Diff: quadcopter.cpp

Revision:

29:ae765492fa8b

Parent:

28:61f7356325c3

Child:

30:4820042e67b5

diff -r 61f7356325c3 -r ae765492fa8b quadcopter.cpp
--- a/quadcopter.cpp	Fri Apr 15 19:08:56 2016 +0000
+++ b/quadcopter.cpp	Fri Apr 15 19:33:14 2016 +0000
@@ -7,15 +7,10 @@
 #define M_PI           3.14159265358979323846
 #endif
 
-//#include "mbed.h"
-
 // constructor
 Quadcopter::Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr)
 {
-
-
     pc_= pcPntr;  // enable printing
-    //initSensors(accel_, mag_, gyro_, offsetAngRate_);  // IMUm_= 1;
     g_= 9.81;
     l_= 0.25;
     gamma_= 1;
@@ -23,34 +18,24 @@
     zeroVelPwm=0.1;
     maxPwm=0.15;
 
-
-    // proportional attitude control gains
-    // TODO change gains so that joystick deflection never produces pwm duty cycle >10%.
-
-
     // control gains set s.t. 100% joystick results in 15% (actually: (maxPwm-zeroVelPwm+0.1)) duty cycle. 
-    kp_f_ =(maxPwm-zeroVelPwm)*4/0.5; 
-    kp_phi_ =  (maxPwm-zeroVelPwm)*l_/0.5*4/M_PI;
-    kp_theta_ = (maxPwm-zeroVelPwm)*l_/0.5*4/M_PI;;
-    kp_psi_ = 0;
+    kp_f_     = (maxPwm - zeroVelPwm) * 4 / 0.5; 
+    kp_phi_   = (maxPwm - zeroVelPwm) * l_ / 0.5 * 4 / M_PI;
+    kp_theta_ = (maxPwm - zeroVelPwm) * l_ / 0.5 * 4 / M_PI;;
+    kp_psi_   = 0;
 
     // derivative attitude control gains
-    kd_phi_ = 0;
+    kd_phi_   = 0;
     kd_theta_ = 0;
-    kd_psi_ = 0.1;
+    kd_psi_   = 0.1;
 
     // desired values (will come from joystick)
     F_des_ = 0; // desired thrust force (excluding weight compensation)
 
-
-
     dof_ = Adafruit_9DOF();
     accel_ = Adafruit_LSM303_Accel_Unified(30301);
     mag_ = Adafruit_LSM303_Mag_Unified(30302);
     gyro_ = Adafruit_L3GD20_Unified(20);
-    //motor1_(p21);
-
-    // initSensors(accel_, mag_, gyro_, offsetAngRate_);  // IMU
 
     // prepare for communication with remote control
     rcTimer_.start();
@@ -62,7 +47,6 @@
     initSensors(*this);  // IMU
 }
 
-
 void Quadcopter::readSensorValues()
 {
     accel_.getEvent(&accel_event_);
@@ -82,61 +66,40 @@
     orientation_.pitch   -= initial_offsets_->pitch;
     orientation_.heading -= initial_offsets_->heading;
 
-    // measured values (will come from IMU/parameter class/Input to function later)
     // angular velocities in body coordinate system
     state_.p = gyro_event_.gyro.x;
     state_.q = gyro_event_.gyro.y;
     state_.r = gyro_event_.gyro.z;
 
-    // TODO print values to check what they are
-    // TODO convert to Radians (*pi/180)
-
-    // 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);
     state_.phi = orientation_.roll * M_PI / 180;
     state_.theta = -orientation_.pitch * M_PI / 180;
     state_.psi = orientation_.heading * M_PI / 180;
-    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);
-}
-
-// Date member function
-void Quadcopter::setState(state *source, state *goal)
-{
-    goal->phi = source->phi;
-    goal->theta = source->theta;
-    goal->psi = source->psi;
-    goal->p = source->p;
-    goal->q = source->q;
-    goal->r = source->r;
+    //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);
 }
 
 void Quadcopter::controller()
 {
-    // compute desired angles (in the case we decide not to set
-    // the angles, but for instance the velocity with the Joystick
-
     // PD controller
-    controlInput_.f = kp_f_*F_des_;//m_*g_ + F_des_;
-    controlInput_.mx = kp_phi_*(desiredState_.phi-state_.phi)+kd_phi_*(desiredState_.p-state_.p);
-    controlInput_.my = kp_theta_*(desiredState_.theta-state_.theta)+kd_theta_*(desiredState_.q-state_.q);
-    controlInput_.mz = kd_psi_*desiredState_.r; // feedforward desired yaw rate.  // kp_psi_*(desiredState_.psi-state_.psi)+kd_psi_*(desiredState_.r-state_.r);
-    //print("Calculated Control");
-
-    //pc_->printf("F: %f M_x: %f M_y: %f M_z: %f\n\r",  controlInput_.f, controlInput_.mz, controlInput_.my, controlInput_.mz);
-    //        pc_->printf("F: %f\n\r",  F);
+    controlInput_.f  = kp_f_ * F_des_;//m_*g_ + F_des_;
+    controlInput_.mx = kp_phi_ * (desiredState_.phi - state_.phi) + kd_phi_ * (desiredState_.p - state_.p);
+    controlInput_.my = kp_theta_ * (desiredState_.theta - state_.theta) + kd_theta_ * (desiredState_.q - state_.q);
+    controlInput_.mz = kd_psi_ * desiredState_.r; // feedforward desired yaw rate.  // kp_psi_*(desiredState_.psi-state_.psi)+kd_psi_*(desiredState_.r-state_.r);
 
     // set pwm values
-    // make code faster by precomputing all the components that are used multiple times and hardcode 0.25/gamma...
-    motorPwm_.m1=zeroVelPwm + 0.25*controlInput_.f-0.5/l_*controlInput_.my-0.25/gamma_*controlInput_.mz;
-    motorPwm_.m2=zeroVelPwm + 0.25*controlInput_.f+0.5/l_*controlInput_.mx+0.25/gamma_*controlInput_.mz;
-    motorPwm_.m3=zeroVelPwm + 0.25*controlInput_.f+0.5/l_*controlInput_.my-0.25/gamma_*controlInput_.mz;
-    motorPwm_.m4=zeroVelPwm + 0.25*controlInput_.f-0.5/l_*controlInput_.mx+0.25/gamma_*controlInput_.mz;
+    double forcePerMotor = 0.25 * controlInput_.f;
+    double yawMomentPerMotor = 0.25 / gamma_ * controlInput_.mz;
+    double rollMomentPerMotor = 0.5 / l_ * controlInput_.mx;
+    double pitchMomentPerMotor = 0.5 / l_ * controlInput_.my;
+    motorPwm_.m1 = zeroVelPwm + forcePerMotor - pitchMomentPerMotor - yawMomentPerMotor;
+    motorPwm_.m2 = zeroVelPwm + forcePerMotor + rollMomentPerMotor + yawMomentPerMotor;
+    motorPwm_.m3 = zeroVelPwm + forcePerMotor + pitchMomentPerMotor - yawMomentPerMotor;
+    motorPwm_.m4 = zeroVelPwm + forcePerMotor - rollMomentPerMotor + yawMomentPerMotor;
 
+    // cut off at max PWM
     motorPwm_.m1 = min(maxPwm, motorPwm_.m1);
     motorPwm_.m2 = min(maxPwm, motorPwm_.m2);
     motorPwm_.m3 = min(maxPwm, motorPwm_.m3);
     motorPwm_.m4 = min(maxPwm, motorPwm_.m4);
-
-
 }
 
 motors Quadcopter::getPwm()
@@ -179,7 +142,6 @@
     return F_des_;
 }
 
-
 void Quadcopter::readRc()
 {
     uint8_t zero = 0;
@@ -202,8 +164,6 @@
         pc_->printf("Receive failure\r\n");
     }
 
-    //pc_->printf("buffer: %s\r\n", rxBuffer );
-
     // convert to radians, range is = +-40° or +-0.698132 radians
     desiredState_.phi = -((roll - 0.5) * 80) * M_PI / 180; // minus, because joystick to right should result in positive moment
     desiredState_.theta = ((pitch - 0.5) * 80) * M_PI / 180;