David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

quadcopter.cpp@27:11116aa69f32, 2016-04-14 (annotated)

Committer:
ivo_david_michelle
Date:
Thu Apr 14 22:32:30 2016 +0000
Revision:
27:11116aa69f32
Parent:
26:7f50323c0c0d
Child:
28:61f7356325c3
changed control gains, implemented cut off at 15% duty cycle

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 14:64b06476d943 10 //#include "mbed.h"
ivo_david_michelle 9:f1bd96708a21 11
ivo_david_michelle 10:e7d1801e966a 12 // constructor
ivo_david_michelle 15:90e07946186f 13 Quadcopter::Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr)
ivo_david_michelle 24:e220fbb70ded 14 {
ivo_david_michelle 27:11116aa69f32 15
ivo_david_michelle 27:11116aa69f32 16
ivo_david_michelle 14:64b06476d943 17 pc_= pcPntr; // enable printing
ivo_david_michelle 24:e220fbb70ded 18 //initSensors(accel_, mag_, gyro_, offsetAngRate_); // IMUm_= 1;
ivo_david_michelle 23:04338a5ef404 19 g_= 9.81;
ivo_david_michelle 23:04338a5ef404 20 l_= 0.25;
ivo_david_michelle 23:04338a5ef404 21 gamma_= 1;
ivo_david_michelle 24:e220fbb70ded 22
ivo_david_michelle 27:11116aa69f32 23 zeroVelPwm=0.1;
ivo_david_michelle 27:11116aa69f32 24 maxPwm=0.15;
ivo_david_michelle 27:11116aa69f32 25
ivo_david_michelle 24:e220fbb70ded 26
ivo_david_michelle 10:e7d1801e966a 27 // proportional attitude control gains
ivo_david_michelle 24:e220fbb70ded 28 // TODO change gains so that joystick deflection never produces pwm duty cycle >10%.
ivo_david_michelle 24:e220fbb70ded 29
ivo_david_michelle 27:11116aa69f32 30
ivo_david_michelle 27:11116aa69f32 31 // control gains set s.t. 100% joystick results in 15% (actually: (maxPwm-zeroVelPwm+0.1)) duty cycle.
ivo_david_michelle 27:11116aa69f32 32 kp_f_ =(maxPwm-zeroVelPwm)*4/0.5;
ivo_david_michelle 27:11116aa69f32 33 kp_phi_ = (maxPwm-zeroVelPwm)*l_/0.5*4/M_PI;
ivo_david_michelle 27:11116aa69f32 34 kp_theta_ = (maxPwm-zeroVelPwm)*l_/0.5*4/M_PI;;
ivo_david_michelle 27:11116aa69f32 35 kp_psi_ = 0;
ivo_david_michelle 10:e7d1801e966a 36
ivo_david_michelle 10:e7d1801e966a 37 // derivative attitude control gains
ivo_david_michelle 10:e7d1801e966a 38 kd_phi_ = 0;
ivo_david_michelle 10:e7d1801e966a 39 kd_theta_ = 0;
ivo_david_michelle 27:11116aa69f32 40 kd_psi_ = 0.1;
ivo_david_michelle 10:e7d1801e966a 41
ivo_david_michelle 10:e7d1801e966a 42 // desired values (will come from joystick)
ivo_david_michelle 10:e7d1801e966a 43 F_des_ = 0; // desired thrust force (excluding weight compensation)
ivo_david_michelle 9:f1bd96708a21 44
ivo_david_michelle 27:11116aa69f32 45
ivo_david_michelle 27:11116aa69f32 46
ivo_david_michelle 9:f1bd96708a21 47 dof_ = Adafruit_9DOF();
ivo_david_michelle 9:f1bd96708a21 48 accel_ = Adafruit_LSM303_Accel_Unified(30301);
ivo_david_michelle 9:f1bd96708a21 49 mag_ = Adafruit_LSM303_Mag_Unified(30302);
ivo_david_michelle 9:f1bd96708a21 50 gyro_ = Adafruit_L3GD20_Unified(20);
ivo_david_michelle 14:64b06476d943 51 //motor1_(p21);
ivo_david_michelle 24:e220fbb70ded 52
ivo_david_michelle 14:64b06476d943 53 // initSensors(accel_, mag_, gyro_, offsetAngRate_); // IMU
ivo_david_michelle 24:e220fbb70ded 54
ivo_david_michelle 24:e220fbb70ded 55 // prepare for communication with remote control
ivo_david_michelle 16:2be2aab63198 56 rcTimer_.start();
ivo_david_michelle 15:90e07946186f 57 mrf_ = mrfPntr; // RF tranceiver to link with handheld.
ivo_david_michelle 15:90e07946186f 58 rcLength_ = 250;
ivo_david_michelle 16:2be2aab63198 59 mrf_->SetChannel(3); //Set the Channel. 0 is default, 15 is max
ivo_david_michelle 27:11116aa69f32 60
ivo_david_michelle 24:e220fbb70ded 61 initial_offsets_ = (offset*) malloc(sizeof(offset));
ivo_david_michelle 24:e220fbb70ded 62 initSensors(*this); // IMU
ivo_david_michelle 9:f1bd96708a21 63 }
ivo_david_michelle 9:f1bd96708a21 64
ivo_david_michelle 9:f1bd96708a21 65
ivo_david_michelle 9:f1bd96708a21 66 void Quadcopter::readSensorValues()
ivo_david_michelle 9:f1bd96708a21 67 {
ivo_david_michelle 9:f1bd96708a21 68 accel_.getEvent(&accel_event_);
ivo_david_michelle 9:f1bd96708a21 69 if (dof_.accelGetOrientation(&accel_event_, &orientation_)) {
ivo_david_michelle 9:f1bd96708a21 70 }
ivo_david_michelle 9:f1bd96708a21 71 /* Calculate the heading using the magnetometer */
ivo_david_michelle 9:f1bd96708a21 72 mag_.getEvent(&mag_event_);
ivo_david_michelle 9:f1bd96708a21 73 if (dof_.magGetOrientation(SENSOR_AXIS_Z, &mag_event_, &orientation_)) {
ivo_david_michelle 9:f1bd96708a21 74 }
ivo_david_michelle 9:f1bd96708a21 75
ivo_david_michelle 13:291ba30c7806 76 gyro_.getEvent(&gyro_event_);
ivo_david_michelle 11:5c54826d23a7 77
ivo_david_michelle 24:e220fbb70ded 78 gyro_event_.gyro.x -= initial_offsets_->gyro_x;
ivo_david_michelle 24:e220fbb70ded 79 gyro_event_.gyro.y -= initial_offsets_->gyro_y;
ivo_david_michelle 24:e220fbb70ded 80 gyro_event_.gyro.z -= initial_offsets_->gyro_z;
ivo_david_michelle 24:e220fbb70ded 81 orientation_.roll -= initial_offsets_->roll;
ivo_david_michelle 24:e220fbb70ded 82 orientation_.pitch -= initial_offsets_->pitch;
ivo_david_michelle 24:e220fbb70ded 83 orientation_.heading -= initial_offsets_->heading;
ivo_david_michelle 13:291ba30c7806 84
ivo_david_michelle 10:e7d1801e966a 85 // measured values (will come from IMU/parameter class/Input to function later)
ivo_david_michelle 10:e7d1801e966a 86 // angles
ivo_david_michelle 10:e7d1801e966a 87 state_.phi = orientation_.roll;
ivo_david_michelle 10:e7d1801e966a 88 state_.theta =orientation_.pitch;
ivo_david_michelle 10:e7d1801e966a 89 state_.psi =orientation_.heading;
ivo_david_michelle 10:e7d1801e966a 90 // angular velocities in body coordinate system
ivo_david_michelle 10:e7d1801e966a 91 state_.p = gyro_event_.gyro.x;
ivo_david_michelle 10:e7d1801e966a 92 state_.q = gyro_event_.gyro.y;
ivo_david_michelle 10:e7d1801e966a 93 state_.r = gyro_event_.gyro.z;
ivo_david_michelle 24:e220fbb70ded 94
ivo_david_michelle 23:04338a5ef404 95 // TODO print values to check what they are
ivo_david_michelle 23:04338a5ef404 96 // TODO convert to Radians (*pi/180)
ivo_david_michelle 24:e220fbb70ded 97
ivo_david_michelle 25:d44610851105 98 // 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);
ivo_david_michelle 23:04338a5ef404 99 state_.phi = orientation_.roll * M_PI / 180;
ivo_david_michelle 24:e220fbb70ded 100 state_.theta = orientation_.pitch * M_PI / 180;
ivo_david_michelle 24:e220fbb70ded 101 state_.psi = orientation_.heading * M_PI / 180;
ivo_david_michelle 24:e220fbb70ded 102 //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);
ivo_david_michelle 10:e7d1801e966a 103 }
ivo_david_michelle 9:f1bd96708a21 104
ivo_david_michelle 10:e7d1801e966a 105 // Date member function
ivo_david_michelle 10:e7d1801e966a 106 void Quadcopter::setState(state *source, state *goal)
ivo_david_michelle 10:e7d1801e966a 107 {
ivo_david_michelle 10:e7d1801e966a 108 goal->phi = source->phi;
ivo_david_michelle 10:e7d1801e966a 109 goal->theta = source->theta;
ivo_david_michelle 10:e7d1801e966a 110 goal->psi = source->psi;
ivo_david_michelle 10:e7d1801e966a 111 goal->p = source->p;
ivo_david_michelle 10:e7d1801e966a 112 goal->q = source->q;
ivo_david_michelle 10:e7d1801e966a 113 goal->r = source->r;
ivo_david_michelle 9:f1bd96708a21 114 }
ivo_david_michelle 9:f1bd96708a21 115
ivo_david_michelle 10:e7d1801e966a 116 void Quadcopter::controller()
ivo_david_michelle 10:e7d1801e966a 117 {
ivo_david_michelle 10:e7d1801e966a 118 // compute desired angles (in the case we decide not to set
ivo_david_michelle 10:e7d1801e966a 119 // the angles, but for instance the velocity with the Joystick
ivo_david_michelle 9:f1bd96708a21 120
ivo_david_michelle 10:e7d1801e966a 121 // PD controller
ivo_david_michelle 21:336faf452989 122 controlInput_.f = kp_f_*F_des_;//m_*g_ + F_des_;
ivo_david_michelle 10:e7d1801e966a 123 controlInput_.mx = kp_phi_*(desiredState_.phi-state_.phi)+kd_phi_*(desiredState_.p-state_.p);
ivo_david_michelle 10:e7d1801e966a 124 controlInput_.my = kp_theta_*(desiredState_.theta-state_.theta)+kd_theta_*(desiredState_.q-state_.q);
ivo_david_michelle 27:11116aa69f32 125 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 14:64b06476d943 126 //print("Calculated Control");
ivo_david_michelle 10:e7d1801e966a 127
ivo_david_michelle 26:7f50323c0c0d 128 //pc_->printf("F: %f M_x: %f M_y: %f M_z: %f\n\r", controlInput_.f, controlInput_.mz, controlInput_.my, controlInput_.mz);
ivo_david_michelle 14:64b06476d943 129 // pc_->printf("F: %f\n\r", F);
ivo_david_michelle 24:e220fbb70ded 130
ivo_david_michelle 20:efa15ed008b4 131 // set pwm values
ivo_david_michelle 20:efa15ed008b4 132 // make code faster by precomputing all the components that are used multiple times and hardcode 0.25/gamma...
ivo_david_michelle 27:11116aa69f32 133 motorPwm_.m1=zeroVelPwm + 0.25*controlInput_.f-0.5/l_*controlInput_.my-0.25/gamma_*controlInput_.mz;
ivo_david_michelle 27:11116aa69f32 134 motorPwm_.m2=zeroVelPwm + 0.25*controlInput_.f-0.5/l_*controlInput_.mx+0.25/gamma_*controlInput_.mz;
ivo_david_michelle 27:11116aa69f32 135 motorPwm_.m3=zeroVelPwm + 0.25*controlInput_.f+0.5/l_*controlInput_.my-0.25/gamma_*controlInput_.mz;
ivo_david_michelle 27:11116aa69f32 136 motorPwm_.m4=zeroVelPwm + 0.25*controlInput_.f+0.5/l_*controlInput_.mx+0.25/gamma_*controlInput_.mz;
ivo_david_michelle 27:11116aa69f32 137
ivo_david_michelle 27:11116aa69f32 138 motorPwm_.m1 = min(maxPwm, motorPwm_.m1);
ivo_david_michelle 27:11116aa69f32 139 motorPwm_.m2 = min(maxPwm, motorPwm_.m2);
ivo_david_michelle 27:11116aa69f32 140 motorPwm_.m3 = min(maxPwm, motorPwm_.m3);
ivo_david_michelle 27:11116aa69f32 141 motorPwm_.m4 = min(maxPwm, motorPwm_.m4);
ivo_david_michelle 27:11116aa69f32 142
ivo_david_michelle 27:11116aa69f32 143
ivo_david_michelle 13:291ba30c7806 144 }
ivo_david_michelle 10:e7d1801e966a 145
ivo_david_michelle 12:422963993df5 146 motors Quadcopter::getPwm()
ivo_david_michelle 11:5c54826d23a7 147 {
ivo_david_michelle 22:92401a4fec13 148 return motorPwm_;
ivo_david_michelle 22:92401a4fec13 149 }
ivo_david_michelle 20:efa15ed008b4 150
ivo_david_michelle 22:92401a4fec13 151 state Quadcopter::getState()
ivo_david_michelle 22:92401a4fec13 152 {
ivo_david_michelle 22:92401a4fec13 153 return state_;
ivo_david_michelle 11:5c54826d23a7 154 }
ivo_david_michelle 14:64b06476d943 155
ivo_david_michelle 24:e220fbb70ded 156 Adafruit_LSM303_Accel_Unified Quadcopter::getAccel()
ivo_david_michelle 24:e220fbb70ded 157 {
ivo_david_michelle 24:e220fbb70ded 158 return accel_;
ivo_david_michelle 24:e220fbb70ded 159 }
ivo_david_michelle 24:e220fbb70ded 160
ivo_david_michelle 24:e220fbb70ded 161 Adafruit_LSM303_Mag_Unified Quadcopter::getMag()
ivo_david_michelle 24:e220fbb70ded 162 {
ivo_david_michelle 24:e220fbb70ded 163 return mag_;
ivo_david_michelle 24:e220fbb70ded 164 }
ivo_david_michelle 24:e220fbb70ded 165
ivo_david_michelle 24:e220fbb70ded 166 Adafruit_L3GD20_Unified Quadcopter::getGyro()
ivo_david_michelle 24:e220fbb70ded 167 {
ivo_david_michelle 24:e220fbb70ded 168 return gyro_;
ivo_david_michelle 24:e220fbb70ded 169 }
ivo_david_michelle 24:e220fbb70ded 170
ivo_david_michelle 24:e220fbb70ded 171 offset* Quadcopter::getOffset()
ivo_david_michelle 24:e220fbb70ded 172 {
ivo_david_michelle 24:e220fbb70ded 173 return initial_offsets_;
ivo_david_michelle 24:e220fbb70ded 174 }
ivo_david_michelle 24:e220fbb70ded 175
ivo_david_michelle 24:e220fbb70ded 176 Adafruit_9DOF Quadcopter::getIMU()
ivo_david_michelle 24:e220fbb70ded 177 {
ivo_david_michelle 24:e220fbb70ded 178 return dof_;
ivo_david_michelle 24:e220fbb70ded 179 }
ivo_david_michelle 24:e220fbb70ded 180
ivo_david_michelle 27:11116aa69f32 181 double Quadcopter::getForce()
ivo_david_michelle 27:11116aa69f32 182 {
ivo_david_michelle 27:11116aa69f32 183 return F_des_;
ivo_david_michelle 27:11116aa69f32 184 }
ivo_david_michelle 27:11116aa69f32 185
ivo_david_michelle 27:11116aa69f32 186
ivo_david_michelle 24:e220fbb70ded 187 void Quadcopter::readRc()
ivo_david_michelle 24:e220fbb70ded 188 {
ivo_david_michelle 14:64b06476d943 189 uint8_t zero = 0;
ivo_david_michelle 14:64b06476d943 190 uint8_t *rssi = &zero;
ivo_david_michelle 14:64b06476d943 191
ivo_david_michelle 14:64b06476d943 192 uint8_t receive = 0;
ivo_david_michelle 14:64b06476d943 193
ivo_david_michelle 14:64b06476d943 194 char rxBuffer[rcLength_];
ivo_david_michelle 24:e220fbb70ded 195
ivo_david_michelle 27:11116aa69f32 196 float thrust;
ivo_david_michelle 27:11116aa69f32 197 float yaw;
ivo_david_michelle 27:11116aa69f32 198 float pitch;
ivo_david_michelle 27:11116aa69f32 199 float roll;
ivo_david_michelle 27:11116aa69f32 200 long long id;
ivo_david_michelle 24:e220fbb70ded 201
ivo_david_michelle 16:2be2aab63198 202 receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1);
ivo_david_michelle 16:2be2aab63198 203 if (receive > 0) {
ivo_david_michelle 17:96d0c72e413e 204 sscanf(rxBuffer, "%lld,%f,%f,%f,%f", &id, &thrust, &yaw, &pitch, &roll);
ivo_david_michelle 16:2be2aab63198 205 } else {
ivo_david_michelle 16:2be2aab63198 206 pc_->printf("Receive failure\r\n");
ivo_david_michelle 24:e220fbb70ded 207 }
ivo_david_michelle 24:e220fbb70ded 208
ivo_david_michelle 25:d44610851105 209 // convert to radians, range is = +-40° or +-0.698132 radians
ivo_david_michelle 25:d44610851105 210 desiredState_.phi = ((roll - 0.5) * 80) * M_PI / 180;
ivo_david_michelle 25:d44610851105 211 desiredState_.theta = ((pitch - 0.5) * 80) * M_PI / 180;
ivo_david_michelle 27:11116aa69f32 212 desiredState_.r = yaw-0.5; // number between 0 and 1 //((yaw - 0.5) * 80) * M_PI / 180;
ivo_david_michelle 27:11116aa69f32 213 F_des_ = thrust-0.5; // number between 0 and 1 //((thrust - 0.5) * 80) * M_PI / 180;
ivo_david_michelle 27:11116aa69f32 214
ivo_david_michelle 25:d44610851105 215 // print id with thrust, yaw, pitch, and roll
ivo_david_michelle 27:11116aa69f32 216 // pc_->printf("%lld: thrust: %f, yaw: %f, pitch: %f, roll: %f\r\n", id, F_des_, desiredState_.psi, desiredState_.theta, desiredState_.phi);
ivo_david_michelle 14:64b06476d943 217 }
ivo_david_michelle 14:64b06476d943 218