ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
quadcopter.cpp@28:61f7356325c3, 2016-04-15 (annotated)
- Committer:
- ivo_david_michelle
- Date:
- Fri Apr 15 19:08:56 2016 +0000
- Revision:
- 28:61f7356325c3
- Parent:
- 27:11116aa69f32
- Child:
- 29:ae765492fa8b
before possible refactor
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 | 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 | // angular velocities in body coordinate system |
ivo_david_michelle | 10:e7d1801e966a | 87 | state_.p = gyro_event_.gyro.x; |
ivo_david_michelle | 10:e7d1801e966a | 88 | state_.q = gyro_event_.gyro.y; |
ivo_david_michelle | 10:e7d1801e966a | 89 | state_.r = gyro_event_.gyro.z; |
ivo_david_michelle | 24:e220fbb70ded | 90 | |
ivo_david_michelle | 23:04338a5ef404 | 91 | // TODO print values to check what they are |
ivo_david_michelle | 23:04338a5ef404 | 92 | // TODO convert to Radians (*pi/180) |
ivo_david_michelle | 24:e220fbb70ded | 93 | |
ivo_david_michelle | 25:d44610851105 | 94 | // 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 | 95 | state_.phi = orientation_.roll * M_PI / 180; |
ivo_david_michelle | 28:61f7356325c3 | 96 | state_.theta = -orientation_.pitch * M_PI / 180; |
ivo_david_michelle | 24:e220fbb70ded | 97 | state_.psi = orientation_.heading * M_PI / 180; |
ivo_david_michelle | 28:61f7356325c3 | 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 | 10:e7d1801e966a | 99 | } |
ivo_david_michelle | 9:f1bd96708a21 | 100 | |
ivo_david_michelle | 10:e7d1801e966a | 101 | // Date member function |
ivo_david_michelle | 10:e7d1801e966a | 102 | void Quadcopter::setState(state *source, state *goal) |
ivo_david_michelle | 10:e7d1801e966a | 103 | { |
ivo_david_michelle | 10:e7d1801e966a | 104 | goal->phi = source->phi; |
ivo_david_michelle | 10:e7d1801e966a | 105 | goal->theta = source->theta; |
ivo_david_michelle | 10:e7d1801e966a | 106 | goal->psi = source->psi; |
ivo_david_michelle | 10:e7d1801e966a | 107 | goal->p = source->p; |
ivo_david_michelle | 10:e7d1801e966a | 108 | goal->q = source->q; |
ivo_david_michelle | 10:e7d1801e966a | 109 | goal->r = source->r; |
ivo_david_michelle | 9:f1bd96708a21 | 110 | } |
ivo_david_michelle | 9:f1bd96708a21 | 111 | |
ivo_david_michelle | 10:e7d1801e966a | 112 | void Quadcopter::controller() |
ivo_david_michelle | 10:e7d1801e966a | 113 | { |
ivo_david_michelle | 10:e7d1801e966a | 114 | // compute desired angles (in the case we decide not to set |
ivo_david_michelle | 10:e7d1801e966a | 115 | // the angles, but for instance the velocity with the Joystick |
ivo_david_michelle | 9:f1bd96708a21 | 116 | |
ivo_david_michelle | 10:e7d1801e966a | 117 | // PD controller |
ivo_david_michelle | 21:336faf452989 | 118 | controlInput_.f = kp_f_*F_des_;//m_*g_ + F_des_; |
ivo_david_michelle | 10:e7d1801e966a | 119 | controlInput_.mx = kp_phi_*(desiredState_.phi-state_.phi)+kd_phi_*(desiredState_.p-state_.p); |
ivo_david_michelle | 10:e7d1801e966a | 120 | controlInput_.my = kp_theta_*(desiredState_.theta-state_.theta)+kd_theta_*(desiredState_.q-state_.q); |
ivo_david_michelle | 27:11116aa69f32 | 121 | 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 | 122 | //print("Calculated Control"); |
ivo_david_michelle | 10:e7d1801e966a | 123 | |
ivo_david_michelle | 26:7f50323c0c0d | 124 | //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 | 125 | // pc_->printf("F: %f\n\r", F); |
ivo_david_michelle | 24:e220fbb70ded | 126 | |
ivo_david_michelle | 20:efa15ed008b4 | 127 | // set pwm values |
ivo_david_michelle | 20:efa15ed008b4 | 128 | // make code faster by precomputing all the components that are used multiple times and hardcode 0.25/gamma... |
ivo_david_michelle | 27:11116aa69f32 | 129 | motorPwm_.m1=zeroVelPwm + 0.25*controlInput_.f-0.5/l_*controlInput_.my-0.25/gamma_*controlInput_.mz; |
ivo_david_michelle | 28:61f7356325c3 | 130 | motorPwm_.m2=zeroVelPwm + 0.25*controlInput_.f+0.5/l_*controlInput_.mx+0.25/gamma_*controlInput_.mz; |
ivo_david_michelle | 27:11116aa69f32 | 131 | motorPwm_.m3=zeroVelPwm + 0.25*controlInput_.f+0.5/l_*controlInput_.my-0.25/gamma_*controlInput_.mz; |
ivo_david_michelle | 28:61f7356325c3 | 132 | motorPwm_.m4=zeroVelPwm + 0.25*controlInput_.f-0.5/l_*controlInput_.mx+0.25/gamma_*controlInput_.mz; |
ivo_david_michelle | 27:11116aa69f32 | 133 | |
ivo_david_michelle | 27:11116aa69f32 | 134 | motorPwm_.m1 = min(maxPwm, motorPwm_.m1); |
ivo_david_michelle | 27:11116aa69f32 | 135 | motorPwm_.m2 = min(maxPwm, motorPwm_.m2); |
ivo_david_michelle | 27:11116aa69f32 | 136 | motorPwm_.m3 = min(maxPwm, motorPwm_.m3); |
ivo_david_michelle | 27:11116aa69f32 | 137 | motorPwm_.m4 = min(maxPwm, motorPwm_.m4); |
ivo_david_michelle | 27:11116aa69f32 | 138 | |
ivo_david_michelle | 27:11116aa69f32 | 139 | |
ivo_david_michelle | 13:291ba30c7806 | 140 | } |
ivo_david_michelle | 10:e7d1801e966a | 141 | |
ivo_david_michelle | 12:422963993df5 | 142 | motors Quadcopter::getPwm() |
ivo_david_michelle | 11:5c54826d23a7 | 143 | { |
ivo_david_michelle | 22:92401a4fec13 | 144 | return motorPwm_; |
ivo_david_michelle | 22:92401a4fec13 | 145 | } |
ivo_david_michelle | 20:efa15ed008b4 | 146 | |
ivo_david_michelle | 22:92401a4fec13 | 147 | state Quadcopter::getState() |
ivo_david_michelle | 22:92401a4fec13 | 148 | { |
ivo_david_michelle | 22:92401a4fec13 | 149 | return state_; |
ivo_david_michelle | 11:5c54826d23a7 | 150 | } |
ivo_david_michelle | 14:64b06476d943 | 151 | |
ivo_david_michelle | 24:e220fbb70ded | 152 | Adafruit_LSM303_Accel_Unified Quadcopter::getAccel() |
ivo_david_michelle | 24:e220fbb70ded | 153 | { |
ivo_david_michelle | 24:e220fbb70ded | 154 | return accel_; |
ivo_david_michelle | 24:e220fbb70ded | 155 | } |
ivo_david_michelle | 24:e220fbb70ded | 156 | |
ivo_david_michelle | 24:e220fbb70ded | 157 | Adafruit_LSM303_Mag_Unified Quadcopter::getMag() |
ivo_david_michelle | 24:e220fbb70ded | 158 | { |
ivo_david_michelle | 24:e220fbb70ded | 159 | return mag_; |
ivo_david_michelle | 24:e220fbb70ded | 160 | } |
ivo_david_michelle | 24:e220fbb70ded | 161 | |
ivo_david_michelle | 24:e220fbb70ded | 162 | Adafruit_L3GD20_Unified Quadcopter::getGyro() |
ivo_david_michelle | 24:e220fbb70ded | 163 | { |
ivo_david_michelle | 24:e220fbb70ded | 164 | return gyro_; |
ivo_david_michelle | 24:e220fbb70ded | 165 | } |
ivo_david_michelle | 24:e220fbb70ded | 166 | |
ivo_david_michelle | 24:e220fbb70ded | 167 | offset* Quadcopter::getOffset() |
ivo_david_michelle | 24:e220fbb70ded | 168 | { |
ivo_david_michelle | 24:e220fbb70ded | 169 | return initial_offsets_; |
ivo_david_michelle | 24:e220fbb70ded | 170 | } |
ivo_david_michelle | 24:e220fbb70ded | 171 | |
ivo_david_michelle | 24:e220fbb70ded | 172 | Adafruit_9DOF Quadcopter::getIMU() |
ivo_david_michelle | 24:e220fbb70ded | 173 | { |
ivo_david_michelle | 24:e220fbb70ded | 174 | return dof_; |
ivo_david_michelle | 24:e220fbb70ded | 175 | } |
ivo_david_michelle | 24:e220fbb70ded | 176 | |
ivo_david_michelle | 27:11116aa69f32 | 177 | double Quadcopter::getForce() |
ivo_david_michelle | 27:11116aa69f32 | 178 | { |
ivo_david_michelle | 27:11116aa69f32 | 179 | return F_des_; |
ivo_david_michelle | 27:11116aa69f32 | 180 | } |
ivo_david_michelle | 27:11116aa69f32 | 181 | |
ivo_david_michelle | 27:11116aa69f32 | 182 | |
ivo_david_michelle | 24:e220fbb70ded | 183 | void Quadcopter::readRc() |
ivo_david_michelle | 24:e220fbb70ded | 184 | { |
ivo_david_michelle | 14:64b06476d943 | 185 | uint8_t zero = 0; |
ivo_david_michelle | 14:64b06476d943 | 186 | uint8_t *rssi = &zero; |
ivo_david_michelle | 14:64b06476d943 | 187 | |
ivo_david_michelle | 14:64b06476d943 | 188 | uint8_t receive = 0; |
ivo_david_michelle | 14:64b06476d943 | 189 | |
ivo_david_michelle | 14:64b06476d943 | 190 | char rxBuffer[rcLength_]; |
ivo_david_michelle | 24:e220fbb70ded | 191 | |
ivo_david_michelle | 27:11116aa69f32 | 192 | float thrust; |
ivo_david_michelle | 27:11116aa69f32 | 193 | float yaw; |
ivo_david_michelle | 27:11116aa69f32 | 194 | float pitch; |
ivo_david_michelle | 27:11116aa69f32 | 195 | float roll; |
ivo_david_michelle | 27:11116aa69f32 | 196 | long long id; |
ivo_david_michelle | 24:e220fbb70ded | 197 | |
ivo_david_michelle | 16:2be2aab63198 | 198 | receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1); |
ivo_david_michelle | 16:2be2aab63198 | 199 | if (receive > 0) { |
ivo_david_michelle | 17:96d0c72e413e | 200 | sscanf(rxBuffer, "%lld,%f,%f,%f,%f", &id, &thrust, &yaw, &pitch, &roll); |
ivo_david_michelle | 16:2be2aab63198 | 201 | } else { |
ivo_david_michelle | 16:2be2aab63198 | 202 | pc_->printf("Receive failure\r\n"); |
ivo_david_michelle | 24:e220fbb70ded | 203 | } |
ivo_david_michelle | 24:e220fbb70ded | 204 | |
ivo_david_michelle | 28:61f7356325c3 | 205 | //pc_->printf("buffer: %s\r\n", rxBuffer ); |
ivo_david_michelle | 28:61f7356325c3 | 206 | |
ivo_david_michelle | 25:d44610851105 | 207 | // convert to radians, range is = +-40° or +-0.698132 radians |
ivo_david_michelle | 28:61f7356325c3 | 208 | desiredState_.phi = -((roll - 0.5) * 80) * M_PI / 180; // minus, because joystick to right should result in positive moment |
ivo_david_michelle | 25:d44610851105 | 209 | desiredState_.theta = ((pitch - 0.5) * 80) * M_PI / 180; |
ivo_david_michelle | 27:11116aa69f32 | 210 | desiredState_.r = yaw-0.5; // number between 0 and 1 //((yaw - 0.5) * 80) * M_PI / 180; |
ivo_david_michelle | 27:11116aa69f32 | 211 | F_des_ = thrust-0.5; // number between 0 and 1 //((thrust - 0.5) * 80) * M_PI / 180; |
ivo_david_michelle | 27:11116aa69f32 | 212 | |
ivo_david_michelle | 25:d44610851105 | 213 | // print id with thrust, yaw, pitch, and roll |
ivo_david_michelle | 28:61f7356325c3 | 214 | //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 | 215 | } |
ivo_david_michelle | 14:64b06476d943 | 216 |