David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

quadcopter.cpp@21:336faf452989, 2016-04-10 (annotated)

Committer:
ivo_david_michelle
Date:
Sun Apr 10 21:47:17 2016 +0000
Revision:
21:336faf452989
Parent:
20:efa15ed008b4
Child:
22:92401a4fec13
control of all 3 dof works

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 9:f1bd96708a21 5
ivo_david_michelle 14:64b06476d943 6 //#include "mbed.h"
ivo_david_michelle 9:f1bd96708a21 7
ivo_david_michelle 10:e7d1801e966a 8 // constructor
ivo_david_michelle 15:90e07946186f 9 Quadcopter::Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr)
ivo_david_michelle 14:64b06476d943 10 {
ivo_david_michelle 14:64b06476d943 11 pc_= pcPntr; // enable printing
ivo_david_michelle 14:64b06476d943 12 // initSensors(accel_, mag_, gyro_, offsetAngRate_); // IMU
ivo_david_michelle 14:64b06476d943 13
ivo_david_michelle 10:e7d1801e966a 14 m_=1;
ivo_david_michelle 10:e7d1801e966a 15 g_=9.81;
ivo_david_michelle 20:efa15ed008b4 16 l_=0.25;
ivo_david_michelle 20:efa15ed008b4 17 gamma_=1;
ivo_david_michelle 20:efa15ed008b4 18
ivo_david_michelle 20:efa15ed008b4 19
ivo_david_michelle 10:e7d1801e966a 20 // proportional attitude control gains
ivo_david_michelle 21:336faf452989 21 kp_f_ =2.5;
ivo_david_michelle 21:336faf452989 22 kp_phi_ = 0.2;
ivo_david_michelle 21:336faf452989 23 kp_theta_ = 0.2;
ivo_david_michelle 21:336faf452989 24 kp_psi_ = 0.2;
ivo_david_michelle 10:e7d1801e966a 25
ivo_david_michelle 10:e7d1801e966a 26 // derivative attitude control gains
ivo_david_michelle 10:e7d1801e966a 27 kd_phi_ = 0;
ivo_david_michelle 10:e7d1801e966a 28 kd_theta_ = 0;
ivo_david_michelle 10:e7d1801e966a 29 kd_psi_ = 0;
ivo_david_michelle 10:e7d1801e966a 30
ivo_david_michelle 10:e7d1801e966a 31 // desired values (will come from joystick)
ivo_david_michelle 10:e7d1801e966a 32 F_des_ = 0; // desired thrust force (excluding weight compensation)
ivo_david_michelle 9:f1bd96708a21 33
ivo_david_michelle 9:f1bd96708a21 34 dof_ = Adafruit_9DOF();
ivo_david_michelle 9:f1bd96708a21 35 accel_ = Adafruit_LSM303_Accel_Unified(30301);
ivo_david_michelle 9:f1bd96708a21 36 mag_ = Adafruit_LSM303_Mag_Unified(30302);
ivo_david_michelle 9:f1bd96708a21 37 gyro_ = Adafruit_L3GD20_Unified(20);
ivo_david_michelle 14:64b06476d943 38 //motor1_(p21);
ivo_david_michelle 14:64b06476d943 39
ivo_david_michelle 14:64b06476d943 40 // initSensors(accel_, mag_, gyro_, offsetAngRate_); // IMU
ivo_david_michelle 14:64b06476d943 41
ivo_david_michelle 14:64b06476d943 42 // prepare for communication with remote control
ivo_david_michelle 16:2be2aab63198 43 rcTimer_.start();
ivo_david_michelle 15:90e07946186f 44 mrf_ = mrfPntr; // RF tranceiver to link with handheld.
ivo_david_michelle 15:90e07946186f 45 rcLength_ = 250;
ivo_david_michelle 16:2be2aab63198 46 mrf_->SetChannel(3); //Set the Channel. 0 is default, 15 is max
ivo_david_michelle 17:96d0c72e413e 47 thrust = 0.5;
ivo_david_michelle 17:96d0c72e413e 48 yaw = 0.5;
ivo_david_michelle 17:96d0c72e413e 49 pitch = 0.5;
ivo_david_michelle 17:96d0c72e413e 50 roll = 0.5;
ivo_david_michelle 17:96d0c72e413e 51 id = -1;
ivo_david_michelle 9:f1bd96708a21 52 }
ivo_david_michelle 9:f1bd96708a21 53
ivo_david_michelle 9:f1bd96708a21 54
ivo_david_michelle 9:f1bd96708a21 55 void Quadcopter::readSensorValues()
ivo_david_michelle 9:f1bd96708a21 56 {
ivo_david_michelle 9:f1bd96708a21 57 accel_.getEvent(&accel_event_);
ivo_david_michelle 9:f1bd96708a21 58 if (dof_.accelGetOrientation(&accel_event_, &orientation_)) {
ivo_david_michelle 9:f1bd96708a21 59 }
ivo_david_michelle 9:f1bd96708a21 60 /* Calculate the heading using the magnetometer */
ivo_david_michelle 9:f1bd96708a21 61 mag_.getEvent(&mag_event_);
ivo_david_michelle 9:f1bd96708a21 62 if (dof_.magGetOrientation(SENSOR_AXIS_Z, &mag_event_, &orientation_)) {
ivo_david_michelle 9:f1bd96708a21 63 }
ivo_david_michelle 9:f1bd96708a21 64
ivo_david_michelle 13:291ba30c7806 65 gyro_.getEvent(&gyro_event_);
ivo_david_michelle 11:5c54826d23a7 66
ivo_david_michelle 13:291ba30c7806 67 gyro_event_.gyro.x -= offsetAngRate_.x;
ivo_david_michelle 13:291ba30c7806 68 gyro_event_.gyro.y -= offsetAngRate_.y;
ivo_david_michelle 13:291ba30c7806 69 gyro_event_.gyro.z -= offsetAngRate_.z;
ivo_david_michelle 13:291ba30c7806 70
ivo_david_michelle 13:291ba30c7806 71
ivo_david_michelle 10:e7d1801e966a 72 // measured values (will come from IMU/parameter class/Input to function later)
ivo_david_michelle 10:e7d1801e966a 73 // angles
ivo_david_michelle 10:e7d1801e966a 74 state_.phi = orientation_.roll;
ivo_david_michelle 10:e7d1801e966a 75 state_.theta =orientation_.pitch;
ivo_david_michelle 10:e7d1801e966a 76 state_.psi =orientation_.heading;
ivo_david_michelle 10:e7d1801e966a 77 // angular velocities in body coordinate system
ivo_david_michelle 10:e7d1801e966a 78 state_.p = gyro_event_.gyro.x;
ivo_david_michelle 10:e7d1801e966a 79 state_.q = gyro_event_.gyro.y;
ivo_david_michelle 10:e7d1801e966a 80 state_.r = gyro_event_.gyro.z;
ivo_david_michelle 10:e7d1801e966a 81 }
ivo_david_michelle 9:f1bd96708a21 82
ivo_david_michelle 10:e7d1801e966a 83 // Date member function
ivo_david_michelle 10:e7d1801e966a 84 void Quadcopter::setState(state *source, state *goal)
ivo_david_michelle 10:e7d1801e966a 85 {
ivo_david_michelle 10:e7d1801e966a 86 goal->phi = source->phi;
ivo_david_michelle 10:e7d1801e966a 87 goal->theta = source->theta;
ivo_david_michelle 10:e7d1801e966a 88 goal->psi = source->psi;
ivo_david_michelle 10:e7d1801e966a 89 goal->p = source->p;
ivo_david_michelle 10:e7d1801e966a 90 goal->q = source->q;
ivo_david_michelle 10:e7d1801e966a 91 goal->r = source->r;
ivo_david_michelle 9:f1bd96708a21 92
ivo_david_michelle 9:f1bd96708a21 93 }
ivo_david_michelle 9:f1bd96708a21 94
ivo_david_michelle 9:f1bd96708a21 95
ivo_david_michelle 10:e7d1801e966a 96 void Quadcopter::controller()
ivo_david_michelle 10:e7d1801e966a 97 {
ivo_david_michelle 10:e7d1801e966a 98
ivo_david_michelle 10:e7d1801e966a 99 // compute desired angles (in the case we decide not to set
ivo_david_michelle 10:e7d1801e966a 100 // the angles, but for instance the velocity with the Joystick
ivo_david_michelle 9:f1bd96708a21 101
ivo_david_michelle 10:e7d1801e966a 102 // PD controller
ivo_david_michelle 21:336faf452989 103 controlInput_.f = kp_f_*F_des_;//m_*g_ + F_des_;
ivo_david_michelle 10:e7d1801e966a 104 controlInput_.mx = kp_phi_*(desiredState_.phi-state_.phi)+kd_phi_*(desiredState_.p-state_.p);
ivo_david_michelle 10:e7d1801e966a 105 controlInput_.my = kp_theta_*(desiredState_.theta-state_.theta)+kd_theta_*(desiredState_.q-state_.q);
ivo_david_michelle 10:e7d1801e966a 106 controlInput_.mz = kp_psi_*(desiredState_.psi-state_.psi)+kd_psi_*(desiredState_.r-state_.r);
ivo_david_michelle 14:64b06476d943 107 //print("Calculated Control");
ivo_david_michelle 10:e7d1801e966a 108
ivo_david_michelle 10:e7d1801e966a 109 //print("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 110 // pc_->printf("F: %f\n\r", F);
ivo_david_michelle 20:efa15ed008b4 111
ivo_david_michelle 20:efa15ed008b4 112 // set pwm values
ivo_david_michelle 20:efa15ed008b4 113 // make code faster by precomputing all the components that are used multiple times and hardcode 0.25/gamma...
ivo_david_michelle 21:336faf452989 114 motorPwm_.m1=0.5+ 0.25*controlInput_.f-0.5/l_*controlInput_.my-0.25/gamma_*controlInput_.mz;
ivo_david_michelle 21:336faf452989 115 motorPwm_.m2=0.5 +0.25*controlInput_.f-0.5/l_*controlInput_.mx+0.25/gamma_*controlInput_.mz;
ivo_david_michelle 21:336faf452989 116 motorPwm_.m3=0.5 + 0.25*controlInput_.f+0.5/l_*controlInput_.my-0.25/gamma_*controlInput_.mz;
ivo_david_michelle 21:336faf452989 117 motorPwm_.m4=0.5 + 0.25*controlInput_.f+0.5/l_*controlInput_.mx+0.25/gamma_*controlInput_.mz;
ivo_david_michelle 20:efa15ed008b4 118
ivo_david_michelle 13:291ba30c7806 119 }
ivo_david_michelle 10:e7d1801e966a 120
ivo_david_michelle 12:422963993df5 121 motors Quadcopter::getPwm()
ivo_david_michelle 11:5c54826d23a7 122 {
ivo_david_michelle 20:efa15ed008b4 123 // motors motorPwm_
ivo_david_michelle 20:efa15ed008b4 124
ivo_david_michelle 20:efa15ed008b4 125
ivo_david_michelle 20:efa15ed008b4 126
ivo_david_michelle 20:efa15ed008b4 127 //old
ivo_david_michelle 20:efa15ed008b4 128 // motorPwm_.m1=0;
ivo_david_michelle 20:efa15ed008b4 129 // motorPwm_.m2=0.5 + controlInput_.mx/2.5;
ivo_david_michelle 20:efa15ed008b4 130 //motorPwm_.m3=0;
ivo_david_michelle 20:efa15ed008b4 131 //motorPwm_.m4=0.5 - controlInput_.mx/2.5;
ivo_david_michelle 12:422963993df5 132 return motorPwm_;
ivo_david_michelle 11:5c54826d23a7 133 }
ivo_david_michelle 14:64b06476d943 134
ivo_david_michelle 14:64b06476d943 135
ivo_david_michelle 16:2be2aab63198 136 void Quadcopter::readRc() {
ivo_david_michelle 14:64b06476d943 137 uint8_t zero = 0;
ivo_david_michelle 14:64b06476d943 138 uint8_t *rssi = &zero;
ivo_david_michelle 18:a00d6b065c6b 139
ivo_david_michelle 14:64b06476d943 140
ivo_david_michelle 14:64b06476d943 141 uint8_t receive = 0;
ivo_david_michelle 14:64b06476d943 142
ivo_david_michelle 14:64b06476d943 143 char rxBuffer[rcLength_];
ivo_david_michelle 14:64b06476d943 144
ivo_david_michelle 18:a00d6b065c6b 145
ivo_david_michelle 16:2be2aab63198 146 receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1);
ivo_david_michelle 16:2be2aab63198 147 if (receive > 0) {
ivo_david_michelle 17:96d0c72e413e 148 sscanf(rxBuffer, "%lld,%f,%f,%f,%f", &id, &thrust, &yaw, &pitch, &roll);
ivo_david_michelle 16:2be2aab63198 149 } else {
ivo_david_michelle 16:2be2aab63198 150 pc_->printf("Receive failure\r\n");
ivo_david_michelle 16:2be2aab63198 151 }
ivo_david_michelle 18:a00d6b065c6b 152 desiredState_.phi=roll-0.5;
ivo_david_michelle 18:a00d6b065c6b 153 desiredState_.theta=pitch-0.5;
ivo_david_michelle 18:a00d6b065c6b 154 desiredState_.psi=yaw-0.5;
ivo_david_michelle 18:a00d6b065c6b 155 F_des_=thrust-0.5;
ivo_david_michelle 14:64b06476d943 156 }
ivo_david_michelle 14:64b06476d943 157