Matthias Grob / Mbed 2 deprecated FlyBed2

My fully self designed first stable working Quadrocopter Software.

Dependencies:   mbed

Dependents:   fluy343

/media/uploads/maetugr/dsc09031.jpg

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?

UserRevisionLine numberNew 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 }