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ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
quadcopter.cpp@41:d103f9aa44f0, 2016-05-04 (annotated)
- Committer:
- ivo_david_michelle
- Date:
- Wed May 04 18:46:06 2016 +0000
- Revision:
- 41:d103f9aa44f0
- Parent:
- 40:09a59d5b7944
- Child:
- 42:d09dec5bb184
detract offsets of raw gyro and acc data
Who changed what in which revision?
User | Revision | Line number | New 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 | 36:40b134328376 | 11 | Quadcopter::Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr, Timer *timer, Mutex *desired) |
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 | 31:d473eacfc271 | 18 | zeroVelPwm = 0.11; |
ivo_david_michelle | 31:d473eacfc271 | 19 | maxPwm = 0.15; |
ivo_david_michelle | 36:40b134328376 | 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 | 32:e12b01c94b4a | 23 | kp_f_ = (maxPwm - zeroVelPwm) * 4 / 0.5; |
ivo_david_michelle | 40:09a59d5b7944 | 24 | kp_phi_ = 10 * (maxPwm - zeroVelPwm) * l_ / 0.5 * 4 / M_PI; |
ivo_david_michelle | 40:09a59d5b7944 | 25 | kp_theta_ = 10 * (maxPwm - zeroVelPwm) * 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 | 40:09a59d5b7944 | 29 | kd_phi_ = 0.0 * (maxPwm - zeroVelPwm) * 2 / M_PI; // 0.25 maybe a good |
ivo_david_michelle | 40:09a59d5b7944 | 30 | kd_theta_ = 0.0 * (maxPwm - zeroVelPwm) * 2 / M_PI; |
ivo_david_michelle | 29:ae765492fa8b | 31 | kd_psi_ = 0.1; |
ivo_david_michelle | 31:d473eacfc271 | 32 | |
ivo_david_michelle | 39:fff0a72633ee | 33 | // incresae ki_phi |
ivo_david_michelle | 35:35997980a8ba | 34 | ki_phi_ = 0 * (maxPwm - zeroVelPwm)/(2*M_PI/4); // full control signal after 2s at pi/4 error |
ivo_david_michelle | 32:e12b01c94b4a | 35 | ki_theta_ = 0 * (maxPwm - zeroVelPwm)/(2*M_PI/4); |
ivo_david_michelle | 32:e12b01c94b4a | 36 | |
ivo_david_michelle | 32:e12b01c94b4a | 37 | i_e_phi_ = 0; |
ivo_david_michelle | 31:d473eacfc271 | 38 | i_e_theta_ = 0; |
ivo_david_michelle | 31:d473eacfc271 | 39 | prev_time_ = 0; |
ivo_david_michelle | 32:e12b01c94b4a | 40 | |
ivo_david_michelle | 32:e12b01c94b4a | 41 | |
ivo_david_michelle | 31:d473eacfc271 | 42 | 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 | 43 | max_integral_theta_ = 0.05/(ki_theta_ * (0.5/l_ + 0.25)); |
ivo_david_michelle | 31:d473eacfc271 | 44 | |
ivo_david_michelle | 10:e7d1801e966a | 45 | |
ivo_david_michelle | 10:e7d1801e966a | 46 | // desired values (will come from joystick) |
ivo_david_michelle | 10:e7d1801e966a | 47 | F_des_ = 0; // desired thrust force (excluding weight compensation) |
ivo_david_michelle | 9:f1bd96708a21 | 48 | |
ivo_david_michelle | 9:f1bd96708a21 | 49 | dof_ = Adafruit_9DOF(); |
ivo_david_michelle | 9:f1bd96708a21 | 50 | accel_ = Adafruit_LSM303_Accel_Unified(30301); |
ivo_david_michelle | 9:f1bd96708a21 | 51 | mag_ = Adafruit_LSM303_Mag_Unified(30302); |
ivo_david_michelle | 9:f1bd96708a21 | 52 | gyro_ = Adafruit_L3GD20_Unified(20); |
ivo_david_michelle | 24:e220fbb70ded | 53 | |
ivo_david_michelle | 24:e220fbb70ded | 54 | // prepare for communication with remote control |
ivo_david_michelle | 16:2be2aab63198 | 55 | rcTimer_.start(); |
ivo_david_michelle | 15:90e07946186f | 56 | mrf_ = mrfPntr; // RF tranceiver to link with handheld. |
ivo_david_michelle | 15:90e07946186f | 57 | rcLength_ = 250; |
ivo_david_michelle | 16:2be2aab63198 | 58 | mrf_->SetChannel(3); //Set the Channel. 0 is default, 15 is max |
ivo_david_michelle | 27:11116aa69f32 | 59 | |
ivo_david_michelle | 24:e220fbb70ded | 60 | initial_offsets_ = (offset*) malloc(sizeof(offset)); |
ivo_david_michelle | 24:e220fbb70ded | 61 | initSensors(*this); // IMU |
ivo_david_michelle | 35:35997980a8ba | 62 | |
ivo_david_michelle | 34:eaea0ae92dfa | 63 | controlTimer = timer; |
ivo_david_michelle | 34:eaea0ae92dfa | 64 | controlTimer->start(); |
ivo_david_michelle | 35:35997980a8ba | 65 | |
ivo_david_michelle | 34:eaea0ae92dfa | 66 | prev_kalman_time = 0; |
ivo_david_michelle | 35:35997980a8ba | 67 | |
ivo_david_michelle | 34:eaea0ae92dfa | 68 | readSensorValues(); |
ivo_david_michelle | 35:35997980a8ba | 69 | |
ivo_david_michelle | 34:eaea0ae92dfa | 70 | kalmanPitch.setAngle(state_.phi); // set initial pitch |
ivo_david_michelle | 34:eaea0ae92dfa | 71 | kalmanRoll.setAngle(state_.theta); // set initial theta |
ivo_david_michelle | 34:eaea0ae92dfa | 72 | compAngleX = state_.phi; |
ivo_david_michelle | 34:eaea0ae92dfa | 73 | compAngleY = state_.theta; |
ivo_david_michelle | 9:f1bd96708a21 | 74 | } |
ivo_david_michelle | 9:f1bd96708a21 | 75 | |
ivo_david_michelle | 9:f1bd96708a21 | 76 | void Quadcopter::readSensorValues() |
ivo_david_michelle | 9:f1bd96708a21 | 77 | { |
ivo_david_michelle | 41:d103f9aa44f0 | 78 | // precomputed gyro offsets |
ivo_david_michelle | 41:d103f9aa44f0 | 79 | double offset_gyro_x = -0.048261598984772; |
ivo_david_michelle | 41:d103f9aa44f0 | 80 | double offset_gyro_y = 0.499745812182741; |
ivo_david_michelle | 41:d103f9aa44f0 | 81 | double offset_gyro_z = 0.005005893401015; |
ivo_david_michelle | 41:d103f9aa44f0 | 82 | double offset_acc_x = -0.233396269401444; |
ivo_david_michelle | 41:d103f9aa44f0 | 83 | double offset_acc_y = 0.198868464759687; |
ivo_david_michelle | 41:d103f9aa44f0 | 84 | double offset_acc_z = -0.485550588350806; |
ivo_david_michelle | 41:d103f9aa44f0 | 85 | |
ivo_david_michelle | 36:40b134328376 | 86 | if (prev_kalman_time == 0) { |
ivo_david_michelle | 36:40b134328376 | 87 | prev_kalman_time = controlTimer->read(); |
ivo_david_michelle | 36:40b134328376 | 88 | return; |
ivo_david_michelle | 36:40b134328376 | 89 | } |
ivo_david_michelle | 39:fff0a72633ee | 90 | |
ivo_david_michelle | 9:f1bd96708a21 | 91 | accel_.getEvent(&accel_event_); |
ivo_david_michelle | 39:fff0a72633ee | 92 | // mag_.getEvent(&mag_event_); |
ivo_david_michelle | 41:d103f9aa44f0 | 93 | // detract offsets |
ivo_david_michelle | 41:d103f9aa44f0 | 94 | accel_event.acceleration.x -= offset_acc_x; |
ivo_david_michelle | 41:d103f9aa44f0 | 95 | accel_event.acceleration.y -= offset_acc_y; |
ivo_david_michelle | 41:d103f9aa44f0 | 96 | accel_event.acceleration.z -= offset_acc_z; |
ivo_david_michelle | 41:d103f9aa44f0 | 97 | |
ivo_david_michelle | 37:a983eb9fd9c5 | 98 | dof_.accelGetOrientation(&accel_event_, &orientation_); |
ivo_david_michelle | 40:09a59d5b7944 | 99 | gyro_.getEvent(&gyro_event_); |
ivo_david_michelle | 11:5c54826d23a7 | 100 | |
ivo_david_michelle | 41:d103f9aa44f0 | 101 | /* old offset detraction |
ivo_david_michelle | 24:e220fbb70ded | 102 | gyro_event_.gyro.x -= initial_offsets_->gyro_x; |
ivo_david_michelle | 24:e220fbb70ded | 103 | gyro_event_.gyro.y -= initial_offsets_->gyro_y; |
ivo_david_michelle | 24:e220fbb70ded | 104 | gyro_event_.gyro.z -= initial_offsets_->gyro_z; |
ivo_david_michelle | 24:e220fbb70ded | 105 | orientation_.roll -= initial_offsets_->roll; |
ivo_david_michelle | 24:e220fbb70ded | 106 | orientation_.pitch -= initial_offsets_->pitch; |
ivo_david_michelle | 24:e220fbb70ded | 107 | orientation_.heading -= initial_offsets_->heading; |
ivo_david_michelle | 41:d103f9aa44f0 | 108 | */ |
ivo_david_michelle | 41:d103f9aa44f0 | 109 | |
ivo_david_michelle | 41:d103f9aa44f0 | 110 | |
ivo_david_michelle | 41:d103f9aa44f0 | 111 | gyro_event_.gyro.x -= offset_gyro_x; |
ivo_david_michelle | 41:d103f9aa44f0 | 112 | gyro_event_.gyro.y -= offset_gyro_y; |
ivo_david_michelle | 41:d103f9aa44f0 | 113 | gyro_event_.gyro.z -= offset_gyro_z; |
ivo_david_michelle | 13:291ba30c7806 | 114 | |
ivo_david_michelle | 32:e12b01c94b4a | 115 | static int current_filter = 0; |
ivo_david_michelle | 32:e12b01c94b4a | 116 | filters_.p[current_filter] = gyro_event_.gyro.x * M_PI / 180; |
ivo_david_michelle | 32:e12b01c94b4a | 117 | filters_.q[current_filter] = gyro_event_.gyro.y * M_PI / 180; |
ivo_david_michelle | 32:e12b01c94b4a | 118 | filters_.r[current_filter] = gyro_event_.gyro.z * M_PI / 180; |
ivo_david_michelle | 32:e12b01c94b4a | 119 | filters_.phi[current_filter] = orientation_.roll * M_PI / 180; |
ivo_david_michelle | 37:a983eb9fd9c5 | 120 | filters_.theta[current_filter] = -orientation_.pitch * M_PI / 180; |
ivo_david_michelle | 32:e12b01c94b4a | 121 | filters_.psi[current_filter] = orientation_.heading * M_PI / 180; |
ivo_david_michelle | 32:e12b01c94b4a | 122 | |
ivo_david_michelle | 32:e12b01c94b4a | 123 | current_filter = (current_filter + 1) % FILTER_SIZE; |
ivo_david_michelle | 32:e12b01c94b4a | 124 | |
ivo_david_michelle | 32:e12b01c94b4a | 125 | double p_sum = 0; |
ivo_david_michelle | 32:e12b01c94b4a | 126 | double q_sum = 0; |
ivo_david_michelle | 32:e12b01c94b4a | 127 | double r_sum = 0; |
ivo_david_michelle | 32:e12b01c94b4a | 128 | double phi_sum = 0; |
ivo_david_michelle | 32:e12b01c94b4a | 129 | double theta_sum = 0; |
ivo_david_michelle | 32:e12b01c94b4a | 130 | double psi_sum = 0; |
ivo_david_michelle | 32:e12b01c94b4a | 131 | for (int i = 0; i < FILTER_SIZE; i++) { |
ivo_david_michelle | 32:e12b01c94b4a | 132 | p_sum += filters_.p[i]; |
ivo_david_michelle | 32:e12b01c94b4a | 133 | q_sum += filters_.q[i]; |
ivo_david_michelle | 32:e12b01c94b4a | 134 | r_sum += filters_.r[i]; |
ivo_david_michelle | 32:e12b01c94b4a | 135 | phi_sum += filters_.phi[i]; |
ivo_david_michelle | 32:e12b01c94b4a | 136 | theta_sum += filters_.theta[i]; |
ivo_david_michelle | 32:e12b01c94b4a | 137 | psi_sum += filters_.psi[i]; |
ivo_david_michelle | 32:e12b01c94b4a | 138 | } |
ivo_david_michelle | 32:e12b01c94b4a | 139 | |
ivo_david_michelle | 39:fff0a72633ee | 140 | // double radMaxAngle = M_PI / 180 * 20; |
ivo_david_michelle | 35:35997980a8ba | 141 | double phi_new = phi_sum / FILTER_SIZE; |
ivo_david_michelle | 39:fff0a72633ee | 142 | // if (phi_new < radMaxAngle && phi_new > -radMaxAngle) { |
ivo_david_michelle | 39:fff0a72633ee | 143 | // state_.phi = phi_new; |
ivo_david_michelle | 39:fff0a72633ee | 144 | // } |
ivo_david_michelle | 35:35997980a8ba | 145 | double theta_new = theta_sum / FILTER_SIZE; |
ivo_david_michelle | 39:fff0a72633ee | 146 | // if (theta_new < radMaxAngle && theta_new > -radMaxAngle) { |
ivo_david_michelle | 39:fff0a72633ee | 147 | // state_.theta = theta_new; |
ivo_david_michelle | 39:fff0a72633ee | 148 | // } |
ivo_david_michelle | 35:35997980a8ba | 149 | |
ivo_david_michelle | 35:35997980a8ba | 150 | state_.phi = phi_new; |
ivo_david_michelle | 35:35997980a8ba | 151 | state_.theta = theta_new; |
ivo_david_michelle | 32:e12b01c94b4a | 152 | state_.p = p_sum / FILTER_SIZE; |
ivo_david_michelle | 35:35997980a8ba | 153 | |
ivo_david_michelle | 32:e12b01c94b4a | 154 | state_.q = q_sum / FILTER_SIZE; |
ivo_david_michelle | 32:e12b01c94b4a | 155 | state_.r = r_sum / FILTER_SIZE; |
ivo_david_michelle | 24:e220fbb70ded | 156 | |
ivo_david_michelle | 35:35997980a8ba | 157 | //state_.theta = theta_sum / FILTER_SIZE; |
ivo_david_michelle | 32:e12b01c94b4a | 158 | state_.psi = psi_sum / FILTER_SIZE; |
ivo_david_michelle | 35:35997980a8ba | 159 | |
ivo_david_michelle | 35:35997980a8ba | 160 | double raw_phi = state_.phi; |
ivo_david_michelle | 35:35997980a8ba | 161 | double raw_theta = state_.theta; |
ivo_david_michelle | 35:35997980a8ba | 162 | double raw_p = state_.p; |
ivo_david_michelle | 35:35997980a8ba | 163 | double raw_q = state_.q; |
ivo_david_michelle | 36:40b134328376 | 164 | float time = controlTimer->read(); |
ivo_david_michelle | 36:40b134328376 | 165 | float dt = time - prev_kalman_time; |
ivo_david_michelle | 34:eaea0ae92dfa | 166 | state_.phi = kalmanRoll.getAngle(state_.phi * 180 / M_PI, state_.p * 180 / M_PI, dt) * M_PI / 180; |
ivo_david_michelle | 34:eaea0ae92dfa | 167 | state_.theta = kalmanPitch.getAngle(state_.theta * 180 / M_PI, state_.q * 180 / M_PI, dt) * M_PI / 180; |
ivo_david_michelle | 35:35997980a8ba | 168 | state_.p = kalmanRoll.getRate() * M_PI / 180; |
ivo_david_michelle | 35:35997980a8ba | 169 | state_.q = kalmanPitch.getRate() * M_PI / 180; |
ivo_david_michelle | 39:fff0a72633ee | 170 | |
ivo_david_michelle | 40:09a59d5b7944 | 171 | double alphaX = 0.001; |
ivo_david_michelle | 40:09a59d5b7944 | 172 | double alphaY = 0.001; |
ivo_david_michelle | 40:09a59d5b7944 | 173 | //compAngleX = (1 - alphaX) * (compAngleX + raw_p * dt) + alphaX * raw_phi; // Calculate the angle using a Complimentary filter |
ivo_david_michelle | 40:09a59d5b7944 | 174 | //compAngleY = (1 - alphaY) * (compAngleY + raw_q * dt) + alphaY * raw_theta; |
ivo_david_michelle | 40:09a59d5b7944 | 175 | compAngleX = (1 - alphaX) * compAngleX + raw_p * dt + alphaX * raw_phi; // Calculate the angle using a Complimentary filter |
ivo_david_michelle | 40:09a59d5b7944 | 176 | compAngleY = (1 - alphaY) * compAngleY + raw_q * dt + alphaY * raw_theta; |
ivo_david_michelle | 39:fff0a72633ee | 177 | |
ivo_david_michelle | 40:09a59d5b7944 | 178 | |
ivo_david_michelle | 40:09a59d5b7944 | 179 | |
ivo_david_michelle | 40:09a59d5b7944 | 180 | state_.phi = compAngleX; |
ivo_david_michelle | 40:09a59d5b7944 | 181 | state_.theta = compAngleY; |
ivo_david_michelle | 32:e12b01c94b4a | 182 | |
ivo_david_michelle | 36:40b134328376 | 183 | prev_kalman_time = time; |
ivo_david_michelle | 40:09a59d5b7944 | 184 | |
ivo_david_michelle | 41:d103f9aa44f0 | 185 | // RAW DATA |
ivo_david_michelle | 40:09a59d5b7944 | 186 | pc_->printf("%f %f %f %f %f %f %f \r\n", |
ivo_david_michelle | 40:09a59d5b7944 | 187 | prev_kalman_time, |
ivo_david_michelle | 40:09a59d5b7944 | 188 | accel_event_.acceleration.x, accel_event_.acceleration.y, accel_event_.acceleration.z, |
ivo_david_michelle | 40:09a59d5b7944 | 189 | gyro_event_.gyro.x, gyro_event_.gyro.y, gyro_event_.gyro.z); |
ivo_david_michelle | 41:d103f9aa44f0 | 190 | |
ivo_david_michelle | 39:fff0a72633ee | 191 | // static int count = 0; |
ivo_david_michelle | 39:fff0a72633ee | 192 | // if (count % 100 == 0) { |
ivo_david_michelle | 39:fff0a72633ee | 193 | // pc_->printf("%d\r\n", count); |
ivo_david_michelle | 39:fff0a72633ee | 194 | // } |
ivo_david_michelle | 39:fff0a72633ee | 195 | // count++; |
ivo_david_michelle | 40:09a59d5b7944 | 196 | // TODO: print HERE |
ivo_david_michelle | 40:09a59d5b7944 | 197 | // pc_->printf("%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\r\n", prev_kalman_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); |
ivo_david_michelle | 9:f1bd96708a21 | 198 | } |
ivo_david_michelle | 9:f1bd96708a21 | 199 | |
ivo_david_michelle | 34:eaea0ae92dfa | 200 | void Quadcopter::controller() |
ivo_david_michelle | 10:e7d1801e966a | 201 | { |
ivo_david_michelle | 34:eaea0ae92dfa | 202 | float time = controlTimer->read(); |
ivo_david_michelle | 31:d473eacfc271 | 203 | if (prev_time_ == 0) { |
ivo_david_michelle | 32:e12b01c94b4a | 204 | prev_time_ = time; |
ivo_david_michelle | 31:d473eacfc271 | 205 | return; |
ivo_david_michelle | 32:e12b01c94b4a | 206 | } |
ivo_david_michelle | 32:e12b01c94b4a | 207 | |
ivo_david_michelle | 10:e7d1801e966a | 208 | // PD controller |
ivo_david_michelle | 31:d473eacfc271 | 209 | double e_phi = desiredState_.phi - state_.phi; |
ivo_david_michelle | 31:d473eacfc271 | 210 | double e_theta = desiredState_.theta - state_.theta; |
ivo_david_michelle | 32:e12b01c94b4a | 211 | |
ivo_david_michelle | 32:e12b01c94b4a | 212 | float dt = time - prev_time_; |
ivo_david_michelle | 32:e12b01c94b4a | 213 | i_e_phi_ = i_e_phi_ + e_phi * dt; |
ivo_david_michelle | 32:e12b01c94b4a | 214 | i_e_theta_ = i_e_theta_ + e_theta * dt; |
ivo_david_michelle | 31:d473eacfc271 | 215 | i_e_phi_ = min(max_integral_phi_, i_e_phi_); |
ivo_david_michelle | 31:d473eacfc271 | 216 | i_e_theta_ = min(max_integral_theta_, i_e_theta_); |
ivo_david_michelle | 32:e12b01c94b4a | 217 | i_e_phi_ = max(-max_integral_phi_, i_e_phi_); |
ivo_david_michelle | 32:e12b01c94b4a | 218 | i_e_theta_ = max(-max_integral_theta_, i_e_theta_); |
ivo_david_michelle | 31:d473eacfc271 | 219 | |
ivo_david_michelle | 29:ae765492fa8b | 220 | controlInput_.f = kp_f_ * F_des_;//m_*g_ + F_des_; |
ivo_david_michelle | 31:d473eacfc271 | 221 | controlInput_.mx = kp_phi_ * e_phi + kd_phi_ * (desiredState_.p - state_.p) + ki_phi_ * i_e_phi_; |
ivo_david_michelle | 31:d473eacfc271 | 222 | controlInput_.my = kp_theta_ * e_theta + kd_theta_ * (desiredState_.q - state_.q) + ki_theta_ * i_e_theta_; |
ivo_david_michelle | 29:ae765492fa8b | 223 | 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 | 224 | |
ivo_david_michelle | 20:efa15ed008b4 | 225 | // set pwm values |
ivo_david_michelle | 29:ae765492fa8b | 226 | double forcePerMotor = 0.25 * controlInput_.f; |
ivo_david_michelle | 29:ae765492fa8b | 227 | double yawMomentPerMotor = 0.25 / gamma_ * controlInput_.mz; |
ivo_david_michelle | 29:ae765492fa8b | 228 | double rollMomentPerMotor = 0.5 / l_ * controlInput_.mx; |
ivo_david_michelle | 29:ae765492fa8b | 229 | double pitchMomentPerMotor = 0.5 / l_ * controlInput_.my; |
ivo_david_michelle | 29:ae765492fa8b | 230 | motorPwm_.m1 = zeroVelPwm + forcePerMotor - pitchMomentPerMotor - yawMomentPerMotor; |
ivo_david_michelle | 29:ae765492fa8b | 231 | motorPwm_.m2 = zeroVelPwm + forcePerMotor + rollMomentPerMotor + yawMomentPerMotor; |
ivo_david_michelle | 29:ae765492fa8b | 232 | motorPwm_.m3 = zeroVelPwm + forcePerMotor + pitchMomentPerMotor - yawMomentPerMotor; |
ivo_david_michelle | 29:ae765492fa8b | 233 | motorPwm_.m4 = zeroVelPwm + forcePerMotor - rollMomentPerMotor + yawMomentPerMotor; |
ivo_david_michelle | 27:11116aa69f32 | 234 | |
ivo_david_michelle | 29:ae765492fa8b | 235 | // cut off at max PWM |
ivo_david_michelle | 30:4820042e67b5 | 236 | //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 | 237 | motorPwm_.m1 = min(maxPwm, motorPwm_.m1); |
ivo_david_michelle | 27:11116aa69f32 | 238 | motorPwm_.m2 = min(maxPwm, motorPwm_.m2); |
ivo_david_michelle | 27:11116aa69f32 | 239 | motorPwm_.m3 = min(maxPwm, motorPwm_.m3); |
ivo_david_michelle | 27:11116aa69f32 | 240 | motorPwm_.m4 = min(maxPwm, motorPwm_.m4); |
ivo_david_michelle | 32:e12b01c94b4a | 241 | |
ivo_david_michelle | 32:e12b01c94b4a | 242 | prev_time_ = time; |
ivo_david_michelle | 32:e12b01c94b4a | 243 | |
ivo_david_michelle | 32:e12b01c94b4a | 244 | //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 | 245 | |
ivo_david_michelle | 33:244dea7a4e81 | 246 | //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 | 13:291ba30c7806 | 247 | } |
ivo_david_michelle | 10:e7d1801e966a | 248 | |
ivo_david_michelle | 12:422963993df5 | 249 | motors Quadcopter::getPwm() |
ivo_david_michelle | 11:5c54826d23a7 | 250 | { |
ivo_david_michelle | 22:92401a4fec13 | 251 | return motorPwm_; |
ivo_david_michelle | 22:92401a4fec13 | 252 | } |
ivo_david_michelle | 20:efa15ed008b4 | 253 | |
ivo_david_michelle | 22:92401a4fec13 | 254 | state Quadcopter::getState() |
ivo_david_michelle | 22:92401a4fec13 | 255 | { |
ivo_david_michelle | 22:92401a4fec13 | 256 | return state_; |
ivo_david_michelle | 11:5c54826d23a7 | 257 | } |
ivo_david_michelle | 14:64b06476d943 | 258 | |
ivo_david_michelle | 24:e220fbb70ded | 259 | Adafruit_LSM303_Accel_Unified Quadcopter::getAccel() |
ivo_david_michelle | 24:e220fbb70ded | 260 | { |
ivo_david_michelle | 24:e220fbb70ded | 261 | return accel_; |
ivo_david_michelle | 24:e220fbb70ded | 262 | } |
ivo_david_michelle | 24:e220fbb70ded | 263 | |
ivo_david_michelle | 24:e220fbb70ded | 264 | Adafruit_LSM303_Mag_Unified Quadcopter::getMag() |
ivo_david_michelle | 24:e220fbb70ded | 265 | { |
ivo_david_michelle | 24:e220fbb70ded | 266 | return mag_; |
ivo_david_michelle | 24:e220fbb70ded | 267 | } |
ivo_david_michelle | 24:e220fbb70ded | 268 | |
ivo_david_michelle | 24:e220fbb70ded | 269 | Adafruit_L3GD20_Unified Quadcopter::getGyro() |
ivo_david_michelle | 24:e220fbb70ded | 270 | { |
ivo_david_michelle | 24:e220fbb70ded | 271 | return gyro_; |
ivo_david_michelle | 24:e220fbb70ded | 272 | } |
ivo_david_michelle | 24:e220fbb70ded | 273 | |
ivo_david_michelle | 24:e220fbb70ded | 274 | offset* Quadcopter::getOffset() |
ivo_david_michelle | 24:e220fbb70ded | 275 | { |
ivo_david_michelle | 24:e220fbb70ded | 276 | return initial_offsets_; |
ivo_david_michelle | 24:e220fbb70ded | 277 | } |
ivo_david_michelle | 24:e220fbb70ded | 278 | |
ivo_david_michelle | 24:e220fbb70ded | 279 | Adafruit_9DOF Quadcopter::getIMU() |
ivo_david_michelle | 24:e220fbb70ded | 280 | { |
ivo_david_michelle | 24:e220fbb70ded | 281 | return dof_; |
ivo_david_michelle | 24:e220fbb70ded | 282 | } |
ivo_david_michelle | 24:e220fbb70ded | 283 | |
ivo_david_michelle | 27:11116aa69f32 | 284 | double Quadcopter::getForce() |
ivo_david_michelle | 27:11116aa69f32 | 285 | { |
ivo_david_michelle | 37:a983eb9fd9c5 | 286 | return F_des_; |
ivo_david_michelle | 27:11116aa69f32 | 287 | } |
ivo_david_michelle | 27:11116aa69f32 | 288 | |
ivo_david_michelle | 24:e220fbb70ded | 289 | void Quadcopter::readRc() |
ivo_david_michelle | 24:e220fbb70ded | 290 | { |
ivo_david_michelle | 14:64b06476d943 | 291 | uint8_t zero = 0; |
ivo_david_michelle | 14:64b06476d943 | 292 | uint8_t *rssi = &zero; |
ivo_david_michelle | 14:64b06476d943 | 293 | |
ivo_david_michelle | 14:64b06476d943 | 294 | uint8_t receive = 0; |
ivo_david_michelle | 14:64b06476d943 | 295 | |
ivo_david_michelle | 14:64b06476d943 | 296 | char rxBuffer[rcLength_]; |
ivo_david_michelle | 24:e220fbb70ded | 297 | |
ivo_david_michelle | 27:11116aa69f32 | 298 | float thrust; |
ivo_david_michelle | 37:a983eb9fd9c5 | 299 | float yaw = 0; |
ivo_david_michelle | 37:a983eb9fd9c5 | 300 | float pitch = 0; |
ivo_david_michelle | 37:a983eb9fd9c5 | 301 | float roll = 0; |
ivo_david_michelle | 27:11116aa69f32 | 302 | long long id; |
ivo_david_michelle | 24:e220fbb70ded | 303 | |
ivo_david_michelle | 37:a983eb9fd9c5 | 304 | //static int thrust_outliers = 0; |
ivo_david_michelle | 35:35997980a8ba | 305 | |
ivo_david_michelle | 16:2be2aab63198 | 306 | receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1); |
ivo_david_michelle | 37:a983eb9fd9c5 | 307 | if (receive > 10) { |
ivo_david_michelle | 37:a983eb9fd9c5 | 308 | int written = sscanf(rxBuffer, "%lld,%f,%f,%f,%f", &id, &thrust, &yaw, &pitch, &roll); |
ivo_david_michelle | 38:14bf11115f9f | 309 | // pc_->printf("%d\r\n", written); |
ivo_david_michelle | 37:a983eb9fd9c5 | 310 | if (written != 5) { |
ivo_david_michelle | 38:14bf11115f9f | 311 | // pc_->printf("%s\r\n", rxBuffer); |
ivo_david_michelle | 37:a983eb9fd9c5 | 312 | return; |
ivo_david_michelle | 37:a983eb9fd9c5 | 313 | } |
ivo_david_michelle | 16:2be2aab63198 | 314 | } else { |
ivo_david_michelle | 16:2be2aab63198 | 315 | pc_->printf("Receive failure\r\n"); |
ivo_david_michelle | 37:a983eb9fd9c5 | 316 | return; |
ivo_david_michelle | 24:e220fbb70ded | 317 | } |
ivo_david_michelle | 39:fff0a72633ee | 318 | |
ivo_david_michelle | 39:fff0a72633ee | 319 | // test for outliers (can remove when fixed for sure) |
ivo_david_michelle | 39:fff0a72633ee | 320 | // float temp_thrust = thrust - 0.5; |
ivo_david_michelle | 39:fff0a72633ee | 321 | // |
ivo_david_michelle | 37:a983eb9fd9c5 | 322 | // if (temp_thrust < -0.3) { |
ivo_david_michelle | 35:35997980a8ba | 323 | // thrust_outliers++; |
ivo_david_michelle | 35:35997980a8ba | 324 | // if (thrust_outliers < 3) { |
ivo_david_michelle | 35:35997980a8ba | 325 | // thrust = F_des_; |
ivo_david_michelle | 35:35997980a8ba | 326 | // } |
ivo_david_michelle | 35:35997980a8ba | 327 | // } else { |
ivo_david_michelle | 35:35997980a8ba | 328 | // thrust_outliers = 0; |
ivo_david_michelle | 35:35997980a8ba | 329 | // } |
ivo_david_michelle | 35:35997980a8ba | 330 | |
ivo_david_michelle | 25:d44610851105 | 331 | // convert to radians, range is = +-40° or +-0.698132 radians |
ivo_david_michelle | 38:14bf11115f9f | 332 | desiredState_.phi = 1 * (-(roll * 80) * M_PI / 180); // minus, because joystick to right should result in positive moment |
ivo_david_michelle | 38:14bf11115f9f | 333 | desiredState_.theta = 1 * (pitch * 80) * M_PI / 180; |
ivo_david_michelle | 38:14bf11115f9f | 334 | desiredState_.r = 1 * yaw; // number between 0 and 1 //((yaw - 0.5) * 80) * M_PI / 180; |
ivo_david_michelle | 38:14bf11115f9f | 335 | F_des_ = thrust; // number between 0 and 1 -> number between -0.5 and 0.5 |
ivo_david_michelle | 39:fff0a72633ee | 336 | |
ivo_david_michelle | 39:fff0a72633ee | 337 | /* test for outliers (can remove when fixed for sure) |
ivo_david_michelle | 38:14bf11115f9f | 338 | 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 | 339 | 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 | 340 | } |
ivo_david_michelle | 39:fff0a72633ee | 341 | */ |
ivo_david_michelle | 14:64b06476d943 | 342 | } |
ivo_david_michelle | 14:64b06476d943 | 343 |