ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
quadcopter.cpp@17:96d0c72e413e, 2016-04-07 (annotated)
- Committer:
- ivo_david_michelle
- Date:
- Thu Apr 07 22:13:17 2016 +0000
- Revision:
- 17:96d0c72e413e
- Parent:
- 16:2be2aab63198
- Child:
- 18:a00d6b065c6b
18:12 access remote control variables from main loop!
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 | 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 | 10:e7d1801e966a | 16 | // proportional attitude control gains |
ivo_david_michelle | 10:e7d1801e966a | 17 | kp_phi_ = 1; |
ivo_david_michelle | 10:e7d1801e966a | 18 | kp_theta_ = 1; |
ivo_david_michelle | 10:e7d1801e966a | 19 | kp_psi_ = 1; |
ivo_david_michelle | 10:e7d1801e966a | 20 | |
ivo_david_michelle | 10:e7d1801e966a | 21 | // derivative attitude control gains |
ivo_david_michelle | 10:e7d1801e966a | 22 | kd_phi_ = 0; |
ivo_david_michelle | 10:e7d1801e966a | 23 | kd_theta_ = 0; |
ivo_david_michelle | 10:e7d1801e966a | 24 | kd_psi_ = 0; |
ivo_david_michelle | 10:e7d1801e966a | 25 | |
ivo_david_michelle | 10:e7d1801e966a | 26 | // desired values (will come from joystick) |
ivo_david_michelle | 10:e7d1801e966a | 27 | F_des_ = 0; // desired thrust force (excluding weight compensation) |
ivo_david_michelle | 9:f1bd96708a21 | 28 | |
ivo_david_michelle | 9:f1bd96708a21 | 29 | dof_ = Adafruit_9DOF(); |
ivo_david_michelle | 9:f1bd96708a21 | 30 | accel_ = Adafruit_LSM303_Accel_Unified(30301); |
ivo_david_michelle | 9:f1bd96708a21 | 31 | mag_ = Adafruit_LSM303_Mag_Unified(30302); |
ivo_david_michelle | 9:f1bd96708a21 | 32 | gyro_ = Adafruit_L3GD20_Unified(20); |
ivo_david_michelle | 14:64b06476d943 | 33 | //motor1_(p21); |
ivo_david_michelle | 14:64b06476d943 | 34 | |
ivo_david_michelle | 14:64b06476d943 | 35 | // initSensors(accel_, mag_, gyro_, offsetAngRate_); // IMU |
ivo_david_michelle | 14:64b06476d943 | 36 | |
ivo_david_michelle | 14:64b06476d943 | 37 | // prepare for communication with remote control |
ivo_david_michelle | 16:2be2aab63198 | 38 | rcTimer_.start(); |
ivo_david_michelle | 15:90e07946186f | 39 | mrf_ = mrfPntr; // RF tranceiver to link with handheld. |
ivo_david_michelle | 15:90e07946186f | 40 | rcLength_ = 250; |
ivo_david_michelle | 16:2be2aab63198 | 41 | mrf_->SetChannel(3); //Set the Channel. 0 is default, 15 is max |
ivo_david_michelle | 17:96d0c72e413e | 42 | thrust = 0.5; |
ivo_david_michelle | 17:96d0c72e413e | 43 | yaw = 0.5; |
ivo_david_michelle | 17:96d0c72e413e | 44 | pitch = 0.5; |
ivo_david_michelle | 17:96d0c72e413e | 45 | roll = 0.5; |
ivo_david_michelle | 17:96d0c72e413e | 46 | id = -1; |
ivo_david_michelle | 9:f1bd96708a21 | 47 | } |
ivo_david_michelle | 9:f1bd96708a21 | 48 | |
ivo_david_michelle | 9:f1bd96708a21 | 49 | |
ivo_david_michelle | 9:f1bd96708a21 | 50 | void Quadcopter::readSensorValues() |
ivo_david_michelle | 9:f1bd96708a21 | 51 | { |
ivo_david_michelle | 9:f1bd96708a21 | 52 | accel_.getEvent(&accel_event_); |
ivo_david_michelle | 9:f1bd96708a21 | 53 | if (dof_.accelGetOrientation(&accel_event_, &orientation_)) { |
ivo_david_michelle | 9:f1bd96708a21 | 54 | } |
ivo_david_michelle | 9:f1bd96708a21 | 55 | /* Calculate the heading using the magnetometer */ |
ivo_david_michelle | 9:f1bd96708a21 | 56 | mag_.getEvent(&mag_event_); |
ivo_david_michelle | 9:f1bd96708a21 | 57 | if (dof_.magGetOrientation(SENSOR_AXIS_Z, &mag_event_, &orientation_)) { |
ivo_david_michelle | 9:f1bd96708a21 | 58 | } |
ivo_david_michelle | 9:f1bd96708a21 | 59 | |
ivo_david_michelle | 13:291ba30c7806 | 60 | gyro_.getEvent(&gyro_event_); |
ivo_david_michelle | 11:5c54826d23a7 | 61 | |
ivo_david_michelle | 13:291ba30c7806 | 62 | gyro_event_.gyro.x -= offsetAngRate_.x; |
ivo_david_michelle | 13:291ba30c7806 | 63 | gyro_event_.gyro.y -= offsetAngRate_.y; |
ivo_david_michelle | 13:291ba30c7806 | 64 | gyro_event_.gyro.z -= offsetAngRate_.z; |
ivo_david_michelle | 13:291ba30c7806 | 65 | |
ivo_david_michelle | 13:291ba30c7806 | 66 | |
ivo_david_michelle | 10:e7d1801e966a | 67 | // measured values (will come from IMU/parameter class/Input to function later) |
ivo_david_michelle | 10:e7d1801e966a | 68 | // angles |
ivo_david_michelle | 10:e7d1801e966a | 69 | state_.phi = orientation_.roll; |
ivo_david_michelle | 10:e7d1801e966a | 70 | state_.theta =orientation_.pitch; |
ivo_david_michelle | 10:e7d1801e966a | 71 | state_.psi =orientation_.heading; |
ivo_david_michelle | 10:e7d1801e966a | 72 | // angular velocities in body coordinate system |
ivo_david_michelle | 10:e7d1801e966a | 73 | state_.p = gyro_event_.gyro.x; |
ivo_david_michelle | 10:e7d1801e966a | 74 | state_.q = gyro_event_.gyro.y; |
ivo_david_michelle | 10:e7d1801e966a | 75 | state_.r = gyro_event_.gyro.z; |
ivo_david_michelle | 10:e7d1801e966a | 76 | } |
ivo_david_michelle | 9:f1bd96708a21 | 77 | |
ivo_david_michelle | 10:e7d1801e966a | 78 | // Date member function |
ivo_david_michelle | 10:e7d1801e966a | 79 | void Quadcopter::setState(state *source, state *goal) |
ivo_david_michelle | 10:e7d1801e966a | 80 | { |
ivo_david_michelle | 10:e7d1801e966a | 81 | goal->phi = source->phi; |
ivo_david_michelle | 10:e7d1801e966a | 82 | goal->theta = source->theta; |
ivo_david_michelle | 10:e7d1801e966a | 83 | goal->psi = source->psi; |
ivo_david_michelle | 10:e7d1801e966a | 84 | goal->p = source->p; |
ivo_david_michelle | 10:e7d1801e966a | 85 | goal->q = source->q; |
ivo_david_michelle | 10:e7d1801e966a | 86 | goal->r = source->r; |
ivo_david_michelle | 9:f1bd96708a21 | 87 | |
ivo_david_michelle | 9:f1bd96708a21 | 88 | } |
ivo_david_michelle | 9:f1bd96708a21 | 89 | |
ivo_david_michelle | 9:f1bd96708a21 | 90 | |
ivo_david_michelle | 10:e7d1801e966a | 91 | void Quadcopter::controller() |
ivo_david_michelle | 10:e7d1801e966a | 92 | { |
ivo_david_michelle | 10:e7d1801e966a | 93 | |
ivo_david_michelle | 10:e7d1801e966a | 94 | // compute desired angles (in the case we decide not to set |
ivo_david_michelle | 10:e7d1801e966a | 95 | // the angles, but for instance the velocity with the Joystick |
ivo_david_michelle | 9:f1bd96708a21 | 96 | |
ivo_david_michelle | 10:e7d1801e966a | 97 | // PD controller |
ivo_david_michelle | 10:e7d1801e966a | 98 | controlInput_.f = m_*g_ + F_des_; |
ivo_david_michelle | 10:e7d1801e966a | 99 | controlInput_.mx = kp_phi_*(desiredState_.phi-state_.phi)+kd_phi_*(desiredState_.p-state_.p); |
ivo_david_michelle | 10:e7d1801e966a | 100 | controlInput_.my = kp_theta_*(desiredState_.theta-state_.theta)+kd_theta_*(desiredState_.q-state_.q); |
ivo_david_michelle | 10:e7d1801e966a | 101 | controlInput_.mz = kp_psi_*(desiredState_.psi-state_.psi)+kd_psi_*(desiredState_.r-state_.r); |
ivo_david_michelle | 14:64b06476d943 | 102 | //print("Calculated Control"); |
ivo_david_michelle | 10:e7d1801e966a | 103 | |
ivo_david_michelle | 10:e7d1801e966a | 104 | //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 | 105 | // pc_->printf("F: %f\n\r", F); |
ivo_david_michelle | 13:291ba30c7806 | 106 | } |
ivo_david_michelle | 10:e7d1801e966a | 107 | |
ivo_david_michelle | 12:422963993df5 | 108 | motors Quadcopter::getPwm() |
ivo_david_michelle | 11:5c54826d23a7 | 109 | { |
ivo_david_michelle | 12:422963993df5 | 110 | //motors motorPwm_;// weired errror, should not be necessary |
ivo_david_michelle | 11:5c54826d23a7 | 111 | motorPwm_.m1=0; |
ivo_david_michelle | 14:64b06476d943 | 112 | motorPwm_.m2=0.5 + controlInput_.mx/100; |
ivo_david_michelle | 11:5c54826d23a7 | 113 | motorPwm_.m3=0; |
ivo_david_michelle | 14:64b06476d943 | 114 | motorPwm_.m4=0.5 - controlInput_.mx/100; |
ivo_david_michelle | 12:422963993df5 | 115 | return motorPwm_; |
ivo_david_michelle | 11:5c54826d23a7 | 116 | } |
ivo_david_michelle | 14:64b06476d943 | 117 | |
ivo_david_michelle | 14:64b06476d943 | 118 | |
ivo_david_michelle | 16:2be2aab63198 | 119 | void Quadcopter::readRc() { |
ivo_david_michelle | 14:64b06476d943 | 120 | uint8_t zero = 0; |
ivo_david_michelle | 14:64b06476d943 | 121 | uint8_t *rssi = &zero; |
ivo_david_michelle | 14:64b06476d943 | 122 | |
ivo_david_michelle | 14:64b06476d943 | 123 | uint8_t receive = 0; |
ivo_david_michelle | 14:64b06476d943 | 124 | |
ivo_david_michelle | 14:64b06476d943 | 125 | char rxBuffer[rcLength_]; |
ivo_david_michelle | 14:64b06476d943 | 126 | |
ivo_david_michelle | 16:2be2aab63198 | 127 | receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1); |
ivo_david_michelle | 16:2be2aab63198 | 128 | if (receive > 0) { |
ivo_david_michelle | 17:96d0c72e413e | 129 | sscanf(rxBuffer, "%lld,%f,%f,%f,%f", &id, &thrust, &yaw, &pitch, &roll); |
ivo_david_michelle | 16:2be2aab63198 | 130 | } else { |
ivo_david_michelle | 16:2be2aab63198 | 131 | pc_->printf("Receive failure\r\n"); |
ivo_david_michelle | 16:2be2aab63198 | 132 | } |
ivo_david_michelle | 14:64b06476d943 | 133 | } |
ivo_david_michelle | 14:64b06476d943 | 134 |