David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

quadcopter.cpp@35:35997980a8ba, 2016-04-26 (annotated)

Committer:
ivo_david_michelle
Date:
Tue Apr 26 18:50:55 2016 +0000
Revision:
35:35997980a8ba
Parent:
34:eaea0ae92dfa
Child:
36:40b134328376
the code for the demo

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 34:eaea0ae92dfa 11 Quadcopter::Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr, Timer *timer)
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 27:11116aa69f32 20
ivo_david_michelle 32:e12b01c94b4a 21 // control gains set s.t. 100% joystick results in 15% (actually: (maxPwm-zeroVelPwm+0.1)) duty cycle.
ivo_david_michelle 32:e12b01c94b4a 22 kp_f_ = (maxPwm - zeroVelPwm) * 4 / 0.5;
ivo_david_michelle 35:35997980a8ba 23 kp_phi_ = 0.25 * (maxPwm - zeroVelPwm) * l_ / 0.5 * 4 / M_PI;
ivo_david_michelle 35:35997980a8ba 24 kp_theta_ = 0.2 * (maxPwm - zeroVelPwm) * l_ / 0.5 * 4 / M_PI;
ivo_david_michelle 29:ae765492fa8b 25 kp_psi_ = 0;
ivo_david_michelle 32:e12b01c94b4a 26 // kp_phi_ = 0;
ivo_david_michelle 31:d473eacfc271 27 // kp_theta_ = 0;
ivo_david_michelle 10:e7d1801e966a 28
ivo_david_michelle 10:e7d1801e966a 29 // derivative attitude control gains
ivo_david_michelle 35:35997980a8ba 30 kd_phi_ = 0.4 * (maxPwm - zeroVelPwm) * 2 / M_PI; //0.25 good
ivo_david_michelle 35:35997980a8ba 31 kd_theta_ = 0.0 * (maxPwm - zeroVelPwm) * 2 / M_PI;
ivo_david_michelle 29:ae765492fa8b 32 kd_psi_ = 0.1;
ivo_david_michelle 32:e12b01c94b4a 33 // kd_phi_ = 0;
ivo_david_michelle 31:d473eacfc271 34 //kd_theta_ = 0;
ivo_david_michelle 31:d473eacfc271 35
ivo_david_michelle 32:e12b01c94b4a 36 // incresae ki_phi
ivo_david_michelle 35:35997980a8ba 37 ki_phi_ = 0 * (maxPwm - zeroVelPwm)/(2*M_PI/4); // full control signal after 2s at pi/4 error
ivo_david_michelle 32:e12b01c94b4a 38 ki_theta_ = 0 * (maxPwm - zeroVelPwm)/(2*M_PI/4);
ivo_david_michelle 32:e12b01c94b4a 39
ivo_david_michelle 32:e12b01c94b4a 40 i_e_phi_ = 0;
ivo_david_michelle 31:d473eacfc271 41 i_e_theta_ = 0;
ivo_david_michelle 31:d473eacfc271 42 prev_time_ = 0;
ivo_david_michelle 32:e12b01c94b4a 43
ivo_david_michelle 32:e12b01c94b4a 44
ivo_david_michelle 31:d473eacfc271 45 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 46 max_integral_theta_ = 0.05/(ki_theta_ * (0.5/l_ + 0.25));
ivo_david_michelle 31:d473eacfc271 47
ivo_david_michelle 10:e7d1801e966a 48
ivo_david_michelle 10:e7d1801e966a 49 // desired values (will come from joystick)
ivo_david_michelle 10:e7d1801e966a 50 F_des_ = 0; // desired thrust force (excluding weight compensation)
ivo_david_michelle 9:f1bd96708a21 51
ivo_david_michelle 9:f1bd96708a21 52 dof_ = Adafruit_9DOF();
ivo_david_michelle 9:f1bd96708a21 53 accel_ = Adafruit_LSM303_Accel_Unified(30301);
ivo_david_michelle 9:f1bd96708a21 54 mag_ = Adafruit_LSM303_Mag_Unified(30302);
ivo_david_michelle 9:f1bd96708a21 55 gyro_ = Adafruit_L3GD20_Unified(20);
ivo_david_michelle 24:e220fbb70ded 56
ivo_david_michelle 24:e220fbb70ded 57 // prepare for communication with remote control
ivo_david_michelle 16:2be2aab63198 58 rcTimer_.start();
ivo_david_michelle 15:90e07946186f 59 mrf_ = mrfPntr; // RF tranceiver to link with handheld.
ivo_david_michelle 15:90e07946186f 60 rcLength_ = 250;
ivo_david_michelle 16:2be2aab63198 61 mrf_->SetChannel(3); //Set the Channel. 0 is default, 15 is max
ivo_david_michelle 27:11116aa69f32 62
ivo_david_michelle 24:e220fbb70ded 63 initial_offsets_ = (offset*) malloc(sizeof(offset));
ivo_david_michelle 24:e220fbb70ded 64 initSensors(*this); // IMU
ivo_david_michelle 35:35997980a8ba 65
ivo_david_michelle 34:eaea0ae92dfa 66 controlTimer = timer;
ivo_david_michelle 34:eaea0ae92dfa 67 controlTimer->start();
ivo_david_michelle 35:35997980a8ba 68
ivo_david_michelle 34:eaea0ae92dfa 69 prev_kalman_time = 0;
ivo_david_michelle 35:35997980a8ba 70
ivo_david_michelle 34:eaea0ae92dfa 71 readSensorValues();
ivo_david_michelle 35:35997980a8ba 72
ivo_david_michelle 34:eaea0ae92dfa 73 kalmanPitch.setAngle(state_.phi); // set initial pitch
ivo_david_michelle 34:eaea0ae92dfa 74 kalmanRoll.setAngle(state_.theta); // set initial theta
ivo_david_michelle 34:eaea0ae92dfa 75 compAngleX = state_.phi;
ivo_david_michelle 34:eaea0ae92dfa 76 compAngleY = state_.theta;
ivo_david_michelle 9:f1bd96708a21 77 }
ivo_david_michelle 9:f1bd96708a21 78
ivo_david_michelle 9:f1bd96708a21 79 void Quadcopter::readSensorValues()
ivo_david_michelle 9:f1bd96708a21 80 {
ivo_david_michelle 9:f1bd96708a21 81 accel_.getEvent(&accel_event_);
ivo_david_michelle 9:f1bd96708a21 82 mag_.getEvent(&mag_event_);
ivo_david_michelle 35:35997980a8ba 83 dof_.fusionGetOrientation(&accel_event_, &mag_event_, &orientation_);
ivo_david_michelle 9:f1bd96708a21 84
ivo_david_michelle 13:291ba30c7806 85 gyro_.getEvent(&gyro_event_);
ivo_david_michelle 11:5c54826d23a7 86
ivo_david_michelle 24:e220fbb70ded 87 gyro_event_.gyro.x -= initial_offsets_->gyro_x;
ivo_david_michelle 24:e220fbb70ded 88 gyro_event_.gyro.y -= initial_offsets_->gyro_y;
ivo_david_michelle 24:e220fbb70ded 89 gyro_event_.gyro.z -= initial_offsets_->gyro_z;
ivo_david_michelle 24:e220fbb70ded 90 orientation_.roll -= initial_offsets_->roll;
ivo_david_michelle 24:e220fbb70ded 91 orientation_.pitch -= initial_offsets_->pitch;
ivo_david_michelle 24:e220fbb70ded 92 orientation_.heading -= initial_offsets_->heading;
ivo_david_michelle 13:291ba30c7806 93
ivo_david_michelle 35:35997980a8ba 94
ivo_david_michelle 35:35997980a8ba 95
ivo_david_michelle 32:e12b01c94b4a 96 static int current_filter = 0;
ivo_david_michelle 32:e12b01c94b4a 97 filters_.p[current_filter] = gyro_event_.gyro.x * M_PI / 180;
ivo_david_michelle 32:e12b01c94b4a 98 filters_.q[current_filter] = gyro_event_.gyro.y * M_PI / 180;
ivo_david_michelle 32:e12b01c94b4a 99 filters_.r[current_filter] = gyro_event_.gyro.z * M_PI / 180;
ivo_david_michelle 32:e12b01c94b4a 100 filters_.phi[current_filter] = orientation_.roll * M_PI / 180;
ivo_david_michelle 32:e12b01c94b4a 101 filters_.theta[current_filter] = -orientation_.pitch * M_PI / 180;
ivo_david_michelle 32:e12b01c94b4a 102 filters_.psi[current_filter] = orientation_.heading * M_PI / 180;
ivo_david_michelle 32:e12b01c94b4a 103
ivo_david_michelle 32:e12b01c94b4a 104 current_filter = (current_filter + 1) % FILTER_SIZE;
ivo_david_michelle 32:e12b01c94b4a 105
ivo_david_michelle 32:e12b01c94b4a 106 double p_sum = 0;
ivo_david_michelle 32:e12b01c94b4a 107 double q_sum = 0;
ivo_david_michelle 32:e12b01c94b4a 108 double r_sum = 0;
ivo_david_michelle 32:e12b01c94b4a 109 double phi_sum = 0;
ivo_david_michelle 32:e12b01c94b4a 110 double theta_sum = 0;
ivo_david_michelle 32:e12b01c94b4a 111 double psi_sum = 0;
ivo_david_michelle 32:e12b01c94b4a 112 for (int i = 0; i < FILTER_SIZE; i++) {
ivo_david_michelle 32:e12b01c94b4a 113 p_sum += filters_.p[i];
ivo_david_michelle 32:e12b01c94b4a 114 q_sum += filters_.q[i];
ivo_david_michelle 32:e12b01c94b4a 115 r_sum += filters_.r[i];
ivo_david_michelle 32:e12b01c94b4a 116 phi_sum += filters_.phi[i];
ivo_david_michelle 32:e12b01c94b4a 117 theta_sum += filters_.theta[i];
ivo_david_michelle 32:e12b01c94b4a 118 psi_sum += filters_.psi[i];
ivo_david_michelle 32:e12b01c94b4a 119 }
ivo_david_michelle 32:e12b01c94b4a 120
ivo_david_michelle 35:35997980a8ba 121 // double radMaxAngle = M_PI / 180 * 20;
ivo_david_michelle 35:35997980a8ba 122 double phi_new = phi_sum / FILTER_SIZE;
ivo_david_michelle 35:35997980a8ba 123 // if (phi_new < radMaxAngle && phi_new > -radMaxAngle) {
ivo_david_michelle 35:35997980a8ba 124 // state_.phi = phi_new;
ivo_david_michelle 35:35997980a8ba 125 // };
ivo_david_michelle 35:35997980a8ba 126 double theta_new = theta_sum / FILTER_SIZE;
ivo_david_michelle 35:35997980a8ba 127 // if (theta_new < radMaxAngle && theta_new > -radMaxAngle) {
ivo_david_michelle 35:35997980a8ba 128 // state_.theta = theta_new;
ivo_david_michelle 35:35997980a8ba 129 // };
ivo_david_michelle 35:35997980a8ba 130
ivo_david_michelle 35:35997980a8ba 131 state_.phi = phi_new;
ivo_david_michelle 35:35997980a8ba 132 state_.theta = theta_new;
ivo_david_michelle 32:e12b01c94b4a 133 state_.p = p_sum / FILTER_SIZE;
ivo_david_michelle 35:35997980a8ba 134
ivo_david_michelle 32:e12b01c94b4a 135 state_.q = q_sum / FILTER_SIZE;
ivo_david_michelle 32:e12b01c94b4a 136 state_.r = r_sum / FILTER_SIZE;
ivo_david_michelle 24:e220fbb70ded 137
ivo_david_michelle 35:35997980a8ba 138 //state_.theta = theta_sum / FILTER_SIZE;
ivo_david_michelle 32:e12b01c94b4a 139 state_.psi = psi_sum / FILTER_SIZE;
ivo_david_michelle 35:35997980a8ba 140
ivo_david_michelle 34:eaea0ae92dfa 141 if (prev_kalman_time == 0) {
ivo_david_michelle 34:eaea0ae92dfa 142 prev_kalman_time = controlTimer->read();
ivo_david_michelle 34:eaea0ae92dfa 143 return;
ivo_david_michelle 34:eaea0ae92dfa 144 }
ivo_david_michelle 35:35997980a8ba 145
ivo_david_michelle 35:35997980a8ba 146 double raw_phi = state_.phi;
ivo_david_michelle 35:35997980a8ba 147 double raw_theta = state_.theta;
ivo_david_michelle 35:35997980a8ba 148 double raw_p = state_.p;
ivo_david_michelle 35:35997980a8ba 149 double raw_q = state_.q;
ivo_david_michelle 34:eaea0ae92dfa 150 float dt = controlTimer->read() - prev_kalman_time;
ivo_david_michelle 34:eaea0ae92dfa 151 state_.phi = kalmanRoll.getAngle(state_.phi * 180 / M_PI, state_.p * 180 / M_PI, dt) * M_PI / 180;
ivo_david_michelle 34:eaea0ae92dfa 152 state_.theta = kalmanPitch.getAngle(state_.theta * 180 / M_PI, state_.q * 180 / M_PI, dt) * M_PI / 180;
ivo_david_michelle 35:35997980a8ba 153 state_.p = kalmanRoll.getRate() * M_PI / 180;
ivo_david_michelle 35:35997980a8ba 154 state_.q = kalmanPitch.getRate() * M_PI / 180;
ivo_david_michelle 35:35997980a8ba 155
ivo_david_michelle 35:35997980a8ba 156 compAngleX = 0.93 * (compAngleX + raw_p * dt) + 0.07 * raw_phi; // Calculate the angle using a Complimentary filter
ivo_david_michelle 35:35997980a8ba 157 compAngleY = 0.93 * (compAngleY + raw_q * dt) + 0.07 * raw_theta;
ivo_david_michelle 34:eaea0ae92dfa 158
ivo_david_michelle 35:35997980a8ba 159 //state_.phi = compAngleX;
ivo_david_michelle 35:35997980a8ba 160 //state_.theta = compAngleY;
ivo_david_michelle 32:e12b01c94b4a 161
ivo_david_michelle 35:35997980a8ba 162 prev_kalman_time = controlTimer->read();
ivo_david_michelle 35:35997980a8ba 163
ivo_david_michelle 35:35997980a8ba 164 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 165 }
ivo_david_michelle 9:f1bd96708a21 166
ivo_david_michelle 34:eaea0ae92dfa 167 void Quadcopter::controller()
ivo_david_michelle 10:e7d1801e966a 168 {
ivo_david_michelle 34:eaea0ae92dfa 169 float time = controlTimer->read();
ivo_david_michelle 31:d473eacfc271 170 if (prev_time_ == 0) {
ivo_david_michelle 32:e12b01c94b4a 171 prev_time_ = time;
ivo_david_michelle 31:d473eacfc271 172 return;
ivo_david_michelle 32:e12b01c94b4a 173 }
ivo_david_michelle 32:e12b01c94b4a 174
ivo_david_michelle 10:e7d1801e966a 175 // PD controller
ivo_david_michelle 31:d473eacfc271 176 double e_phi = desiredState_.phi - state_.phi;
ivo_david_michelle 31:d473eacfc271 177 double e_theta = desiredState_.theta - state_.theta;
ivo_david_michelle 32:e12b01c94b4a 178
ivo_david_michelle 32:e12b01c94b4a 179 float dt = time - prev_time_;
ivo_david_michelle 32:e12b01c94b4a 180 i_e_phi_ = i_e_phi_ + e_phi * dt;
ivo_david_michelle 32:e12b01c94b4a 181 i_e_theta_ = i_e_theta_ + e_theta * dt;
ivo_david_michelle 31:d473eacfc271 182 i_e_phi_ = min(max_integral_phi_, i_e_phi_);
ivo_david_michelle 31:d473eacfc271 183 i_e_theta_ = min(max_integral_theta_, i_e_theta_);
ivo_david_michelle 32:e12b01c94b4a 184 i_e_phi_ = max(-max_integral_phi_, i_e_phi_);
ivo_david_michelle 32:e12b01c94b4a 185 i_e_theta_ = max(-max_integral_theta_, i_e_theta_);
ivo_david_michelle 31:d473eacfc271 186
ivo_david_michelle 29:ae765492fa8b 187 controlInput_.f = kp_f_ * F_des_;//m_*g_ + F_des_;
ivo_david_michelle 31:d473eacfc271 188 controlInput_.mx = kp_phi_ * e_phi + kd_phi_ * (desiredState_.p - state_.p) + ki_phi_ * i_e_phi_;
ivo_david_michelle 31:d473eacfc271 189 controlInput_.my = kp_theta_ * e_theta + kd_theta_ * (desiredState_.q - state_.q) + ki_theta_ * i_e_theta_;
ivo_david_michelle 29:ae765492fa8b 190 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 191
ivo_david_michelle 20:efa15ed008b4 192 // set pwm values
ivo_david_michelle 29:ae765492fa8b 193 double forcePerMotor = 0.25 * controlInput_.f;
ivo_david_michelle 29:ae765492fa8b 194 double yawMomentPerMotor = 0.25 / gamma_ * controlInput_.mz;
ivo_david_michelle 29:ae765492fa8b 195 double rollMomentPerMotor = 0.5 / l_ * controlInput_.mx;
ivo_david_michelle 29:ae765492fa8b 196 double pitchMomentPerMotor = 0.5 / l_ * controlInput_.my;
ivo_david_michelle 29:ae765492fa8b 197 motorPwm_.m1 = zeroVelPwm + forcePerMotor - pitchMomentPerMotor - yawMomentPerMotor;
ivo_david_michelle 29:ae765492fa8b 198 motorPwm_.m2 = zeroVelPwm + forcePerMotor + rollMomentPerMotor + yawMomentPerMotor;
ivo_david_michelle 29:ae765492fa8b 199 motorPwm_.m3 = zeroVelPwm + forcePerMotor + pitchMomentPerMotor - yawMomentPerMotor;
ivo_david_michelle 29:ae765492fa8b 200 motorPwm_.m4 = zeroVelPwm + forcePerMotor - rollMomentPerMotor + yawMomentPerMotor;
ivo_david_michelle 27:11116aa69f32 201
ivo_david_michelle 29:ae765492fa8b 202 // cut off at max PWM
ivo_david_michelle 30:4820042e67b5 203 //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 204 motorPwm_.m1 = min(maxPwm, motorPwm_.m1);
ivo_david_michelle 27:11116aa69f32 205 motorPwm_.m2 = min(maxPwm, motorPwm_.m2);
ivo_david_michelle 27:11116aa69f32 206 motorPwm_.m3 = min(maxPwm, motorPwm_.m3);
ivo_david_michelle 27:11116aa69f32 207 motorPwm_.m4 = min(maxPwm, motorPwm_.m4);
ivo_david_michelle 32:e12b01c94b4a 208
ivo_david_michelle 32:e12b01c94b4a 209 prev_time_ = time;
ivo_david_michelle 32:e12b01c94b4a 210
ivo_david_michelle 32:e12b01c94b4a 211 //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 212
ivo_david_michelle 33:244dea7a4e81 213 //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 214 }
ivo_david_michelle 10:e7d1801e966a 215
ivo_david_michelle 12:422963993df5 216 motors Quadcopter::getPwm()
ivo_david_michelle 11:5c54826d23a7 217 {
ivo_david_michelle 22:92401a4fec13 218 return motorPwm_;
ivo_david_michelle 22:92401a4fec13 219 }
ivo_david_michelle 20:efa15ed008b4 220
ivo_david_michelle 22:92401a4fec13 221 state Quadcopter::getState()
ivo_david_michelle 22:92401a4fec13 222 {
ivo_david_michelle 22:92401a4fec13 223 return state_;
ivo_david_michelle 11:5c54826d23a7 224 }
ivo_david_michelle 14:64b06476d943 225
ivo_david_michelle 24:e220fbb70ded 226 Adafruit_LSM303_Accel_Unified Quadcopter::getAccel()
ivo_david_michelle 24:e220fbb70ded 227 {
ivo_david_michelle 24:e220fbb70ded 228 return accel_;
ivo_david_michelle 24:e220fbb70ded 229 }
ivo_david_michelle 24:e220fbb70ded 230
ivo_david_michelle 24:e220fbb70ded 231 Adafruit_LSM303_Mag_Unified Quadcopter::getMag()
ivo_david_michelle 24:e220fbb70ded 232 {
ivo_david_michelle 24:e220fbb70ded 233 return mag_;
ivo_david_michelle 24:e220fbb70ded 234 }
ivo_david_michelle 24:e220fbb70ded 235
ivo_david_michelle 24:e220fbb70ded 236 Adafruit_L3GD20_Unified Quadcopter::getGyro()
ivo_david_michelle 24:e220fbb70ded 237 {
ivo_david_michelle 24:e220fbb70ded 238 return gyro_;
ivo_david_michelle 24:e220fbb70ded 239 }
ivo_david_michelle 24:e220fbb70ded 240
ivo_david_michelle 24:e220fbb70ded 241 offset* Quadcopter::getOffset()
ivo_david_michelle 24:e220fbb70ded 242 {
ivo_david_michelle 24:e220fbb70ded 243 return initial_offsets_;
ivo_david_michelle 24:e220fbb70ded 244 }
ivo_david_michelle 24:e220fbb70ded 245
ivo_david_michelle 24:e220fbb70ded 246 Adafruit_9DOF Quadcopter::getIMU()
ivo_david_michelle 24:e220fbb70ded 247 {
ivo_david_michelle 24:e220fbb70ded 248 return dof_;
ivo_david_michelle 24:e220fbb70ded 249 }
ivo_david_michelle 24:e220fbb70ded 250
ivo_david_michelle 27:11116aa69f32 251 double Quadcopter::getForce()
ivo_david_michelle 27:11116aa69f32 252 {
ivo_david_michelle 27:11116aa69f32 253 return F_des_;
ivo_david_michelle 27:11116aa69f32 254 }
ivo_david_michelle 27:11116aa69f32 255
ivo_david_michelle 24:e220fbb70ded 256 void Quadcopter::readRc()
ivo_david_michelle 24:e220fbb70ded 257 {
ivo_david_michelle 14:64b06476d943 258 uint8_t zero = 0;
ivo_david_michelle 14:64b06476d943 259 uint8_t *rssi = &zero;
ivo_david_michelle 14:64b06476d943 260
ivo_david_michelle 14:64b06476d943 261 uint8_t receive = 0;
ivo_david_michelle 14:64b06476d943 262
ivo_david_michelle 14:64b06476d943 263 char rxBuffer[rcLength_];
ivo_david_michelle 24:e220fbb70ded 264
ivo_david_michelle 27:11116aa69f32 265 float thrust;
ivo_david_michelle 27:11116aa69f32 266 float yaw;
ivo_david_michelle 27:11116aa69f32 267 float pitch;
ivo_david_michelle 27:11116aa69f32 268 float roll;
ivo_david_michelle 27:11116aa69f32 269 long long id;
ivo_david_michelle 24:e220fbb70ded 270
ivo_david_michelle 35:35997980a8ba 271 // static int thrust_outliers = 0;
ivo_david_michelle 35:35997980a8ba 272
ivo_david_michelle 16:2be2aab63198 273 receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1);
ivo_david_michelle 16:2be2aab63198 274 if (receive > 0) {
ivo_david_michelle 17:96d0c72e413e 275 sscanf(rxBuffer, "%lld,%f,%f,%f,%f", &id, &thrust, &yaw, &pitch, &roll);
ivo_david_michelle 16:2be2aab63198 276 } else {
ivo_david_michelle 16:2be2aab63198 277 pc_->printf("Receive failure\r\n");
ivo_david_michelle 24:e220fbb70ded 278 }
ivo_david_michelle 24:e220fbb70ded 279
ivo_david_michelle 35:35997980a8ba 280 // if (thrust < -0.3) {
ivo_david_michelle 35:35997980a8ba 281 // thrust_outliers++;
ivo_david_michelle 35:35997980a8ba 282 // if (thrust_outliers < 3) {
ivo_david_michelle 35:35997980a8ba 283 // thrust = F_des_;
ivo_david_michelle 35:35997980a8ba 284 // }
ivo_david_michelle 35:35997980a8ba 285 // } else {
ivo_david_michelle 35:35997980a8ba 286 // thrust_outliers = 0;
ivo_david_michelle 35:35997980a8ba 287 // }
ivo_david_michelle 35:35997980a8ba 288
ivo_david_michelle 33:244dea7a4e81 289 // TODO eliminate the zeros again after testing
ivo_david_michelle 25:d44610851105 290 // convert to radians, range is = +-40° or +-0.698132 radians
ivo_david_michelle 33:244dea7a4e81 291 desiredState_.phi = 1 * (-((roll - 0.5) * 80) * M_PI / 180); // minus, because joystick to right should result in positive moment
ivo_david_michelle 33:244dea7a4e81 292 desiredState_.theta = 1 * ((pitch - 0.5) * 80) * M_PI / 180;
ivo_david_michelle 35:35997980a8ba 293 desiredState_.r = 1 * (yaw - 0.5); // number between 0 and 1 //((yaw - 0.5) * 80) * M_PI / 180;
ivo_david_michelle 35:35997980a8ba 294 F_des_ = thrust - 0.5; // number between 0 and 1 -> number between -0.5 and 0.5
ivo_david_michelle 27:11116aa69f32 295
ivo_david_michelle 25:d44610851105 296 // print id with thrust, yaw, pitch, and roll
ivo_david_michelle 35:35997980a8ba 297 // pc_->printf("%lld: thrust: %f yaw: %f pitch: %f roll: %f outliers: %d\r\n", id, F_des_, desiredState_.psi, desiredState_.theta, desiredState_.phi, thrust_outliers);
ivo_david_michelle 33:244dea7a4e81 298
ivo_david_michelle 14:64b06476d943 299 }
ivo_david_michelle 14:64b06476d943 300