quadcopter cufe
/
2006_Theta_Control_yaw
Quadcopter Attitude Control(Yaw-Pitch-Roll)
PID_Yaw.h@0:e63996fd7d3e, 2015-07-03 (annotated)
- Committer:
- khaledelmadawi
- Date:
- Fri Jul 03 11:16:02 2015 +0000
- Revision:
- 0:e63996fd7d3e
Quadcopter Attitude Control(Yaw-Pitch-Roll)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
khaledelmadawi | 0:e63996fd7d3e | 1 | //Includes// |
khaledelmadawi | 0:e63996fd7d3e | 2 | #ifndef _QuadCopter_H_yaw |
khaledelmadawi | 0:e63996fd7d3e | 3 | #define _QuadCopter_H_yaw |
khaledelmadawi | 0:e63996fd7d3e | 4 | #ifndef _MBED_H |
khaledelmadawi | 0:e63996fd7d3e | 5 | #define _MBED_H |
khaledelmadawi | 0:e63996fd7d3e | 6 | #include "mbed.h" |
khaledelmadawi | 0:e63996fd7d3e | 7 | #endif |
khaledelmadawi | 0:e63996fd7d3e | 8 | #ifndef _IOSTREAM_ |
khaledelmadawi | 0:e63996fd7d3e | 9 | #define _IOSTREAM_ |
khaledelmadawi | 0:e63996fd7d3e | 10 | #include "iostream" |
khaledelmadawi | 0:e63996fd7d3e | 11 | #endif |
khaledelmadawi | 0:e63996fd7d3e | 12 | #ifndef _MATH_H |
khaledelmadawi | 0:e63996fd7d3e | 13 | #define _MATH_H |
khaledelmadawi | 0:e63996fd7d3e | 14 | #define D_BAUDRATE 115200 |
khaledelmadawi | 0:e63996fd7d3e | 15 | //#include "math.h" |
khaledelmadawi | 0:e63996fd7d3e | 16 | #endif |
khaledelmadawi | 0:e63996fd7d3e | 17 | class PID_Yaw{ |
khaledelmadawi | 0:e63996fd7d3e | 18 | public: |
khaledelmadawi | 0:e63996fd7d3e | 19 | PID_Yaw(float KP,float KI,float KD,float KDD);//constructor |
khaledelmadawi | 0:e63996fd7d3e | 20 | |
khaledelmadawi | 0:e63996fd7d3e | 21 | void PWM_cal(float RPM_req,float RPM_curr,float req_power_SP,float * xPlanePWM,float *yPlanePWM );//calculating the PWM taking in mind upper/lower limits and error calculation/estimation. |
khaledelmadawi | 0:e63996fd7d3e | 22 | void Set_OUT_Limits(float LowerLimit,float UpperLimit);//setting Output Limits. |
khaledelmadawi | 0:e63996fd7d3e | 23 | void Set_IN_Limits(float LowerLimit,float UpperLimit);//setting Input Limits. |
khaledelmadawi | 0:e63996fd7d3e | 24 | void Check_OUT_Limits(float *RPMSetPoint);//checking Input Limits in the Realtime operation. |
khaledelmadawi | 0:e63996fd7d3e | 25 | void Check_IN_Limits(float *O_PWM);//checking Output Limits in Realtime operation. |
khaledelmadawi | 0:e63996fd7d3e | 26 | |
khaledelmadawi | 0:e63996fd7d3e | 27 | private: |
khaledelmadawi | 0:e63996fd7d3e | 28 | void Pulse_Error_cal(float RPM_req,float RPM_curr);//error calculating and out the relative output to the relative error. |
khaledelmadawi | 0:e63996fd7d3e | 29 | //variables and PinRoles |
khaledelmadawi | 0:e63996fd7d3e | 30 | float PowerSetPoint;//,RPMSetPoint; |
khaledelmadawi | 0:e63996fd7d3e | 31 | float Out_PWM,Out_PWM2; |
khaledelmadawi | 0:e63996fd7d3e | 32 | float O_Upper_Limit,O_Lower_Limit; |
khaledelmadawi | 0:e63996fd7d3e | 33 | float I_Upper_Limit,I_Lower_Limit; |
khaledelmadawi | 0:e63996fd7d3e | 34 | float Error,ErrorI,ErrorD,ErrorOLD,ErrorDD,ErrorDOLD; |
khaledelmadawi | 0:e63996fd7d3e | 35 | float h; |
khaledelmadawi | 0:e63996fd7d3e | 36 | float _KP,_KD,_KI,_KDD; |
khaledelmadawi | 0:e63996fd7d3e | 37 | //Serial debugSerial; |
khaledelmadawi | 0:e63996fd7d3e | 38 | |
khaledelmadawi | 0:e63996fd7d3e | 39 | }; |
khaledelmadawi | 0:e63996fd7d3e | 40 | |
khaledelmadawi | 0:e63996fd7d3e | 41 | #endif |