David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

quadcopter.cpp@26:7f50323c0c0d, 2016-04-14 (annotated)

Committer:
ivo_david_michelle
Date:
Thu Apr 14 19:58:42 2016 +0000
Revision:
26:7f50323c0c0d
Parent:
25:d44610851105
Child:
27:11116aa69f32
integrated HW, implemented emergency shutdown.

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 14:64b06476d943 10 //#include "mbed.h"
ivo_david_michelle 9:f1bd96708a21 11
ivo_david_michelle 10:e7d1801e966a 12 // constructor
ivo_david_michelle 15:90e07946186f 13 Quadcopter::Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr)
ivo_david_michelle 24:e220fbb70ded 14 {
ivo_david_michelle 14:64b06476d943 15 pc_= pcPntr; // enable printing
ivo_david_michelle 24:e220fbb70ded 16 //initSensors(accel_, mag_, gyro_, offsetAngRate_); // IMUm_= 1;
ivo_david_michelle 23:04338a5ef404 17 g_= 9.81;
ivo_david_michelle 23:04338a5ef404 18 l_= 0.25;
ivo_david_michelle 23:04338a5ef404 19 gamma_= 1;
ivo_david_michelle 24:e220fbb70ded 20
ivo_david_michelle 24:e220fbb70ded 21
ivo_david_michelle 10:e7d1801e966a 22 // proportional attitude control gains
ivo_david_michelle 24:e220fbb70ded 23 // TODO change gains so that joystick deflection never produces pwm duty cycle >10%.
ivo_david_michelle 24:e220fbb70ded 24
ivo_david_michelle 21:336faf452989 25 kp_f_ =2.5;
ivo_david_michelle 21:336faf452989 26 kp_phi_ = 0.2;
ivo_david_michelle 21:336faf452989 27 kp_theta_ = 0.2;
ivo_david_michelle 21:336faf452989 28 kp_psi_ = 0.2;
ivo_david_michelle 10:e7d1801e966a 29
ivo_david_michelle 10:e7d1801e966a 30 // derivative attitude control gains
ivo_david_michelle 10:e7d1801e966a 31 kd_phi_ = 0;
ivo_david_michelle 10:e7d1801e966a 32 kd_theta_ = 0;
ivo_david_michelle 10:e7d1801e966a 33 kd_psi_ = 0;
ivo_david_michelle 10:e7d1801e966a 34
ivo_david_michelle 10:e7d1801e966a 35 // desired values (will come from joystick)
ivo_david_michelle 10:e7d1801e966a 36 F_des_ = 0; // desired thrust force (excluding weight compensation)
ivo_david_michelle 9:f1bd96708a21 37
ivo_david_michelle 9:f1bd96708a21 38 dof_ = Adafruit_9DOF();
ivo_david_michelle 9:f1bd96708a21 39 accel_ = Adafruit_LSM303_Accel_Unified(30301);
ivo_david_michelle 9:f1bd96708a21 40 mag_ = Adafruit_LSM303_Mag_Unified(30302);
ivo_david_michelle 9:f1bd96708a21 41 gyro_ = Adafruit_L3GD20_Unified(20);
ivo_david_michelle 14:64b06476d943 42 //motor1_(p21);
ivo_david_michelle 24:e220fbb70ded 43
ivo_david_michelle 14:64b06476d943 44 // initSensors(accel_, mag_, gyro_, offsetAngRate_); // IMU
ivo_david_michelle 24:e220fbb70ded 45
ivo_david_michelle 24:e220fbb70ded 46 // prepare for communication with remote control
ivo_david_michelle 16:2be2aab63198 47 rcTimer_.start();
ivo_david_michelle 15:90e07946186f 48 mrf_ = mrfPntr; // RF tranceiver to link with handheld.
ivo_david_michelle 15:90e07946186f 49 rcLength_ = 250;
ivo_david_michelle 16:2be2aab63198 50 mrf_->SetChannel(3); //Set the Channel. 0 is default, 15 is max
ivo_david_michelle 17:96d0c72e413e 51 thrust = 0.5;
ivo_david_michelle 17:96d0c72e413e 52 yaw = 0.5;
ivo_david_michelle 17:96d0c72e413e 53 pitch = 0.5;
ivo_david_michelle 17:96d0c72e413e 54 roll = 0.5;
ivo_david_michelle 17:96d0c72e413e 55 id = -1;
ivo_david_michelle 24:e220fbb70ded 56 initial_offsets_ = (offset*) malloc(sizeof(offset));
ivo_david_michelle 24:e220fbb70ded 57 initSensors(*this); // IMU
ivo_david_michelle 9:f1bd96708a21 58 }
ivo_david_michelle 9:f1bd96708a21 59
ivo_david_michelle 9:f1bd96708a21 60
ivo_david_michelle 9:f1bd96708a21 61 void Quadcopter::readSensorValues()
ivo_david_michelle 9:f1bd96708a21 62 {
ivo_david_michelle 9:f1bd96708a21 63 accel_.getEvent(&accel_event_);
ivo_david_michelle 9:f1bd96708a21 64 if (dof_.accelGetOrientation(&accel_event_, &orientation_)) {
ivo_david_michelle 9:f1bd96708a21 65 }
ivo_david_michelle 9:f1bd96708a21 66 /* Calculate the heading using the magnetometer */
ivo_david_michelle 9:f1bd96708a21 67 mag_.getEvent(&mag_event_);
ivo_david_michelle 9:f1bd96708a21 68 if (dof_.magGetOrientation(SENSOR_AXIS_Z, &mag_event_, &orientation_)) {
ivo_david_michelle 9:f1bd96708a21 69 }
ivo_david_michelle 9:f1bd96708a21 70
ivo_david_michelle 13:291ba30c7806 71 gyro_.getEvent(&gyro_event_);
ivo_david_michelle 11:5c54826d23a7 72
ivo_david_michelle 24:e220fbb70ded 73 gyro_event_.gyro.x -= initial_offsets_->gyro_x;
ivo_david_michelle 24:e220fbb70ded 74 gyro_event_.gyro.y -= initial_offsets_->gyro_y;
ivo_david_michelle 24:e220fbb70ded 75 gyro_event_.gyro.z -= initial_offsets_->gyro_z;
ivo_david_michelle 24:e220fbb70ded 76 orientation_.roll -= initial_offsets_->roll;
ivo_david_michelle 24:e220fbb70ded 77 orientation_.pitch -= initial_offsets_->pitch;
ivo_david_michelle 24:e220fbb70ded 78 orientation_.heading -= initial_offsets_->heading;
ivo_david_michelle 13:291ba30c7806 79
ivo_david_michelle 10:e7d1801e966a 80 // measured values (will come from IMU/parameter class/Input to function later)
ivo_david_michelle 10:e7d1801e966a 81 // angles
ivo_david_michelle 10:e7d1801e966a 82 state_.phi = orientation_.roll;
ivo_david_michelle 10:e7d1801e966a 83 state_.theta =orientation_.pitch;
ivo_david_michelle 10:e7d1801e966a 84 state_.psi =orientation_.heading;
ivo_david_michelle 10:e7d1801e966a 85 // angular velocities in body coordinate system
ivo_david_michelle 10:e7d1801e966a 86 state_.p = gyro_event_.gyro.x;
ivo_david_michelle 10:e7d1801e966a 87 state_.q = gyro_event_.gyro.y;
ivo_david_michelle 10:e7d1801e966a 88 state_.r = gyro_event_.gyro.z;
ivo_david_michelle 24:e220fbb70ded 89
ivo_david_michelle 23:04338a5ef404 90 // TODO print values to check what they are
ivo_david_michelle 23:04338a5ef404 91 // TODO convert to Radians (*pi/180)
ivo_david_michelle 24:e220fbb70ded 92
ivo_david_michelle 25:d44610851105 93 // 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 23:04338a5ef404 94 state_.phi = orientation_.roll * M_PI / 180;
ivo_david_michelle 24:e220fbb70ded 95 state_.theta = orientation_.pitch * M_PI / 180;
ivo_david_michelle 24:e220fbb70ded 96 state_.psi = orientation_.heading * M_PI / 180;
ivo_david_michelle 24:e220fbb70ded 97 //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 10:e7d1801e966a 98 }
ivo_david_michelle 9:f1bd96708a21 99
ivo_david_michelle 10:e7d1801e966a 100 // Date member function
ivo_david_michelle 10:e7d1801e966a 101 void Quadcopter::setState(state *source, state *goal)
ivo_david_michelle 10:e7d1801e966a 102 {
ivo_david_michelle 10:e7d1801e966a 103 goal->phi = source->phi;
ivo_david_michelle 10:e7d1801e966a 104 goal->theta = source->theta;
ivo_david_michelle 10:e7d1801e966a 105 goal->psi = source->psi;
ivo_david_michelle 10:e7d1801e966a 106 goal->p = source->p;
ivo_david_michelle 10:e7d1801e966a 107 goal->q = source->q;
ivo_david_michelle 10:e7d1801e966a 108 goal->r = source->r;
ivo_david_michelle 9:f1bd96708a21 109 }
ivo_david_michelle 9:f1bd96708a21 110
ivo_david_michelle 10:e7d1801e966a 111 void Quadcopter::controller()
ivo_david_michelle 10:e7d1801e966a 112 {
ivo_david_michelle 10:e7d1801e966a 113 // compute desired angles (in the case we decide not to set
ivo_david_michelle 10:e7d1801e966a 114 // the angles, but for instance the velocity with the Joystick
ivo_david_michelle 9:f1bd96708a21 115
ivo_david_michelle 10:e7d1801e966a 116 // PD controller
ivo_david_michelle 21:336faf452989 117 controlInput_.f = kp_f_*F_des_;//m_*g_ + F_des_;
ivo_david_michelle 10:e7d1801e966a 118 controlInput_.mx = kp_phi_*(desiredState_.phi-state_.phi)+kd_phi_*(desiredState_.p-state_.p);
ivo_david_michelle 10:e7d1801e966a 119 controlInput_.my = kp_theta_*(desiredState_.theta-state_.theta)+kd_theta_*(desiredState_.q-state_.q);
ivo_david_michelle 10:e7d1801e966a 120 controlInput_.mz = kp_psi_*(desiredState_.psi-state_.psi)+kd_psi_*(desiredState_.r-state_.r);
ivo_david_michelle 14:64b06476d943 121 //print("Calculated Control");
ivo_david_michelle 10:e7d1801e966a 122
ivo_david_michelle 26:7f50323c0c0d 123 //pc_->printf("F: %f M_x: %f M_y: %f M_z: %f\n\r", controlInput_.f, controlInput_.mz, controlInput_.my, controlInput_.mz);
ivo_david_michelle 14:64b06476d943 124 // pc_->printf("F: %f\n\r", F);
ivo_david_michelle 24:e220fbb70ded 125
ivo_david_michelle 20:efa15ed008b4 126 // set pwm values
ivo_david_michelle 20:efa15ed008b4 127 // make code faster by precomputing all the components that are used multiple times and hardcode 0.25/gamma...
ivo_david_michelle 22:92401a4fec13 128 double zeroVeloPwm=0.1;
ivo_david_michelle 22:92401a4fec13 129 motorPwm_.m1=zeroVeloPwm+ 0.25*controlInput_.f-0.5/l_*controlInput_.my-0.25/gamma_*controlInput_.mz;
ivo_david_michelle 24:e220fbb70ded 130 motorPwm_.m2=zeroVeloPwm +0.25*controlInput_.f-0.5/l_*controlInput_.mx+0.25/gamma_*controlInput_.mz;
ivo_david_michelle 22:92401a4fec13 131 motorPwm_.m3=zeroVeloPwm + 0.25*controlInput_.f+0.5/l_*controlInput_.my-0.25/gamma_*controlInput_.mz;
ivo_david_michelle 22:92401a4fec13 132 motorPwm_.m4=zeroVeloPwm + 0.25*controlInput_.f+0.5/l_*controlInput_.mx+0.25/gamma_*controlInput_.mz;
ivo_david_michelle 13:291ba30c7806 133 }
ivo_david_michelle 10:e7d1801e966a 134
ivo_david_michelle 12:422963993df5 135 motors Quadcopter::getPwm()
ivo_david_michelle 11:5c54826d23a7 136 {
ivo_david_michelle 22:92401a4fec13 137 return motorPwm_;
ivo_david_michelle 22:92401a4fec13 138 }
ivo_david_michelle 20:efa15ed008b4 139
ivo_david_michelle 22:92401a4fec13 140 state Quadcopter::getState()
ivo_david_michelle 22:92401a4fec13 141 {
ivo_david_michelle 22:92401a4fec13 142 return state_;
ivo_david_michelle 11:5c54826d23a7 143 }
ivo_david_michelle 14:64b06476d943 144
ivo_david_michelle 24:e220fbb70ded 145 Adafruit_LSM303_Accel_Unified Quadcopter::getAccel()
ivo_david_michelle 24:e220fbb70ded 146 {
ivo_david_michelle 24:e220fbb70ded 147 return accel_;
ivo_david_michelle 24:e220fbb70ded 148 }
ivo_david_michelle 24:e220fbb70ded 149
ivo_david_michelle 24:e220fbb70ded 150 Adafruit_LSM303_Mag_Unified Quadcopter::getMag()
ivo_david_michelle 24:e220fbb70ded 151 {
ivo_david_michelle 24:e220fbb70ded 152 return mag_;
ivo_david_michelle 24:e220fbb70ded 153 }
ivo_david_michelle 24:e220fbb70ded 154
ivo_david_michelle 24:e220fbb70ded 155 Adafruit_L3GD20_Unified Quadcopter::getGyro()
ivo_david_michelle 24:e220fbb70ded 156 {
ivo_david_michelle 24:e220fbb70ded 157 return gyro_;
ivo_david_michelle 24:e220fbb70ded 158 }
ivo_david_michelle 24:e220fbb70ded 159
ivo_david_michelle 24:e220fbb70ded 160 offset* Quadcopter::getOffset()
ivo_david_michelle 24:e220fbb70ded 161 {
ivo_david_michelle 24:e220fbb70ded 162 return initial_offsets_;
ivo_david_michelle 24:e220fbb70ded 163 }
ivo_david_michelle 24:e220fbb70ded 164
ivo_david_michelle 24:e220fbb70ded 165 Adafruit_9DOF Quadcopter::getIMU()
ivo_david_michelle 24:e220fbb70ded 166 {
ivo_david_michelle 24:e220fbb70ded 167 return dof_;
ivo_david_michelle 24:e220fbb70ded 168 }
ivo_david_michelle 24:e220fbb70ded 169
ivo_david_michelle 24:e220fbb70ded 170 void Quadcopter::readRc()
ivo_david_michelle 24:e220fbb70ded 171 {
ivo_david_michelle 14:64b06476d943 172 uint8_t zero = 0;
ivo_david_michelle 14:64b06476d943 173 uint8_t *rssi = &zero;
ivo_david_michelle 14:64b06476d943 174
ivo_david_michelle 14:64b06476d943 175 uint8_t receive = 0;
ivo_david_michelle 14:64b06476d943 176
ivo_david_michelle 14:64b06476d943 177 char rxBuffer[rcLength_];
ivo_david_michelle 24:e220fbb70ded 178
ivo_david_michelle 24:e220fbb70ded 179
ivo_david_michelle 16:2be2aab63198 180 receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1);
ivo_david_michelle 16:2be2aab63198 181 if (receive > 0) {
ivo_david_michelle 17:96d0c72e413e 182 sscanf(rxBuffer, "%lld,%f,%f,%f,%f", &id, &thrust, &yaw, &pitch, &roll);
ivo_david_michelle 16:2be2aab63198 183 } else {
ivo_david_michelle 16:2be2aab63198 184 pc_->printf("Receive failure\r\n");
ivo_david_michelle 24:e220fbb70ded 185 }
ivo_david_michelle 24:e220fbb70ded 186
ivo_david_michelle 25:d44610851105 187 // convert to radians, range is = +-40° or +-0.698132 radians
ivo_david_michelle 25:d44610851105 188 desiredState_.phi = ((roll - 0.5) * 80) * M_PI / 180;
ivo_david_michelle 25:d44610851105 189 desiredState_.theta = ((pitch - 0.5) * 80) * M_PI / 180;
ivo_david_michelle 25:d44610851105 190 desiredState_.psi = ((yaw - 0.5) * 80) * M_PI / 180;
ivo_david_michelle 25:d44610851105 191 F_des_ = ((thrust - 0.5) * 80) * M_PI / 180;
ivo_david_michelle 25:d44610851105 192
ivo_david_michelle 25:d44610851105 193 // print id with thrust, yaw, pitch, and roll
ivo_david_michelle 26:7f50323c0c0d 194 // 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 195 }
ivo_david_michelle 14:64b06476d943 196