Matthias Grob
/
FlyBed2
My fully self designed first stable working Quadrocopter Software.
main.cpp
- Committer:
- maetugr
- Date:
- 2013-09-02
- Revision:
- 0:12950aa67f2a
- Child:
- 1:5e2b81f2d0b4
File content as of revision 0:12950aa67f2a:
#include "mbed.h" #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 "IMU_10DOF.h" // Complete IMU class for 10DOF-Board (L3G4200D, ADXL345, HMC5883, BMP085) #include "RC_Channel.h" // RemoteControl Channels with PPM #include "PID.h" // PID Library (slim, self written) #include "Servo_PWM.h" // Motor PPM using PwmOut #define PPM_FREQU 495 // Hz Frequency of PPM Signal for ESCs (maximum <500Hz) #define INTEGRAL_MAX 300 // maximal output offset that can result from integrating errors #define AILERON 0 // RC #define ELEVATOR 1 #define RUDDER 2 #define THROTTLE 3 #define ROLL 0 // Axes #define PITCH 1 #define YAW 2 bool armed = false; // this variable is for security (when false no motor rotates any more) float P = 1.0; // PID values float I = 0; float D = 2.0; float controller_value = 0; // The calculated answer form the Controller float Motor_speed[4] = {0,0,0,0}; // Mixed Motorspeeds, ready to send LED LEDs; PC pc(USBTX, USBRX, 921600); // USB IMU_10DOF IMU(p28, p27); RC_Channel RC[] = {RC_Channel(p5,1), RC_Channel(p6,2), RC_Channel(p8,4), RC_Channel(p7,3)}; // no p19/p20 ! PID Controller(P, I, D, INTEGRAL_MAX); // X:Roll alone 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! void executer() { pc.putc(pc.getc()); LEDs.tilt(2); } int main() { pc.attach(&executer); while(1) { // IMU IMU.readAngles(); //IMU.readAltitude(); // reading altitude takes much more time than the angles -> don't do this in your fast loop //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 // Arming / disarming if(RC[0].read() < 40) { armed = false; } if((RC[0].read() > 40 && RC[0].read() < 1100)) { armed = true; } // Controlling Controller.setIntegrate(armed); // only integrate in controller when armed, so the value is not totally odd from not flying controller_value = Controller.compute(0, IMU.angle[0]); // give the controller the actual angle and get his advice to correct // Mixing if (armed) // for SECURITY! { Motor_speed[0] = RC[0].read() - controller_value; Motor_speed[1] = RC[0].read() + controller_value; for(int i=0;i<4;i++) // Set new motorspeeds ESC[i] = (int)Motor_speed[i]; } else { for(int i=0;i<4;i++) // for security reason, set every motor to zero speed ESC[i] = 0; } 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()); //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); //wait(0.01); LEDs.rollnext(); } }