Matthias Grob / Mbed 2 deprecated FlyBed1

NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.

Dependencies:   mbed MODI2C

main.cpp@39:9fd3f4439978, 2013-08-28 (annotated)

Committer:
maetugr
Date:
Wed Aug 28 00:30:38 2013 +0000
Revision:
39:9fd3f4439978
Parent:
38:ff95fd524c9e
Child:
40:2ca410923691
Before new IMU_10DOF

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 7:9d4313510646 1 #include "mbed.h" // Standard Library
maetugr 7:9d4313510646 2 #include "LED.h" // LEDs framework for blinking ;)
maetugr 13:4737ee9ebfee 3 #include "PC.h" // Serial Port via USB by Roland Elmiger for debugging with Terminal (driver needed: https://mbed.org/media/downloads/drivers/mbedWinSerial_16466.exe)
maetugr 7:9d4313510646 4 #include "L3G4200D.h" // Gyro (Gyroscope)
maetugr 7:9d4313510646 5 #include "ADXL345.h" // Acc (Accelerometer)
maetugr 7:9d4313510646 6 #include "HMC5883.h" // Comp (Compass)
maetugr 14:cf260677ecde 7 #include "BMP085_old.h" // Alt (Altitude sensor)
maetugr 30:021e13b62575 8 #include "RC_Channel.h" // RemoteControl Channels with PPM
maetugr 15:753c5d6a63b3 9 #include "Servo_PWM.h" // Motor PPM using PwmOut
maetugr 39:9fd3f4439978 10 #include "PID.h" // PID Library (slim, self written)
maetugr 26:96a072233d7a 11 #include "IMU_Filter.h" // Class to calculate position angles
maetugr 26:96a072233d7a 12 #include "Mixer.h" // Class to calculate motorspeeds from Angles, Regulation and RC-Signals
maetugr 0:0c4fafa398b4 13
maetugr 30:021e13b62575 14 #define RATE 0.002 // speed of the interrupt for Sensors and PID
maetugr 30:021e13b62575 15 #define PPM_FREQU 495 // Hz Frequency of PPM Signal for ESCs (maximum <500Hz)
maetugr 33:fd98776b6cc7 16 #define RC_SENSITIVITY 30 // maximal angle from horizontal that the PID is aming for
maetugr 36:128c55793728 17 #define YAWSPEED 0.2 // maximal speed of yaw rotation in degree per Rate
maetugr 37:34917f7c10ae 18 #define INTEGRAL_MAX 300
maetugr 15:753c5d6a63b3 19
maetugr 34:3aa1cbcde59d 20 // RC
maetugr 34:3aa1cbcde59d 21 #define AILERON 0
maetugr 34:3aa1cbcde59d 22 #define ELEVATOR 1
maetugr 34:3aa1cbcde59d 23 #define RUDDER 2
maetugr 34:3aa1cbcde59d 24 #define THROTTLE 3
maetugr 34:3aa1cbcde59d 25 // Axes
maetugr 34:3aa1cbcde59d 26 #define ROLL 0
maetugr 34:3aa1cbcde59d 27 #define PITCH 1
maetugr 34:3aa1cbcde59d 28 #define YAW 2
maetugr 25:0498d3041afa 29
maetugr 29:8b7362a2ee14 30 #define PC_CONNECTED // decoment if you want to debug per USB/Bluetooth and your PC
maetugr 2:93f703d2c4d7 31
maetugr 34:3aa1cbcde59d 32 // Global variables
maetugr 34:3aa1cbcde59d 33 bool armed = false; // this variable is for security (when false no motor rotates any more)
maetugr 37:34917f7c10ae 34 bool RC_present = false; // this variable shows if an RC is present
maetugr 34:3aa1cbcde59d 35 float dt = 0;
maetugr 34:3aa1cbcde59d 36 float time_for_dt = 0;
maetugr 34:3aa1cbcde59d 37 float dt_read_sensors = 0;
maetugr 34:3aa1cbcde59d 38 float time_read_sensors = 0;
maetugr 34:3aa1cbcde59d 39 float controller_value[] = {0,0,0}; // The calculated answer form the Controller
maetugr 34:3aa1cbcde59d 40 float RC_angle[] = {0,0,0}; // Angle of the RC Sticks, to steer the QC
maetugr 37:34917f7c10ae 41 float RC_yaw_adding; // temporary variable to take the desired yaw adjustment
maetugr 34:3aa1cbcde59d 42
maetugr 35:2a9465fedb99 43 float P = 4.0; // PID values
maetugr 34:3aa1cbcde59d 44 float I = 0;
maetugr 38:ff95fd524c9e 45 float D = 0.1;
maetugr 38:ff95fd524c9e 46
maetugr 38:ff95fd524c9e 47 float PY = 0; // PID values for YAW
maetugr 38:ff95fd524c9e 48 float IY = 0;
maetugr 38:ff95fd524c9e 49 float DY = 0;
maetugr 34:3aa1cbcde59d 50
maetugr 14:cf260677ecde 51 Timer GlobalTimer; // global time to calculate processing speed
maetugr 34:3aa1cbcde59d 52 Ticker Dutycycler; // timecontrolled interrupt for exact timed control loop
maetugr 14:cf260677ecde 53
maetugr 34:3aa1cbcde59d 54 // Initialisation of hardware (see includes for more info)
maetugr 5:818c0668fd2d 55 LED LEDs;
maetugr 21:c2a2e7cbabdd 56 #ifdef PC_CONNECTED
maetugr 38:ff95fd524c9e 57 //PC pc(USBTX, USBRX, 115200); // USB
maetugr 38:ff95fd524c9e 58 PC pc(p9, p10, 115200); // Bluetooth
maetugr 21:c2a2e7cbabdd 59 #endif
maetugr 5:818c0668fd2d 60 L3G4200D Gyro(p28, p27);
maetugr 5:818c0668fd2d 61 ADXL345 Acc(p28, p27);
maetugr 11:9bf69bc6df45 62 HMC5883 Comp(p28, p27);
maetugr 14:cf260677ecde 63 BMP085_old Alt(p28, p27);
maetugr 34:3aa1cbcde59d 64 RC_Channel RC[] = {RC_Channel(p5,1), RC_Channel(p6,2), RC_Channel(p8,4), RC_Channel(p7,3)}; // no p19/p20 !
maetugr 34:3aa1cbcde59d 65 Servo_PWM ESC[] = {Servo_PWM(p21,PPM_FREQU), Servo_PWM(p22,PPM_FREQU), Servo_PWM(p23,PPM_FREQU), Servo_PWM(p24,PPM_FREQU)}; // p21 - p26 only because PWM needed!
maetugr 34:3aa1cbcde59d 66 IMU_Filter IMU; // (don't write () after constructor for no arguments!)
maetugr 34:3aa1cbcde59d 67 Mixer MIX(1); // 0 for +-Formation, 1 for X-Formation
maetugr 38:ff95fd524c9e 68 PID Controller[] = {PID(P, I, D, INTEGRAL_MAX), PID(P, I, D, INTEGRAL_MAX), PID(PY, IY, DY, INTEGRAL_MAX)}; // 0:X:Roll 1:Y:Pitch 2:Z:Yaw
maetugr 21:c2a2e7cbabdd 69
maetugr 39:9fd3f4439978 70 void dutycycle() { // method which is called by the Ticker Dutycycler every RATE seconds
maetugr 33:fd98776b6cc7 71 time_read_sensors = GlobalTimer.read(); // start time measure for sensors
maetugr 12:67a06c9b69d5 72
maetugr 15:753c5d6a63b3 73 // read data from sensors // ATTENTION! the I2C option repeated true is important because otherwise interrupts while bus communications cause crashes
maetugr 14:cf260677ecde 74 Gyro.read();
maetugr 34:3aa1cbcde59d 75 Acc.read();
maetugr 34:3aa1cbcde59d 76 //Comp.read(); // TODO: not every loop every sensor? altitude not that important
maetugr 34:3aa1cbcde59d 77 //Alt.Update(); // TODO needs very long to read because of waits
maetugr 12:67a06c9b69d5 78
maetugr 37:34917f7c10ae 79 //pc.printf("%6.1f,%6.1f,%6.1f,%6.1f,%6.1f,%6.1f\r\n", Gyro.data[0], Gyro.data[1], Gyro.data[2], Acc.data[0], Acc.data[1], Acc.data[2]);
maetugr 35:2a9465fedb99 80
maetugr 38:ff95fd524c9e 81
maetugr 8:d25ecdcdbeb5 82
maetugr 33:fd98776b6cc7 83 // meassure dt for the filter
maetugr 33:fd98776b6cc7 84 dt = GlobalTimer.read() - time_for_dt; // time in us since last loop
maetugr 33:fd98776b6cc7 85 time_for_dt = GlobalTimer.read(); // set new time for next measurement
maetugr 12:67a06c9b69d5 86
maetugr 26:96a072233d7a 87 IMU.compute(dt, Gyro.data, Acc.data);
maetugr 35:2a9465fedb99 88 //pc.printf("%f,%f,%f,%3.5fs,%3.5fs\r\n", IMU.angle[0], IMU.angle[1], IMU.angle[2], dt, dt_read_sensors);
maetugr 35:2a9465fedb99 89
maetugr 37:34917f7c10ae 90 if(RC[AILERON].read() == -100 || RC[ELEVATOR].read() == -100 || RC[RUDDER].read() == -100 || RC[THROTTLE].read() == -100)
maetugr 37:34917f7c10ae 91 RC_present = false;
maetugr 37:34917f7c10ae 92 else
maetugr 37:34917f7c10ae 93 RC_present = true;
maetugr 37:34917f7c10ae 94
maetugr 21:c2a2e7cbabdd 95 // Arming / disarming
maetugr 34:3aa1cbcde59d 96 if(RC[THROTTLE].read() < 20 && RC[RUDDER].read() > 850) {
maetugr 21:c2a2e7cbabdd 97 armed = true;
maetugr 38:ff95fd524c9e 98 RC_angle[YAW] = IMU.angle[YAW];
maetugr 25:0498d3041afa 99 }
maetugr 37:34917f7c10ae 100 if((RC[THROTTLE].read() < 30 && RC[RUDDER].read() < 30) || !RC_present) {
maetugr 20:e116e596e540 101 armed = false;
maetugr 25:0498d3041afa 102 }
maetugr 20:e116e596e540 103
maetugr 37:34917f7c10ae 104 // RC Angle ROLL-PITCH-Part
maetugr 33:fd98776b6cc7 105 for(int i=0;i<2;i++) { // calculate new angle we want the QC to have
maetugr 37:34917f7c10ae 106 if (RC_present)
maetugr 37:34917f7c10ae 107 RC_angle[i] = (RC[i].read()-500)*RC_SENSITIVITY/500.0;
maetugr 37:34917f7c10ae 108 else
maetugr 33:fd98776b6cc7 109 RC_angle[i] = 0;
maetugr 33:fd98776b6cc7 110 }
maetugr 37:34917f7c10ae 111
maetugr 37:34917f7c10ae 112 // RC Angle YAW-Part
maetugr 37:34917f7c10ae 113 if (RC_present && RC[THROTTLE].read() > 20)
maetugr 37:34917f7c10ae 114 RC_yaw_adding = (RC[RUDDER].read()-500)*YAWSPEED/500;
maetugr 37:34917f7c10ae 115 else
maetugr 37:34917f7c10ae 116 RC_yaw_adding = 0;
maetugr 37:34917f7c10ae 117
maetugr 37:34917f7c10ae 118 while(RC_angle[YAW] + RC_yaw_adding < -180 || RC_angle[YAW] + RC_yaw_adding > 180) { // make shure it's in the cycle -180 to 180
maetugr 37:34917f7c10ae 119 if(RC_angle[YAW] + RC_yaw_adding < -180)
maetugr 37:34917f7c10ae 120 RC_yaw_adding += 360;
maetugr 37:34917f7c10ae 121 if(RC_angle[YAW] + RC_yaw_adding > 180)
maetugr 37:34917f7c10ae 122 RC_yaw_adding -= 360;
maetugr 37:34917f7c10ae 123 }
maetugr 37:34917f7c10ae 124 RC_angle[YAW] += RC_yaw_adding; // for yaw angle it's integrated
maetugr 30:021e13b62575 125
maetugr 34:3aa1cbcde59d 126 // PID controlling
maetugr 37:34917f7c10ae 127 for(int i=0;i<2;i++) {
maetugr 29:8b7362a2ee14 128 Controller[i].setIntegrate(armed); // only integrate in controller when armed, so the value is not totally odd from not flying
maetugr 37:34917f7c10ae 129 controller_value[i] = Controller[i].compute(RC_angle[i], IMU.angle[i]); // give the controller the actual angle and get his advice to correct
maetugr 30:021e13b62575 130 }
maetugr 37:34917f7c10ae 131 Controller[YAW].setIntegrate(armed); // same for YAW
maetugr 37:34917f7c10ae 132 if (abs(RC_angle[YAW] - IMU.angle[YAW]) > 180) // for YAW a special calculation because of range -180 to 180
maetugr 37:34917f7c10ae 133 if (RC_angle[YAW] > IMU.angle[YAW])
maetugr 37:34917f7c10ae 134 controller_value[YAW] = Controller[YAW].compute(RC_angle[YAW] - 360, IMU.angle[YAW]);
maetugr 37:34917f7c10ae 135 else
maetugr 37:34917f7c10ae 136 controller_value[YAW] = Controller[YAW].compute(RC_angle[YAW] + 360, IMU.angle[YAW]);
maetugr 37:34917f7c10ae 137 else
maetugr 37:34917f7c10ae 138 controller_value[YAW] = Controller[YAW].compute(RC_angle[YAW], IMU.angle[YAW]);
maetugr 29:8b7362a2ee14 139
maetugr 21:c2a2e7cbabdd 140 if (armed) // for SECURITY!
maetugr 22:d301b455a1ad 141 {
maetugr 34:3aa1cbcde59d 142 MIX.compute(RC[THROTTLE].read(), controller_value); // let the Mixer compute motorspeeds based on throttle and controller output
maetugr 28:ba6ca9f4def4 143 for(int i=0;i<4;i++) // Set new motorspeeds
maetugr 26:96a072233d7a 144 ESC[i] = (int)MIX.Motor_speed[i];
maetugr 25:0498d3041afa 145
maetugr 15:753c5d6a63b3 146 } else {
maetugr 26:96a072233d7a 147 for(int i=0;i<4;i++) // for security reason, set every motor to zero speed
maetugr 28:ba6ca9f4def4 148 ESC[i] = 0;
maetugr 21:c2a2e7cbabdd 149 }
maetugr 38:ff95fd524c9e 150 pc.printf("%d,%f,%f, %f,%f,%f, %f,%f,%f, %f,%f,%f, %f,%f,%f,%f\r\n",
maetugr 38:ff95fd524c9e 151 armed,
maetugr 38:ff95fd524c9e 152 dt,
maetugr 38:ff95fd524c9e 153 dt_read_sensors,
maetugr 38:ff95fd524c9e 154 IMU.angle[ROLL],
maetugr 38:ff95fd524c9e 155 IMU.angle[PITCH],
maetugr 38:ff95fd524c9e 156 IMU.angle[YAW],
maetugr 38:ff95fd524c9e 157 RC_angle[ROLL],
maetugr 38:ff95fd524c9e 158 RC_angle[PITCH],
maetugr 38:ff95fd524c9e 159 RC_angle[YAW],
maetugr 38:ff95fd524c9e 160 controller_value[ROLL],
maetugr 38:ff95fd524c9e 161 controller_value[PITCH],
maetugr 38:ff95fd524c9e 162 controller_value[YAW],
maetugr 38:ff95fd524c9e 163 MIX.Motor_speed[0],
maetugr 38:ff95fd524c9e 164 MIX.Motor_speed[1],
maetugr 38:ff95fd524c9e 165 MIX.Motor_speed[2],
maetugr 38:ff95fd524c9e 166 MIX.Motor_speed[3]);
maetugr 38:ff95fd524c9e 167
maetugr 38:ff95fd524c9e 168 dt_read_sensors = GlobalTimer.read() - time_read_sensors; // stop time for loop
maetugr 8:d25ecdcdbeb5 169 }
maetugr 5:818c0668fd2d 170
maetugr 33:fd98776b6cc7 171 void commandexecuter(char* command) { // take new PID values on the fly
maetugr 31:872d8b8c7812 172 if (command[0] == 'p')
maetugr 38:ff95fd524c9e 173 if (command[1] == 'y')
maetugr 38:ff95fd524c9e 174 PY = atof(&command[2]);
maetugr 38:ff95fd524c9e 175 else
maetugr 38:ff95fd524c9e 176 P = atof(&command[1]);
maetugr 31:872d8b8c7812 177 if (command[0] == 'i')
maetugr 38:ff95fd524c9e 178 if (command[1] == 'y')
maetugr 38:ff95fd524c9e 179 IY = atof(&command[2]);
maetugr 38:ff95fd524c9e 180 else
maetugr 38:ff95fd524c9e 181 I = atof(&command[1]);
maetugr 31:872d8b8c7812 182 if (command[0] == 'd')
maetugr 38:ff95fd524c9e 183 if (command[1] == 'y')
maetugr 38:ff95fd524c9e 184 DY = atof(&command[2]);
maetugr 38:ff95fd524c9e 185 else
maetugr 38:ff95fd524c9e 186 D = atof(&command[1]);
maetugr 33:fd98776b6cc7 187 for(int i=0;i<2;i++) {
maetugr 33:fd98776b6cc7 188 Controller[i].setPID(P,I,D); // give the controller the new PID values
maetugr 31:872d8b8c7812 189 }
maetugr 38:ff95fd524c9e 190 Controller[YAW].setPID(PY,IY,DY); // give the controller the new PID values
maetugr 31:872d8b8c7812 191 }
maetugr 31:872d8b8c7812 192
maetugr 26:96a072233d7a 193 int main() { // main programm for initialisation and debug output
maetugr 26:96a072233d7a 194 NVIC_SetPriority(TIMER3_IRQn, 1); // set priorty of tickers below hardware interrupts (standard priority is 0)(this is to prevent the RC interrupt from waiting until ticker is finished)
maetugr 15:753c5d6a63b3 195
maetugr 21:c2a2e7cbabdd 196 #ifdef PC_CONNECTED
maetugr 21:c2a2e7cbabdd 197 // init screen
maetugr 12:67a06c9b69d5 198 pc.locate(10,5);
maetugr 21:c2a2e7cbabdd 199 pc.printf("Flybed v0.2");
maetugr 12:67a06c9b69d5 200 #endif
maetugr 1:5a64632b1eb9 201 LEDs.roll(2);
maetugr 5:818c0668fd2d 202
maetugr 33:fd98776b6cc7 203 Gyro.calibrate(50, 0.02);
maetugr 33:fd98776b6cc7 204 Acc.calibrate(50, 0.02);
maetugr 33:fd98776b6cc7 205
maetugr 21:c2a2e7cbabdd 206 // Start!
maetugr 2:93f703d2c4d7 207 GlobalTimer.start();
maetugr 39:9fd3f4439978 208 Dutycycler.attach(&dutycycle, RATE); // start to process all RATE seconds
maetugr 12:67a06c9b69d5 209
maetugr 12:67a06c9b69d5 210 while(1) {
maetugr 35:2a9465fedb99 211 #ifdef PC_CONNECTED
maetugr 35:2a9465fedb99 212 if (pc.readable()) // Get Serial input (polled because interrupts disturb I2C)
maetugr 35:2a9465fedb99 213 pc.readcommand(&commandexecuter);
maetugr 35:2a9465fedb99 214 //pc.printf("%f %f %f %f %f %f\r\n", IMU.angle[0], IMU.angle[1], IMU.angle[2], controller_value[0], controller_value[1], controller_value[2]); // For live plot in MATLAB of IMU
maetugr 35:2a9465fedb99 215 //pc.printf("%f,%f,%f,%f,%f,%f\r\n", IMU.angle[0], IMU.angle[1], IMU.angle[2], controller_value[0], controller_value[1], controller_value[2]);
maetugr 38:ff95fd524c9e 216 #if 0 //pc.cls();
maetugr 35:2a9465fedb99 217 pc.locate(20,0); // PC output
maetugr 35:2a9465fedb99 218 pc.printf("dt:%3.5fs dt_sensors:%3.5fs Altitude:%6.1fm ", dt, dt_read_sensors, Alt.CalcAltitude(Alt.Pressure));
maetugr 35:2a9465fedb99 219 pc.locate(5,1);
maetugr 35:2a9465fedb99 220 if(armed)
maetugr 35:2a9465fedb99 221 pc.printf("ARMED!!!!!!!!!!!!!");
maetugr 35:2a9465fedb99 222 else
maetugr 35:2a9465fedb99 223 pc.printf("DIS_ARMED ");
maetugr 35:2a9465fedb99 224 pc.locate(5,3);
maetugr 35:2a9465fedb99 225 pc.printf("Roll:%6.1f Pitch:%6.1f Yaw:%6.1f ", IMU.angle[0], IMU.angle[1], IMU.angle[2]);
maetugr 35:2a9465fedb99 226 pc.locate(5,4);
maetugr 35:2a9465fedb99 227 pc.printf("q0:%6.1f q1:%6.1f q2:%6.1f q3:%6.1f ", IMU.q0, IMU.q1, IMU.q2, IMU.q3);
maetugr 35:2a9465fedb99 228 pc.locate(5,5);
maetugr 35:2a9465fedb99 229 pc.printf("Gyro.data: X:%6.1f Y:%6.1f Z:%6.1f", Gyro.data[0], Gyro.data[1], Gyro.data[2]);
maetugr 35:2a9465fedb99 230 pc.locate(5,6);
maetugr 35:2a9465fedb99 231 pc.printf("Acc.data: X:%6.1f Y:%6.1f Z:%6.1f", Acc.data[0], Acc.data[1], Acc.data[2]);
maetugr 35:2a9465fedb99 232
maetugr 35:2a9465fedb99 233 pc.locate(5,8);
maetugr 38:ff95fd524c9e 234 pc.printf("P :%6.1f I :%6.1f D :%6.1f ", P, I, D);
maetugr 38:ff95fd524c9e 235 pc.locate(5,9);
maetugr 38:ff95fd524c9e 236 pc.printf("PY:%6.1f IY:%6.1f DY:%6.1f ", PY, IY, DY);
maetugr 35:2a9465fedb99 237
maetugr 35:2a9465fedb99 238 pc.locate(5,11);
maetugr 35:2a9465fedb99 239 pc.printf("PID Result:");
maetugr 35:2a9465fedb99 240 for(int i=0;i<3;i++)
maetugr 35:2a9465fedb99 241 pc.printf(" %d: %6.1f", i, controller_value[i]);
maetugr 35:2a9465fedb99 242 pc.locate(5,14);
maetugr 35:2a9465fedb99 243 pc.printf("RC angle: roll: %f pitch: %f yaw: %f ", RC_angle[0], RC_angle[1], RC_angle[2]);
maetugr 35:2a9465fedb99 244 pc.locate(5,16);
maetugr 35:2a9465fedb99 245 pc.printf("Motor: 0:%d 1:%d 2:%d 3:%d ", (int)MIX.Motor_speed[0], (int)MIX.Motor_speed[1], (int)MIX.Motor_speed[2], (int)MIX.Motor_speed[3]);
maetugr 35:2a9465fedb99 246
maetugr 35:2a9465fedb99 247 // RC
maetugr 35:2a9465fedb99 248 pc.locate(10,19);
maetugr 35:2a9465fedb99 249 pc.printf("RC0: %4d RC1: %4d RC2: %4d RC3: %4d ", RC[0].read(), RC[1].read(), RC[2].read(), RC[3].read());
maetugr 35:2a9465fedb99 250
maetugr 35:2a9465fedb99 251 pc.locate(10,21);
maetugr 35:2a9465fedb99 252 pc.printf("Commandline: %s ", pc.command);
maetugr 35:2a9465fedb99 253 #endif
maetugr 21:c2a2e7cbabdd 254 #endif
maetugr 21:c2a2e7cbabdd 255 if(armed){
maetugr 21:c2a2e7cbabdd 256 LEDs.rollnext();
maetugr 21:c2a2e7cbabdd 257 } else {
maetugr 26:96a072233d7a 258 for(int i=1;i<=4;i++)
maetugr 26:96a072233d7a 259 LEDs.set(i);
maetugr 21:c2a2e7cbabdd 260 }
maetugr 29:8b7362a2ee14 261 wait(0.05);
maetugr 0:0c4fafa398b4 262 }
maetugr 28:ba6ca9f4def4 263 }