File content as of revision 10:e7d1801e966a:

#include "quadcopter.h"
#include "sensor.h"
#include "Adafruit_9DOF.h"
#include "Serial_base.h"


// constructor
Quadcopter::Quadcopter()
{
    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);
}

void Quadcopter::initAllSensors()
{
    initSensors(accel_, mag_, gyro_,offsetAngRate_);  // 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_)) {
    }

    // 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::print(char * myString)
{
    pcPntr_->printf(myString);
    pcPntr_->printf("\n\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);



}