ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
quadcopter.cpp
- Committer:
- ivo_david_michelle
- Date:
- 2016-04-10
- Revision:
- 20:efa15ed008b4
- Parent:
- 18:a00d6b065c6b
- Child:
- 21:336faf452989
File content as of revision 20:efa15ed008b4:
#include "quadcopter.h" #include "sensor.h" #include "receiver.h" #include <string> //#include "mbed.h" // constructor Quadcopter::Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr) { pc_= pcPntr; // enable printing // initSensors(accel_, mag_, gyro_, offsetAngRate_); // IMU m_=1; g_=9.81; l_=0.25; gamma_=1; // proportional attitude control gains kp_phi_ = 0.3; kp_theta_ = 0.3; kp_psi_ = 0.3; // 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; } 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 = 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... motorPwm_.m1=0.5+ 0.25*controlInput_.f-0.5/l_*controlInput_.my+0.25/gamma_*controlInput_.mz; motorPwm_.m2=0.5 +0.25*controlInput_.f+0.5/l_*controlInput_.mx-0.25/gamma_*controlInput_.mz; motorPwm_.m3=0.5+ 0.25*controlInput_.f+0.5/l_*controlInput_.my+0.25/gamma_*controlInput_.mz; motorPwm_.m4=0.5 + 0.25*controlInput_.f-0.5/l_*controlInput_.mx-0.25/gamma_*controlInput_.mz; } motors Quadcopter::getPwm() { // motors motorPwm_ //old // motorPwm_.m1=0; // motorPwm_.m2=0.5 + controlInput_.mx/2.5; //motorPwm_.m3=0; //motorPwm_.m4=0.5 - controlInput_.mx/2.5; return motorPwm_; } 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"); } desiredState_.phi=roll-0.5; desiredState_.theta=pitch-0.5; desiredState_.psi=yaw-0.5; F_des_=thrust-0.5; }