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ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
quadcopter.cpp
- Committer:
- ivo_david_michelle
- Date:
- 2016-04-12
- Revision:
- 23:04338a5ef404
- Parent:
- 22:92401a4fec13
- Child:
- 24:e220fbb70ded
File content as of revision 23:04338a5ef404:
#include "quadcopter.h" #include "sensor.h" #include "receiver.h" #include <string> #include <math.h> #ifndef M_PI #define M_PI 3.14159265358979323846 #endif //#include "mbed.h" // constructor Quadcopter::Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr) { pc_= pcPntr; // enable printing initSensors(accel_, mag_, gyro_, offsetAngRate_); // IMU m_= 1; g_= 9.81; l_= 0.25; gamma_= 1; // proportional attitude control gains // TODO change gains so that joystick deflection never produces pwm duty cycle >10%. kp_f_ =2.5; kp_phi_ = 0.2; kp_theta_ = 0.2; kp_psi_ = 0.2; // derivative attitude control gains kd_phi_ = 0; kd_theta_ = 0; kd_psi_ = 0; // desired values (will come from joystick) F_des_ = 0; // desired thrust force (excluding weight compensation) dof_ = Adafruit_9DOF(); accel_ = Adafruit_LSM303_Accel_Unified(30301); mag_ = Adafruit_LSM303_Mag_Unified(30302); gyro_ = Adafruit_L3GD20_Unified(20); //motor1_(p21); // initSensors(accel_, mag_, gyro_, offsetAngRate_); // IMU // prepare for communication with remote control rcTimer_.start(); mrf_ = mrfPntr; // RF tranceiver to link with handheld. rcLength_ = 250; mrf_->SetChannel(3); //Set the Channel. 0 is default, 15 is max thrust = 0.5; yaw = 0.5; pitch = 0.5; roll = 0.5; id = -1; } void Quadcopter::readSensorValues() { accel_.getEvent(&accel_event_); if (dof_.accelGetOrientation(&accel_event_, &orientation_)) { } /* Calculate the heading using the magnetometer */ mag_.getEvent(&mag_event_); if (dof_.magGetOrientation(SENSOR_AXIS_Z, &mag_event_, &orientation_)) { } gyro_.getEvent(&gyro_event_); gyro_event_.gyro.x -= offsetAngRate_.x; gyro_event_.gyro.y -= offsetAngRate_.y; gyro_event_.gyro.z -= offsetAngRate_.z; // measured values (will come from IMU/parameter class/Input to function later) // angles state_.phi = orientation_.roll; state_.theta =orientation_.pitch; state_.psi =orientation_.heading; // angular velocities in body coordinate system state_.p = gyro_event_.gyro.x; state_.q = gyro_event_.gyro.y; state_.r = gyro_event_.gyro.z; // TODO print values to check what they are // TODO convert to Radians (*pi/180) 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); state_.phi = orientation_.roll * M_PI / 180; state_.theta =orientation_.pitch * M_PI / 180; state_.psi =orientation_.heading * M_PI / 180; //pc_->printf("Converted 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); } // Date member function void Quadcopter::setState(state *source, state *goal) { goal->phi = source->phi; goal->theta = source->theta; goal->psi = source->psi; goal->p = source->p; goal->q = source->q; goal->r = source->r; } void Quadcopter::controller() { // compute desired angles (in the case we decide not to set // the angles, but for instance the velocity with the Joystick // PD controller controlInput_.f = kp_f_*F_des_;//m_*g_ + F_des_; controlInput_.mx = kp_phi_*(desiredState_.phi-state_.phi)+kd_phi_*(desiredState_.p-state_.p); controlInput_.my = kp_theta_*(desiredState_.theta-state_.theta)+kd_theta_*(desiredState_.q-state_.q); controlInput_.mz = kp_psi_*(desiredState_.psi-state_.psi)+kd_psi_*(desiredState_.r-state_.r); //print("Calculated Control"); //print("F: %f M_x: %f M_y: %f M_z: %f\n\r", controlInput_.f, controlInput_.mz, controlInput_.my, controlInput_.mz); // pc_->printf("F: %f\n\r", F); // set pwm values // make code faster by precomputing all the components that are used multiple times and hardcode 0.25/gamma... double zeroVeloPwm=0.1; motorPwm_.m1=zeroVeloPwm+ 0.25*controlInput_.f-0.5/l_*controlInput_.my-0.25/gamma_*controlInput_.mz; motorPwm_.m2=zeroVeloPwm +0.25*controlInput_.f-0.5/l_*controlInput_.mx+0.25/gamma_*controlInput_.mz; motorPwm_.m3=zeroVeloPwm + 0.25*controlInput_.f+0.5/l_*controlInput_.my-0.25/gamma_*controlInput_.mz; motorPwm_.m4=zeroVeloPwm + 0.25*controlInput_.f+0.5/l_*controlInput_.mx+0.25/gamma_*controlInput_.mz; } motors Quadcopter::getPwm() { return motorPwm_; } state Quadcopter::getState() { return state_; } void Quadcopter::readRc() { uint8_t zero = 0; uint8_t *rssi = &zero; uint8_t receive = 0; char rxBuffer[rcLength_]; receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1); if (receive > 0) { sscanf(rxBuffer, "%lld,%f,%f,%f,%f", &id, &thrust, &yaw, &pitch, &roll); } else { pc_->printf("Receive failure\r\n"); } // TODO convert to radians (starting point: full joystick deflection = +-10° (converted to radian). desiredState_.phi=roll-0.5; desiredState_.theta=pitch-0.5; desiredState_.psi=yaw-0.5; F_des_=thrust-0.5; }