ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
quadcopter.cpp
- Committer:
- ivo_david_michelle
- Date:
- 2016-04-07
- Revision:
- 14:64b06476d943
- Parent:
- 13:291ba30c7806
- Child:
- 15:90e07946186f
File content as of revision 14:64b06476d943:
#include "quadcopter.h" #include "sensor.h" #include "receiver.h" #include <string> //#include "mbed.h" // constructor Quadcopter::Quadcopter(Serial *pcPntr) { pc_= pcPntr; // enable printing // initSensors(accel_, mag_, gyro_, offsetAngRate_); // IMU m_=1; g_=9.81; // proportional attitude control gains kp_phi_ = 1; kp_theta_ = 1; kp_psi_ = 1; // 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 MRF24J40 mrf_var(p11, p12, p13, p14, p21); mrf_ = &mrf_var; // RF tranceiver to link with handheld. rcIterations_ = 100; rcLength_ = 50; rcChannel_ = 3; } 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; } // 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 = 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); } motors Quadcopter::getPwm() { //motors motorPwm_;// weired errror, should not be necessary motorPwm_.m1=0; motorPwm_.m2=0.5 + controlInput_.mx/100; motorPwm_.m3=0; motorPwm_.m4=0.5 - controlInput_.mx/100; return motorPwm_; } void Quadcopter::readRc() { //write to class variables additional thrust double F_des_, desired state: phi, theta, psi. // RF tranceiver to link with handheld. // read from joystick: //write to class variables additional thrust double F_des_, desired state: phi, theta, psi. uint8_t zero = 0; uint8_t *rssi = &zero; uint8_t receive = 0; int result = 0; //Set the Channel. 0 is default, 15 is max mrf_->SetChannel(rcChannel_); //Start the timer rcTimer_.start(); pc_->printf("START\r\n"); // TODO: change default value? float thrust = 0.5; float yaw = 0.5; float pitch = 0.5; float roll = 0.5; char rxBuffer[rcLength_]; // TODO: stop doing iterations, just do while recieving from slave for (int i = 0; i < rcIterations_; i++) { receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1); if (receive > 0) { pc_->printf("%s \r\n", rxBuffer); result = sscanf(rxBuffer, "%f,%f,%f,%f", &thrust, &yaw, &pitch, &roll); if (result != 4) { pc_->printf("Parse failure\r\n"); } else { pc_->printf("%f,%f,%f,%f\r\n", thrust, yaw, pitch, roll); } } else { pc_->printf("Receive failure\r\n"); } wait(0.2); // TODO: change this value? } pc_->printf("END\r\n"); }