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
Diff: main.cpp
- Revision:
- 9:4e0c3936c756
- Parent:
- 8:d25ecdcdbeb5
- Child:
- 10:953afcbcebfc
--- a/main.cpp Mon Oct 15 19:03:17 2012 +0000
+++ b/main.cpp Tue Oct 16 10:21:32 2012 +0000
@@ -57,7 +57,7 @@
angle[0] += (Acc_angle[0] - angle[0])/50 + Gyro_data[0] *dt/15000000.0;
angle[1] += (Acc_angle[1] - angle[1])/50 + Gyro_data[1] *dt/15000000.0;
tempangle += (Comp_angle - tempangle)/50 - Gyro_data[2] *dt/15000000.0;
- angle[2] -= Gyro_data[2] *dt/15000000.0;
+ angle[2] -= Gyro_data[2] *dt/15000000.0; // gyro only here
// Read RC data
//RC[0].read() // TODO: RC daten lesen und einberechnen!
@@ -72,20 +72,11 @@
pc.printf("Flybed v0.2");
LEDs.roll(2);
- //Kompass kalibrieren --> Problem fremde Magnetfelder!
- //Comp.AutoCalibration = 1;
- short MagRawMin[3]= {-400, -400, -400}; //Gespeicherte Werte verwenden
- short MagRawMax[3]= {400, 400, 400};
- Comp.Calibrate(MagRawMin, MagRawMax);
- //Comp.Calibrate(20);
-
- Alt.oss = 0; //Oversampling des Barometers setzen
-
+ // Start!
GlobalTimer.start();
Datagetter.attach(&get_Data, 0.02); // start to get data all 10ms
while(1) {
- // PC output
- pc.locate(10,5);
+ pc.locate(10,5); // PC output
pc.printf("dt:%dms %6.1fm ", dt/1000, Alt.CalcAltitude(Alt.Pressure));
pc.locate(10,8);
pc.printf("Roll:%6.1f Pitch:%6.1f Yaw:%6.1f ", angle[0], angle[1], angle[2]);
Matthias Grob
