ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
Diff: quadcopter.cpp
- Revision:
- 20:efa15ed008b4
- Parent:
- 18:a00d6b065c6b
- Child:
- 21:336faf452989
diff -r 39c144ca2a2f -r efa15ed008b4 quadcopter.cpp --- a/quadcopter.cpp Fri Apr 08 23:38:22 2016 +0000 +++ b/quadcopter.cpp Sun Apr 10 19:50:18 2016 +0000 @@ -13,10 +13,14 @@ m_=1; g_=9.81; + l_=0.25; + gamma_=1; + + // proportional attitude control gains - kp_phi_ = 1; - kp_theta_ = 1; - kp_psi_ = 1; + kp_phi_ = 0.3; + kp_theta_ = 0.3; + kp_psi_ = 0.3; // derivative attitude control gains kd_phi_ = 0; @@ -95,7 +99,7 @@ // the angles, but for instance the velocity with the Joystick // PD controller - controlInput_.f = m_*g_ + F_des_; + controlInput_.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 = kp_psi_*(desiredState_.psi-state_.psi)+kd_psi_*(desiredState_.r-state_.r); @@ -103,15 +107,27 @@ //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); + + // set pwm values + // make code faster by precomputing all the components that are used multiple times and hardcode 0.25/gamma... + motorPwm_.m1=0.5+ 0.25*controlInput_.f-0.5/l_*controlInput_.my+0.25/gamma_*controlInput_.mz; + motorPwm_.m2=0.5 +0.25*controlInput_.f+0.5/l_*controlInput_.mx-0.25/gamma_*controlInput_.mz; + motorPwm_.m3=0.5+ 0.25*controlInput_.f+0.5/l_*controlInput_.my+0.25/gamma_*controlInput_.mz; + motorPwm_.m4=0.5 + 0.25*controlInput_.f-0.5/l_*controlInput_.mx-0.25/gamma_*controlInput_.mz; + } motors Quadcopter::getPwm() { - //motors motorPwm_;// weired errror, should not be necessary - motorPwm_.m1=0; - motorPwm_.m2=0.5 + controlInput_.mx/2.5; - motorPwm_.m3=0; - motorPwm_.m4=0.5 - controlInput_.mx/2.5; + // motors motorPwm_ + + + + //old + // motorPwm_.m1=0; + // motorPwm_.m2=0.5 + controlInput_.mx/2.5; + //motorPwm_.m3=0; + //motorPwm_.m4=0.5 - controlInput_.mx/2.5; return motorPwm_; }