ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
quadcopter.cpp
- Committer:
- ivo_david_michelle
- Date:
- 2016-05-05
- Revision:
- 45:9f74298eee78
- Parent:
- 44:14bee84cdf59
- Child:
- 46:4bcf2e679f96
File content as of revision 45:9f74298eee78:
#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, Timer *timer, Mutex *desired) { pc_= pcPntr; // enable printing g_= 9.81; l_= 0.25; gamma_= 1; desired_mutex = desired; // control gains set s.t. 100% joystick results in 15% (actually: (maxPwm-zeroVelPwm+0.1)) duty cycle. kp_f_ = (MAX_PWM - OFF_PWM) * 4 / 0.5; kp_phi_ = 0.3 * (MAX_PWM - OFF_PWM) * l_ / 0.5 * 4 / M_PI; //0.3 quite slow kp_theta_ = 0.3 * (MAX_PWM - OFF_PWM) * l_ / 0.5 * 4 / M_PI; kp_psi_ = 0; // derivative attitude control gains // TODO 0.15 for both kd_phi_ = 0.1 * (MAX_PWM - OFF_PWM) * 2 / M_PI; // 0.25 maybe a good kd_theta_ = 0.4 * (MAX_PWM - OFF_PWM) * 2 / M_PI; kd_psi_ = 0.1; // incresae ki_phi ki_phi_ = 0 * (MAX_PWM - OFF_PWM)/(2*M_PI/4); // full control signal after 2s at pi/4 error ki_theta_ = 0 * (MAX_PWM - OFF_PWM)/(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 controlTimer = timer; controlTimer->start(); prev_kalman_time = 0; readSensorValues(); kalmanPitch.setAngle(state_.phi); // set initial pitch kalmanRoll.setAngle(state_.theta); // set initial theta compAngleX = state_.phi; compAngleY = state_.theta; // constant offset at props spinning in hover velocity /2 because of overcorrection } void Quadcopter::readSensorValues() { // precomputed gyro offsets double offset_gyro_x = -4.793711656441709e-04; double offset_gyro_y = 4.481595092024531e-06; double offset_gyro_z = -2.371472392638039e-05; double offset_acc_x = -0.270495085889571; double offset_acc_y = -0.053425306748466; double offset_acc_z = -0.520254558282190; if (prev_kalman_time == 0) { prev_kalman_time = controlTimer->read(); return; } accel_.getEvent(&accel_event_); // mag_.getEvent(&mag_event_); // detract offsets accel_event_.acceleration.x -= offset_acc_x; accel_event_.acceleration.y -= offset_acc_y; accel_event_.acceleration.z -= offset_acc_z; // dof_.accelGetOrientation(&accel_event_, &orientation_); gyro_.getEvent(&gyro_event_); /* old offset detraction 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; */ gyro_event_.gyro.x -= offset_gyro_x; gyro_event_.gyro.y -= offset_gyro_y; gyro_event_.gyro.z -= offset_gyro_z; // 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]; // } // double radMaxAngle = M_PI / 180 * 20; double phi_new = phi_sum / FILTER_SIZE; // if (phi_new < radMaxAngle && phi_new > -radMaxAngle) { // state_.phi = phi_new; // } double theta_new = theta_sum / FILTER_SIZE; // if (theta_new < radMaxAngle && theta_new > -radMaxAngle) { // state_.theta = theta_new; // } state_.phi = phi_new; state_.theta = theta_new; state_.p = p_sum / FILTER_SIZE; state_.q = q_sum / FILTER_SIZE; state_.r = r_sum / FILTER_SIZE; //state_.theta = theta_sum / FILTER_SIZE; state_.psi = psi_sum / FILTER_SIZE; double raw_phi = state_.phi; double raw_theta = state_.theta; double raw_p = state_.p; double raw_q = state_.q; float time = controlTimer->read(); float dt = time - prev_kalman_time; state_.phi = kalmanRoll.getAngle(state_.phi * 180 / M_PI, state_.p * 180 / M_PI, dt) * M_PI / 180; state_.theta = kalmanPitch.getAngle(state_.theta * 180 / M_PI, state_.q * 180 / M_PI, dt) * M_PI / 180; state_.p = kalmanRoll.getRate() * M_PI / 180; state_.q = kalmanPitch.getRate() * M_PI / 180; double alphaX = 0.0002;//0.002; double alphaY = 0.0001; //0.002; //compAngleX = (1 - alphaX) * (compAngleX + raw_p * dt) + alphaX * raw_phi; // Calculate the angle using a Complimentary filter //compAngleY = (1 - alphaY) * (compAngleY + raw_q * dt) + alphaY * raw_theta; compAngleX = (1 - alphaX) * (compAngleX + (raw_p + 8.446703927263016e-04) * dt) + alphaX * raw_phi; // Calculate the angle using a Complimentary filter compAngleY = (1 - alphaY) * (compAngleY + (raw_q - 0.008936763695439) * dt) + alphaY * raw_theta; state_.phi = compAngleX; state_.theta = compAngleY; prev_kalman_time = time; // RAW DATA /*pc_->printf("%f %f %f %f %f %f %f \r\n", prev_kalman_time, accel_event_.acceleration.x, accel_event_.acceleration.y, accel_event_.acceleration.z, gyro_event_.gyro.x, gyro_event_.gyro.y, gyro_event_.gyro.z); */ // static int count = 0; // if (count % 100 == 0) { // pc_->printf("%d\r\n", count); // } // count++; // TODO: print HERE //pc_->printf("%f %f %f %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,accel_event_.acceleration.x, accel_event_.acceleration.y, accel_event_.acceleration.z); } void Quadcopter::controller() { float time = controlTimer->read(); 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 = MIN_PWM_1 + forcePerMotor - pitchMomentPerMotor - yawMomentPerMotor; motorPwm_.m2 = MIN_PWM_2 + forcePerMotor + rollMomentPerMotor + yawMomentPerMotor; motorPwm_.m3 = MIN_PWM_3 + forcePerMotor + pitchMomentPerMotor - yawMomentPerMotor; motorPwm_.m4 = MIN_PWM_4 + 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(MAX_PWM, motorPwm_.m1); motorPwm_.m2 = min(MAX_PWM, motorPwm_.m2); motorPwm_.m3 = min(MAX_PWM, motorPwm_.m3); motorPwm_.m4 = min(MAX_PWM, motorPwm_.m4); motorPwm_.m1 = max(MIN_PWM_1, motorPwm_.m1); motorPwm_.m2 = max(MIN_PWM_2, motorPwm_.m2); motorPwm_.m3 = max(MIN_PWM_3, motorPwm_.m3); motorPwm_.m4 = max(MIN_PWM_4, 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); } 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 = 0; float pitch = 0; float roll = 0; long long id; //static int thrust_outliers = 0; receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1); if (receive > 10) { int written = sscanf(rxBuffer, "%lld,%f,%f,%f,%f", &id, &thrust, &yaw, &pitch, &roll); // pc_->printf("%d\r\n", written); if (written != 5) { // pc_->printf("%s\r\n", rxBuffer); return; } } else { pc_->printf("Receive failure\r\n"); return; } // test for outliers (can remove when fixed for sure) // float temp_thrust = thrust - 0.5; // // if (temp_thrust < -0.3) { // thrust_outliers++; // if (thrust_outliers < 3) { // thrust = F_des_; // } // } else { // thrust_outliers = 0; // } // convert to radians, range is = +-40° or +-0.698132 radians desiredState_.phi = 1 * (-(roll * 80) * M_PI / 180); // minus, because joystick to right should result in positive moment desiredState_.theta = 1 * (pitch * 80) * M_PI / 180; desiredState_.r = 1 * yaw; // number between 0 and 1 //((yaw - 0.5) * 80) * M_PI / 180; F_des_ = thrust; // number between 0 and 1 -> number between -0.5 and 0.5 /* test for outliers (can remove when fixed for sure) if (abs(F_des_) > 0.01 || abs(desiredState_.psi) > 0.01 || abs(desiredState_.theta) > 0.02 || abs(desiredState_.phi) > 0.01) { pc_->printf("%lld: thrust: %f yaw: %f pitch: %f roll: %f\r\n", id, F_des_, desiredState_.psi, desiredState_.theta, desiredState_.phi); //, thrust_outliers); } */ }