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.
main.cpp
- Committer:
- maetugr
- Date:
- 2012-10-04
- Revision:
- 3:a97f1d874f4e
- Parent:
- 2:93f703d2c4d7
- Child:
- 4:e96b16ad986d
File content as of revision 3:a97f1d874f4e:
#include "mbed.h" // Standar Library #include "LCD.h" // Display #include "LED.h" // LEDs #include "L3G4200D.h" // Gyro #include "ADXL345.h" // Acc #include "Servo.h" // Motor // initialisation LED LEDs; TextLCD LCD(p5, p6, p7, p8, p9, p10, p11, TextLCD::LCD16x2); // RS, RW, E, D0, D1, D2, D3, Typ L3G4200D Gyro(p28, p27); ADXL345 Acc(p28, p27); //Servo Motor(p12); Timer GlobalTimer; #define PI 3.1415926535897932384626433832795 #define Rad2Deg 57.295779513082320876798154814105 int main() { // LCD/LED init LCD.cls(); // Display löschen LCD.printf("FlyBed v0.2"); LEDs.roll(2); LEDs = 15; float Gyro_data[3]; int Acc_data[3]; //int Gyro_angle[3] = {0,0,0}; unsigned long dt = 0; unsigned long time_loop = 0; //Motor.initialize(); float angle = 0;//TEMP float bangle = 0; float drift = 0; //float drift = 0; GlobalTimer.start(); while(1) { Gyro.read(Gyro_data); Acc.read(Acc_data); // Acc data angle //float Acc_abs = sqrt(pow((float)Acc_data[0],2) + pow((float)Acc_data[1],2) + pow((float)Acc_data[2],2)); //float Acc_angle = Rad2Deg * acos((float)Acc_data[2]/Acc_abs); float Acc_angle = Rad2Deg * atan2((float)Acc_data[1], (float)Acc_data[2]); //angle = (0.98)*(angle + Gyro_data[0] * 0.1) + (0.02)*(Acc_angle); float messfrequenz = 0.01; float geschwindigkeit = Gyro_data[0] - drift; //drift += (geschwindigkeit * messfrequenz * 0.3); angle += (geschwindigkeit * messfrequenz); angle += ((Acc_angle - angle) * messfrequenz * 0.1); //for (int i= 0; i < 3;i++) //drift[i] += (Gyro_data[i]-drift[i])* 0.1; //for (int i= 0; i < 3;i++) //Gyro_angle[i] += (Gyro_data[i]/*-drift[i]*/); //dt berechnen dt = GlobalTimer.read_us() - time_loop; time_loop = GlobalTimer.read_us(); bangle += (Acc_angle - angle)/50 + Gyro_data[0] * 0.001; //dt/10000000.0----------------------------------------- //Gyro_angle[0] += (Gyro_data[0]) * 0.01; LCD.locate(0,0); //LCD.printf("%2.1f %2.1f %2.1f", Gyro_data[0],Gyro_data[1],Gyro_data[2]); //LCD.printf("%d %d |%2.1f ",Acc_data[1],Acc_data[2] ,Acc_angle); //roll(x) pitch(y) yaw(z) LCD.printf(" |%2.1f ",Acc_data[2]/20.0); LCD.locate(1,0); //LCD.printf("%d %d %d %2.1f ", Acc_data[0],Acc_data[1],Acc_data[2]); //LCD.printf("%2.1f %2.1f %2.2f %2.1f", Acc_angle,Acc_angle,dt/10000.0, angle); LCD.printf("%2.1f %2.1f %2.1f ",Acc_angle , bangle, angle); //Motor = 1000 + abs(Acc_data[1]); // Motorwert anpassen //LED hin und her int ledset = 0; if (Acc_angle < 0) ledset += 1; else ledset += 8; if (angle < 0) ledset += 2; else ledset += 4; wait(0.1); LEDs = ledset; //LEDs.rollnext(); } }