ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
quadcopter.cpp
- Committer:
- ivo_david_michelle
- Date:
- 2016-04-23
- Revision:
- 33:244dea7a4e81
- Parent:
- 32:e12b01c94b4a
- Child:
- 34:eaea0ae92dfa
File content as of revision 33:244dea7a4e81:
#include "quadcopter.h" #include "sensor.h" #include "receiver.h" #include <string> #ifndef M_PI #define M_PI 3.14159265358979323846 #endif // constructor Quadcopter::Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr) { pc_= pcPntr; // enable printing g_= 9.81; l_= 0.25; gamma_= 1; zeroVelPwm = 0.11; maxPwm = 0.15; // control gains set s.t. 100% joystick results in 15% (actually: (maxPwm-zeroVelPwm+0.1)) duty cycle. kp_f_ = (maxPwm - zeroVelPwm) * 4 / 0.5; kp_phi_ = 0.16 * (maxPwm - zeroVelPwm) * l_ / 0.5 * 4 / M_PI; kp_theta_ = 0.12 * (maxPwm - zeroVelPwm) * l_ / 0.5 * 4 / M_PI; kp_psi_ = 0; // kp_phi_ = 0; // kp_theta_ = 0; // derivative attitude control gains kd_phi_ = 0.025 * (maxPwm - zeroVelPwm) * 2 / M_PI; kd_theta_ = 0.025 * (maxPwm - zeroVelPwm) * 2 / M_PI; kd_psi_ = 0.1; // kd_phi_ = 0; //kd_theta_ = 0; // incresae ki_phi ki_phi_ = 0.1 * (maxPwm - zeroVelPwm)/(2*M_PI/4); // full control signal after 2s at pi/4 error ki_theta_ = 0 * (maxPwm - zeroVelPwm)/(2*M_PI/4); i_e_phi_ = 0; i_e_theta_ = 0; prev_time_ = 0; max_integral_phi_ = 0.05/(ki_phi_ * (0.5/l_ + 0.25)); // influence of integral part smaller than 0.05 max_integral_theta_ = 0.05/(ki_theta_ * (0.5/l_ + 0.25)); // 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); // 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 initial_offsets_ = (offset*) malloc(sizeof(offset)); initSensors(*this); // IMU } 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 -= initial_offsets_->gyro_x; gyro_event_.gyro.y -= initial_offsets_->gyro_y; gyro_event_.gyro.z -= initial_offsets_->gyro_z; orientation_.roll -= initial_offsets_->roll; orientation_.pitch -= initial_offsets_->pitch; orientation_.heading -= initial_offsets_->heading; static int current_filter = 0; filters_.p[current_filter] = gyro_event_.gyro.x * M_PI / 180; filters_.q[current_filter] = gyro_event_.gyro.y * M_PI / 180; filters_.r[current_filter] = gyro_event_.gyro.z * M_PI / 180; filters_.phi[current_filter] = orientation_.roll * M_PI / 180; filters_.theta[current_filter] = -orientation_.pitch * M_PI / 180; filters_.psi[current_filter] = orientation_.heading * M_PI / 180; current_filter = (current_filter + 1) % FILTER_SIZE; double p_sum = 0; double q_sum = 0; double r_sum = 0; double phi_sum = 0; double theta_sum = 0; double psi_sum = 0; for (int i = 0; i < FILTER_SIZE; i++) { p_sum += filters_.p[i]; q_sum += filters_.q[i]; r_sum += filters_.r[i]; phi_sum += filters_.phi[i]; theta_sum += filters_.theta[i]; psi_sum += filters_.psi[i]; } // angular velocities in body coordinate system state_.p = p_sum / FILTER_SIZE; state_.q = q_sum / FILTER_SIZE; state_.r = r_sum / FILTER_SIZE; state_.phi = phi_sum / FILTER_SIZE; state_.theta = theta_sum / FILTER_SIZE; state_.psi = psi_sum / FILTER_SIZE; //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); } void Quadcopter::controller(float time) { if (prev_time_ == 0) { prev_time_ = time; return; } // PD controller double e_phi = desiredState_.phi - state_.phi; double e_theta = desiredState_.theta - state_.theta; float dt = time - prev_time_; i_e_phi_ = i_e_phi_ + e_phi * dt; i_e_theta_ = i_e_theta_ + e_theta * dt; i_e_phi_ = min(max_integral_phi_, i_e_phi_); i_e_theta_ = min(max_integral_theta_, i_e_theta_); i_e_phi_ = max(-max_integral_phi_, i_e_phi_); i_e_theta_ = max(-max_integral_theta_, i_e_theta_); controlInput_.f = kp_f_ * F_des_;//m_*g_ + F_des_; controlInput_.mx = kp_phi_ * e_phi + kd_phi_ * (desiredState_.p - state_.p) + ki_phi_ * i_e_phi_; controlInput_.my = kp_theta_ * e_theta + kd_theta_ * (desiredState_.q - state_.q) + ki_theta_ * i_e_theta_; controlInput_.mz = kd_psi_ * desiredState_.r; // feedforward desired yaw rate. // kp_psi_*(desiredState_.psi-state_.psi)+kd_psi_*(desiredState_.r-state_.r); // set pwm values double forcePerMotor = 0.25 * controlInput_.f; double yawMomentPerMotor = 0.25 / gamma_ * controlInput_.mz; double rollMomentPerMotor = 0.5 / l_ * controlInput_.mx; double pitchMomentPerMotor = 0.5 / l_ * controlInput_.my; motorPwm_.m1 = zeroVelPwm + forcePerMotor - pitchMomentPerMotor - yawMomentPerMotor; motorPwm_.m2 = zeroVelPwm + forcePerMotor + rollMomentPerMotor + yawMomentPerMotor; motorPwm_.m3 = zeroVelPwm + forcePerMotor + pitchMomentPerMotor - yawMomentPerMotor; motorPwm_.m4 = zeroVelPwm + forcePerMotor - rollMomentPerMotor + yawMomentPerMotor; // cut off at max PWM //pc_->printf("m1: %f\tm2: %f\tm3: %f\tm4: %f\r\n", motorPwm_.m1, motorPwm_.m2, motorPwm_.m3, motorPwm_.m4); motorPwm_.m1 = min(maxPwm, motorPwm_.m1); motorPwm_.m2 = min(maxPwm, motorPwm_.m2); motorPwm_.m3 = min(maxPwm, motorPwm_.m3); motorPwm_.m4 = min(maxPwm, motorPwm_.m4); prev_time_ = time; //pc_->printf("m1: %f\tm2: %f\tm3: %f\tm4: %f\r\n", motorPwm_.m1, motorPwm_.m2, motorPwm_.m3, motorPwm_.m4); 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); //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); } motors Quadcopter::getPwm() { return motorPwm_; } state Quadcopter::getState() { return state_; } Adafruit_LSM303_Accel_Unified Quadcopter::getAccel() { return accel_; } Adafruit_LSM303_Mag_Unified Quadcopter::getMag() { return mag_; } Adafruit_L3GD20_Unified Quadcopter::getGyro() { return gyro_; } offset* Quadcopter::getOffset() { return initial_offsets_; } Adafruit_9DOF Quadcopter::getIMU() { return dof_; } double Quadcopter::getForce() { return F_des_; } void Quadcopter::readRc() { uint8_t zero = 0; uint8_t *rssi = &zero; uint8_t receive = 0; char rxBuffer[rcLength_]; float thrust; float yaw; float pitch; float roll; long long id; 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 eliminate the zeros again after testing // convert to radians, range is = +-40° or +-0.698132 radians desiredState_.phi = 1 * (-((roll - 0.5) * 80) * M_PI / 180); // minus, because joystick to right should result in positive moment desiredState_.theta = 1 * ((pitch - 0.5) * 80) * M_PI / 180; desiredState_.r = 1 * (yaw-0.5); // number between 0 and 1 //((yaw - 0.5) * 80) * M_PI / 180; F_des_ = thrust-0.5; // number between 0 and 1 -> number between -0.5 and 0.5. //((thrust - 0.5) * 80) * M_PI / 180; // print id with thrust, yaw, pitch, and roll //pc_->printf("%lld: thrust: %f yaw: %f pitch: %f roll: %f\r\n", id, F_des_, desiredState_.psi, desiredState_.theta, desiredState_.phi); }