Matthias Grob
/
FlyBed2
My fully self designed first stable working Quadrocopter Software.
main.cpp@2:03e5f7ab473f, 2013-09-09 (annotated)
- Committer:
- maetugr
- Date:
- Mon Sep 09 20:01:13 2013 +0000
- Revision:
- 2:03e5f7ab473f
- Parent:
- 1:5e2b81f2d0b4
- Child:
- 3:e277653258ab
SUCCESS! First stable flight! (A bit hard to controll, now working on controlling coefficients and yaw input)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
maetugr | 0:12950aa67f2a | 1 | #include "mbed.h" |
maetugr | 0:12950aa67f2a | 2 | #include "LED.h" // LEDs framework for blinking ;) |
maetugr | 0:12950aa67f2a | 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 | 0:12950aa67f2a | 4 | |
maetugr | 0:12950aa67f2a | 5 | #include "IMU_10DOF.h" // Complete IMU class for 10DOF-Board (L3G4200D, ADXL345, HMC5883, BMP085) |
maetugr | 0:12950aa67f2a | 6 | #include "RC_Channel.h" // RemoteControl Channels with PPM |
maetugr | 0:12950aa67f2a | 7 | #include "PID.h" // PID Library (slim, self written) |
maetugr | 0:12950aa67f2a | 8 | #include "Servo_PWM.h" // Motor PPM using PwmOut |
maetugr | 0:12950aa67f2a | 9 | |
maetugr | 0:12950aa67f2a | 10 | #define PPM_FREQU 495 // Hz Frequency of PPM Signal for ESCs (maximum <500Hz) |
maetugr | 0:12950aa67f2a | 11 | #define INTEGRAL_MAX 300 // maximal output offset that can result from integrating errors |
maetugr | 2:03e5f7ab473f | 12 | #define RC_SENSITIVITY 30 // maximal angle from horizontal that the PID is aming for |
maetugr | 2:03e5f7ab473f | 13 | #define YAWSPEED 0.2 // maximal speed of yaw rotation in degree per Rate |
maetugr | 0:12950aa67f2a | 14 | #define AILERON 0 // RC |
maetugr | 0:12950aa67f2a | 15 | #define ELEVATOR 1 |
maetugr | 0:12950aa67f2a | 16 | #define RUDDER 2 |
maetugr | 0:12950aa67f2a | 17 | #define THROTTLE 3 |
maetugr | 1:5e2b81f2d0b4 | 18 | #define CHANNEL8 4 |
maetugr | 1:5e2b81f2d0b4 | 19 | #define CHANNEL7 5 |
maetugr | 1:5e2b81f2d0b4 | 20 | #define CHANNEL6 6 |
maetugr | 0:12950aa67f2a | 21 | #define ROLL 0 // Axes |
maetugr | 0:12950aa67f2a | 22 | #define PITCH 1 |
maetugr | 0:12950aa67f2a | 23 | #define YAW 2 |
maetugr | 0:12950aa67f2a | 24 | |
maetugr | 0:12950aa67f2a | 25 | bool armed = false; // this variable is for security (when false no motor rotates any more) |
maetugr | 2:03e5f7ab473f | 26 | bool RC_present = false; // this variable shows if an RC is present |
maetugr | 2:03e5f7ab473f | 27 | float P = 15, I = 8, D = 2.73; // PID values |
maetugr | 2:03e5f7ab473f | 28 | float PY = 5.37, IY = 0, DY = 3; // PID values for Yaw |
maetugr | 2:03e5f7ab473f | 29 | float RC_angle[] = {0,0,0}; // Angle of the RC Sticks, to steer the QC |
maetugr | 0:12950aa67f2a | 30 | float controller_value = 0; // The calculated answer form the Controller |
maetugr | 0:12950aa67f2a | 31 | float Motor_speed[4] = {0,0,0,0}; // Mixed Motorspeeds, ready to send |
maetugr | 0:12950aa67f2a | 32 | |
maetugr | 0:12950aa67f2a | 33 | LED LEDs; |
maetugr | 0:12950aa67f2a | 34 | PC pc(USBTX, USBRX, 921600); // USB |
maetugr | 1:5e2b81f2d0b4 | 35 | //PC pc(p9, p10, 115200); // Bluetooth |
maetugr | 0:12950aa67f2a | 36 | IMU_10DOF IMU(p28, p27); |
maetugr | 1:5e2b81f2d0b4 | 37 | RC_Channel RC[] = {RC_Channel(p8,1), RC_Channel(p7,2), RC_Channel(p5,4), RC_Channel(p6,3), RC_Channel(p15,2), RC_Channel(p16,4), RC_Channel(p17,3)}; // no p19/p20 ! |
maetugr | 2:03e5f7ab473f | 38 | 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 | 0:12950aa67f2a | 39 | 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 | 0:12950aa67f2a | 40 | |
maetugr | 1:5e2b81f2d0b4 | 41 | extern "C" void mbed_reset(); |
maetugr | 1:5e2b81f2d0b4 | 42 | |
maetugr | 0:12950aa67f2a | 43 | void executer() { |
maetugr | 1:5e2b81f2d0b4 | 44 | char command = pc.getc(); |
maetugr | 1:5e2b81f2d0b4 | 45 | if (command == 'X') |
maetugr | 1:5e2b81f2d0b4 | 46 | mbed_reset(); |
maetugr | 2:03e5f7ab473f | 47 | if (command == 'A') { |
maetugr | 2:03e5f7ab473f | 48 | IMU.Acc.calibrate(100,0.05); |
maetugr | 2:03e5f7ab473f | 49 | pc.printf("\r\n***A***%.3f,%.3f,%.3f***\r\n", IMU.Acc.offset[ROLL], IMU.Acc.offset[PITCH], IMU.Acc.offset[YAW]); |
maetugr | 2:03e5f7ab473f | 50 | wait(10); |
maetugr | 2:03e5f7ab473f | 51 | } |
maetugr | 2:03e5f7ab473f | 52 | if (command == 'C') { |
maetugr | 2:03e5f7ab473f | 53 | IMU.Comp.calibrate(60); |
maetugr | 2:03e5f7ab473f | 54 | pc.printf("\r\n***C***%.3f,%.3f,%.3f***\r\n", IMU.Comp.offset[ROLL], IMU.Comp.offset[PITCH], IMU.Comp.offset[YAW]); |
maetugr | 2:03e5f7ab473f | 55 | wait(20); |
maetugr | 2:03e5f7ab473f | 56 | } |
maetugr | 2:03e5f7ab473f | 57 | |
maetugr | 2:03e5f7ab473f | 58 | pc.putc(command); |
maetugr | 0:12950aa67f2a | 59 | LEDs.tilt(2); |
maetugr | 0:12950aa67f2a | 60 | } |
maetugr | 0:12950aa67f2a | 61 | |
maetugr | 0:12950aa67f2a | 62 | int main() { |
maetugr | 0:12950aa67f2a | 63 | pc.attach(&executer); |
maetugr | 0:12950aa67f2a | 64 | while(1) { |
maetugr | 0:12950aa67f2a | 65 | // IMU |
maetugr | 0:12950aa67f2a | 66 | IMU.readAngles(); |
maetugr | 2:03e5f7ab473f | 67 | //IMU.readAltitude(); // TODO: reading altitude takes much more time than the angles -> don't do this in your fast loop, Ticker? |
maetugr | 0:12950aa67f2a | 68 | //pc.printf("%.1f,%.1f,%.1f,%.1f'C,%.1fhPa,%.1fmaS,%.5fs,%.5fs\r\n", IMU.angle[0], IMU.angle[1], IMU.angle[2], IMU.temperature, IMU.pressure, IMU.altitude, IMU.dt, IMU.dt_sensors); // Output for Python |
maetugr | 0:12950aa67f2a | 69 | |
maetugr | 0:12950aa67f2a | 70 | // Arming / disarming |
maetugr | 2:03e5f7ab473f | 71 | RC_present = !(RC[AILERON].read() == -100 || RC[ELEVATOR].read() == -100 || RC[RUDDER].read() == -100 || RC[THROTTLE].read() == -100); // TODO: Failsafe |
maetugr | 1:5e2b81f2d0b4 | 72 | if(RC[THROTTLE].read() < 20 && RC[RUDDER].read() > 850) { |
maetugr | 1:5e2b81f2d0b4 | 73 | armed = true; |
maetugr | 2:03e5f7ab473f | 74 | RC_angle[YAW] = IMU.angle[YAW]; |
maetugr | 1:5e2b81f2d0b4 | 75 | } |
maetugr | 2:03e5f7ab473f | 76 | if((RC[THROTTLE].read() < 30 && RC[RUDDER].read() < 30) || !RC_present) { |
maetugr | 0:12950aa67f2a | 77 | armed = false; |
maetugr | 0:12950aa67f2a | 78 | } |
maetugr | 0:12950aa67f2a | 79 | |
maetugr | 2:03e5f7ab473f | 80 | // Setting PID Values from auxiliary RC channels |
maetugr | 1:5e2b81f2d0b4 | 81 | if (RC[CHANNEL8].read() > 0 && RC[CHANNEL8].read() < 1000) |
maetugr | 2:03e5f7ab473f | 82 | P = ((float)RC[CHANNEL8].read()) * 20 / 1000; |
maetugr | 1:5e2b81f2d0b4 | 83 | if (RC[CHANNEL7].read() > 0 && RC[CHANNEL7].read() < 1000) |
maetugr | 2:03e5f7ab473f | 84 | D = ((float)RC[CHANNEL7].read()) * 6 / 1000; |
maetugr | 2:03e5f7ab473f | 85 | for(int i=0;i<2;i++) |
maetugr | 2:03e5f7ab473f | 86 | Controller[i].setPID(P,I,D); // give the new PID values to roll and pitch controller |
maetugr | 2:03e5f7ab473f | 87 | Controller[YAW].setPID(PY,IY,DY); |
maetugr | 1:5e2b81f2d0b4 | 88 | |
maetugr | 2:03e5f7ab473f | 89 | // RC Angle ROLL-PITCH-Part |
maetugr | 2:03e5f7ab473f | 90 | for(int i=0;i<2;i++) { // calculate new angle we want the QC to have |
maetugr | 2:03e5f7ab473f | 91 | if (RC_present) |
maetugr | 2:03e5f7ab473f | 92 | RC_angle[i] = (RC[i].read()-500)*RC_SENSITIVITY/500.0; |
maetugr | 2:03e5f7ab473f | 93 | else |
maetugr | 2:03e5f7ab473f | 94 | RC_angle[i] = 0; |
maetugr | 2:03e5f7ab473f | 95 | } |
maetugr | 2:03e5f7ab473f | 96 | |
maetugr | 2:03e5f7ab473f | 97 | // RC Angle YAW-Part |
maetugr | 2:03e5f7ab473f | 98 | float RC_yaw_adding; // temporary variable to take the desired yaw adjustment |
maetugr | 2:03e5f7ab473f | 99 | if (RC_present && RC[THROTTLE].read() > 20) |
maetugr | 2:03e5f7ab473f | 100 | RC_yaw_adding = -(RC[RUDDER].read()-500)*YAWSPEED/500; |
maetugr | 1:5e2b81f2d0b4 | 101 | else |
maetugr | 2:03e5f7ab473f | 102 | RC_yaw_adding = 0; |
maetugr | 2:03e5f7ab473f | 103 | |
maetugr | 2:03e5f7ab473f | 104 | 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 | 2:03e5f7ab473f | 105 | if(RC_angle[YAW] + RC_yaw_adding < -180) |
maetugr | 2:03e5f7ab473f | 106 | RC_yaw_adding += 360; |
maetugr | 2:03e5f7ab473f | 107 | if(RC_angle[YAW] + RC_yaw_adding > 180) |
maetugr | 2:03e5f7ab473f | 108 | RC_yaw_adding -= 360; |
maetugr | 2:03e5f7ab473f | 109 | } |
maetugr | 2:03e5f7ab473f | 110 | RC_angle[YAW] += RC_yaw_adding; // the yaw angle is integrated from stick input |
maetugr | 1:5e2b81f2d0b4 | 111 | |
maetugr | 0:12950aa67f2a | 112 | // Controlling |
maetugr | 2:03e5f7ab473f | 113 | for(int i=0;i<2;i++) { |
maetugr | 2:03e5f7ab473f | 114 | Controller[i].setIntegrate(armed); // only integrate in controller when armed, so the value is not totally odd from not flying |
maetugr | 2:03e5f7ab473f | 115 | Controller[i].compute(RC_angle[i], IMU.angle[i], IMU.Gyro.data[i]); // give the controller the actual gyro values for D and angle for P,I and get his advice to correct |
maetugr | 2:03e5f7ab473f | 116 | } |
maetugr | 2:03e5f7ab473f | 117 | Controller[YAW].setIntegrate(armed); // same for YAW |
maetugr | 2:03e5f7ab473f | 118 | if (abs(RC_angle[YAW] - IMU.angle[YAW]) > 180) // for YAW a special calculation because of range -180 to 180 |
maetugr | 2:03e5f7ab473f | 119 | if (RC_angle[YAW] > IMU.angle[YAW]) |
maetugr | 2:03e5f7ab473f | 120 | Controller[YAW].compute(RC_angle[YAW] - 360, IMU.angle[YAW], IMU.Gyro.data[YAW]); |
maetugr | 2:03e5f7ab473f | 121 | else |
maetugr | 2:03e5f7ab473f | 122 | Controller[YAW].compute(RC_angle[YAW] + 360, IMU.angle[YAW], IMU.Gyro.data[YAW]); |
maetugr | 2:03e5f7ab473f | 123 | else |
maetugr | 2:03e5f7ab473f | 124 | Controller[YAW].compute(RC_angle[YAW], IMU.angle[YAW], IMU.Gyro.data[YAW]); |
maetugr | 0:12950aa67f2a | 125 | |
maetugr | 0:12950aa67f2a | 126 | // Mixing |
maetugr | 0:12950aa67f2a | 127 | if (armed) // for SECURITY! |
maetugr | 0:12950aa67f2a | 128 | { |
maetugr | 2:03e5f7ab473f | 129 | Motor_speed[0] = RC[THROTTLE].read() + Controller[PITCH].Value; |
maetugr | 2:03e5f7ab473f | 130 | Motor_speed[2] = RC[THROTTLE].read() - Controller[PITCH].Value; |
maetugr | 2:03e5f7ab473f | 131 | Motor_speed[3] = RC[THROTTLE].read() + Controller[ROLL].Value; |
maetugr | 2:03e5f7ab473f | 132 | Motor_speed[1] = RC[THROTTLE].read() - Controller[ROLL].Value; |
maetugr | 2:03e5f7ab473f | 133 | |
maetugr | 2:03e5f7ab473f | 134 | Motor_speed[0] -= Controller[YAW].Value; |
maetugr | 2:03e5f7ab473f | 135 | Motor_speed[2] -= Controller[YAW].Value; |
maetugr | 2:03e5f7ab473f | 136 | Motor_speed[3] += Controller[YAW].Value; |
maetugr | 2:03e5f7ab473f | 137 | Motor_speed[1] += Controller[YAW].Value; |
maetugr | 2:03e5f7ab473f | 138 | |
maetugr | 2:03e5f7ab473f | 139 | |
maetugr | 0:12950aa67f2a | 140 | for(int i=0;i<4;i++) // Set new motorspeeds |
maetugr | 0:12950aa67f2a | 141 | ESC[i] = (int)Motor_speed[i]; |
maetugr | 0:12950aa67f2a | 142 | |
maetugr | 0:12950aa67f2a | 143 | } else { |
maetugr | 0:12950aa67f2a | 144 | for(int i=0;i<4;i++) // for security reason, set every motor to zero speed |
maetugr | 0:12950aa67f2a | 145 | ESC[i] = 0; |
maetugr | 0:12950aa67f2a | 146 | } |
maetugr | 0:12950aa67f2a | 147 | |
maetugr | 1:5e2b81f2d0b4 | 148 | //pc.printf("%d,%.3f,%.3f,%.3f,%.5fs,%.5fs,%4d,%4d,%4d,%4d\r\n", armed, IMU.angle[0], IMU.angle[1], IMU.angle[2], IMU.dt, IMU.dt_sensors, RC[0].read(), RC[1].read(), RC[2].read(), RC[3].read()); |
maetugr | 2:03e5f7ab473f | 149 | pc.printf("%d,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f\r\n", armed, P, PY, D, IMU.angle[PITCH], controller_value, RC_angle[YAW], IMU.dt); |
maetugr | 0:12950aa67f2a | 150 | //pc.printf("%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.5f\r\n", IMU.angle[0], IMU.angle[1], IMU.angle[2], IMU.Gyro.data[0], IMU.Gyro.data[1], IMU.Gyro.data[2], IMU.dt); |
maetugr | 0:12950aa67f2a | 151 | |
maetugr | 0:12950aa67f2a | 152 | //wait(0.01); |
maetugr | 0:12950aa67f2a | 153 | |
maetugr | 0:12950aa67f2a | 154 | LEDs.rollnext(); |
maetugr | 0:12950aa67f2a | 155 | } |
maetugr | 0:12950aa67f2a | 156 | } |