File content as of revision 25:d44610851105:

#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;


    // 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;
    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)
    // 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("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_;
}

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_;
}

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");
    }

    // convert to radians, range is = +-40° or +-0.698132 radians
    desiredState_.phi = ((roll - 0.5) * 80) * M_PI / 180;
    desiredState_.theta = ((pitch - 0.5) * 80) * M_PI / 180;
    desiredState_.psi = ((yaw - 0.5) * 80) * M_PI / 180;
    F_des_ = ((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);
}