ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
quadcopter.cpp@36:40b134328376, 2016-04-29 (annotated)
- Committer:
- ivo_david_michelle
- Date:
- Fri Apr 29 18:24:15 2016 +0000
- Revision:
- 36:40b134328376
- Parent:
- 35:35997980a8ba
- Child:
- 37:a983eb9fd9c5
before testing performance
Who changed what in which revision?
User | Revision | Line number | New 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 | 36:40b134328376 | 24 | kp_phi_ = 10 * 0.25 * (maxPwm - zeroVelPwm) * l_ / 0.5 * 4 / M_PI; |
ivo_david_michelle | 36:40b134328376 | 25 | kp_theta_ = 10 * 0.2 * (maxPwm - zeroVelPwm) * l_ / 0.5 * 4 / M_PI; |
ivo_david_michelle | 29:ae765492fa8b | 26 | kp_psi_ = 0; |
ivo_david_michelle | 32:e12b01c94b4a | 27 | // kp_phi_ = 0; |
ivo_david_michelle | 31:d473eacfc271 | 28 | // kp_theta_ = 0; |
ivo_david_michelle | 10:e7d1801e966a | 29 | |
ivo_david_michelle | 10:e7d1801e966a | 30 | // derivative attitude control gains |
ivo_david_michelle | 36:40b134328376 | 31 | kd_phi_ = 0.0 * (maxPwm - zeroVelPwm) * 2 / M_PI; //0.25 good |
ivo_david_michelle | 35:35997980a8ba | 32 | kd_theta_ = 0.0 * (maxPwm - zeroVelPwm) * 2 / M_PI; |
ivo_david_michelle | 29:ae765492fa8b | 33 | kd_psi_ = 0.1; |
ivo_david_michelle | 32:e12b01c94b4a | 34 | // kd_phi_ = 0; |
ivo_david_michelle | 31:d473eacfc271 | 35 | //kd_theta_ = 0; |
ivo_david_michelle | 31:d473eacfc271 | 36 | |
ivo_david_michelle | 32:e12b01c94b4a | 37 | // incresae ki_phi |
ivo_david_michelle | 35:35997980a8ba | 38 | ki_phi_ = 0 * (maxPwm - zeroVelPwm)/(2*M_PI/4); // full control signal after 2s at pi/4 error |
ivo_david_michelle | 32:e12b01c94b4a | 39 | ki_theta_ = 0 * (maxPwm - zeroVelPwm)/(2*M_PI/4); |
ivo_david_michelle | 32:e12b01c94b4a | 40 | |
ivo_david_michelle | 32:e12b01c94b4a | 41 | i_e_phi_ = 0; |
ivo_david_michelle | 31:d473eacfc271 | 42 | i_e_theta_ = 0; |
ivo_david_michelle | 31:d473eacfc271 | 43 | prev_time_ = 0; |
ivo_david_michelle | 32:e12b01c94b4a | 44 | |
ivo_david_michelle | 32:e12b01c94b4a | 45 | |
ivo_david_michelle | 31:d473eacfc271 | 46 | 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 | 47 | max_integral_theta_ = 0.05/(ki_theta_ * (0.5/l_ + 0.25)); |
ivo_david_michelle | 31:d473eacfc271 | 48 | |
ivo_david_michelle | 10:e7d1801e966a | 49 | |
ivo_david_michelle | 10:e7d1801e966a | 50 | // desired values (will come from joystick) |
ivo_david_michelle | 10:e7d1801e966a | 51 | F_des_ = 0; // desired thrust force (excluding weight compensation) |
ivo_david_michelle | 9:f1bd96708a21 | 52 | |
ivo_david_michelle | 9:f1bd96708a21 | 53 | dof_ = Adafruit_9DOF(); |
ivo_david_michelle | 9:f1bd96708a21 | 54 | accel_ = Adafruit_LSM303_Accel_Unified(30301); |
ivo_david_michelle | 9:f1bd96708a21 | 55 | mag_ = Adafruit_LSM303_Mag_Unified(30302); |
ivo_david_michelle | 9:f1bd96708a21 | 56 | gyro_ = Adafruit_L3GD20_Unified(20); |
ivo_david_michelle | 24:e220fbb70ded | 57 | |
ivo_david_michelle | 24:e220fbb70ded | 58 | // prepare for communication with remote control |
ivo_david_michelle | 16:2be2aab63198 | 59 | rcTimer_.start(); |
ivo_david_michelle | 15:90e07946186f | 60 | mrf_ = mrfPntr; // RF tranceiver to link with handheld. |
ivo_david_michelle | 15:90e07946186f | 61 | rcLength_ = 250; |
ivo_david_michelle | 16:2be2aab63198 | 62 | mrf_->SetChannel(3); //Set the Channel. 0 is default, 15 is max |
ivo_david_michelle | 27:11116aa69f32 | 63 | |
ivo_david_michelle | 24:e220fbb70ded | 64 | initial_offsets_ = (offset*) malloc(sizeof(offset)); |
ivo_david_michelle | 24:e220fbb70ded | 65 | initSensors(*this); // IMU |
ivo_david_michelle | 35:35997980a8ba | 66 | |
ivo_david_michelle | 34:eaea0ae92dfa | 67 | controlTimer = timer; |
ivo_david_michelle | 34:eaea0ae92dfa | 68 | controlTimer->start(); |
ivo_david_michelle | 35:35997980a8ba | 69 | |
ivo_david_michelle | 34:eaea0ae92dfa | 70 | prev_kalman_time = 0; |
ivo_david_michelle | 35:35997980a8ba | 71 | |
ivo_david_michelle | 34:eaea0ae92dfa | 72 | readSensorValues(); |
ivo_david_michelle | 35:35997980a8ba | 73 | |
ivo_david_michelle | 34:eaea0ae92dfa | 74 | kalmanPitch.setAngle(state_.phi); // set initial pitch |
ivo_david_michelle | 34:eaea0ae92dfa | 75 | kalmanRoll.setAngle(state_.theta); // set initial theta |
ivo_david_michelle | 34:eaea0ae92dfa | 76 | compAngleX = state_.phi; |
ivo_david_michelle | 34:eaea0ae92dfa | 77 | compAngleY = state_.theta; |
ivo_david_michelle | 9:f1bd96708a21 | 78 | } |
ivo_david_michelle | 9:f1bd96708a21 | 79 | |
ivo_david_michelle | 9:f1bd96708a21 | 80 | void Quadcopter::readSensorValues() |
ivo_david_michelle | 9:f1bd96708a21 | 81 | { |
ivo_david_michelle | 36:40b134328376 | 82 | if (prev_kalman_time == 0) { |
ivo_david_michelle | 36:40b134328376 | 83 | prev_kalman_time = controlTimer->read(); |
ivo_david_michelle | 36:40b134328376 | 84 | return; |
ivo_david_michelle | 36:40b134328376 | 85 | } |
ivo_david_michelle | 36:40b134328376 | 86 | |
ivo_david_michelle | 9:f1bd96708a21 | 87 | accel_.getEvent(&accel_event_); |
ivo_david_michelle | 9:f1bd96708a21 | 88 | mag_.getEvent(&mag_event_); |
ivo_david_michelle | 35:35997980a8ba | 89 | dof_.fusionGetOrientation(&accel_event_, &mag_event_, &orientation_); |
ivo_david_michelle | 9:f1bd96708a21 | 90 | |
ivo_david_michelle | 13:291ba30c7806 | 91 | gyro_.getEvent(&gyro_event_); |
ivo_david_michelle | 11:5c54826d23a7 | 92 | |
ivo_david_michelle | 24:e220fbb70ded | 93 | gyro_event_.gyro.x -= initial_offsets_->gyro_x; |
ivo_david_michelle | 24:e220fbb70ded | 94 | gyro_event_.gyro.y -= initial_offsets_->gyro_y; |
ivo_david_michelle | 24:e220fbb70ded | 95 | gyro_event_.gyro.z -= initial_offsets_->gyro_z; |
ivo_david_michelle | 24:e220fbb70ded | 96 | orientation_.roll -= initial_offsets_->roll; |
ivo_david_michelle | 24:e220fbb70ded | 97 | orientation_.pitch -= initial_offsets_->pitch; |
ivo_david_michelle | 24:e220fbb70ded | 98 | orientation_.heading -= initial_offsets_->heading; |
ivo_david_michelle | 13:291ba30c7806 | 99 | |
ivo_david_michelle | 35:35997980a8ba | 100 | |
ivo_david_michelle | 35:35997980a8ba | 101 | |
ivo_david_michelle | 32:e12b01c94b4a | 102 | static int current_filter = 0; |
ivo_david_michelle | 32:e12b01c94b4a | 103 | filters_.p[current_filter] = gyro_event_.gyro.x * M_PI / 180; |
ivo_david_michelle | 32:e12b01c94b4a | 104 | filters_.q[current_filter] = gyro_event_.gyro.y * M_PI / 180; |
ivo_david_michelle | 32:e12b01c94b4a | 105 | filters_.r[current_filter] = gyro_event_.gyro.z * M_PI / 180; |
ivo_david_michelle | 32:e12b01c94b4a | 106 | filters_.phi[current_filter] = orientation_.roll * M_PI / 180; |
ivo_david_michelle | 36:40b134328376 | 107 | filters_.theta[current_filter] = orientation_.pitch * M_PI / 180; |
ivo_david_michelle | 32:e12b01c94b4a | 108 | filters_.psi[current_filter] = orientation_.heading * M_PI / 180; |
ivo_david_michelle | 32:e12b01c94b4a | 109 | |
ivo_david_michelle | 32:e12b01c94b4a | 110 | current_filter = (current_filter + 1) % FILTER_SIZE; |
ivo_david_michelle | 32:e12b01c94b4a | 111 | |
ivo_david_michelle | 32:e12b01c94b4a | 112 | double p_sum = 0; |
ivo_david_michelle | 32:e12b01c94b4a | 113 | double q_sum = 0; |
ivo_david_michelle | 32:e12b01c94b4a | 114 | double r_sum = 0; |
ivo_david_michelle | 32:e12b01c94b4a | 115 | double phi_sum = 0; |
ivo_david_michelle | 32:e12b01c94b4a | 116 | double theta_sum = 0; |
ivo_david_michelle | 32:e12b01c94b4a | 117 | double psi_sum = 0; |
ivo_david_michelle | 32:e12b01c94b4a | 118 | for (int i = 0; i < FILTER_SIZE; i++) { |
ivo_david_michelle | 32:e12b01c94b4a | 119 | p_sum += filters_.p[i]; |
ivo_david_michelle | 32:e12b01c94b4a | 120 | q_sum += filters_.q[i]; |
ivo_david_michelle | 32:e12b01c94b4a | 121 | r_sum += filters_.r[i]; |
ivo_david_michelle | 32:e12b01c94b4a | 122 | phi_sum += filters_.phi[i]; |
ivo_david_michelle | 32:e12b01c94b4a | 123 | theta_sum += filters_.theta[i]; |
ivo_david_michelle | 32:e12b01c94b4a | 124 | psi_sum += filters_.psi[i]; |
ivo_david_michelle | 32:e12b01c94b4a | 125 | } |
ivo_david_michelle | 32:e12b01c94b4a | 126 | |
ivo_david_michelle | 35:35997980a8ba | 127 | // double radMaxAngle = M_PI / 180 * 20; |
ivo_david_michelle | 35:35997980a8ba | 128 | double phi_new = phi_sum / FILTER_SIZE; |
ivo_david_michelle | 35:35997980a8ba | 129 | // if (phi_new < radMaxAngle && phi_new > -radMaxAngle) { |
ivo_david_michelle | 35:35997980a8ba | 130 | // state_.phi = phi_new; |
ivo_david_michelle | 35:35997980a8ba | 131 | // }; |
ivo_david_michelle | 35:35997980a8ba | 132 | double theta_new = theta_sum / FILTER_SIZE; |
ivo_david_michelle | 35:35997980a8ba | 133 | // if (theta_new < radMaxAngle && theta_new > -radMaxAngle) { |
ivo_david_michelle | 35:35997980a8ba | 134 | // state_.theta = theta_new; |
ivo_david_michelle | 35:35997980a8ba | 135 | // }; |
ivo_david_michelle | 35:35997980a8ba | 136 | |
ivo_david_michelle | 35:35997980a8ba | 137 | state_.phi = phi_new; |
ivo_david_michelle | 35:35997980a8ba | 138 | state_.theta = theta_new; |
ivo_david_michelle | 32:e12b01c94b4a | 139 | state_.p = p_sum / FILTER_SIZE; |
ivo_david_michelle | 35:35997980a8ba | 140 | |
ivo_david_michelle | 32:e12b01c94b4a | 141 | state_.q = q_sum / FILTER_SIZE; |
ivo_david_michelle | 32:e12b01c94b4a | 142 | state_.r = r_sum / FILTER_SIZE; |
ivo_david_michelle | 24:e220fbb70ded | 143 | |
ivo_david_michelle | 35:35997980a8ba | 144 | //state_.theta = theta_sum / FILTER_SIZE; |
ivo_david_michelle | 32:e12b01c94b4a | 145 | state_.psi = psi_sum / FILTER_SIZE; |
ivo_david_michelle | 35:35997980a8ba | 146 | |
ivo_david_michelle | 35:35997980a8ba | 147 | double raw_phi = state_.phi; |
ivo_david_michelle | 35:35997980a8ba | 148 | double raw_theta = state_.theta; |
ivo_david_michelle | 35:35997980a8ba | 149 | double raw_p = state_.p; |
ivo_david_michelle | 35:35997980a8ba | 150 | double raw_q = state_.q; |
ivo_david_michelle | 36:40b134328376 | 151 | float time = controlTimer->read(); |
ivo_david_michelle | 36:40b134328376 | 152 | float dt = time - prev_kalman_time; |
ivo_david_michelle | 34:eaea0ae92dfa | 153 | state_.phi = kalmanRoll.getAngle(state_.phi * 180 / M_PI, state_.p * 180 / M_PI, dt) * M_PI / 180; |
ivo_david_michelle | 34:eaea0ae92dfa | 154 | state_.theta = kalmanPitch.getAngle(state_.theta * 180 / M_PI, state_.q * 180 / M_PI, dt) * M_PI / 180; |
ivo_david_michelle | 35:35997980a8ba | 155 | state_.p = kalmanRoll.getRate() * M_PI / 180; |
ivo_david_michelle | 35:35997980a8ba | 156 | state_.q = kalmanPitch.getRate() * M_PI / 180; |
ivo_david_michelle | 36:40b134328376 | 157 | |
ivo_david_michelle | 36:40b134328376 | 158 | double alphaX = 0.7; |
ivo_david_michelle | 36:40b134328376 | 159 | double alphaY = 0.7; |
ivo_david_michelle | 36:40b134328376 | 160 | compAngleX = (1 - alphaX) * (compAngleX + raw_p * dt) + alphaX * raw_phi; // Calculate the angle using a Complimentary filter |
ivo_david_michelle | 36:40b134328376 | 161 | compAngleY = (1 - alphaY) * (compAngleY + raw_q * dt) + alphaY * raw_theta; |
ivo_david_michelle | 34:eaea0ae92dfa | 162 | |
ivo_david_michelle | 35:35997980a8ba | 163 | //state_.phi = compAngleX; |
ivo_david_michelle | 35:35997980a8ba | 164 | //state_.theta = compAngleY; |
ivo_david_michelle | 32:e12b01c94b4a | 165 | |
ivo_david_michelle | 36:40b134328376 | 166 | prev_kalman_time = time; |
ivo_david_michelle | 36:40b134328376 | 167 | static int count = 0; |
ivo_david_michelle | 36:40b134328376 | 168 | if (count % 100 == 0) { |
ivo_david_michelle | 36:40b134328376 | 169 | pc_->printf("%d\r\n", count); |
ivo_david_michelle | 36:40b134328376 | 170 | } |
ivo_david_michelle | 36:40b134328376 | 171 | count++; |
ivo_david_michelle | 36:40b134328376 | 172 | //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 | 173 | } |
ivo_david_michelle | 9:f1bd96708a21 | 174 | |
ivo_david_michelle | 34:eaea0ae92dfa | 175 | void Quadcopter::controller() |
ivo_david_michelle | 10:e7d1801e966a | 176 | { |
ivo_david_michelle | 34:eaea0ae92dfa | 177 | float time = controlTimer->read(); |
ivo_david_michelle | 31:d473eacfc271 | 178 | if (prev_time_ == 0) { |
ivo_david_michelle | 32:e12b01c94b4a | 179 | prev_time_ = time; |
ivo_david_michelle | 31:d473eacfc271 | 180 | return; |
ivo_david_michelle | 32:e12b01c94b4a | 181 | } |
ivo_david_michelle | 32:e12b01c94b4a | 182 | |
ivo_david_michelle | 10:e7d1801e966a | 183 | // PD controller |
ivo_david_michelle | 31:d473eacfc271 | 184 | double e_phi = desiredState_.phi - state_.phi; |
ivo_david_michelle | 31:d473eacfc271 | 185 | double e_theta = desiredState_.theta - state_.theta; |
ivo_david_michelle | 32:e12b01c94b4a | 186 | |
ivo_david_michelle | 32:e12b01c94b4a | 187 | float dt = time - prev_time_; |
ivo_david_michelle | 32:e12b01c94b4a | 188 | i_e_phi_ = i_e_phi_ + e_phi * dt; |
ivo_david_michelle | 32:e12b01c94b4a | 189 | i_e_theta_ = i_e_theta_ + e_theta * dt; |
ivo_david_michelle | 31:d473eacfc271 | 190 | i_e_phi_ = min(max_integral_phi_, i_e_phi_); |
ivo_david_michelle | 31:d473eacfc271 | 191 | i_e_theta_ = min(max_integral_theta_, i_e_theta_); |
ivo_david_michelle | 32:e12b01c94b4a | 192 | i_e_phi_ = max(-max_integral_phi_, i_e_phi_); |
ivo_david_michelle | 32:e12b01c94b4a | 193 | i_e_theta_ = max(-max_integral_theta_, i_e_theta_); |
ivo_david_michelle | 31:d473eacfc271 | 194 | |
ivo_david_michelle | 29:ae765492fa8b | 195 | controlInput_.f = kp_f_ * F_des_;//m_*g_ + F_des_; |
ivo_david_michelle | 31:d473eacfc271 | 196 | controlInput_.mx = kp_phi_ * e_phi + kd_phi_ * (desiredState_.p - state_.p) + ki_phi_ * i_e_phi_; |
ivo_david_michelle | 31:d473eacfc271 | 197 | controlInput_.my = kp_theta_ * e_theta + kd_theta_ * (desiredState_.q - state_.q) + ki_theta_ * i_e_theta_; |
ivo_david_michelle | 29:ae765492fa8b | 198 | 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 | 199 | |
ivo_david_michelle | 20:efa15ed008b4 | 200 | // set pwm values |
ivo_david_michelle | 29:ae765492fa8b | 201 | double forcePerMotor = 0.25 * controlInput_.f; |
ivo_david_michelle | 29:ae765492fa8b | 202 | double yawMomentPerMotor = 0.25 / gamma_ * controlInput_.mz; |
ivo_david_michelle | 29:ae765492fa8b | 203 | double rollMomentPerMotor = 0.5 / l_ * controlInput_.mx; |
ivo_david_michelle | 29:ae765492fa8b | 204 | double pitchMomentPerMotor = 0.5 / l_ * controlInput_.my; |
ivo_david_michelle | 29:ae765492fa8b | 205 | motorPwm_.m1 = zeroVelPwm + forcePerMotor - pitchMomentPerMotor - yawMomentPerMotor; |
ivo_david_michelle | 29:ae765492fa8b | 206 | motorPwm_.m2 = zeroVelPwm + forcePerMotor + rollMomentPerMotor + yawMomentPerMotor; |
ivo_david_michelle | 29:ae765492fa8b | 207 | motorPwm_.m3 = zeroVelPwm + forcePerMotor + pitchMomentPerMotor - yawMomentPerMotor; |
ivo_david_michelle | 29:ae765492fa8b | 208 | motorPwm_.m4 = zeroVelPwm + forcePerMotor - rollMomentPerMotor + yawMomentPerMotor; |
ivo_david_michelle | 27:11116aa69f32 | 209 | |
ivo_david_michelle | 29:ae765492fa8b | 210 | // cut off at max PWM |
ivo_david_michelle | 30:4820042e67b5 | 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 | motorPwm_.m1 = min(maxPwm, motorPwm_.m1); |
ivo_david_michelle | 27:11116aa69f32 | 213 | motorPwm_.m2 = min(maxPwm, motorPwm_.m2); |
ivo_david_michelle | 27:11116aa69f32 | 214 | motorPwm_.m3 = min(maxPwm, motorPwm_.m3); |
ivo_david_michelle | 27:11116aa69f32 | 215 | motorPwm_.m4 = min(maxPwm, motorPwm_.m4); |
ivo_david_michelle | 32:e12b01c94b4a | 216 | |
ivo_david_michelle | 32:e12b01c94b4a | 217 | prev_time_ = time; |
ivo_david_michelle | 32:e12b01c94b4a | 218 | |
ivo_david_michelle | 32:e12b01c94b4a | 219 | //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 | 220 | |
ivo_david_michelle | 33:244dea7a4e81 | 221 | //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 | 222 | } |
ivo_david_michelle | 10:e7d1801e966a | 223 | |
ivo_david_michelle | 12:422963993df5 | 224 | motors Quadcopter::getPwm() |
ivo_david_michelle | 11:5c54826d23a7 | 225 | { |
ivo_david_michelle | 22:92401a4fec13 | 226 | return motorPwm_; |
ivo_david_michelle | 22:92401a4fec13 | 227 | } |
ivo_david_michelle | 20:efa15ed008b4 | 228 | |
ivo_david_michelle | 22:92401a4fec13 | 229 | state Quadcopter::getState() |
ivo_david_michelle | 22:92401a4fec13 | 230 | { |
ivo_david_michelle | 22:92401a4fec13 | 231 | return state_; |
ivo_david_michelle | 11:5c54826d23a7 | 232 | } |
ivo_david_michelle | 14:64b06476d943 | 233 | |
ivo_david_michelle | 24:e220fbb70ded | 234 | Adafruit_LSM303_Accel_Unified Quadcopter::getAccel() |
ivo_david_michelle | 24:e220fbb70ded | 235 | { |
ivo_david_michelle | 24:e220fbb70ded | 236 | return accel_; |
ivo_david_michelle | 24:e220fbb70ded | 237 | } |
ivo_david_michelle | 24:e220fbb70ded | 238 | |
ivo_david_michelle | 24:e220fbb70ded | 239 | Adafruit_LSM303_Mag_Unified Quadcopter::getMag() |
ivo_david_michelle | 24:e220fbb70ded | 240 | { |
ivo_david_michelle | 24:e220fbb70ded | 241 | return mag_; |
ivo_david_michelle | 24:e220fbb70ded | 242 | } |
ivo_david_michelle | 24:e220fbb70ded | 243 | |
ivo_david_michelle | 24:e220fbb70ded | 244 | Adafruit_L3GD20_Unified Quadcopter::getGyro() |
ivo_david_michelle | 24:e220fbb70ded | 245 | { |
ivo_david_michelle | 24:e220fbb70ded | 246 | return gyro_; |
ivo_david_michelle | 24:e220fbb70ded | 247 | } |
ivo_david_michelle | 24:e220fbb70ded | 248 | |
ivo_david_michelle | 24:e220fbb70ded | 249 | offset* Quadcopter::getOffset() |
ivo_david_michelle | 24:e220fbb70ded | 250 | { |
ivo_david_michelle | 24:e220fbb70ded | 251 | return initial_offsets_; |
ivo_david_michelle | 24:e220fbb70ded | 252 | } |
ivo_david_michelle | 24:e220fbb70ded | 253 | |
ivo_david_michelle | 24:e220fbb70ded | 254 | Adafruit_9DOF Quadcopter::getIMU() |
ivo_david_michelle | 24:e220fbb70ded | 255 | { |
ivo_david_michelle | 24:e220fbb70ded | 256 | return dof_; |
ivo_david_michelle | 24:e220fbb70ded | 257 | } |
ivo_david_michelle | 24:e220fbb70ded | 258 | |
ivo_david_michelle | 27:11116aa69f32 | 259 | double Quadcopter::getForce() |
ivo_david_michelle | 27:11116aa69f32 | 260 | { |
ivo_david_michelle | 36:40b134328376 | 261 | double force; |
ivo_david_michelle | 36:40b134328376 | 262 | desired_mutex->lock(); |
ivo_david_michelle | 36:40b134328376 | 263 | force = F_des_; |
ivo_david_michelle | 36:40b134328376 | 264 | desired_mutex->unlock(); |
ivo_david_michelle | 36:40b134328376 | 265 | return force; |
ivo_david_michelle | 27:11116aa69f32 | 266 | } |
ivo_david_michelle | 27:11116aa69f32 | 267 | |
ivo_david_michelle | 24:e220fbb70ded | 268 | void Quadcopter::readRc() |
ivo_david_michelle | 24:e220fbb70ded | 269 | { |
ivo_david_michelle | 14:64b06476d943 | 270 | uint8_t zero = 0; |
ivo_david_michelle | 14:64b06476d943 | 271 | uint8_t *rssi = &zero; |
ivo_david_michelle | 14:64b06476d943 | 272 | |
ivo_david_michelle | 14:64b06476d943 | 273 | uint8_t receive = 0; |
ivo_david_michelle | 14:64b06476d943 | 274 | |
ivo_david_michelle | 14:64b06476d943 | 275 | char rxBuffer[rcLength_]; |
ivo_david_michelle | 24:e220fbb70ded | 276 | |
ivo_david_michelle | 27:11116aa69f32 | 277 | float thrust; |
ivo_david_michelle | 27:11116aa69f32 | 278 | float yaw; |
ivo_david_michelle | 27:11116aa69f32 | 279 | float pitch; |
ivo_david_michelle | 27:11116aa69f32 | 280 | float roll; |
ivo_david_michelle | 27:11116aa69f32 | 281 | long long id; |
ivo_david_michelle | 24:e220fbb70ded | 282 | |
ivo_david_michelle | 36:40b134328376 | 283 | static int thrust_outliers = 0; |
ivo_david_michelle | 35:35997980a8ba | 284 | |
ivo_david_michelle | 16:2be2aab63198 | 285 | receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1); |
ivo_david_michelle | 16:2be2aab63198 | 286 | if (receive > 0) { |
ivo_david_michelle | 17:96d0c72e413e | 287 | sscanf(rxBuffer, "%lld,%f,%f,%f,%f", &id, &thrust, &yaw, &pitch, &roll); |
ivo_david_michelle | 16:2be2aab63198 | 288 | } else { |
ivo_david_michelle | 16:2be2aab63198 | 289 | pc_->printf("Receive failure\r\n"); |
ivo_david_michelle | 24:e220fbb70ded | 290 | } |
ivo_david_michelle | 24:e220fbb70ded | 291 | |
ivo_david_michelle | 36:40b134328376 | 292 | desired_mutex->lock(); |
ivo_david_michelle | 36:40b134328376 | 293 | // thrust = thrust - 0.5; |
ivo_david_michelle | 36:40b134328376 | 294 | // |
ivo_david_michelle | 35:35997980a8ba | 295 | // if (thrust < -0.3) { |
ivo_david_michelle | 35:35997980a8ba | 296 | // thrust_outliers++; |
ivo_david_michelle | 35:35997980a8ba | 297 | // if (thrust_outliers < 3) { |
ivo_david_michelle | 35:35997980a8ba | 298 | // thrust = F_des_; |
ivo_david_michelle | 35:35997980a8ba | 299 | // } |
ivo_david_michelle | 35:35997980a8ba | 300 | // } else { |
ivo_david_michelle | 35:35997980a8ba | 301 | // thrust_outliers = 0; |
ivo_david_michelle | 35:35997980a8ba | 302 | // } |
ivo_david_michelle | 35:35997980a8ba | 303 | |
ivo_david_michelle | 33:244dea7a4e81 | 304 | // TODO eliminate the zeros again after testing |
ivo_david_michelle | 25:d44610851105 | 305 | // convert to radians, range is = +-40° or +-0.698132 radians |
ivo_david_michelle | 36:40b134328376 | 306 | |
ivo_david_michelle | 36:40b134328376 | 307 | |
ivo_david_michelle | 33:244dea7a4e81 | 308 | 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 | 309 | desiredState_.theta = 1 * ((pitch - 0.5) * 80) * M_PI / 180; |
ivo_david_michelle | 35:35997980a8ba | 310 | desiredState_.r = 1 * (yaw - 0.5); // number between 0 and 1 //((yaw - 0.5) * 80) * M_PI / 180; |
ivo_david_michelle | 35:35997980a8ba | 311 | F_des_ = thrust - 0.5; // number between 0 and 1 -> number between -0.5 and 0.5 |
ivo_david_michelle | 27:11116aa69f32 | 312 | |
ivo_david_michelle | 36:40b134328376 | 313 | desired_mutex->unlock(); |
ivo_david_michelle | 25:d44610851105 | 314 | // print id with thrust, yaw, pitch, and roll |
ivo_david_michelle | 35:35997980a8ba | 315 | // 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 | 316 | |
ivo_david_michelle | 14:64b06476d943 | 317 | } |
ivo_david_michelle | 14:64b06476d943 | 318 |