ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
quadcopter.cpp
- Committer:
- ivo_david_michelle
- Date:
- 2016-04-15
- Revision:
- 28:61f7356325c3
- Parent:
- 27:11116aa69f32
- Child:
- 29:ae765492fa8b
File content as of revision 28:61f7356325c3:
#include "quadcopter.h" #include "sensor.h" #include "receiver.h" #include <string> #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_); // IMUm_= 1; g_= 9.81; l_= 0.25; gamma_= 1; zeroVelPwm=0.1; maxPwm=0.15; // proportional attitude control gains // TODO change gains so that joystick deflection never produces pwm duty cycle >10%. // 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_ = (maxPwm-zeroVelPwm)*l_/0.5*4/M_PI; kp_theta_ = (maxPwm-zeroVelPwm)*l_/0.5*4/M_PI;; kp_psi_ = 0; // derivative attitude control gains kd_phi_ = 0; kd_theta_ = 0; kd_psi_ = 0.1; // 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 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; // measured values (will come from IMU/parameter class/Input to function later) // 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("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 = kd_psi_*desiredState_.r; // feedforward desired yaw rate. // kp_psi_*(desiredState_.psi-state_.psi)+kd_psi_*(desiredState_.r-state_.r); //print("Calculated Control"); //pc_->printf("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... motorPwm_.m1=zeroVelPwm + 0.25*controlInput_.f-0.5/l_*controlInput_.my-0.25/gamma_*controlInput_.mz; motorPwm_.m2=zeroVelPwm + 0.25*controlInput_.f+0.5/l_*controlInput_.mx+0.25/gamma_*controlInput_.mz; motorPwm_.m3=zeroVelPwm + 0.25*controlInput_.f+0.5/l_*controlInput_.my-0.25/gamma_*controlInput_.mz; motorPwm_.m4=zeroVelPwm + 0.25*controlInput_.f-0.5/l_*controlInput_.mx+0.25/gamma_*controlInput_.mz; motorPwm_.m1 = min(maxPwm, motorPwm_.m1); motorPwm_.m2 = min(maxPwm, motorPwm_.m2); motorPwm_.m3 = min(maxPwm, motorPwm_.m3); motorPwm_.m4 = min(maxPwm, motorPwm_.m4); } 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"); } //pc_->printf("buffer: %s\r\n", rxBuffer ); // convert to radians, range is = +-40° or +-0.698132 radians desiredState_.phi = -((roll - 0.5) * 80) * M_PI / 180; // minus, because joystick to right should result in positive moment desiredState_.theta = ((pitch - 0.5) * 80) * M_PI / 180; desiredState_.r = 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 //((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); }