ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
Diff: quadcopter.cpp
- Revision:
- 38:14bf11115f9f
- Parent:
- 37:a983eb9fd9c5
- Child:
- 39:fff0a72633ee
diff -r a983eb9fd9c5 -r 14bf11115f9f quadcopter.cpp --- a/quadcopter.cpp Sun May 01 18:45:02 2016 +0000 +++ b/quadcopter.cpp Sun May 01 21:59:10 2016 +0000 @@ -28,8 +28,8 @@ // kp_theta_ = 0; // derivative attitude control gains - kd_phi_ = 0.0 * (maxPwm - zeroVelPwm) * 2 / M_PI; //0.25 good - kd_theta_ = 0.0 * (maxPwm - zeroVelPwm) * 2 / M_PI; + kd_phi_ = 0.05 * (maxPwm - zeroVelPwm) * 2 / M_PI; //0.25 good + kd_theta_ = 0.05 * (maxPwm - zeroVelPwm) * 2 / M_PI; kd_psi_ = 0.1; // kd_phi_ = 0; //kd_theta_ = 0; @@ -282,8 +282,9 @@ //pc_->printf("%s\r\n", rxBuffer); if (receive > 10) { int written = sscanf(rxBuffer, "%lld,%f,%f,%f,%f", &id, &thrust, &yaw, &pitch, &roll); - pc_->printf("&d", written); + // pc_->printf("%d\r\n", written); if (written != 5) { + // pc_->printf("%s\r\n", rxBuffer); return; } } else { @@ -304,12 +305,14 @@ // TODO eliminate the zeros again after testing // convert to radians, range is = +-40° or +-0.698132 radians - desiredState_.phi = 1 * (-((roll - 0.5) * 80) * M_PI / 180); // minus, because joystick to right should result in positive moment - desiredState_.theta = 1 * ((pitch - 0.5) * 80) * M_PI / 180; - desiredState_.r = 1 * (yaw - 0.5); // number between 0 and 1 //((yaw - 0.5) * 80) * M_PI / 180; - F_des_ = thrust - 0.5; // number between 0 and 1 -> number between -0.5 and 0.5 + desiredState_.phi = 1 * (-(roll * 80) * M_PI / 180); // minus, because joystick to right should result in positive moment + desiredState_.theta = 1 * (pitch * 80) * M_PI / 180; + desiredState_.r = 1 * yaw; // number between 0 and 1 //((yaw - 0.5) * 80) * M_PI / 180; + F_des_ = thrust; // number between 0 and 1 -> number between -0.5 and 0.5 // print id with thrust, yaw, pitch, and roll - //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); - + + if (abs(F_des_) > 0.01 || abs(desiredState_.psi) > 0.01 || abs(desiredState_.theta) > 0.02 || abs(desiredState_.phi) > 0.01) { + pc_->printf("%lld: thrust: %f yaw: %f pitch: %f roll: %f\r\n", id, F_des_, desiredState_.psi, desiredState_.theta, desiredState_.phi); //, thrust_outliers); + } }