David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

quadcopter.cpp@29:ae765492fa8b, 2016-04-15 (annotated)

Committer:
ivo_david_michelle
Date:
Fri Apr 15 19:33:14 2016 +0000
Revision:
29:ae765492fa8b
Parent:
28:61f7356325c3
Child:
30:4820042e67b5
refactored

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