Diff: quadcopter.cpp

Revision:

10:e7d1801e966a

Parent:

9:f1bd96708a21

Child:

11:5c54826d23a7

diff -r f1bd96708a21 -r e7d1801e966a quadcopter.cpp
--- a/quadcopter.cpp	Sat Apr 02 14:54:46 2016 +0000
+++ b/quadcopter.cpp	Sat Apr 02 17:41:37 2016 +0000
@@ -4,65 +4,90 @@
 #include "Serial_base.h"
 
 
-// Date constructor
+// constructor
 Quadcopter::Quadcopter()
 {
-    setState(0.0,0.0,0.0);
+    m_=1;
+    g_=9.81;
+    // proportional attitude control gains
+    kp_phi_ = 1;
+    kp_theta_ = 1;
+    kp_psi_ = 1;
+
+    // derivative attitude control gains
+    kd_phi_ = 0;
+    kd_theta_ = 0;
+    kd_psi_ = 0;
+
+    // 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);
-    //  pc.printf("Entering control loop\n\r");
 }
 
-
-
 void Quadcopter::initAllSensors()
 {
-    print("Initializing Sensors with class method");
-
     initSensors(accel_, mag_, gyro_,offsetAngRate_);  // IMU
 }
 
-
 void Quadcopter::readSensorValues()
 {
     accel_.getEvent(&accel_event_);
     if (dof_.accelGetOrientation(&accel_event_, &orientation_)) {
-        /* 'orientation' should have valid .roll and .pitch fields */
-        //s_com->print(("Roll: "));
-        //s_com->print(orientation.roll);
-        //s_com->print(("; "));
-        //s_com->print(("Pitch: "));
-        //s_com->print(orientation.pitch);
-        //s_com->print((";\t"));
     }
     /* Calculate the heading using the magnetometer */
     mag_.getEvent(&mag_event_);
     if (dof_.magGetOrientation(SENSOR_AXIS_Z, &mag_event_, &orientation_)) {
-        /* 'orientation' should have valid .heading data now */
-        //s_com->print(("Heading: "));
-        //s_com->print(orientation.heading);
-        //  s_com->print((";\r\n"));
     }
 
+    // measured values (will come from IMU/parameter class/Input to function later)
+    // angles
+    state_.phi = orientation_.roll;
+    state_.theta =orientation_.pitch;
+    state_.psi =orientation_.heading;
+    // angular velocities in body coordinate system
+    state_.p = gyro_event_.gyro.x;
+    state_.q = gyro_event_.gyro.y;
+    state_.r = gyro_event_.gyro.z;
+}
 
+// 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;
 
 }
 
-
-// Date member function
-void Quadcopter::setState(double phi, double theta, double psi)
+void Quadcopter::print(char * myString)
 {
-    state_.phi = phi;
-    state_.theta = theta;
-    state_.psi = psi;
+    pcPntr_->printf(myString);
+    pcPntr_->printf("\n\r");
 }
 
-void Quadcopter::print(char * myString){
-    
-    (*pcPntr_).printf(myString);    
-    (*pcPntr_).printf("\n\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
 
-    }
\ No newline at end of file
+    // PD controller
+    controlInput_.f = 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 = kp_psi_*(desiredState_.psi-state_.psi)+kd_psi_*(desiredState_.r-state_.r);
+    print("Calculated Control");
+
+    //print("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);
+
+
+
+}
\ No newline at end of file