Joseph Roberts / Mbed 2 deprecated Quadcopter_mk2

New version of quadcopter software written to OO principles

Dependencies:   mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS

FlightController/RateController/RateController.cpp@0:c6a85bb2a827, 2015-03-04 (annotated)

Committer:
joe4465
Date:
Wed Mar 04 18:50:37 2015 +0000
Revision:
0:c6a85bb2a827
Child:
2:969dfa4f2436
New version of quadcopter software, written following OO principles

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joe4465 0:c6a85bb2a827 1 #include "RateController.h"
joe4465 0:c6a85bb2a827 2
joe4465 0:c6a85bb2a827 3 RateController::RateController(){}
joe4465 0:c6a85bb2a827 4
joe4465 0:c6a85bb2a827 5 RateController::~RateController(){}
joe4465 0:c6a85bb2a827 6
joe4465 0:c6a85bb2a827 7 bool RateController::initialise(Sensors& sensors, NavigationController& navigationController)
joe4465 0:c6a85bb2a827 8 {
joe4465 0:c6a85bb2a827 9 _sensors = sensors;
joe4465 0:c6a85bb2a827 10 _navigationController = navigationController;
joe4465 0:c6a85bb2a827 11
joe4465 0:c6a85bb2a827 12 ConfigFileWrapper configFileWrapper = new ConfigFileWrapper();
joe4465 0:c6a85bb2a827 13 configFileWrapper.initialise();
joe4465 0:c6a85bb2a827 14
joe4465 0:c6a85bb2a827 15 _yawRatePidController.initialise(configFileWrapper.getYawRateParameters, IMU_YAW_RATE_MIN, IMU_YAW_RATE_MAX, RATE_PID_CONTROLLER_OUTPUT_MIN, RATE_PID_CONTROLLER_OUTPUT_MAX);
joe4465 0:c6a85bb2a827 16 _pitchRatePidController.initialise(configFileWrapper.getPitchRateParameters, IMU_PITCH_RATE_MIN, IMU_PITCH_RATE_MAX, RATE_PID_CONTROLLER_OUTPUT_MIN, RATE_PID_CONTROLLER_OUTPUT_MAX);
joe4465 0:c6a85bb2a827 17 _rollRatePidController.initialise(configFileWrapper.getRollRateParameters, IMU_ROLL_RATE_MIN, IMU_ROLL_RATE_MAX, RATE_PID_CONTROLLER_OUTPUT_MIN, RATE_PID_CONTROLLER_OUTPUT_MAX);
joe4465 0:c6a85bb2a827 18
joe4465 0:c6a85bb2a827 19 DEBUG("Rate controller initialised");
joe4465 0:c6a85bb2a827 20 return true;
joe4465 0:c6a85bb2a827 21 }
joe4465 0:c6a85bb2a827 22
joe4465 0:c6a85bb2a827 23 PidWrapper::PidOutputs RateController::compute()
joe4465 0:c6a85bb2a827 24 {
joe4465 0:c6a85bb2a827 25 //Update rate PID process value with gyro rate
joe4465 0:c6a85bb2a827 26 _yawRatePIDController->setProcessValue(_gyroRate[0]);
joe4465 0:c6a85bb2a827 27 _pitchRatePIDController->setProcessValue(_gyroRate[1]);
joe4465 0:c6a85bb2a827 28 _rollRatePIDController->setProcessValue(_gyroRate[2]);
joe4465 0:c6a85bb2a827 29
joe4465 0:c6a85bb2a827 30 //Update rate PID set point with desired rate from RC
joe4465 0:c6a85bb2a827 31 _yawRatePIDController->setSetPoint(_rcMappedCommands[0]);
joe4465 0:c6a85bb2a827 32 _pitchRatePIDController->setSetPoint(_rcMappedCommands[1]);
joe4465 0:c6a85bb2a827 33 _rollRatePIDController->setSetPoint(_rcMappedCommands[2]);
joe4465 0:c6a85bb2a827 34
joe4465 0:c6a85bb2a827 35 //Compute rate PID outputs
joe4465 0:c6a85bb2a827 36 _ratePIDControllerOutputs[0] = _yawRatePIDController->compute();
joe4465 0:c6a85bb2a827 37 _ratePIDControllerOutputs[1] = _pitchRatePIDController->compute();
joe4465 0:c6a85bb2a827 38 _ratePIDControllerOutputs[2] = _rollRatePIDController->compute();
joe4465 0:c6a85bb2a827 39 }