File content as of revision 33:fd98776b6cc7:

#include "mbed.h"       // Standard Library
#include "LED.h"        // LEDs framework for blinking ;)
#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)
#include "L3G4200D.h"   // Gyro (Gyroscope)
#include "ADXL345.h"    // Acc (Accelerometer)
#include "HMC5883.h"    // Comp (Compass)
#include "BMP085_old.h"     // Alt (Altitude sensor)
#include "RC_Channel.h" // RemoteControl Channels with PPM
#include "Servo_PWM.h"  // Motor PPM using PwmOut
#include "PID.h"        // PID Library by Aaron Berk
#include "IMU_Filter.h" // Class to calculate position angles
#include "Mixer.h"      // Class to calculate motorspeeds from Angles, Regulation and RC-Signals

#define RATE            0.002                               // speed of the interrupt for Sensors and PID
#define PPM_FREQU       495                                 // Hz Frequency of PPM Signal for ESCs (maximum <500Hz)
#define RC_SENSITIVITY  30                                  // maximal angle from horizontal that the PID is aming for
#define YAWSPEED        2                                   // maximal speed of yaw rotation in degree per Rate

float P = 1.1;                                   // PID values
float I = 0.3;
float D = 0.8;

#define PC_CONNECTED // decoment if you want to debug per USB/Bluetooth and your PC

Timer GlobalTimer;                      // global time to calculate processing speed
Ticker Dutycycler;                      // timecontrolled interrupt to get data form IMU and RC

// initialisation of hardware (see includes for more info)
LED         LEDs;
#ifdef PC_CONNECTED
    //PC          pc(USBTX, USBRX, 115200);    // USB
    PC          pc(p9, p10, 115200);       // Bluetooth
#endif
L3G4200D    Gyro(p28, p27);
ADXL345     Acc(p28, p27);
HMC5883     Comp(p28, p27);
BMP085_old      Alt(p28, p27);
RC_Channel  RC[] = {RC_Channel(p11,1), RC_Channel(p12,2), RC_Channel(p13,4), RC_Channel(p14,3)};    // no p19/p20 !
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!
IMU_Filter  IMU;    // don't write () after constructor for no arguments!
Mixer       MIX(1); // 1 for X-Formation 

// 0:X:Roll 1:Y:Pitch 2:Z:Yaw
PID     Controller[] = {PID(P, I, D, 1000), PID(P, I, D, 1000), PID(0.5, 0.01, 0, 1000)};

// global variables
bool    armed = false;          // this variable is for security (when false no motor rotates any more)
float   dt = 0;
float   time_for_dt = 0;
float   dt_read_sensors = 0;
float   time_read_sensors = 0;
float   controller_value[] = {0,0,0};   // The calculated answer form the Controller
float   RC_angle[] = {0,0,0};  // Angle of the RC Sticks, to steer the QC

void dutycycle() // method which is called by the Ticker Dutycycler every RATE seconds
{
    time_read_sensors = GlobalTimer.read(); // start time measure for sensors
    
    // read data from sensors // ATTENTION! the I2C option repeated true is important because otherwise interrupts while bus communications cause crashes
    Gyro.read();
    Acc.read(); // TODO: nicht jeder Sensor immer? höhe nicht so wichtig
    //Comp.read();
    //Alt.Update(); TODO braucht zu lange zum auslesen!
    
    dt_read_sensors = GlobalTimer.read() - time_read_sensors; // stop time measure for sensors
    
    // meassure dt for the filter
    dt = GlobalTimer.read() - time_for_dt; // time in us since last loop
    time_for_dt = GlobalTimer.read();      // set new time for next measurement
    
    IMU.compute(dt, Gyro.data, Acc.data);
    
    // Arming / disarming
    if(RC[3].read() < 20 && RC[2].read() > 850) {
        armed = true;
    }
    if((RC[3].read() < 30 && RC[2].read() < 30) || RC[2].read() < -10 || RC[3].read() < -10 || RC[1].read() < -10 || RC[0].read() < -10) {
        armed = false;
    }
    
    for(int i=0;i<2;i++) {    // calculate new angle we want the QC to have
        RC_angle[i] = (RC[i].read()-500)*RC_SENSITIVITY/500.0;
        if (RC_angle[i] < -RC_SENSITIVITY-2)
            RC_angle[i] = 0;
    }
    //RC_angle[2] += (RC[3].read()-500)*YAWSPEED/500;  // for yaw angle is integrated
    
    for(int i=0;i<3;i++) {
        Controller[i].setIntegrate(armed); // only integrate in controller when armed, so the value is not totally odd from not flying
        controller_value[i] = Controller[i].compute(RC_angle[i], IMU.angle[i]); // give the controller the actual angle and get his advice to correct
    }
                
    
    if (armed) // for SECURITY!
    {       
            // RC controlling
            /*for(int i=0;i<3;i++)
                AnglePosition[i] -= (RC[i].read()-500)*2/500.0;*/
            /*virt_angle[0] = IMU.angle[0] + (RC[0].read()-500)*MAXPITCH/500.0; // TODO: zuerst RC calibration
            virt_angle[1] = IMU.angle[1] + (RC[1].read()-500)*MAXPITCH/500.0;
            yawposition += (RC[3].read()-500)*YAWSPEED/500;
            virt_angle[2] = IMU.angle[2] + yawposition;*/

            MIX.compute(RC[3].read(), controller_value); // let the Mixer compute motorspeeds based on throttle and controller output
            
            for(int i=0;i<4;i++)   // Set new motorspeeds
                ESC[i] = (int)MIX.Motor_speed[i];
            
    } else {
        for(int i=0;i<4;i++) // for security reason, set every motor to zero speed
            ESC[i] = 0;
    }
}

void commandexecuter(char* command) {  // take new PID values on the fly
    if (command[0] == 'p')
        P = atof(&command[1]);
    if (command[0] == 'i')
        I = atof(&command[1]);
    if (command[0] == 'd')
        D = atof(&command[1]);
    for(int i=0;i<2;i++) {
        Controller[i].setPID(P,I,D); // give the controller the new PID values
    }
}

int main() { // main programm for initialisation and debug output
    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)
    
    #ifdef PC_CONNECTED
        // init screen
        pc.locate(10,5);
        pc.printf("Flybed v0.2");
    #endif
    LEDs.roll(2);
    
    Gyro.calibrate(50, 0.02);
    Acc.calibrate(50, 0.02);
    
    // Start!
    GlobalTimer.start();
    Dutycycler.attach(&dutycycle, RATE);     // start to process all RATEms
    
    while(1) { 
        if (pc.readable())  // Get Serial input (polled because interrupts disturb I2C)
            pc.readcommand(&commandexecuter);
        //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
        #if 1 //pc.cls();
            pc.locate(20,0); // PC output
            pc.printf("dt:%3.5fs   dt_sensors:%3.5fs    Altitude:%6.1fm   ", dt, dt_read_sensors, Alt.CalcAltitude(Alt.Pressure));
            pc.locate(5,1);
            if(armed)
                pc.printf("ARMED!!!!!!!!!!!!!");
            else
                pc.printf("DIS_ARMED            ");
            pc.locate(5,3);
            pc.printf("Roll:%6.1f   Pitch:%6.1f   Yaw:%6.1f    ", IMU.angle[0], IMU.angle[1], IMU.angle[2]);
            pc.locate(5,4);
            pc.printf("q0:%6.1f   q1:%6.1f   q2:%6.1f   q3:%6.1f       ", IMU.q0, IMU.q1, IMU.q2, IMU.q3);
            pc.locate(5,5);
            pc.printf("Gyro.data: X:%6.1f  Y:%6.1f  Z:%6.1f", Gyro.data[0], Gyro.data[1], Gyro.data[2]);
            pc.locate(5,6);
            pc.printf("Acc.data:  X:%6.1f  Y:%6.1f  Z:%6.1f", Acc.data[0], Acc.data[1], Acc.data[2]);
            
            pc.locate(5,8);
            pc.printf("P:%6.1f   I:%6.1f   D:%6.1f    ", P, I, D);
            
            pc.locate(5,11);
            pc.printf("PID Result:");
            for(int i=0;i<3;i++)
                pc.printf("  %d: %6.1f", i, controller_value[i]);
            pc.locate(5,14);
            pc.printf("RC angle: roll: %f     pitch: %f      yaw: %f    ", RC_angle[0], RC_angle[1], RC_angle[2]);
            pc.locate(5,16);
            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]);
            
            // RC
            pc.locate(10,19);
            pc.printf("RC0: %4d   RC1: %4d   RC2: %4d   RC3: %4d   ", RC[0].read(), RC[1].read(), RC[2].read(), RC[3].read());
            
            pc.locate(10,21);
            pc.printf("Commandline: %s                                  ", pc.command);
        #endif
        if(armed){
            LEDs.rollnext();
        } else {
            for(int i=1;i<=4;i++)
                LEDs.set(i);
        }
        wait(0.05);
    }
}