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.
Diff: main.cpp
- Revision:
- 21:c2a2e7cbabdd
- Parent:
- 20:e116e596e540
- Child:
- 22:d301b455a1ad
diff -r e116e596e540 -r c2a2e7cbabdd main.cpp --- a/main.cpp Mon Nov 05 09:19:01 2012 +0000 +++ b/main.cpp Sat Nov 17 11:49:21 2012 +0000 @@ -9,33 +9,33 @@ #include "Servo_PWM.h" // Motor PPM using PwmOut #include "PID.h" // PID Library by Aaron Berk -#define PI 3.1415926535897932384626433832795 // ratio of a circle's circumference to its diameter -#define RAD2DEG 57.295779513082320876798154814105 // ratio between radians and degree (360/2Pi) +//#define RAD2DEG 57.295779513082320876798154814105 // ratio between radians and degree (360/2Pi) //TODO not needed?? #define RATE 0.02 // speed of the interrupt for Sensors and PID #define P_VALUE 0.05 // PID values -#define I_VALUE 5 +#define I_VALUE 100 #define D_VALUE 0.015 //#define COMPASSCALIBRATE // decomment if you want to calibrate the Compass on start +#define PC_CONNECTED // decoment if you want to debug per USB and your PC Timer GlobalTimer; // global time to calculate processing speed Ticker Datagetter; // timecontrolled interrupt to get data form IMU and RC // initialisation of hardware (see includes for more info) LED LEDs; -PC pc(USBTX, USBRX, 115200); +#ifdef PC_CONNECTED + PC pc(USBTX, USBRX, 115200); +#endif L3G4200D Gyro(p28, p27); ADXL345 Acc(p28, p27); HMC5883 Comp(p28, p27); BMP085_old Alt(p28, p27); -RC_Channel RC[] = {(p11), (p12), (p13), (p14)}; // noooo p19/p20 ! -Servo_PWM Motor[] = {(p21), (p22), (p23), (p24)}; // p21 - p26 only ! +RC_Channel RC[] = {p11, p12, p13, p14}; // noooo p19/p20 ! +Servo_PWM Motor[] = {p21, p22, p23, p24}; // p21 - p26 only ! -//PID Controller[] = {(P_VALUE, I_VALUE, D_VALUE, RATE), (P_VALUE, I_VALUE, D_VALUE, RATE), (P_VALUE, I_VALUE, D_VALUE, RATE)}; // TODO: RATE != dt immer anpassen -//PID P:3,0 bis 3,5 I:0,010 und 0,050 D:5 und 25 -PID Controller(P_VALUE, I_VALUE, D_VALUE, RATE); - +// 0:X:Roll 1:Y:Pitch 2:Z:Yaw +PID Controller[] = {PID(P_VALUE, I_VALUE, D_VALUE, RATE), PID(P_VALUE, I_VALUE, D_VALUE, RATE), PID(P_VALUE, I_VALUE, D_VALUE, RATE)}; // TODO: RATE != dt immer anpassen // global varibles bool armed = false; // this variable is for security @@ -46,7 +46,13 @@ float angle[3] = {0,0,0}; // calculated values of the position [0: x,roll | 1: y,pitch | 2: z,yaw] float tempangle = 0; // temporärer winkel für yaw ohne kompass float Gyro_angle[3] ={0,0,0}; -float co; // PID test +float controller_value[] = {0,0,0}; +float motor_value[] = {0,0,0,0}; + +int motor_calc(int rc_value, float contr_value) +{ + return rc_value + contr_value > 0 ? rc_value + contr_value : 0; // nicht unter 0 sinken TODO: nicht Motor halten -> langsame Reaktion +} void get_Data() // method which is called by the Ticker Datagetter every RATE seconds { @@ -55,7 +61,7 @@ // 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(); + //Comp.read(); //Alt.Update(); TODO braucht zu lange zum auslesen! dt_read_sensors = GlobalTimer.read_us() - time_read_sensors; @@ -71,128 +77,151 @@ // calculate angles for roll, pitch an yaw angle[0] += (Acc.angle[0] - angle[0])/50 + Gyro.data[0] *dt_get_data/15000000.0; angle[1] += (Acc.angle[1]+3 - angle[1])/50 + Gyro.data[1] *dt_get_data/15000000.0;// TODO Offset accelerometer einstellen - tempangle += (Comp.get_angle() - tempangle)/50 + Gyro.data[2] *dt_get_data/15000000.0; + //tempangle += (Comp.get_angle() - tempangle)/50 + Gyro.data[2] *dt_get_data/15000000.0; angle[2] = Gyro_angle[2]; // gyro only here // PID controlling - Controller.setProcessValue(angle[1]); + if (!(RC[0].read() == -100)) { + Controller[0].setSetPoint((int)((RC[0].read()-440)/440.0*90.0)); + Controller[1].setSetPoint(-(int)((RC[1].read()-430)/430.0*90.0)); + } + for(int i=0;i<3;i++) { + Controller[i].setProcessValue(angle[i]); + controller_value[i] = Controller[i].compute() - 1000; + } - // Aming/ disarming - if(RC[2].read() < 1020 && RC[3].read() < 1020) + // Arming / disarming + if(RC[2].read() < 20 && RC[3].read() > 850) + armed = true; + if(RC[2].read() < 30 && RC[3].read() < 30) armed = false; - if(RC[2].read() < 500 || RC[1].read() < 500 || RC[0].read() < 500) + if(RC[3].read() < -10 || RC[2].read() < -10 || RC[1].read() < -10 || RC[0].read() < -10) armed = false; - if(RC[2].read() < 1020 && RC[3].read() > 1850) - armed = true; // calculate new motorspeeds - co = Controller.compute() - 1000; - if (armed) // zur SICHERHEIT! + if (armed) // for SECURITY! { - #if 0 - Motor[0] = RC[2].read(); - Motor[1] = RC[2].read(); - Motor[2] = RC[2].read(); - Motor[3] = RC[2].read(); - #else - Motor[0] = RC[2].read()+co; - Motor[2] = RC[2].read()-co; - #endif - - /*Motor[0] = RC[2].read()+((RC[0].read() - 1500)/10.0)+40; - Motor[2] = RC[2].read()-((RC[0].read() - 1500)/10.0)-40;*/ - /**/ + // Pitch + motor_value[0] = motor_calc(RC[2].read(), +controller_value[1]); + motor_value[2] = motor_calc(RC[2].read(), -controller_value[1]); + + // Roll + motor_value[1] = motor_calc(RC[2].read(), +controller_value[0]); + motor_value[3] = motor_calc(RC[2].read(), -controller_value[0]); + + // Yaw + //motor_value[0] -= controller_value[2]; + //motor_value[2] -= controller_value[2]; + + //motor_value[1] += controller_value[2]; + //motor_value[3] += controller_value[2]; + } else { - Motor[0] = 1000; - Motor[1] = 1000; - Motor[2] = 1000; - Motor[3] = 1000; - } - - /*Motor[0] = 1000 + (100 - (angle[1] * 500/90)) * (RC[2].read() - 1000) / 1000; // test für erste reaktion der motoren entgegen der Auslenkung - Motor[1] = 1000 + (100 - (angle[0] * 500/90)) * (RC[2].read() - 1000) / 1000; - Motor[2] = 1000 + (100 + (angle[1] * 500/90)) * (RC[2].read() - 1000) / 1000; - Motor[3] = 1000 + (100 + (angle[0] * 500/90)) * (RC[2].read() - 1000) / 1000;*/ + for(int i=0;i<4;i++) + motor_value[i] = 0; + } + // Set new motorspeeds + for(int i=0;i<4;i++) + Motor[i] = motor_value[i]; } int main() { // main programm only used for initialisation and debug output NVIC_SetPriority(TIMER3_IRQn, 1); // set priorty of tickers below hardware interrupts (standard priority is 0) - //for(int i=0;i<3;i++) - Controller.setInputLimits(-90.0, 90.0); - Controller.setOutputLimits(0.0, 2000.0); - Controller.setBias(1000); - Controller.setMode(MANUAL_MODE);//AUTO_MODE); - Controller.setSetPoint(0); + for(int i=0;i<3;i++) { + Controller[i].setInputLimits(-90.0, 90.0); + Controller[i].setOutputLimits(0.0, 2000.0); + Controller[i].setBias(1000); + Controller[i].setMode(MANUAL_MODE);//AUTO_MODE); + Controller[i].setSetPoint(0); + } - #ifdef COMPASSCALIBRATE + #ifdef PC_CONNECTED + #ifdef COMPASSCALIBRATE + pc.locate(10,5); + pc.printf("CALIBRATING"); + Comp.calibrate(60); + #endif + + // init screen pc.locate(10,5); - pc.printf("CALIBRATING"); - Comp.calibrate(60); + pc.printf("Flybed v0.2"); #endif - - // init screen - pc.locate(10,5); - pc.printf("Flybed v0.2"); LEDs.roll(2); - // Start! TODO: Motor und RC start (armed....?) + // Start! GlobalTimer.start(); Datagetter.attach(&get_Data, RATE); // start to get data all RATEms while(1) { - pc.locate(30,0); // PC output - pc.printf("dt:%dms dt_sensors:%dus Altitude:%6.1fm ", dt_get_data/1000, 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 ", angle[0], angle[1], angle[2]); - - 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("Gyro_angle: X:%6.1f Y:%6.1f Z:%6.1f", Gyro_angle[0], Gyro_angle[1], Gyro_angle[2]); - - pc.locate(5,8); - pc.printf("Acc.data: X:%6d Y:%6d Z:%6d", Acc.data[0], Acc.data[1], Acc.data[2]); - pc.locate(5,9); - pc.printf("Acc.angle: Roll:%6.1f Pitch:%6.1f Yaw:%6.1f ", Acc.angle[0], Acc.angle[1], Acc.angle[2]); - - pc.locate(5,11); - pc.printf("PID Test: %6.1f", co); + #ifdef PC_CONNECTED + pc.locate(30,0); // PC output + pc.printf("dt:%dms dt_sensors:%dus Altitude:%6.1fm ", dt_get_data/1000, 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 ", angle[0], angle[1], angle[2]); + pc.printf("\n\r control Roll: %d control Pitch: %d ", (int)((RC[0].read()-440)/440.0*90.0), (int)((RC[1].read()-430)/430.0*90.0)); + + 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("Gyro_angle: X:%6.1f Y:%6.1f Z:%6.1f", Gyro_angle[0], Gyro_angle[1], Gyro_angle[2]); + + pc.locate(5,8); + pc.printf("Acc.data: X:%6d Y:%6d Z:%6d", Acc.data[0], Acc.data[1], Acc.data[2]); + pc.locate(5,9); + pc.printf("Acc.angle: Roll:%6.1f Pitch:%6.1f Yaw:%6.1f ", Acc.angle[0], Acc.angle[1], Acc.angle[2]); + + 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(10,15); + pc.printf("Debug_Yaw: Comp:%6.1f tempangle:%6.1f ", Comp.get_angle(), tempangle); + pc.locate(10,16); + pc.printf("Comp_data: %6.1f %6.1f %6.1f |||| %6.1f ", Comp.data[0], Comp.data[1], Comp.data[2], Comp.get_angle()); + pc.locate(10,17); + //pc.printf("Comp_scale: %6.4f %6.4f %6.4f ", Comp.scale[0], Comp.scale[1], Comp.scale[2]); no more accessible its private + pc.locate(10,18); + pc.printf("Comp_data: %6.1f %6.1f %6.1f |||| %6.1f ", Comp.data[0], Comp.data[1], Comp.data[2], Comp.get_angle()); + + pc.locate(10,19); + pc.printf("RC0: %4d :[", RC[0].read()); + for (int i = 0; i < RC[0].read()/17; i++) + pc.printf("="); + pc.printf(" "); + pc.locate(10,20); + pc.printf("RC1: %4d :[", RC[1].read()); + for (int i = 0; i < RC[1].read()/17; i++) + pc.printf("="); + pc.printf(" "); + pc.locate(10,21); + pc.printf("RC2: %4d :[", RC[2].read()); + for (int i = 0; i < RC[2].read()/17; i++) + pc.printf("="); + pc.printf(" "); + pc.locate(10,22); + pc.printf("RC3: %4d :[", RC[3].read()); + for (int i = 0; i < RC[3].read()/17; i++) + pc.printf("="); + pc.printf(" "); + #endif + wait(0.01); + if(armed){ + LEDs.rollnext(); + } else { + LEDs.set(1); + LEDs.set(2); + LEDs.set(3); + LEDs.set(4); + } - pc.locate(10,15); - pc.printf("Debug_Yaw: Comp:%6.1f tempangle:%6.1f ", Comp.get_angle(), tempangle); - pc.locate(10,16); - pc.printf("Comp_data: %6.1f %6.1f %6.1f |||| %6.1f ", Comp.data[0], Comp.data[1], Comp.data[2], Comp.get_angle()); - pc.locate(10,17); - //pc.printf("Comp_scale: %6.4f %6.4f %6.4f ", Comp.scale[0], Comp.scale[1], Comp.scale[2]); no more accessible its private - pc.locate(10,18); - pc.printf("Comp_data: %6.1f %6.1f %6.1f |||| %6.1f ", Comp.data[0], Comp.data[1], Comp.data[2], Comp.get_angle()); - - pc.locate(10,19); - pc.printf("RC0: %4d :[", RC[0].read()); - for (int i = 0; i < (RC[0].read() - 1000)/17; i++) - pc.printf("="); - pc.printf(" "); - pc.locate(10,20); - pc.printf("RC1: %4d :[", RC[1].read()); - for (int i = 0; i < (RC[1].read() - 1000)/17; i++) - pc.printf("="); - pc.printf(" "); - pc.locate(10,21); - pc.printf("RC2: %4d :[", RC[2].read()); - for (int i = 0; i < (RC[2].read() - 1000)/17; i++) - pc.printf("="); - pc.printf(" "); - pc.locate(10,22); - pc.printf("RC3: %4d :[", RC[3].read()); - for (int i = 0; i < (RC[3].read() - 1000)/17; i++) - pc.printf("="); - pc.printf(" "); - LEDs.rollnext(); } }