David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

quadcopter.cpp@40:09a59d5b7944, 2016-05-04 (annotated)

Committer:
ivo_david_michelle
Date:
Wed May 04 17:28:48 2016 +0000
Revision:
40:09a59d5b7944
Parent:
39:fff0a72633ee
Child:
41:d103f9aa44f0
stand after meeting with Yash

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ivo_david_michelle 6:6f3ffd97d808 1 #include "quadcopter.h"
ivo_david_michelle 9:f1bd96708a21 2 #include "sensor.h"
ivo_david_michelle 14:64b06476d943 3 #include "receiver.h"
ivo_david_michelle 14:64b06476d943 4 #include <string>
ivo_david_michelle 23:04338a5ef404 5
ivo_david_michelle 23:04338a5ef404 6 #ifndef M_PI
ivo_david_michelle 23:04338a5ef404 7 #define M_PI 3.14159265358979323846
ivo_david_michelle 23:04338a5ef404 8 #endif
ivo_david_michelle 9:f1bd96708a21 9
ivo_david_michelle 10:e7d1801e966a 10 // constructor
ivo_david_michelle 36:40b134328376 11 Quadcopter::Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr, Timer *timer, Mutex *desired)
ivo_david_michelle 24:e220fbb70ded 12 {
ivo_david_michelle 14:64b06476d943 13 pc_= pcPntr; // enable printing
ivo_david_michelle 23:04338a5ef404 14 g_= 9.81;
ivo_david_michelle 23:04338a5ef404 15 l_= 0.25;
ivo_david_michelle 23:04338a5ef404 16 gamma_= 1;
ivo_david_michelle 24:e220fbb70ded 17
ivo_david_michelle 31:d473eacfc271 18 zeroVelPwm = 0.11;
ivo_david_michelle 31:d473eacfc271 19 maxPwm = 0.15;
ivo_david_michelle 36:40b134328376 20 desired_mutex = desired;
ivo_david_michelle 27:11116aa69f32 21
ivo_david_michelle 32:e12b01c94b4a 22 // control gains set s.t. 100% joystick results in 15% (actually: (maxPwm-zeroVelPwm+0.1)) duty cycle.
ivo_david_michelle 32:e12b01c94b4a 23 kp_f_ = (maxPwm - zeroVelPwm) * 4 / 0.5;
ivo_david_michelle 40:09a59d5b7944 24 kp_phi_ = 10 * (maxPwm - zeroVelPwm) * l_ / 0.5 * 4 / M_PI;
ivo_david_michelle 40:09a59d5b7944 25 kp_theta_ = 10 * (maxPwm - zeroVelPwm) * l_ / 0.5 * 4 / M_PI;
ivo_david_michelle 29:ae765492fa8b 26 kp_psi_ = 0;
ivo_david_michelle 10:e7d1801e966a 27
ivo_david_michelle 10:e7d1801e966a 28 // derivative attitude control gains
ivo_david_michelle 40:09a59d5b7944 29 kd_phi_ = 0.0 * (maxPwm - zeroVelPwm) * 2 / M_PI; // 0.25 maybe a good
ivo_david_michelle 40:09a59d5b7944 30 kd_theta_ = 0.0 * (maxPwm - zeroVelPwm) * 2 / M_PI;
ivo_david_michelle 29:ae765492fa8b 31 kd_psi_ = 0.1;
ivo_david_michelle 31:d473eacfc271 32
ivo_david_michelle 39:fff0a72633ee 33 // incresae ki_phi
ivo_david_michelle 35:35997980a8ba 34 ki_phi_ = 0 * (maxPwm - zeroVelPwm)/(2*M_PI/4); // full control signal after 2s at pi/4 error
ivo_david_michelle 32:e12b01c94b4a 35 ki_theta_ = 0 * (maxPwm - zeroVelPwm)/(2*M_PI/4);
ivo_david_michelle 32:e12b01c94b4a 36
ivo_david_michelle 32:e12b01c94b4a 37 i_e_phi_ = 0;
ivo_david_michelle 31:d473eacfc271 38 i_e_theta_ = 0;
ivo_david_michelle 31:d473eacfc271 39 prev_time_ = 0;
ivo_david_michelle 32:e12b01c94b4a 40
ivo_david_michelle 32:e12b01c94b4a 41
ivo_david_michelle 31:d473eacfc271 42 max_integral_phi_ = 0.05/(ki_phi_ * (0.5/l_ + 0.25)); // influence of integral part smaller than 0.05
ivo_david_michelle 32:e12b01c94b4a 43 max_integral_theta_ = 0.05/(ki_theta_ * (0.5/l_ + 0.25));
ivo_david_michelle 31:d473eacfc271 44
ivo_david_michelle 10:e7d1801e966a 45
ivo_david_michelle 10:e7d1801e966a 46 // desired values (will come from joystick)
ivo_david_michelle 10:e7d1801e966a 47 F_des_ = 0; // desired thrust force (excluding weight compensation)
ivo_david_michelle 9:f1bd96708a21 48
ivo_david_michelle 9:f1bd96708a21 49 dof_ = Adafruit_9DOF();
ivo_david_michelle 9:f1bd96708a21 50 accel_ = Adafruit_LSM303_Accel_Unified(30301);
ivo_david_michelle 9:f1bd96708a21 51 mag_ = Adafruit_LSM303_Mag_Unified(30302);
ivo_david_michelle 9:f1bd96708a21 52 gyro_ = Adafruit_L3GD20_Unified(20);
ivo_david_michelle 24:e220fbb70ded 53
ivo_david_michelle 24:e220fbb70ded 54 // prepare for communication with remote control
ivo_david_michelle 16:2be2aab63198 55 rcTimer_.start();
ivo_david_michelle 15:90e07946186f 56 mrf_ = mrfPntr; // RF tranceiver to link with handheld.
ivo_david_michelle 15:90e07946186f 57 rcLength_ = 250;
ivo_david_michelle 16:2be2aab63198 58 mrf_->SetChannel(3); //Set the Channel. 0 is default, 15 is max
ivo_david_michelle 27:11116aa69f32 59
ivo_david_michelle 24:e220fbb70ded 60 initial_offsets_ = (offset*) malloc(sizeof(offset));
ivo_david_michelle 24:e220fbb70ded 61 initSensors(*this); // IMU
ivo_david_michelle 35:35997980a8ba 62
ivo_david_michelle 34:eaea0ae92dfa 63 controlTimer = timer;
ivo_david_michelle 34:eaea0ae92dfa 64 controlTimer->start();
ivo_david_michelle 35:35997980a8ba 65
ivo_david_michelle 34:eaea0ae92dfa 66 prev_kalman_time = 0;
ivo_david_michelle 35:35997980a8ba 67
ivo_david_michelle 34:eaea0ae92dfa 68 readSensorValues();
ivo_david_michelle 35:35997980a8ba 69
ivo_david_michelle 34:eaea0ae92dfa 70 kalmanPitch.setAngle(state_.phi); // set initial pitch
ivo_david_michelle 34:eaea0ae92dfa 71 kalmanRoll.setAngle(state_.theta); // set initial theta
ivo_david_michelle 34:eaea0ae92dfa 72 compAngleX = state_.phi;
ivo_david_michelle 34:eaea0ae92dfa 73 compAngleY = state_.theta;
ivo_david_michelle 9:f1bd96708a21 74 }
ivo_david_michelle 9:f1bd96708a21 75
ivo_david_michelle 9:f1bd96708a21 76 void Quadcopter::readSensorValues()
ivo_david_michelle 9:f1bd96708a21 77 {
ivo_david_michelle 36:40b134328376 78 if (prev_kalman_time == 0) {
ivo_david_michelle 36:40b134328376 79 prev_kalman_time = controlTimer->read();
ivo_david_michelle 36:40b134328376 80 return;
ivo_david_michelle 36:40b134328376 81 }
ivo_david_michelle 39:fff0a72633ee 82
ivo_david_michelle 9:f1bd96708a21 83 accel_.getEvent(&accel_event_);
ivo_david_michelle 39:fff0a72633ee 84 // mag_.getEvent(&mag_event_);
ivo_david_michelle 37:a983eb9fd9c5 85 dof_.accelGetOrientation(&accel_event_, &orientation_);
ivo_david_michelle 40:09a59d5b7944 86 gyro_.getEvent(&gyro_event_);
ivo_david_michelle 11:5c54826d23a7 87
ivo_david_michelle 24:e220fbb70ded 88 gyro_event_.gyro.x -= initial_offsets_->gyro_x;
ivo_david_michelle 24:e220fbb70ded 89 gyro_event_.gyro.y -= initial_offsets_->gyro_y;
ivo_david_michelle 24:e220fbb70ded 90 gyro_event_.gyro.z -= initial_offsets_->gyro_z;
ivo_david_michelle 24:e220fbb70ded 91 orientation_.roll -= initial_offsets_->roll;
ivo_david_michelle 24:e220fbb70ded 92 orientation_.pitch -= initial_offsets_->pitch;
ivo_david_michelle 24:e220fbb70ded 93 orientation_.heading -= initial_offsets_->heading;
ivo_david_michelle 13:291ba30c7806 94
ivo_david_michelle 32:e12b01c94b4a 95 static int current_filter = 0;
ivo_david_michelle 32:e12b01c94b4a 96 filters_.p[current_filter] = gyro_event_.gyro.x * M_PI / 180;
ivo_david_michelle 32:e12b01c94b4a 97 filters_.q[current_filter] = gyro_event_.gyro.y * M_PI / 180;
ivo_david_michelle 32:e12b01c94b4a 98 filters_.r[current_filter] = gyro_event_.gyro.z * M_PI / 180;
ivo_david_michelle 32:e12b01c94b4a 99 filters_.phi[current_filter] = orientation_.roll * M_PI / 180;
ivo_david_michelle 37:a983eb9fd9c5 100 filters_.theta[current_filter] = -orientation_.pitch * M_PI / 180;
ivo_david_michelle 32:e12b01c94b4a 101 filters_.psi[current_filter] = orientation_.heading * M_PI / 180;
ivo_david_michelle 32:e12b01c94b4a 102
ivo_david_michelle 32:e12b01c94b4a 103 current_filter = (current_filter + 1) % FILTER_SIZE;
ivo_david_michelle 32:e12b01c94b4a 104
ivo_david_michelle 32:e12b01c94b4a 105 double p_sum = 0;
ivo_david_michelle 32:e12b01c94b4a 106 double q_sum = 0;
ivo_david_michelle 32:e12b01c94b4a 107 double r_sum = 0;
ivo_david_michelle 32:e12b01c94b4a 108 double phi_sum = 0;
ivo_david_michelle 32:e12b01c94b4a 109 double theta_sum = 0;
ivo_david_michelle 32:e12b01c94b4a 110 double psi_sum = 0;
ivo_david_michelle 32:e12b01c94b4a 111 for (int i = 0; i < FILTER_SIZE; i++) {
ivo_david_michelle 32:e12b01c94b4a 112 p_sum += filters_.p[i];
ivo_david_michelle 32:e12b01c94b4a 113 q_sum += filters_.q[i];
ivo_david_michelle 32:e12b01c94b4a 114 r_sum += filters_.r[i];
ivo_david_michelle 32:e12b01c94b4a 115 phi_sum += filters_.phi[i];
ivo_david_michelle 32:e12b01c94b4a 116 theta_sum += filters_.theta[i];
ivo_david_michelle 32:e12b01c94b4a 117 psi_sum += filters_.psi[i];
ivo_david_michelle 32:e12b01c94b4a 118 }
ivo_david_michelle 32:e12b01c94b4a 119
ivo_david_michelle 39:fff0a72633ee 120 // double radMaxAngle = M_PI / 180 * 20;
ivo_david_michelle 35:35997980a8ba 121 double phi_new = phi_sum / FILTER_SIZE;
ivo_david_michelle 39:fff0a72633ee 122 // if (phi_new < radMaxAngle && phi_new > -radMaxAngle) {
ivo_david_michelle 39:fff0a72633ee 123 // state_.phi = phi_new;
ivo_david_michelle 39:fff0a72633ee 124 // }
ivo_david_michelle 35:35997980a8ba 125 double theta_new = theta_sum / FILTER_SIZE;
ivo_david_michelle 39:fff0a72633ee 126 // if (theta_new < radMaxAngle && theta_new > -radMaxAngle) {
ivo_david_michelle 39:fff0a72633ee 127 // state_.theta = theta_new;
ivo_david_michelle 39:fff0a72633ee 128 // }
ivo_david_michelle 35:35997980a8ba 129
ivo_david_michelle 35:35997980a8ba 130 state_.phi = phi_new;
ivo_david_michelle 35:35997980a8ba 131 state_.theta = theta_new;
ivo_david_michelle 32:e12b01c94b4a 132 state_.p = p_sum / FILTER_SIZE;
ivo_david_michelle 35:35997980a8ba 133
ivo_david_michelle 32:e12b01c94b4a 134 state_.q = q_sum / FILTER_SIZE;
ivo_david_michelle 32:e12b01c94b4a 135 state_.r = r_sum / FILTER_SIZE;
ivo_david_michelle 24:e220fbb70ded 136
ivo_david_michelle 35:35997980a8ba 137 //state_.theta = theta_sum / FILTER_SIZE;
ivo_david_michelle 32:e12b01c94b4a 138 state_.psi = psi_sum / FILTER_SIZE;
ivo_david_michelle 35:35997980a8ba 139
ivo_david_michelle 35:35997980a8ba 140 double raw_phi = state_.phi;
ivo_david_michelle 35:35997980a8ba 141 double raw_theta = state_.theta;
ivo_david_michelle 35:35997980a8ba 142 double raw_p = state_.p;
ivo_david_michelle 35:35997980a8ba 143 double raw_q = state_.q;
ivo_david_michelle 36:40b134328376 144 float time = controlTimer->read();
ivo_david_michelle 36:40b134328376 145 float dt = time - prev_kalman_time;
ivo_david_michelle 34:eaea0ae92dfa 146 state_.phi = kalmanRoll.getAngle(state_.phi * 180 / M_PI, state_.p * 180 / M_PI, dt) * M_PI / 180;
ivo_david_michelle 34:eaea0ae92dfa 147 state_.theta = kalmanPitch.getAngle(state_.theta * 180 / M_PI, state_.q * 180 / M_PI, dt) * M_PI / 180;
ivo_david_michelle 35:35997980a8ba 148 state_.p = kalmanRoll.getRate() * M_PI / 180;
ivo_david_michelle 35:35997980a8ba 149 state_.q = kalmanPitch.getRate() * M_PI / 180;
ivo_david_michelle 39:fff0a72633ee 150
ivo_david_michelle 40:09a59d5b7944 151 double alphaX = 0.001;
ivo_david_michelle 40:09a59d5b7944 152 double alphaY = 0.001;
ivo_david_michelle 40:09a59d5b7944 153 //compAngleX = (1 - alphaX) * (compAngleX + raw_p * dt) + alphaX * raw_phi; // Calculate the angle using a Complimentary filter
ivo_david_michelle 40:09a59d5b7944 154 //compAngleY = (1 - alphaY) * (compAngleY + raw_q * dt) + alphaY * raw_theta;
ivo_david_michelle 40:09a59d5b7944 155 compAngleX = (1 - alphaX) * compAngleX + raw_p * dt + alphaX * raw_phi; // Calculate the angle using a Complimentary filter
ivo_david_michelle 40:09a59d5b7944 156 compAngleY = (1 - alphaY) * compAngleY + raw_q * dt + alphaY * raw_theta;
ivo_david_michelle 39:fff0a72633ee 157
ivo_david_michelle 40:09a59d5b7944 158
ivo_david_michelle 40:09a59d5b7944 159
ivo_david_michelle 40:09a59d5b7944 160 state_.phi = compAngleX;
ivo_david_michelle 40:09a59d5b7944 161 state_.theta = compAngleY;
ivo_david_michelle 32:e12b01c94b4a 162
ivo_david_michelle 36:40b134328376 163 prev_kalman_time = time;
ivo_david_michelle 40:09a59d5b7944 164
ivo_david_michelle 40:09a59d5b7944 165 /* RAW DATA
ivo_david_michelle 40:09a59d5b7944 166 pc_->printf("%f %f %f %f %f %f %f \r\n",
ivo_david_michelle 40:09a59d5b7944 167 prev_kalman_time,
ivo_david_michelle 40:09a59d5b7944 168 accel_event_.acceleration.x, accel_event_.acceleration.y, accel_event_.acceleration.z,
ivo_david_michelle 40:09a59d5b7944 169 gyro_event_.gyro.x, gyro_event_.gyro.y, gyro_event_.gyro.z);
ivo_david_michelle 40:09a59d5b7944 170 */
ivo_david_michelle 39:fff0a72633ee 171 // static int count = 0;
ivo_david_michelle 39:fff0a72633ee 172 // if (count % 100 == 0) {
ivo_david_michelle 39:fff0a72633ee 173 // pc_->printf("%d\r\n", count);
ivo_david_michelle 39:fff0a72633ee 174 // }
ivo_david_michelle 39:fff0a72633ee 175 // count++;
ivo_david_michelle 40:09a59d5b7944 176 // TODO: print HERE
ivo_david_michelle 40:09a59d5b7944 177 // pc_->printf("%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);
ivo_david_michelle 9:f1bd96708a21 178 }
ivo_david_michelle 9:f1bd96708a21 179
ivo_david_michelle 34:eaea0ae92dfa 180 void Quadcopter::controller()
ivo_david_michelle 10:e7d1801e966a 181 {
ivo_david_michelle 34:eaea0ae92dfa 182 float time = controlTimer->read();
ivo_david_michelle 31:d473eacfc271 183 if (prev_time_ == 0) {
ivo_david_michelle 32:e12b01c94b4a 184 prev_time_ = time;
ivo_david_michelle 31:d473eacfc271 185 return;
ivo_david_michelle 32:e12b01c94b4a 186 }
ivo_david_michelle 32:e12b01c94b4a 187
ivo_david_michelle 10:e7d1801e966a 188 // PD controller
ivo_david_michelle 31:d473eacfc271 189 double e_phi = desiredState_.phi - state_.phi;
ivo_david_michelle 31:d473eacfc271 190 double e_theta = desiredState_.theta - state_.theta;
ivo_david_michelle 32:e12b01c94b4a 191
ivo_david_michelle 32:e12b01c94b4a 192 float dt = time - prev_time_;
ivo_david_michelle 32:e12b01c94b4a 193 i_e_phi_ = i_e_phi_ + e_phi * dt;
ivo_david_michelle 32:e12b01c94b4a 194 i_e_theta_ = i_e_theta_ + e_theta * dt;
ivo_david_michelle 31:d473eacfc271 195 i_e_phi_ = min(max_integral_phi_, i_e_phi_);
ivo_david_michelle 31:d473eacfc271 196 i_e_theta_ = min(max_integral_theta_, i_e_theta_);
ivo_david_michelle 32:e12b01c94b4a 197 i_e_phi_ = max(-max_integral_phi_, i_e_phi_);
ivo_david_michelle 32:e12b01c94b4a 198 i_e_theta_ = max(-max_integral_theta_, i_e_theta_);
ivo_david_michelle 31:d473eacfc271 199
ivo_david_michelle 29:ae765492fa8b 200 controlInput_.f = kp_f_ * F_des_;//m_*g_ + F_des_;
ivo_david_michelle 31:d473eacfc271 201 controlInput_.mx = kp_phi_ * e_phi + kd_phi_ * (desiredState_.p - state_.p) + ki_phi_ * i_e_phi_;
ivo_david_michelle 31:d473eacfc271 202 controlInput_.my = kp_theta_ * e_theta + kd_theta_ * (desiredState_.q - state_.q) + ki_theta_ * i_e_theta_;
ivo_david_michelle 29:ae765492fa8b 203 controlInput_.mz = kd_psi_ * desiredState_.r; // feedforward desired yaw rate. // kp_psi_*(desiredState_.psi-state_.psi)+kd_psi_*(desiredState_.r-state_.r);
ivo_david_michelle 24:e220fbb70ded 204
ivo_david_michelle 20:efa15ed008b4 205 // set pwm values
ivo_david_michelle 29:ae765492fa8b 206 double forcePerMotor = 0.25 * controlInput_.f;
ivo_david_michelle 29:ae765492fa8b 207 double yawMomentPerMotor = 0.25 / gamma_ * controlInput_.mz;
ivo_david_michelle 29:ae765492fa8b 208 double rollMomentPerMotor = 0.5 / l_ * controlInput_.mx;
ivo_david_michelle 29:ae765492fa8b 209 double pitchMomentPerMotor = 0.5 / l_ * controlInput_.my;
ivo_david_michelle 29:ae765492fa8b 210 motorPwm_.m1 = zeroVelPwm + forcePerMotor - pitchMomentPerMotor - yawMomentPerMotor;
ivo_david_michelle 29:ae765492fa8b 211 motorPwm_.m2 = zeroVelPwm + forcePerMotor + rollMomentPerMotor + yawMomentPerMotor;
ivo_david_michelle 29:ae765492fa8b 212 motorPwm_.m3 = zeroVelPwm + forcePerMotor + pitchMomentPerMotor - yawMomentPerMotor;
ivo_david_michelle 29:ae765492fa8b 213 motorPwm_.m4 = zeroVelPwm + forcePerMotor - rollMomentPerMotor + yawMomentPerMotor;
ivo_david_michelle 27:11116aa69f32 214
ivo_david_michelle 29:ae765492fa8b 215 // cut off at max PWM
ivo_david_michelle 30:4820042e67b5 216 //pc_->printf("m1: %f\tm2: %f\tm3: %f\tm4: %f\r\n", motorPwm_.m1, motorPwm_.m2, motorPwm_.m3, motorPwm_.m4);
ivo_david_michelle 32:e12b01c94b4a 217 motorPwm_.m1 = min(maxPwm, motorPwm_.m1);
ivo_david_michelle 27:11116aa69f32 218 motorPwm_.m2 = min(maxPwm, motorPwm_.m2);
ivo_david_michelle 27:11116aa69f32 219 motorPwm_.m3 = min(maxPwm, motorPwm_.m3);
ivo_david_michelle 27:11116aa69f32 220 motorPwm_.m4 = min(maxPwm, motorPwm_.m4);
ivo_david_michelle 32:e12b01c94b4a 221
ivo_david_michelle 32:e12b01c94b4a 222 prev_time_ = time;
ivo_david_michelle 32:e12b01c94b4a 223
ivo_david_michelle 32:e12b01c94b4a 224 //pc_->printf("m1: %f\tm2: %f\tm3: %f\tm4: %f\r\n", motorPwm_.m1, motorPwm_.m2, motorPwm_.m3, motorPwm_.m4);
ivo_david_michelle 32:e12b01c94b4a 225
ivo_david_michelle 33:244dea7a4e81 226 //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);
ivo_david_michelle 13:291ba30c7806 227 }
ivo_david_michelle 10:e7d1801e966a 228
ivo_david_michelle 12:422963993df5 229 motors Quadcopter::getPwm()
ivo_david_michelle 11:5c54826d23a7 230 {
ivo_david_michelle 22:92401a4fec13 231 return motorPwm_;
ivo_david_michelle 22:92401a4fec13 232 }
ivo_david_michelle 20:efa15ed008b4 233
ivo_david_michelle 22:92401a4fec13 234 state Quadcopter::getState()
ivo_david_michelle 22:92401a4fec13 235 {
ivo_david_michelle 22:92401a4fec13 236 return state_;
ivo_david_michelle 11:5c54826d23a7 237 }
ivo_david_michelle 14:64b06476d943 238
ivo_david_michelle 24:e220fbb70ded 239 Adafruit_LSM303_Accel_Unified Quadcopter::getAccel()
ivo_david_michelle 24:e220fbb70ded 240 {
ivo_david_michelle 24:e220fbb70ded 241 return accel_;
ivo_david_michelle 24:e220fbb70ded 242 }
ivo_david_michelle 24:e220fbb70ded 243
ivo_david_michelle 24:e220fbb70ded 244 Adafruit_LSM303_Mag_Unified Quadcopter::getMag()
ivo_david_michelle 24:e220fbb70ded 245 {
ivo_david_michelle 24:e220fbb70ded 246 return mag_;
ivo_david_michelle 24:e220fbb70ded 247 }
ivo_david_michelle 24:e220fbb70ded 248
ivo_david_michelle 24:e220fbb70ded 249 Adafruit_L3GD20_Unified Quadcopter::getGyro()
ivo_david_michelle 24:e220fbb70ded 250 {
ivo_david_michelle 24:e220fbb70ded 251 return gyro_;
ivo_david_michelle 24:e220fbb70ded 252 }
ivo_david_michelle 24:e220fbb70ded 253
ivo_david_michelle 24:e220fbb70ded 254 offset* Quadcopter::getOffset()
ivo_david_michelle 24:e220fbb70ded 255 {
ivo_david_michelle 24:e220fbb70ded 256 return initial_offsets_;
ivo_david_michelle 24:e220fbb70ded 257 }
ivo_david_michelle 24:e220fbb70ded 258
ivo_david_michelle 24:e220fbb70ded 259 Adafruit_9DOF Quadcopter::getIMU()
ivo_david_michelle 24:e220fbb70ded 260 {
ivo_david_michelle 24:e220fbb70ded 261 return dof_;
ivo_david_michelle 24:e220fbb70ded 262 }
ivo_david_michelle 24:e220fbb70ded 263
ivo_david_michelle 27:11116aa69f32 264 double Quadcopter::getForce()
ivo_david_michelle 27:11116aa69f32 265 {
ivo_david_michelle 37:a983eb9fd9c5 266 return F_des_;
ivo_david_michelle 27:11116aa69f32 267 }
ivo_david_michelle 27:11116aa69f32 268
ivo_david_michelle 24:e220fbb70ded 269 void Quadcopter::readRc()
ivo_david_michelle 24:e220fbb70ded 270 {
ivo_david_michelle 14:64b06476d943 271 uint8_t zero = 0;
ivo_david_michelle 14:64b06476d943 272 uint8_t *rssi = &zero;
ivo_david_michelle 14:64b06476d943 273
ivo_david_michelle 14:64b06476d943 274 uint8_t receive = 0;
ivo_david_michelle 14:64b06476d943 275
ivo_david_michelle 14:64b06476d943 276 char rxBuffer[rcLength_];
ivo_david_michelle 24:e220fbb70ded 277
ivo_david_michelle 27:11116aa69f32 278 float thrust;
ivo_david_michelle 37:a983eb9fd9c5 279 float yaw = 0;
ivo_david_michelle 37:a983eb9fd9c5 280 float pitch = 0;
ivo_david_michelle 37:a983eb9fd9c5 281 float roll = 0;
ivo_david_michelle 27:11116aa69f32 282 long long id;
ivo_david_michelle 24:e220fbb70ded 283
ivo_david_michelle 37:a983eb9fd9c5 284 //static int thrust_outliers = 0;
ivo_david_michelle 35:35997980a8ba 285
ivo_david_michelle 16:2be2aab63198 286 receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1);
ivo_david_michelle 37:a983eb9fd9c5 287 if (receive > 10) {
ivo_david_michelle 37:a983eb9fd9c5 288 int written = sscanf(rxBuffer, "%lld,%f,%f,%f,%f", &id, &thrust, &yaw, &pitch, &roll);
ivo_david_michelle 38:14bf11115f9f 289 // pc_->printf("%d\r\n", written);
ivo_david_michelle 37:a983eb9fd9c5 290 if (written != 5) {
ivo_david_michelle 38:14bf11115f9f 291 // pc_->printf("%s\r\n", rxBuffer);
ivo_david_michelle 37:a983eb9fd9c5 292 return;
ivo_david_michelle 37:a983eb9fd9c5 293 }
ivo_david_michelle 16:2be2aab63198 294 } else {
ivo_david_michelle 16:2be2aab63198 295 pc_->printf("Receive failure\r\n");
ivo_david_michelle 37:a983eb9fd9c5 296 return;
ivo_david_michelle 24:e220fbb70ded 297 }
ivo_david_michelle 39:fff0a72633ee 298
ivo_david_michelle 39:fff0a72633ee 299 // test for outliers (can remove when fixed for sure)
ivo_david_michelle 39:fff0a72633ee 300 // float temp_thrust = thrust - 0.5;
ivo_david_michelle 39:fff0a72633ee 301 //
ivo_david_michelle 37:a983eb9fd9c5 302 // if (temp_thrust < -0.3) {
ivo_david_michelle 35:35997980a8ba 303 // thrust_outliers++;
ivo_david_michelle 35:35997980a8ba 304 // if (thrust_outliers < 3) {
ivo_david_michelle 35:35997980a8ba 305 // thrust = F_des_;
ivo_david_michelle 35:35997980a8ba 306 // }
ivo_david_michelle 35:35997980a8ba 307 // } else {
ivo_david_michelle 35:35997980a8ba 308 // thrust_outliers = 0;
ivo_david_michelle 35:35997980a8ba 309 // }
ivo_david_michelle 35:35997980a8ba 310
ivo_david_michelle 25:d44610851105 311 // convert to radians, range is = +-40° or +-0.698132 radians
ivo_david_michelle 38:14bf11115f9f 312 desiredState_.phi = 1 * (-(roll * 80) * M_PI / 180); // minus, because joystick to right should result in positive moment
ivo_david_michelle 38:14bf11115f9f 313 desiredState_.theta = 1 * (pitch * 80) * M_PI / 180;
ivo_david_michelle 38:14bf11115f9f 314 desiredState_.r = 1 * yaw; // number between 0 and 1 //((yaw - 0.5) * 80) * M_PI / 180;
ivo_david_michelle 38:14bf11115f9f 315 F_des_ = thrust; // number between 0 and 1 -> number between -0.5 and 0.5
ivo_david_michelle 39:fff0a72633ee 316
ivo_david_michelle 39:fff0a72633ee 317 /* test for outliers (can remove when fixed for sure)
ivo_david_michelle 38:14bf11115f9f 318 if (abs(F_des_) > 0.01 || abs(desiredState_.psi) > 0.01 || abs(desiredState_.theta) > 0.02 || abs(desiredState_.phi) > 0.01) {
ivo_david_michelle 38:14bf11115f9f 319 pc_->printf("%lld: thrust: %f yaw: %f pitch: %f roll: %f\r\n", id, F_des_, desiredState_.psi, desiredState_.theta, desiredState_.phi); //, thrust_outliers);
ivo_david_michelle 38:14bf11115f9f 320 }
ivo_david_michelle 39:fff0a72633ee 321 */
ivo_david_michelle 14:64b06476d943 322 }
ivo_david_michelle 14:64b06476d943 323