5 * 4 / M_PI; //0.3 quite slow
ivo_david_michelle 45:9f74298eee78 25 kp_theta_ = 0.3 * (MAX_PWM - OFF_PWM) * l_ / 0.5 * 4 / M_PI;
ivo_david_michelle 29:ae765492fa8b 26 kp_psi_ = 0;
ivo_david_michelle 10:e7d1801e966a 27
ivo_david_michelle 10:e7d1801e966a 28 // derivative attitude control gains
ivo_david_michelle 45:9f74298eee78 29 // TODO 0.15 for both
ivo_david_michelle 43:0e98d5488bf2 30 kd_phi_ = 0.1 * (MAX_PWM - OFF_PWM) * 2 / M_PI; // 0.25 maybe a good
ivo_david_michelle 45:9f74298eee78 31 kd_theta_ = 0.4 * (MAX_PWM - OFF_PWM) * 2 / M_PI;
ivo_david_michelle 29:ae765492fa8b 32 kd_psi_ = 0.1;
ivo_david_michelle 31:d473eacfc271 33
ivo_david_michelle 39:fff0a72633ee 34 // incresae ki_phi
ivo_david_michelle 42:d09dec5bb184 35 ki_phi_ = 0 * (MAX_PWM - OFF_PWM)/(2*M_PI/4); // full control signal after 2s at pi/4 error
ivo_david_michelle 42:d09dec5bb184 36 ki_theta_ = 0 * (MAX_PWM - OFF_PWM)/(2*M_PI/4);
ivo_david_michelle 32:e12b01c94b4a 37
ivo_david_michelle 32:e12b01c94b4a 38 i_e_phi_ = 0;
ivo_david_michelle 31:d473eacfc271 39 i_e_theta_ = 0;
ivo_david_michelle 48:0346cdff12a7 40
ivo_david_michelle 48:0346cdff12a7 41 comp_x_offset = 0;
ivo_david_michelle 48:0346cdff12a7 42 comp_y_offset = 0;
ivo_david_michelle 32:e12b01c94b4a 43
ivo_david_michelle 31:d473eacfc271 44 max_integral_phi_ = 0.05/(ki_phi_ * (0.5/l_ + 0.25)); // influence of integral part smaller than 0.05
ivo_david_michelle 32:e12b01c94b4a 45 max_integral_theta_ = 0.05/(ki_theta_ * (0.5/l_ + 0.25));
ivo_david_michelle 31:d473eacfc271 46
ivo_david_michelle 10:e7d1801e966a 47
ivo_david_michelle 10:e7d1801e966a 48 // desired values (will come from joystick)
ivo_david_michelle 10:e7d1801e966a 49 F_des_ = 0; // desired thrust force (excluding weight compensation)
ivo_david_michelle 9:f1bd96708a21 50
ivo_david_michelle 9:f1bd96708a21 51 dof_ = Adafruit_9DOF();
ivo_david_michelle 9:f1bd96708a21 52 accel_ = Adafruit_LSM303_Accel_Unified(30301);
ivo_david_michelle 46:4bcf2e679f96 53 //mag_ = Adafruit_LSM303_Mag_Unified(30302);
ivo_david_michelle 9:f1bd96708a21 54 gyro_ = Adafruit_L3GD20_Unified(20);
ivo_david_michelle 24:e220fbb70ded 55
ivo_david_michelle 24:e220fbb70ded 56 // prepare for communication with remote control
ivo_david_michelle 16:2be2aab63198 57 rcTimer_.start();
ivo_david_michelle 15:90e07946186f 58 mrf_ = mrfPntr; // RF tranceiver to link with handheld.
ivo_david_michelle 15:90e07946186f 59 rcLength_ = 250;
ivo_david_michelle 16:2be2aab63198 60 mrf_->SetChannel(3); //Set the Channel. 0 is default, 15 is max
ivo_david_michelle 27:11116aa69f32 61
ivo_david_michelle 46:4bcf2e679f96 62 //initial_offsets_ = (offset*) malloc(sizeof(offset));
ivo_david_michelle 24:e220fbb70ded 63 initSensors(*this); // IMU
ivo_david_michelle 35:35997980a8ba 64
ivo_david_michelle 46:4bcf2e679f96 65 // define timer
ivo_david_michelle 34:eaea0ae92dfa 66 controlTimer = timer;
ivo_david_michelle 34:eaea0ae92dfa 67 controlTimer->start();
ivo_david_michelle 35:35997980a8ba 68
ivo_david_michelle 46:4bcf2e679f96 69 // initialze previous values to zero
ivo_david_michelle 46:4bcf2e679f96 70 prev_controller_time_ = 0;
ivo_david_michelle 46:4bcf2e679f96 71 prev_sensor_time = 0;
ivo_david_michelle 48:0346cdff12a7 72 start_sampling_time = 0;
ivo_david_michelle 35:35997980a8ba 73
ivo_david_michelle 48:0346cdff12a7 74 //readSensorValues();
ivo_david_michelle 35:35997980a8ba 75
ivo_david_michelle 46:4bcf2e679f96 76 //kalmanPitch.setAngle(state_.phi); // set initial pitch
ivo_david_michelle 46:4bcf2e679f96 77 //§kalmanRoll.setAngle(state_.theta); // set initial theta
ivo_david_michelle 46:4bcf2e679f96 78 //compAngleX = state_.phi;
ivo_david_michelle 46:4bcf2e679f96 79 //compAngleY = state_.theta; // constant offset at props spinning in hover velocity /2 because of overcorrection
ivo_david_michelle 43:0e98d5488bf2 80
ivo_david_michelle 9:f1bd96708a21 81 }
ivo_david_michelle 9:f1bd96708a21 82
ivo_david_michelle 9:f1bd96708a21 83 void Quadcopter::readSensorValues()
ivo_david_michelle 9:f1bd96708a21 84 {
ivo_david_michelle 41:d103f9aa44f0 85 // precomputed gyro offsets
ivo_david_michelle 46:4bcf2e679f96 86 double offset_gyro_x = -4.793711656441709e-04;
ivo_david_michelle 44:14bee84cdf59 87 double offset_gyro_y = 4.481595092024531e-06;
ivo_david_michelle 44:14bee84cdf59 88 double offset_gyro_z = -2.371472392638039e-05;
ivo_david_michelle 44:14bee84cdf59 89 double offset_acc_x = -0.270495085889571;
ivo_david_michelle 44:14bee84cdf59 90 double offset_acc_y = -0.053425306748466;
ivo_david_michelle 44:14bee84cdf59 91 double offset_acc_z = -0.520254558282190;
ivo_david_michelle 44:14bee84cdf59 92
ivo_david_michelle 46:4bcf2e679f96 93 if (prev_sensor_time == 0) {
ivo_david_michelle 46:4bcf2e679f96 94 prev_sensor_time = controlTimer->read();
ivo_david_michelle 48:0346cdff12a7 95 start_sampling_time = prev_sensor_time;
ivo_david_michelle 36:40b134328376 96 return;
ivo_david_michelle 36:40b134328376 97 }
ivo_david_michelle 46:4bcf2e679f96 98 // get acceleration values
ivo_david_michelle 9:f1bd96708a21 99 accel_.getEvent(&accel_event_);
ivo_david_michelle 46:4bcf2e679f96 100 // detract offsets form raw acceleromater data
ivo_david_michelle 44:14bee84cdf59 101 accel_event_.acceleration.x -= offset_acc_x;
ivo_david_michelle 44:14bee84cdf59 102 accel_event_.acceleration.y -= offset_acc_y;
ivo_david_michelle 44:14bee84cdf59 103 accel_event_.acceleration.z -= offset_acc_z;
ivo_david_michelle 46:4bcf2e679f96 104 // compute orientation with correctet acc data
ivo_david_michelle 37:a983eb9fd9c5 105 dof_.accelGetOrientation(&accel_event_, &orientation_);
ivo_david_michelle 46:4bcf2e679f96 106 // compute roll and pitch values
ivo_david_michelle 47:ae478c380136 107 double raw_phi = orientation_.roll * M_PI / 180;
ivo_david_michelle 47:ae478c380136 108 double raw_theta = orientation_.pitch * M_PI / 180;
ivo_david_michelle 11:5c54826d23a7 109
ivo_david_michelle 46:4bcf2e679f96 110 // get gyro values
ivo_david_michelle 46:4bcf2e679f96 111 gyro_.getEvent(&gyro_event_);
ivo_david_michelle 46:4bcf2e679f96 112 // detract offsets form raw gyro data
ivo_david_michelle 44:14bee84cdf59 113 gyro_event_.gyro.x -= offset_gyro_x;
ivo_david_michelle 44:14bee84cdf59 114 gyro_event_.gyro.y -= offset_gyro_y;
ivo_david_michelle 44:14bee84cdf59 115 gyro_event_.gyro.z -= offset_gyro_z;
ivo_david_michelle 46:4bcf2e679f96 116 // compute rates
ivo_david_michelle 46:4bcf2e679f96 117 double raw_p = gyro_event_.gyro.x * M_PI / 180;
ivo_david_michelle 46:4bcf2e679f96 118 double raw_q = gyro_event_.gyro.y * M_PI / 180;
ivo_david_michelle 46:4bcf2e679f96 119 double raw_r = gyro_event_.gyro.z * M_PI / 180;
ivo_david_michelle 32:e12b01c94b4a 120
ivo_david_michelle 46:4bcf2e679f96 121 float time = controlTimer->read();
ivo_david_michelle 46:4bcf2e679f96 122 float dt = time - prev_sensor_time; // TODO problems with this?
ivo_david_michelle 32:e12b01c94b4a 123
ivo_david_michelle 46:4bcf2e679f96 124 // Kalman Filter
ivo_david_michelle 46:4bcf2e679f96 125 // state_.phi = kalmanRoll.getAngle(state_.phi * 180 / M_PI, state_.p * 180 / M_PI, dt) * M_PI / 180;
ivo_david_michelle 46:4bcf2e679f96 126 // state_.theta = kalmanPitch.getAngle(state_.theta * 180 / M_PI, state_.q * 180 / M_PI, dt) * M_PI / 180;
ivo_david_michelle 46:4bcf2e679f96 127 // state_.p = kalmanRoll.getRate() * M_PI / 180;
ivo_david_michelle 46:4bcf2e679f96 128 // state_.q = kalmanPitch.getRate() * M_PI / 180;
ivo_david_michelle 46:4bcf2e679f96 129
ivo_david_michelle 46:4bcf2e679f96 130 // complementary filter parameters
ivo_david_michelle 45:9f74298eee78 131 double alphaX = 0.0002;//0.002;
ivo_david_michelle 47:ae478c380136 132 double alphaY = 0.0001; //maybe 0.0002;
ivo_david_michelle 46:4bcf2e679f96 133 // different version of complementary filter
ivo_david_michelle 40:09a59d5b7944 134 //compAngleX = (1 - alphaX) * (compAngleX + raw_p * dt) + alphaX * raw_phi; // Calculate the angle using a Complimentary filter
ivo_david_michelle 47:ae478c380136 135 //compAngleY = (1 - alphaY) * (com pAngleY + raw_q * dt) + alphaY * raw_theta;
ivo_david_michelle 46:4bcf2e679f96 136 compAngleX = (1 - alphaX) * (compAngleX + (raw_p + 8.446703927263016e-04) * dt) + alphaX * raw_phi; // hardcoded value compensates drift with alpha == 0.
ivo_david_michelle 44:14bee84cdf59 137 compAngleY = (1 - alphaY) * (compAngleY + (raw_q - 0.008936763695439) * dt) + alphaY * raw_theta;
ivo_david_michelle 48:0346cdff12a7 138
ivo_david_michelle 48:0346cdff12a7 139 static int comp_avg_count = 0;
ivo_david_michelle 48:0346cdff12a7 140 static double comp_sum_x = 0.0;
ivo_david_michelle 48:0346cdff12a7 141 static double comp_sum_y = 0.0;
ivo_david_michelle 48:0346cdff12a7 142 static bool sample_finished = false;
ivo_david_michelle 48:0346cdff12a7 143 if (time - start_sampling_time < 5.0) {
ivo_david_michelle 48:0346cdff12a7 144 comp_sum_x += compAngleX;
ivo_david_michelle 48:0346cdff12a7 145 comp_sum_y += compAngleY;
ivo_david_michelle 48:0346cdff12a7 146 comp_avg_count++;
ivo_david_michelle 48:0346cdff12a7 147 } else if (!sample_finished) {
ivo_david_michelle 48:0346cdff12a7 148 comp_x_offset = comp_sum_x / comp_avg_count;
ivo_david_michelle 48:0346cdff12a7 149 comp_y_offset = comp_sum_y / comp_avg_count;
ivo_david_michelle 48:0346cdff12a7 150 sample_finished = true;
ivo_david_michelle 48:0346cdff12a7 151 initializationLED = 1;
ivo_david_michelle 48:0346cdff12a7 152 }
ivo_david_michelle 48:0346cdff12a7 153
ivo_david_michelle 46:4bcf2e679f96 154 // assign values to state
ivo_david_michelle 48:0346cdff12a7 155 state_.phi = compAngleX - comp_x_offset;
ivo_david_michelle 48:0346cdff12a7 156 state_.theta = compAngleY - comp_y_offset;
ivo_david_michelle 46:4bcf2e679f96 157 state_.p = raw_p;
ivo_david_michelle 46:4bcf2e679f96 158 state_.q = raw_q;
ivo_david_michelle 46:4bcf2e679f96 159 state_.r = raw_r;
ivo_david_michelle 46:4bcf2e679f96 160
ivo_david_michelle 46:4bcf2e679f96 161 prev_sensor_time = time;
ivo_david_michelle 32:e12b01c94b4a 162
ivo_david_michelle 46:4bcf2e679f96 163 // Plotting
ivo_david_michelle 42:d09dec5bb184 164 /*pc_->printf("%f %f %f %f %f %f %f \r\n",
ivo_david_michelle 46:4bcf2e679f96 165 prev_sensor_time,
ivo_david_michelle 40:09a59d5b7944 166 accel_event_.acceleration.x, accel_event_.acceleration.y, accel_event_.acceleration.z,
ivo_david_michelle 40:09a59d5b7944 167 gyro_event_.gyro.x, gyro_event_.gyro.y, gyro_event_.gyro.z);
ivo_david_michelle 42:d09dec5bb184 168 */
ivo_david_michelle 39:fff0a72633ee 169 // static int count = 0;
ivo_david_michelle 39:fff0a72633ee 170 // if (count % 100 == 0) {
ivo_david_michelle 39:fff0a72633ee 171 // pc_->printf("%d\r\n", count);
ivo_david_michelle 39:fff0a72633ee 172 // }
ivo_david_michelle 39:fff0a72633ee 173 // count++;
ivo_david_michelle 48:0346cdff12a7 174 //pc_->printf("%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\r\n", prev_sensor_time, F_des_, desiredState_.psi, desiredState_.theta, desiredState_.phi, state_.psi, state_.theta, state_.phi,state_.r, state_.p, state_.q, compAngleX, compAngleY, raw_phi, raw_theta,accel_event_.acceleration.x, accel_event_.acceleration.y, accel_event_.acceleration.z, comp_x_offset, comp_y_offset);
ivo_david_michelle 9:f1bd96708a21 175 }
ivo_david_michelle 9:f1bd96708a21 176
ivo_david_michelle 34:eaea0ae92dfa 177 void Quadcopter::controller()
ivo_david_michelle 10:e7d1801e966a 178 {
ivo_david_michelle 34:eaea0ae92dfa 179 float time = controlTimer->read();
ivo_david_michelle 46:4bcf2e679f96 180 if (prev_controller_time_ == 0) {
ivo_david_michelle 46:4bcf2e679f96 181 prev_controller_time_ = time;
ivo_david_michelle 31:d473eacfc271 182 return;
ivo_david_michelle 32:e12b01c94b4a 183 }
ivo_david_michelle 32:e12b01c94b4a 184
ivo_david_michelle 10:e7d1801e966a 185 // PD controller
ivo_david_michelle 31:d473eacfc271 186 double e_phi = desiredState_.phi - state_.phi;
ivo_david_michelle 31:d473eacfc271 187 double e_theta = desiredState_.theta - state_.theta;
ivo_david_michelle 32:e12b01c94b4a 188
ivo_david_michelle 46:4bcf2e679f96 189 float dt = time - prev_controller_time_;
ivo_david_michelle 46:4bcf2e679f96 190 // integrate errors
ivo_david_michelle 32:e12b01c94b4a 191 i_e_phi_ = i_e_phi_ + e_phi * dt;
ivo_david_michelle 32:e12b01c94b4a 192 i_e_theta_ = i_e_theta_ + e_theta * dt;
ivo_david_michelle 46:4bcf2e679f96 193 // limit integrals
ivo_david_michelle 31:d473eacfc271 194 i_e_phi_ = min(max_integral_phi_, i_e_phi_);
ivo_david_michelle 31:d473eacfc271 195 i_e_theta_ = min(max_integral_theta_, i_e_theta_);
ivo_david_michelle 32:e12b01c94b4a 196 i_e_phi_ = max(-max_integral_phi_, i_e_phi_);
ivo_david_michelle 32:e12b01c94b4a 197 i_e_theta_ = max(-max_integral_theta_, i_e_theta_);
ivo_david_michelle 46:4bcf2e679f96 198
ivo_david_michelle 46:4bcf2e679f96 199 // compute control forces
ivo_david_michelle 46:4bcf2e679f96 200 controlInput_.f = kp_f_ * F_des_;
ivo_david_michelle 31:d473eacfc271 201 controlInput_.mx = kp_phi_ * e_phi + kd_phi_ * (desiredState_.p - state_.p) + ki_phi_ * i_e_phi_;
ivo_david_michelle 31:d473eacfc271 202 controlInput_.my = kp_theta_ * e_theta + kd_theta_ * (desiredState_.q - state_.q) + ki_theta_ * i_e_theta_;
ivo_david_michelle 49:59c3427e6838 203 controlInput_.mz = kd_psi_ * (desiredState_.r); //- state_.q); // feedforward desired yaw rate. // kp_psi_*(desiredState_.psi-state_.psi)+kd_psi_*(desiredState_.r-state_.r);
ivo_david_michelle 24:e220fbb70ded 204
ivo_david_michelle 20:efa15ed008b4 205 // set pwm values
ivo_david_michelle 29:ae765492fa8b 206 double forcePerMotor = 0.25 * controlInput_.f;
ivo_david_michelle 29:ae765492fa8b 207 double yawMomentPerMotor = 0.25 / gamma_ * controlInput_.mz;
ivo_david_michelle 29:ae765492fa8b 208 double rollMomentPerMotor = 0.5 / l_ * controlInput_.mx;
ivo_david_michelle 29:ae765492fa8b 209 double pitchMomentPerMotor = 0.5 / l_ * controlInput_.my;
ivo_david_michelle 42:d09dec5bb184 210 motorPwm_.m1 = MIN_PWM_1 + forcePerMotor - pitchMomentPerMotor - yawMomentPerMotor;
ivo_david_michelle 42:d09dec5bb184 211 motorPwm_.m2 = MIN_PWM_2 + forcePerMotor + rollMomentPerMotor + yawMomentPerMotor;
ivo_david_michelle 42:d09dec5bb184 212 motorPwm_.m3 = MIN_PWM_3 + forcePerMotor + pitchMomentPerMotor - yawMomentPerMotor;
ivo_david_michelle 42:d09dec5bb184 213 motorPwm_.m4 = MIN_PWM_4 + forcePerMotor - rollMomentPerMotor + yawMomentPerMotor;
ivo_david_michelle 27:11116aa69f32 214
ivo_david_michelle 29:ae765492fa8b 215 // cut off at max PWM
ivo_david_michelle 42:d09dec5bb184 216 motorPwm_.m1 = min(MAX_PWM, motorPwm_.m1);
ivo_david_michelle 42:d09dec5bb184 217 motorPwm_.m2 = min(MAX_PWM, motorPwm_.m2);
ivo_david_michelle 42:d09dec5bb184 218 motorPwm_.m3 = min(MAX_PWM, motorPwm_.m3);
ivo_david_michelle 42:d09dec5bb184 219 motorPwm_.m4 = min(MAX_PWM, motorPwm_.m4);
ivo_david_michelle 42:d09dec5bb184 220
ivo_david_michelle 42:d09dec5bb184 221 motorPwm_.m1 = max(MIN_PWM_1, motorPwm_.m1);
ivo_david_michelle 42:d09dec5bb184 222 motorPwm_.m2 = max(MIN_PWM_2, motorPwm_.m2);
ivo_david_michelle 42:d09dec5bb184 223 motorPwm_.m3 = max(MIN_PWM_3, motorPwm_.m3);
ivo_david_michelle 42:d09dec5bb184 224 motorPwm_.m4 = max(MIN_PWM_4, motorPwm_.m4);
ivo_david_michelle 32:e12b01c94b4a 225
ivo_david_michelle 46:4bcf2e679f96 226 prev_controller_time_ = time;
ivo_david_michelle 32:e12b01c94b4a 227
ivo_david_michelle 46:4bcf2e679f96 228 // Printing
ivo_david_michelle 46:4bcf2e679f96 229 //pc_->printf("%f %f %f %f %f %f %f %f \r\n", time, F_des_, desiredState_.psi, desiredState_.theta, desiredState_.phi, state_.psi, state_.theta, state_.phi);
ivo_david_michelle 32:e12b01c94b4a 230 //pc_->printf("m1: %f\tm2: %f\tm3: %f\tm4: %f\r\n", motorPwm_.m1, motorPwm_.m2, motorPwm_.m3, motorPwm_.m4);
ivo_david_michelle 32:e12b01c94b4a 231
ivo_david_michelle 13:291ba30c7806 232 }
ivo_david_michelle 10:e7d1801e966a 233
ivo_david_michelle 12:422963993df5 234 motors Quadcopter::getPwm()
ivo_david_michelle 11:5c54826d23a7 235 {
ivo_david_michelle 22:92401a4fec13 236 return motorPwm_;
ivo_david_michelle 22:92401a4fec13 237 }
ivo_david_michelle 20:efa15ed008b4 238
ivo_david_michelle 22:92401a4fec13 239 state Quadcopter::getState()
ivo_david_michelle 22:92401a4fec13 240 {
ivo_david_michelle 22:92401a4fec13 241 return state_;
ivo_david_michelle 11:5c54826d23a7 242 }
ivo_david_michelle 14:64b06476d943 243
ivo_david_michelle 24:e220fbb70ded 244 Adafruit_LSM303_Accel_Unified Quadcopter::getAccel()
ivo_david_michelle 24:e220fbb70ded 245 {
ivo_david_michelle 24:e220fbb70ded 246 return accel_;
ivo_david_michelle 24:e220fbb70ded 247 }
ivo_david_michelle 24:e220fbb70ded 248
ivo_david_michelle 46:4bcf2e679f96 249 //Adafruit_LSM303_Mag_Unified Quadcopter::getMag()
ivo_david_michelle 46:4bcf2e679f96 250 //{
ivo_david_michelle 46:4bcf2e679f96 251 // return mag_;
ivo_david_michelle 46:4bcf2e679f96 252 //}
ivo_david_michelle 24:e220fbb70ded 253
ivo_david_michelle 24:e220fbb70ded 254 Adafruit_L3GD20_Unified Quadcopter::getGyro()
ivo_david_michelle 24:e220fbb70ded 255 {
ivo_david_michelle 24:e220fbb70ded 256 return gyro_;
ivo_david_michelle 24:e220fbb70ded 257 }
ivo_david_michelle 24:e220fbb70ded 258
ivo_david_michelle 24:e220fbb70ded 259 offset* Quadcopter::getOffset()
ivo_david_michelle 24:e220fbb70ded 260 {
ivo_david_michelle 24:e220fbb70ded 261 return initial_offsets_;
ivo_david_michelle 24:e220fbb70ded 262 }
ivo_david_michelle 24:e220fbb70ded 263
ivo_david_michelle 24:e220fbb70ded 264 Adafruit_9DOF Quadcopter::getIMU()
ivo_david_michelle 24:e220fbb70ded 265 {
ivo_david_michelle 24:e220fbb70ded 266 return dof_;
ivo_david_michelle 24:e220fbb70ded 267 }
ivo_david_michelle 24:e220fbb70ded 268
ivo_david_michelle 27:11116aa69f32 269 double Quadcopter::getForce()
ivo_david_michelle 27:11116aa69f32 270 {
ivo_david_michelle 37:a983eb9fd9c5 271 return F_des_;
ivo_david_michelle 27:11116aa69f32 272 }
ivo_david_michelle 27:11116aa69f32 273
ivo_david_michelle 24:e220fbb70ded 274 void Quadcopter::readRc()
ivo_david_michelle 24:e220fbb70ded 275 {
ivo_david_michelle 14:64b06476d943 276 uint8_t zero = 0;
ivo_david_michelle 14:64b06476d943 277 uint8_t *rssi = &zero;
ivo_david_michelle 14:64b06476d943 278
ivo_david_michelle 14:64b06476d943 279 uint8_t receive = 0;
ivo_david_michelle 14:64b06476d943 280
ivo_david_michelle 14:64b06476d943 281 char rxBuffer[rcLength_];
ivo_david_michelle 24:e220fbb70ded 282
ivo_david_michelle 27:11116aa69f32 283 float thrust;
ivo_david_michelle 37:a983eb9fd9c5 284 float yaw = 0;
ivo_david_michelle 37:a983eb9fd9c5 285 float pitch = 0;
ivo_david_michelle 37:a983eb9fd9c5 286 float roll = 0;
ivo_david_michelle 27:11116aa69f32 287 long long id;
ivo_david_michelle 24:e220fbb70ded 288
ivo_david_michelle 37:a983eb9fd9c5 289 //static int thrust_outliers = 0;
ivo_david_michelle 35:35997980a8ba 290
ivo_david_michelle 16:2be2aab63198 291 receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1);
ivo_david_michelle 37:a983eb9fd9c5 292 if (receive > 10) {
ivo_david_michelle 37:a983eb9fd9c5 293 int written = sscanf(rxBuffer, "%lld,%f,%f,%f,%f", &id, &thrust, &yaw, &pitch, &roll);
ivo_david_michelle 38:14bf11115f9f 294 // pc_->printf("%d\r\n", written);
ivo_david_michelle 37:a983eb9fd9c5 295 if (written != 5) {
ivo_david_michelle 38:14bf11115f9f 296 // pc_->printf("%s\r\n", rxBuffer);
ivo_david_michelle 37:a983eb9fd9c5 297 return;
ivo_david_michelle 37:a983eb9fd9c5 298 }
ivo_david_michelle 16:2be2aab63198 299 } else {
ivo_david_michelle 16:2be2aab63198 300 pc_->printf("Receive failure\r\n");
ivo_david_michelle 37:a983eb9fd9c5 301 return;
ivo_david_michelle 24:e220fbb70ded 302 }
ivo_david_michelle 39:fff0a72633ee 303
ivo_david_michelle 39:fff0a72633ee 304 // test for outliers (can remove when fixed for sure)
ivo_david_michelle 39:fff0a72633ee 305 // float temp_thrust = thrust - 0.5;
ivo_david_michelle 39:fff0a72633ee 306 //
ivo_david_michelle 37:a983eb9fd9c5 307 // if (temp_thrust < -0.3) {
ivo_david_michelle 35:35997980a8ba 308 // thrust_outliers++;
ivo_david_michelle 35:35997980a8ba 309 // if (thrust_outliers < 3) {
ivo_david_michelle 35:35997980a8ba 310 // thrust = F_des_;
ivo_david_michelle 35:35997980a8ba 311 // }
ivo_david_michelle 35:35997980a8ba 312 // } else {
ivo_david_michelle 35:35997980a8ba 313 // thrust_outliers = 0;
ivo_david_michelle 35:35997980a8ba 314 // }
ivo_david_michelle 35:35997980a8ba 315
ivo_david_michelle 25:d44610851105 316 // convert to radians, range is = +-40° or +-0.698132 radians
ivo_david_michelle 49:59c3427e6838 317 desiredState_.phi = 1 * (-(roll * 20) * M_PI / 180); // minus, because joystick to right should result in positive moment
ivo_david_michelle 49:59c3427e6838 318 desiredState_.theta = 1 * (pitch * 20) * M_PI / 180;
ivo_david_michelle 38:14bf11115f9f 319 desiredState_.r = 1 * yaw; // number between 0 and 1 //((yaw - 0.5) * 80) * M_PI / 180;
ivo_david_michelle 38:14bf11115f9f 320 F_des_ = thrust; // number between 0 and 1 -> number between -0.5 and 0.5
ivo_david_michelle 39:fff0a72633ee 321
ivo_david_michelle 39:fff0a72633ee 322 /* test for outliers (can remove when fixed for sure)
ivo_david_michelle 38:14bf11115f9f 323 if (abs(F_des_) > 0.01 || abs(desiredState_.psi) > 0.01 || abs(desiredState_.theta) > 0.02 || abs(desiredState_.phi) > 0.01) {
ivo_david_michelle 38:14bf11115f9f 324 pc_->printf("%lld: thrust: %f yaw: %f pitch: %f roll: %f\r\n", id, F_des_, desiredState_.psi, desiredState_.theta, desiredState_.phi); //, thrust_outliers);
ivo_david_michelle 38:14bf11115f9f 325 }
ivo_david_michelle 39:fff0a72633ee 326 */
ivo_david_michelle 14:64b06476d943 327 }
ivo_david_michelle 14:64b06476d943 328