ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
quadcopter.cpp@46:4bcf2e679f96, 2016-05-05 (annotated)
- Committer:
- ivo_david_michelle
- Date:
- Thu May 05 15:58:49 2016 +0000
- Revision:
- 46:4bcf2e679f96
- Parent:
- 45:9f74298eee78
- Child:
- 47:ae478c380136
best stand so far. hovering see video
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 | 46:4bcf2e679f96 | 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 | 46:4bcf2e679f96 | 18 | //desired_mutex = desired; |
ivo_david_michelle | 27:11116aa69f32 | 19 | |
ivo_david_michelle | 32:e12b01c94b4a | 20 | // control gains set s.t. 100% joystick results in 15% (actually: (maxPwm-zeroVelPwm+0.1)) duty cycle. |
ivo_david_michelle | 42:d09dec5bb184 | 21 | kp_f_ = (MAX_PWM - OFF_PWM) * 4 / 0.5; |
ivo_david_michelle | 45:9f74298eee78 | 22 | kp_phi_ = 0.3 * (MAX_PWM - OFF_PWM) * l_ / 0.5 * 4 / M_PI; //0.3 quite slow |
ivo_david_michelle | 45:9f74298eee78 | 23 | kp_theta_ = 0.3 * (MAX_PWM - OFF_PWM) * l_ / 0.5 * 4 / M_PI; |
ivo_david_michelle | 29:ae765492fa8b | 24 | kp_psi_ = 0; |
ivo_david_michelle | 10:e7d1801e966a | 25 | |
ivo_david_michelle | 10:e7d1801e966a | 26 | // derivative attitude control gains |
ivo_david_michelle | 45:9f74298eee78 | 27 | // TODO 0.15 for both |
ivo_david_michelle | 43:0e98d5488bf2 | 28 | kd_phi_ = 0.1 * (MAX_PWM - OFF_PWM) * 2 / M_PI; // 0.25 maybe a good |
ivo_david_michelle | 45:9f74298eee78 | 29 | kd_theta_ = 0.4 * (MAX_PWM - OFF_PWM) * 2 / M_PI; |
ivo_david_michelle | 29:ae765492fa8b | 30 | kd_psi_ = 0.1; |
ivo_david_michelle | 31:d473eacfc271 | 31 | |
ivo_david_michelle | 39:fff0a72633ee | 32 | // incresae ki_phi |
ivo_david_michelle | 42:d09dec5bb184 | 33 | ki_phi_ = 0 * (MAX_PWM - OFF_PWM)/(2*M_PI/4); // full control signal after 2s at pi/4 error |
ivo_david_michelle | 42:d09dec5bb184 | 34 | ki_theta_ = 0 * (MAX_PWM - OFF_PWM)/(2*M_PI/4); |
ivo_david_michelle | 32:e12b01c94b4a | 35 | |
ivo_david_michelle | 32:e12b01c94b4a | 36 | i_e_phi_ = 0; |
ivo_david_michelle | 31:d473eacfc271 | 37 | i_e_theta_ = 0; |
ivo_david_michelle | 32:e12b01c94b4a | 38 | |
ivo_david_michelle | 32:e12b01c94b4a | 39 | |
ivo_david_michelle | 31:d473eacfc271 | 40 | 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 | 41 | max_integral_theta_ = 0.05/(ki_theta_ * (0.5/l_ + 0.25)); |
ivo_david_michelle | 31:d473eacfc271 | 42 | |
ivo_david_michelle | 10:e7d1801e966a | 43 | |
ivo_david_michelle | 10:e7d1801e966a | 44 | // desired values (will come from joystick) |
ivo_david_michelle | 10:e7d1801e966a | 45 | F_des_ = 0; // desired thrust force (excluding weight compensation) |
ivo_david_michelle | 9:f1bd96708a21 | 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 | 46:4bcf2e679f96 | 49 | //mag_ = Adafruit_LSM303_Mag_Unified(30302); |
ivo_david_michelle | 9:f1bd96708a21 | 50 | gyro_ = Adafruit_L3GD20_Unified(20); |
ivo_david_michelle | 24:e220fbb70ded | 51 | |
ivo_david_michelle | 24:e220fbb70ded | 52 | // prepare for communication with remote control |
ivo_david_michelle | 16:2be2aab63198 | 53 | rcTimer_.start(); |
ivo_david_michelle | 15:90e07946186f | 54 | mrf_ = mrfPntr; // RF tranceiver to link with handheld. |
ivo_david_michelle | 15:90e07946186f | 55 | rcLength_ = 250; |
ivo_david_michelle | 16:2be2aab63198 | 56 | mrf_->SetChannel(3); //Set the Channel. 0 is default, 15 is max |
ivo_david_michelle | 27:11116aa69f32 | 57 | |
ivo_david_michelle | 46:4bcf2e679f96 | 58 | //initial_offsets_ = (offset*) malloc(sizeof(offset)); |
ivo_david_michelle | 24:e220fbb70ded | 59 | initSensors(*this); // IMU |
ivo_david_michelle | 35:35997980a8ba | 60 | |
ivo_david_michelle | 46:4bcf2e679f96 | 61 | // define timer |
ivo_david_michelle | 34:eaea0ae92dfa | 62 | controlTimer = timer; |
ivo_david_michelle | 34:eaea0ae92dfa | 63 | controlTimer->start(); |
ivo_david_michelle | 35:35997980a8ba | 64 | |
ivo_david_michelle | 46:4bcf2e679f96 | 65 | // initialze previous values to zero |
ivo_david_michelle | 46:4bcf2e679f96 | 66 | prev_controller_time_ = 0; |
ivo_david_michelle | 46:4bcf2e679f96 | 67 | prev_sensor_time = 0; |
ivo_david_michelle | 35:35997980a8ba | 68 | |
ivo_david_michelle | 34:eaea0ae92dfa | 69 | readSensorValues(); |
ivo_david_michelle | 35:35997980a8ba | 70 | |
ivo_david_michelle | 46:4bcf2e679f96 | 71 | //kalmanPitch.setAngle(state_.phi); // set initial pitch |
ivo_david_michelle | 46:4bcf2e679f96 | 72 | //§kalmanRoll.setAngle(state_.theta); // set initial theta |
ivo_david_michelle | 46:4bcf2e679f96 | 73 | //compAngleX = state_.phi; |
ivo_david_michelle | 46:4bcf2e679f96 | 74 | //compAngleY = state_.theta; // constant offset at props spinning in hover velocity /2 because of overcorrection |
ivo_david_michelle | 43:0e98d5488bf2 | 75 | |
ivo_david_michelle | 9:f1bd96708a21 | 76 | } |
ivo_david_michelle | 9:f1bd96708a21 | 77 | |
ivo_david_michelle | 9:f1bd96708a21 | 78 | void Quadcopter::readSensorValues() |
ivo_david_michelle | 9:f1bd96708a21 | 79 | { |
ivo_david_michelle | 41:d103f9aa44f0 | 80 | // precomputed gyro offsets |
ivo_david_michelle | 46:4bcf2e679f96 | 81 | double offset_gyro_x = -4.793711656441709e-04; |
ivo_david_michelle | 44:14bee84cdf59 | 82 | double offset_gyro_y = 4.481595092024531e-06; |
ivo_david_michelle | 44:14bee84cdf59 | 83 | double offset_gyro_z = -2.371472392638039e-05; |
ivo_david_michelle | 44:14bee84cdf59 | 84 | double offset_acc_x = -0.270495085889571; |
ivo_david_michelle | 44:14bee84cdf59 | 85 | double offset_acc_y = -0.053425306748466; |
ivo_david_michelle | 44:14bee84cdf59 | 86 | double offset_acc_z = -0.520254558282190; |
ivo_david_michelle | 44:14bee84cdf59 | 87 | |
ivo_david_michelle | 46:4bcf2e679f96 | 88 | if (prev_sensor_time == 0) { |
ivo_david_michelle | 46:4bcf2e679f96 | 89 | prev_sensor_time = controlTimer->read(); |
ivo_david_michelle | 36:40b134328376 | 90 | return; |
ivo_david_michelle | 36:40b134328376 | 91 | } |
ivo_david_michelle | 46:4bcf2e679f96 | 92 | // get acceleration values |
ivo_david_michelle | 9:f1bd96708a21 | 93 | accel_.getEvent(&accel_event_); |
ivo_david_michelle | 46:4bcf2e679f96 | 94 | // detract offsets form raw acceleromater data |
ivo_david_michelle | 44:14bee84cdf59 | 95 | accel_event_.acceleration.x -= offset_acc_x; |
ivo_david_michelle | 44:14bee84cdf59 | 96 | accel_event_.acceleration.y -= offset_acc_y; |
ivo_david_michelle | 44:14bee84cdf59 | 97 | accel_event_.acceleration.z -= offset_acc_z; |
ivo_david_michelle | 46:4bcf2e679f96 | 98 | // compute orientation with correctet acc data |
ivo_david_michelle | 37:a983eb9fd9c5 | 99 | dof_.accelGetOrientation(&accel_event_, &orientation_); |
ivo_david_michelle | 46:4bcf2e679f96 | 100 | // compute roll and pitch values |
ivo_david_michelle | 46:4bcf2e679f96 | 101 | double raw_phi = orientation_.roll * M_PI / 180;; |
ivo_david_michelle | 46:4bcf2e679f96 | 102 | double raw_theta = orientation_.pitch * M_PI / 180;; |
ivo_david_michelle | 11:5c54826d23a7 | 103 | |
ivo_david_michelle | 46:4bcf2e679f96 | 104 | // get gyro values |
ivo_david_michelle | 46:4bcf2e679f96 | 105 | gyro_.getEvent(&gyro_event_); |
ivo_david_michelle | 46:4bcf2e679f96 | 106 | // detract offsets form raw gyro data |
ivo_david_michelle | 44:14bee84cdf59 | 107 | gyro_event_.gyro.x -= offset_gyro_x; |
ivo_david_michelle | 44:14bee84cdf59 | 108 | gyro_event_.gyro.y -= offset_gyro_y; |
ivo_david_michelle | 44:14bee84cdf59 | 109 | gyro_event_.gyro.z -= offset_gyro_z; |
ivo_david_michelle | 46:4bcf2e679f96 | 110 | // compute rates |
ivo_david_michelle | 46:4bcf2e679f96 | 111 | double raw_p = gyro_event_.gyro.x * M_PI / 180; |
ivo_david_michelle | 46:4bcf2e679f96 | 112 | double raw_q = gyro_event_.gyro.y * M_PI / 180; |
ivo_david_michelle | 46:4bcf2e679f96 | 113 | double raw_r = gyro_event_.gyro.z * M_PI / 180; |
ivo_david_michelle | 32:e12b01c94b4a | 114 | |
ivo_david_michelle | 46:4bcf2e679f96 | 115 | float time = controlTimer->read(); |
ivo_david_michelle | 46:4bcf2e679f96 | 116 | float dt = time - prev_sensor_time; // TODO problems with this? |
ivo_david_michelle | 32:e12b01c94b4a | 117 | |
ivo_david_michelle | 46:4bcf2e679f96 | 118 | // Kalman Filter |
ivo_david_michelle | 46:4bcf2e679f96 | 119 | // state_.phi = kalmanRoll.getAngle(state_.phi * 180 / M_PI, state_.p * 180 / M_PI, dt) * M_PI / 180; |
ivo_david_michelle | 46:4bcf2e679f96 | 120 | // state_.theta = kalmanPitch.getAngle(state_.theta * 180 / M_PI, state_.q * 180 / M_PI, dt) * M_PI / 180; |
ivo_david_michelle | 46:4bcf2e679f96 | 121 | // state_.p = kalmanRoll.getRate() * M_PI / 180; |
ivo_david_michelle | 46:4bcf2e679f96 | 122 | // state_.q = kalmanPitch.getRate() * M_PI / 180; |
ivo_david_michelle | 46:4bcf2e679f96 | 123 | |
ivo_david_michelle | 46:4bcf2e679f96 | 124 | // complementary filter parameters |
ivo_david_michelle | 45:9f74298eee78 | 125 | double alphaX = 0.0002;//0.002; |
ivo_david_michelle | 45:9f74298eee78 | 126 | double alphaY = 0.0001; //0.002; |
ivo_david_michelle | 46:4bcf2e679f96 | 127 | // different version of complementary filter |
ivo_david_michelle | 40:09a59d5b7944 | 128 | //compAngleX = (1 - alphaX) * (compAngleX + raw_p * dt) + alphaX * raw_phi; // Calculate the angle using a Complimentary filter |
ivo_david_michelle | 40:09a59d5b7944 | 129 | //compAngleY = (1 - alphaY) * (compAngleY + raw_q * dt) + alphaY * raw_theta; |
ivo_david_michelle | 46:4bcf2e679f96 | 130 | compAngleX = (1 - alphaX) * (compAngleX + (raw_p + 8.446703927263016e-04) * dt) + alphaX * raw_phi; // hardcoded value compensates drift with alpha == 0. |
ivo_david_michelle | 44:14bee84cdf59 | 131 | compAngleY = (1 - alphaY) * (compAngleY + (raw_q - 0.008936763695439) * dt) + alphaY * raw_theta; |
ivo_david_michelle | 39:fff0a72633ee | 132 | |
ivo_david_michelle | 46:4bcf2e679f96 | 133 | // assign values to state |
ivo_david_michelle | 46:4bcf2e679f96 | 134 | state_.phi = compAngleX; |
ivo_david_michelle | 46:4bcf2e679f96 | 135 | state_.theta = compAngleY; |
ivo_david_michelle | 46:4bcf2e679f96 | 136 | state_.p = raw_p; |
ivo_david_michelle | 46:4bcf2e679f96 | 137 | state_.q = raw_q; |
ivo_david_michelle | 46:4bcf2e679f96 | 138 | state_.r = raw_r; |
ivo_david_michelle | 46:4bcf2e679f96 | 139 | |
ivo_david_michelle | 40:09a59d5b7944 | 140 | |
ivo_david_michelle | 46:4bcf2e679f96 | 141 | prev_sensor_time = time; |
ivo_david_michelle | 32:e12b01c94b4a | 142 | |
ivo_david_michelle | 46:4bcf2e679f96 | 143 | // Plotting |
ivo_david_michelle | 42:d09dec5bb184 | 144 | /*pc_->printf("%f %f %f %f %f %f %f \r\n", |
ivo_david_michelle | 46:4bcf2e679f96 | 145 | prev_sensor_time, |
ivo_david_michelle | 40:09a59d5b7944 | 146 | accel_event_.acceleration.x, accel_event_.acceleration.y, accel_event_.acceleration.z, |
ivo_david_michelle | 40:09a59d5b7944 | 147 | gyro_event_.gyro.x, gyro_event_.gyro.y, gyro_event_.gyro.z); |
ivo_david_michelle | 42:d09dec5bb184 | 148 | */ |
ivo_david_michelle | 39:fff0a72633ee | 149 | // static int count = 0; |
ivo_david_michelle | 39:fff0a72633ee | 150 | // if (count % 100 == 0) { |
ivo_david_michelle | 39:fff0a72633ee | 151 | // pc_->printf("%d\r\n", count); |
ivo_david_michelle | 39:fff0a72633ee | 152 | // } |
ivo_david_michelle | 39:fff0a72633ee | 153 | // count++; |
ivo_david_michelle | 46:4bcf2e679f96 | 154 | //pc_->printf("%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\r\n", prev_sensor_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,accel_event_.acceleration.x, accel_event_.acceleration.y, accel_event_.acceleration.z); |
ivo_david_michelle | 9:f1bd96708a21 | 155 | } |
ivo_david_michelle | 9:f1bd96708a21 | 156 | |
ivo_david_michelle | 34:eaea0ae92dfa | 157 | void Quadcopter::controller() |
ivo_david_michelle | 10:e7d1801e966a | 158 | { |
ivo_david_michelle | 34:eaea0ae92dfa | 159 | float time = controlTimer->read(); |
ivo_david_michelle | 46:4bcf2e679f96 | 160 | if (prev_controller_time_ == 0) { |
ivo_david_michelle | 46:4bcf2e679f96 | 161 | prev_controller_time_ = time; |
ivo_david_michelle | 31:d473eacfc271 | 162 | return; |
ivo_david_michelle | 32:e12b01c94b4a | 163 | } |
ivo_david_michelle | 32:e12b01c94b4a | 164 | |
ivo_david_michelle | 10:e7d1801e966a | 165 | // PD controller |
ivo_david_michelle | 31:d473eacfc271 | 166 | double e_phi = desiredState_.phi - state_.phi; |
ivo_david_michelle | 31:d473eacfc271 | 167 | double e_theta = desiredState_.theta - state_.theta; |
ivo_david_michelle | 32:e12b01c94b4a | 168 | |
ivo_david_michelle | 46:4bcf2e679f96 | 169 | float dt = time - prev_controller_time_; |
ivo_david_michelle | 46:4bcf2e679f96 | 170 | // integrate errors |
ivo_david_michelle | 32:e12b01c94b4a | 171 | i_e_phi_ = i_e_phi_ + e_phi * dt; |
ivo_david_michelle | 32:e12b01c94b4a | 172 | i_e_theta_ = i_e_theta_ + e_theta * dt; |
ivo_david_michelle | 46:4bcf2e679f96 | 173 | // limit integrals |
ivo_david_michelle | 31:d473eacfc271 | 174 | i_e_phi_ = min(max_integral_phi_, i_e_phi_); |
ivo_david_michelle | 31:d473eacfc271 | 175 | i_e_theta_ = min(max_integral_theta_, i_e_theta_); |
ivo_david_michelle | 32:e12b01c94b4a | 176 | i_e_phi_ = max(-max_integral_phi_, i_e_phi_); |
ivo_david_michelle | 32:e12b01c94b4a | 177 | i_e_theta_ = max(-max_integral_theta_, i_e_theta_); |
ivo_david_michelle | 46:4bcf2e679f96 | 178 | |
ivo_david_michelle | 46:4bcf2e679f96 | 179 | // compute control forces |
ivo_david_michelle | 46:4bcf2e679f96 | 180 | controlInput_.f = kp_f_ * F_des_; |
ivo_david_michelle | 31:d473eacfc271 | 181 | controlInput_.mx = kp_phi_ * e_phi + kd_phi_ * (desiredState_.p - state_.p) + ki_phi_ * i_e_phi_; |
ivo_david_michelle | 31:d473eacfc271 | 182 | controlInput_.my = kp_theta_ * e_theta + kd_theta_ * (desiredState_.q - state_.q) + ki_theta_ * i_e_theta_; |
ivo_david_michelle | 29:ae765492fa8b | 183 | 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 | 184 | |
ivo_david_michelle | 20:efa15ed008b4 | 185 | // set pwm values |
ivo_david_michelle | 29:ae765492fa8b | 186 | double forcePerMotor = 0.25 * controlInput_.f; |
ivo_david_michelle | 29:ae765492fa8b | 187 | double yawMomentPerMotor = 0.25 / gamma_ * controlInput_.mz; |
ivo_david_michelle | 29:ae765492fa8b | 188 | double rollMomentPerMotor = 0.5 / l_ * controlInput_.mx; |
ivo_david_michelle | 29:ae765492fa8b | 189 | double pitchMomentPerMotor = 0.5 / l_ * controlInput_.my; |
ivo_david_michelle | 42:d09dec5bb184 | 190 | motorPwm_.m1 = MIN_PWM_1 + forcePerMotor - pitchMomentPerMotor - yawMomentPerMotor; |
ivo_david_michelle | 42:d09dec5bb184 | 191 | motorPwm_.m2 = MIN_PWM_2 + forcePerMotor + rollMomentPerMotor + yawMomentPerMotor; |
ivo_david_michelle | 42:d09dec5bb184 | 192 | motorPwm_.m3 = MIN_PWM_3 + forcePerMotor + pitchMomentPerMotor - yawMomentPerMotor; |
ivo_david_michelle | 42:d09dec5bb184 | 193 | motorPwm_.m4 = MIN_PWM_4 + forcePerMotor - rollMomentPerMotor + yawMomentPerMotor; |
ivo_david_michelle | 27:11116aa69f32 | 194 | |
ivo_david_michelle | 29:ae765492fa8b | 195 | // cut off at max PWM |
ivo_david_michelle | 42:d09dec5bb184 | 196 | motorPwm_.m1 = min(MAX_PWM, motorPwm_.m1); |
ivo_david_michelle | 42:d09dec5bb184 | 197 | motorPwm_.m2 = min(MAX_PWM, motorPwm_.m2); |
ivo_david_michelle | 42:d09dec5bb184 | 198 | motorPwm_.m3 = min(MAX_PWM, motorPwm_.m3); |
ivo_david_michelle | 42:d09dec5bb184 | 199 | motorPwm_.m4 = min(MAX_PWM, motorPwm_.m4); |
ivo_david_michelle | 42:d09dec5bb184 | 200 | |
ivo_david_michelle | 42:d09dec5bb184 | 201 | motorPwm_.m1 = max(MIN_PWM_1, motorPwm_.m1); |
ivo_david_michelle | 42:d09dec5bb184 | 202 | motorPwm_.m2 = max(MIN_PWM_2, motorPwm_.m2); |
ivo_david_michelle | 42:d09dec5bb184 | 203 | motorPwm_.m3 = max(MIN_PWM_3, motorPwm_.m3); |
ivo_david_michelle | 42:d09dec5bb184 | 204 | motorPwm_.m4 = max(MIN_PWM_4, motorPwm_.m4); |
ivo_david_michelle | 32:e12b01c94b4a | 205 | |
ivo_david_michelle | 46:4bcf2e679f96 | 206 | prev_controller_time_ = time; |
ivo_david_michelle | 32:e12b01c94b4a | 207 | |
ivo_david_michelle | 46:4bcf2e679f96 | 208 | // Printing |
ivo_david_michelle | 46:4bcf2e679f96 | 209 | //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 | 32:e12b01c94b4a | 210 | //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 | 211 | |
ivo_david_michelle | 13:291ba30c7806 | 212 | } |
ivo_david_michelle | 10:e7d1801e966a | 213 | |
ivo_david_michelle | 12:422963993df5 | 214 | motors Quadcopter::getPwm() |
ivo_david_michelle | 11:5c54826d23a7 | 215 | { |
ivo_david_michelle | 22:92401a4fec13 | 216 | return motorPwm_; |
ivo_david_michelle | 22:92401a4fec13 | 217 | } |
ivo_david_michelle | 20:efa15ed008b4 | 218 | |
ivo_david_michelle | 22:92401a4fec13 | 219 | state Quadcopter::getState() |
ivo_david_michelle | 22:92401a4fec13 | 220 | { |
ivo_david_michelle | 22:92401a4fec13 | 221 | return state_; |
ivo_david_michelle | 11:5c54826d23a7 | 222 | } |
ivo_david_michelle | 14:64b06476d943 | 223 | |
ivo_david_michelle | 24:e220fbb70ded | 224 | Adafruit_LSM303_Accel_Unified Quadcopter::getAccel() |
ivo_david_michelle | 24:e220fbb70ded | 225 | { |
ivo_david_michelle | 24:e220fbb70ded | 226 | return accel_; |
ivo_david_michelle | 24:e220fbb70ded | 227 | } |
ivo_david_michelle | 24:e220fbb70ded | 228 | |
ivo_david_michelle | 46:4bcf2e679f96 | 229 | //Adafruit_LSM303_Mag_Unified Quadcopter::getMag() |
ivo_david_michelle | 46:4bcf2e679f96 | 230 | //{ |
ivo_david_michelle | 46:4bcf2e679f96 | 231 | // return mag_; |
ivo_david_michelle | 46:4bcf2e679f96 | 232 | //} |
ivo_david_michelle | 24:e220fbb70ded | 233 | |
ivo_david_michelle | 24:e220fbb70ded | 234 | Adafruit_L3GD20_Unified Quadcopter::getGyro() |
ivo_david_michelle | 24:e220fbb70ded | 235 | { |
ivo_david_michelle | 24:e220fbb70ded | 236 | return gyro_; |
ivo_david_michelle | 24:e220fbb70ded | 237 | } |
ivo_david_michelle | 24:e220fbb70ded | 238 | |
ivo_david_michelle | 24:e220fbb70ded | 239 | offset* Quadcopter::getOffset() |
ivo_david_michelle | 24:e220fbb70ded | 240 | { |
ivo_david_michelle | 24:e220fbb70ded | 241 | return initial_offsets_; |
ivo_david_michelle | 24:e220fbb70ded | 242 | } |
ivo_david_michelle | 24:e220fbb70ded | 243 | |
ivo_david_michelle | 24:e220fbb70ded | 244 | Adafruit_9DOF Quadcopter::getIMU() |
ivo_david_michelle | 24:e220fbb70ded | 245 | { |
ivo_david_michelle | 24:e220fbb70ded | 246 | return dof_; |
ivo_david_michelle | 24:e220fbb70ded | 247 | } |
ivo_david_michelle | 24:e220fbb70ded | 248 | |
ivo_david_michelle | 27:11116aa69f32 | 249 | double Quadcopter::getForce() |
ivo_david_michelle | 27:11116aa69f32 | 250 | { |
ivo_david_michelle | 37:a983eb9fd9c5 | 251 | return F_des_; |
ivo_david_michelle | 27:11116aa69f32 | 252 | } |
ivo_david_michelle | 27:11116aa69f32 | 253 | |
ivo_david_michelle | 24:e220fbb70ded | 254 | void Quadcopter::readRc() |
ivo_david_michelle | 24:e220fbb70ded | 255 | { |
ivo_david_michelle | 14:64b06476d943 | 256 | uint8_t zero = 0; |
ivo_david_michelle | 14:64b06476d943 | 257 | uint8_t *rssi = &zero; |
ivo_david_michelle | 14:64b06476d943 | 258 | |
ivo_david_michelle | 14:64b06476d943 | 259 | uint8_t receive = 0; |
ivo_david_michelle | 14:64b06476d943 | 260 | |
ivo_david_michelle | 14:64b06476d943 | 261 | char rxBuffer[rcLength_]; |
ivo_david_michelle | 24:e220fbb70ded | 262 | |
ivo_david_michelle | 27:11116aa69f32 | 263 | float thrust; |
ivo_david_michelle | 37:a983eb9fd9c5 | 264 | float yaw = 0; |
ivo_david_michelle | 37:a983eb9fd9c5 | 265 | float pitch = 0; |
ivo_david_michelle | 37:a983eb9fd9c5 | 266 | float roll = 0; |
ivo_david_michelle | 27:11116aa69f32 | 267 | long long id; |
ivo_david_michelle | 24:e220fbb70ded | 268 | |
ivo_david_michelle | 37:a983eb9fd9c5 | 269 | //static int thrust_outliers = 0; |
ivo_david_michelle | 35:35997980a8ba | 270 | |
ivo_david_michelle | 16:2be2aab63198 | 271 | receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1); |
ivo_david_michelle | 37:a983eb9fd9c5 | 272 | if (receive > 10) { |
ivo_david_michelle | 37:a983eb9fd9c5 | 273 | int written = sscanf(rxBuffer, "%lld,%f,%f,%f,%f", &id, &thrust, &yaw, &pitch, &roll); |
ivo_david_michelle | 38:14bf11115f9f | 274 | // pc_->printf("%d\r\n", written); |
ivo_david_michelle | 37:a983eb9fd9c5 | 275 | if (written != 5) { |
ivo_david_michelle | 38:14bf11115f9f | 276 | // pc_->printf("%s\r\n", rxBuffer); |
ivo_david_michelle | 37:a983eb9fd9c5 | 277 | return; |
ivo_david_michelle | 37:a983eb9fd9c5 | 278 | } |
ivo_david_michelle | 16:2be2aab63198 | 279 | } else { |
ivo_david_michelle | 16:2be2aab63198 | 280 | pc_->printf("Receive failure\r\n"); |
ivo_david_michelle | 37:a983eb9fd9c5 | 281 | return; |
ivo_david_michelle | 24:e220fbb70ded | 282 | } |
ivo_david_michelle | 39:fff0a72633ee | 283 | |
ivo_david_michelle | 39:fff0a72633ee | 284 | // test for outliers (can remove when fixed for sure) |
ivo_david_michelle | 39:fff0a72633ee | 285 | // float temp_thrust = thrust - 0.5; |
ivo_david_michelle | 39:fff0a72633ee | 286 | // |
ivo_david_michelle | 37:a983eb9fd9c5 | 287 | // if (temp_thrust < -0.3) { |
ivo_david_michelle | 35:35997980a8ba | 288 | // thrust_outliers++; |
ivo_david_michelle | 35:35997980a8ba | 289 | // if (thrust_outliers < 3) { |
ivo_david_michelle | 35:35997980a8ba | 290 | // thrust = F_des_; |
ivo_david_michelle | 35:35997980a8ba | 291 | // } |
ivo_david_michelle | 35:35997980a8ba | 292 | // } else { |
ivo_david_michelle | 35:35997980a8ba | 293 | // thrust_outliers = 0; |
ivo_david_michelle | 35:35997980a8ba | 294 | // } |
ivo_david_michelle | 35:35997980a8ba | 295 | |
ivo_david_michelle | 25:d44610851105 | 296 | // convert to radians, range is = +-40° or +-0.698132 radians |
ivo_david_michelle | 38:14bf11115f9f | 297 | desiredState_.phi = 1 * (-(roll * 80) * M_PI / 180); // minus, because joystick to right should result in positive moment |
ivo_david_michelle | 38:14bf11115f9f | 298 | desiredState_.theta = 1 * (pitch * 80) * M_PI / 180; |
ivo_david_michelle | 38:14bf11115f9f | 299 | desiredState_.r = 1 * yaw; // number between 0 and 1 //((yaw - 0.5) * 80) * M_PI / 180; |
ivo_david_michelle | 38:14bf11115f9f | 300 | F_des_ = thrust; // number between 0 and 1 -> number between -0.5 and 0.5 |
ivo_david_michelle | 39:fff0a72633ee | 301 | |
ivo_david_michelle | 39:fff0a72633ee | 302 | /* test for outliers (can remove when fixed for sure) |
ivo_david_michelle | 38:14bf11115f9f | 303 | 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 | 304 | 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 | 305 | } |
ivo_david_michelle | 39:fff0a72633ee | 306 | */ |
ivo_david_michelle | 14:64b06476d943 | 307 | } |
ivo_david_michelle | 14:64b06476d943 | 308 |