David Lakata / Mbed 2 deprecated QuadTrio

ESE350 project, Spring 2016, University of Pennsylvania

Dependencies:   Adafruit9-DOf Receiver mbed-rtos mbed

quadcopter.h@10:e7d1801e966a, 2016-04-02 (annotated)

Committer:
ivo_david_michelle
Date:
Sat Apr 02 17:41:37 2016 +0000
Revision:
10:e7d1801e966a
Parent:
9:f1bd96708a21
Child:
11:5c54826d23a7
some comments

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ivo_david_michelle 6:6f3ffd97d808 1 #ifndef QUADCOPTER_H
ivo_david_michelle 6:6f3ffd97d808 2 #define QUADCOPTER_H
ivo_david_michelle 6:6f3ffd97d808 3
ivo_david_michelle 7:f3f94eadc5b5 4 #include "mbed.h"
ivo_david_michelle 7:f3f94eadc5b5 5 #include "Adafruit_9DOF.h"
ivo_david_michelle 9:f1bd96708a21 6 #include "Serial_base.h"
ivo_david_michelle 6:6f3ffd97d808 7
ivo_david_michelle 7:f3f94eadc5b5 8
ivo_david_michelle 7:f3f94eadc5b5 9 struct state {
ivo_david_michelle 10:e7d1801e966a 10 double phi; // roll
ivo_david_michelle 10:e7d1801e966a 11 double theta; // pitch
ivo_david_michelle 10:e7d1801e966a 12 double psi; // yaw
ivo_david_michelle 10:e7d1801e966a 13 double p; // omega x
ivo_david_michelle 10:e7d1801e966a 14 double q; // omega y
ivo_david_michelle 10:e7d1801e966a 15 double r; // omega z
ivo_david_michelle 10:e7d1801e966a 16
ivo_david_michelle 6:6f3ffd97d808 17 };
ivo_david_michelle 7:f3f94eadc5b5 18
ivo_david_michelle 10:e7d1801e966a 19 struct controlInput {
ivo_david_michelle 10:e7d1801e966a 20 double f;
ivo_david_michelle 10:e7d1801e966a 21 double mx;
ivo_david_michelle 10:e7d1801e966a 22 double my;
ivo_david_michelle 10:e7d1801e966a 23 double mz;
ivo_david_michelle 7:f3f94eadc5b5 24 };
ivo_david_michelle 7:f3f94eadc5b5 25
ivo_david_michelle 10:e7d1801e966a 26 // do one struct called "vector", or use standart template library
ivo_david_michelle 7:f3f94eadc5b5 27 struct offset {
ivo_david_michelle 10:e7d1801e966a 28 double x;
ivo_david_michelle 10:e7d1801e966a 29 double y;
ivo_david_michelle 10:e7d1801e966a 30 double z;
ivo_david_michelle 7:f3f94eadc5b5 31 };
ivo_david_michelle 7:f3f94eadc5b5 32
ivo_david_michelle 10:e7d1801e966a 33
ivo_david_michelle 10:e7d1801e966a 34
ivo_david_michelle 6:6f3ffd97d808 35 class Quadcopter
ivo_david_michelle 6:6f3ffd97d808 36 {
ivo_david_michelle 6:6f3ffd97d808 37 private:
ivo_david_michelle 8:326e7009ce0c 38 state state_;
ivo_david_michelle 10:e7d1801e966a 39 state desiredState_;
ivo_david_michelle 10:e7d1801e966a 40 controlInput controlInput_;
ivo_david_michelle 10:e7d1801e966a 41 //pwmOut * _pwmOut; // give address to constructor, than change this value
ivo_david_michelle 7:f3f94eadc5b5 42
ivo_david_michelle 10:e7d1801e966a 43 Adafruit_9DOF dof_;
ivo_david_michelle 10:e7d1801e966a 44 Adafruit_LSM303_Accel_Unified accel_;
ivo_david_michelle 10:e7d1801e966a 45 Adafruit_LSM303_Mag_Unified mag_;
ivo_david_michelle 10:e7d1801e966a 46 Adafruit_L3GD20_Unified gyro_;
ivo_david_michelle 7:f3f94eadc5b5 47
ivo_david_michelle 10:e7d1801e966a 48 sensors_event_t accel_event_;
ivo_david_michelle 9:f1bd96708a21 49 sensors_event_t mag_event_;
ivo_david_michelle 9:f1bd96708a21 50 sensors_event_t gyro_event_;
ivo_david_michelle 9:f1bd96708a21 51 sensors_vec_t orientation_;
ivo_david_michelle 9:f1bd96708a21 52
ivo_david_michelle 10:e7d1801e966a 53 offset offsetAngRate_;
ivo_david_michelle 10:e7d1801e966a 54 offset offsetAttitude_; // used later to compensate tilt of IMU
ivo_david_michelle 10:e7d1801e966a 55
ivo_david_michelle 10:e7d1801e966a 56 Serial *pcPntr_; // used to access serial communication
ivo_david_michelle 10:e7d1801e966a 57
ivo_david_michelle 10:e7d1801e966a 58 double g_; // gravity [m/s^2]
ivo_david_michelle 10:e7d1801e966a 59 double m_; // mass [kg]
ivo_david_michelle 10:e7d1801e966a 60 // proportional attitude control gains
ivo_david_michelle 10:e7d1801e966a 61 double kp_phi_;
ivo_david_michelle 10:e7d1801e966a 62 double kp_theta_;
ivo_david_michelle 10:e7d1801e966a 63 double kp_psi_;
ivo_david_michelle 10:e7d1801e966a 64
ivo_david_michelle 10:e7d1801e966a 65 // derivative attitude control gains
ivo_david_michelle 10:e7d1801e966a 66 double kd_phi_;
ivo_david_michelle 10:e7d1801e966a 67 double kd_theta_;
ivo_david_michelle 10:e7d1801e966a 68 double kd_psi_;
ivo_david_michelle 10:e7d1801e966a 69
ivo_david_michelle 10:e7d1801e966a 70 // desired force (will come from joystick)
ivo_david_michelle 10:e7d1801e966a 71 double F_des_; // desired thrust force (excluding weight compensation)
ivo_david_michelle 7:f3f94eadc5b5 72
ivo_david_michelle 7:f3f94eadc5b5 73
ivo_david_michelle 6:6f3ffd97d808 74 public:
ivo_david_michelle 10:e7d1801e966a 75 Quadcopter(); // constructor
ivo_david_michelle 10:e7d1801e966a 76 void setState(state *source, state *goal);
ivo_david_michelle 8:326e7009ce0c 77 void controller();
ivo_david_michelle 8:326e7009ce0c 78 void readSensorValues();
ivo_david_michelle 9:f1bd96708a21 79 void initAllSensors();
ivo_david_michelle 10:e7d1801e966a 80 void setSerial(Serial *pcPntr) {
ivo_david_michelle 10:e7d1801e966a 81 pcPntr_=pcPntr;
ivo_david_michelle 10:e7d1801e966a 82 };
ivo_david_michelle 10:e7d1801e966a 83 void print(char * myString); // overload in order to print numbers
ivo_david_michelle 10:e7d1801e966a 84
ivo_david_michelle 10:e7d1801e966a 85
ivo_david_michelle 10:e7d1801e966a 86 // not implemented yet
ivo_david_michelle 10:e7d1801e966a 87 void setGains();
ivo_david_michelle 10:e7d1801e966a 88 //void setPwm();
ivo_david_michelle 10:e7d1801e966a 89 //void initializePwm();
ivo_david_michelle 6:6f3ffd97d808 90 };
ivo_david_michelle 7:f3f94eadc5b5 91
ivo_david_michelle 6:6f3ffd97d808 92 #endif