ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
Diff: quadcopter.cpp
- Revision:
- 39:fff0a72633ee
- Parent:
- 38:14bf11115f9f
- Child:
- 40:09a59d5b7944
diff -r 14bf11115f9f -r fff0a72633ee quadcopter.cpp --- a/quadcopter.cpp Sun May 01 21:59:10 2016 +0000 +++ b/quadcopter.cpp Sun May 01 22:13:01 2016 +0000 @@ -24,17 +24,13 @@ kp_phi_ = 0.25 * (maxPwm - zeroVelPwm) * l_ / 0.5 * 4 / M_PI; kp_theta_ = 0.2 * (maxPwm - zeroVelPwm) * l_ / 0.5 * 4 / M_PI; kp_psi_ = 0; - // kp_phi_ = 0; -// kp_theta_ = 0; // derivative attitude control gains - kd_phi_ = 0.05 * (maxPwm - zeroVelPwm) * 2 / M_PI; //0.25 good + kd_phi_ = 0.05 * (maxPwm - zeroVelPwm) * 2 / M_PI; // 0.25 maybe a good kd_theta_ = 0.05 * (maxPwm - zeroVelPwm) * 2 / M_PI; kd_psi_ = 0.1; - // kd_phi_ = 0; - //kd_theta_ = 0; -// incresae ki_phi + // incresae ki_phi ki_phi_ = 0 * (maxPwm - zeroVelPwm)/(2*M_PI/4); // full control signal after 2s at pi/4 error ki_theta_ = 0 * (maxPwm - zeroVelPwm)/(2*M_PI/4); @@ -83,12 +79,11 @@ prev_kalman_time = controlTimer->read(); return; } - + accel_.getEvent(&accel_event_); -// mag_.getEvent(&mag_event_); + // mag_.getEvent(&mag_event_); dof_.accelGetOrientation(&accel_event_, &orientation_); -// -// gyro_.getEvent(&gyro_event_); + // gyro_.getEvent(&gyro_event_); gyro_event_.gyro.x -= initial_offsets_->gyro_x; gyro_event_.gyro.y -= initial_offsets_->gyro_y; @@ -97,8 +92,6 @@ orientation_.pitch -= initial_offsets_->pitch; orientation_.heading -= initial_offsets_->heading; - - static int current_filter = 0; filters_.p[current_filter] = gyro_event_.gyro.x * M_PI / 180; filters_.q[current_filter] = gyro_event_.gyro.y * M_PI / 180; @@ -124,15 +117,15 @@ psi_sum += filters_.psi[i]; } -// double radMaxAngle = M_PI / 180 * 20; + // double radMaxAngle = M_PI / 180 * 20; double phi_new = phi_sum / FILTER_SIZE; -// if (phi_new < radMaxAngle && phi_new > -radMaxAngle) { -// state_.phi = phi_new; -// }; + // if (phi_new < radMaxAngle && phi_new > -radMaxAngle) { + // state_.phi = phi_new; + // } double theta_new = theta_sum / FILTER_SIZE; -// if (theta_new < radMaxAngle && theta_new > -radMaxAngle) { -// state_.theta = theta_new; -// }; + // if (theta_new < radMaxAngle && theta_new > -radMaxAngle) { + // state_.theta = theta_new; + // } state_.phi = phi_new; state_.theta = theta_new; @@ -154,21 +147,21 @@ state_.theta = kalmanPitch.getAngle(state_.theta * 180 / M_PI, state_.q * 180 / M_PI, dt) * M_PI / 180; state_.p = kalmanRoll.getRate() * M_PI / 180; state_.q = kalmanPitch.getRate() * M_PI / 180; - + double alphaX = 0.7; double alphaY = 0.7; compAngleX = (1 - alphaX) * (compAngleX + raw_p * dt) + alphaX * raw_phi; // Calculate the angle using a Complimentary filter compAngleY = (1 - alphaY) * (compAngleY + raw_q * dt) + alphaY * raw_theta; - + //state_.phi = compAngleX; //state_.theta = compAngleY; prev_kalman_time = time; -// static int count = 0; -// if (count % 100 == 0) { -// pc_->printf("%d\r\n", count); -// } -// count++; + // static int count = 0; + // if (count % 100 == 0) { + // pc_->printf("%d\r\n", count); + // } + // count++; //pc_->printf("%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\r\n", prev_kalman_time, F_des_, desiredState_.psi, desiredState_.theta, desiredState_.phi, state_.psi, state_.theta, state_.phi,state_.r, state_.p, state_.q, compAngleX, compAngleY, raw_phi, raw_theta); } @@ -279,7 +272,6 @@ //static int thrust_outliers = 0; receive = rf_receive_rssi(*mrf_, rxBuffer, rssi, rcLength_ + 1); - //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\r\n", written); @@ -291,9 +283,10 @@ pc_->printf("Receive failure\r\n"); return; } - //pc_->printf("thrust: %f\r\n", thrust); -// float temp_thrust = thrust - 0.5; -// + +// test for outliers (can remove when fixed for sure) +// float temp_thrust = thrust - 0.5; +// // if (temp_thrust < -0.3) { // thrust_outliers++; // if (thrust_outliers < 3) { @@ -303,16 +296,16 @@ // thrust_outliers = 0; // } -// TODO eliminate the zeros again after testing // convert to radians, range is = +-40° or +-0.698132 radians 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 - + + /* test for outliers (can remove when fixed for sure) 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); } + */ }