Matthias Grob
/
FlyBed2
My fully self designed first stable working Quadrocopter Software.
main.cpp
- Committer:
- maetugr
- Date:
- 2014-07-12
- Revision:
- 7:ac2895479e34
- Parent:
- 5:06e978fd147a
- Child:
- 8:e79c7939d6de
File content as of revision 7:ac2895479e34:
#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.h" // Motor PPM using any DigitalOut Pin #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 RC_SENSITIVITY 30 // maximal angle from horizontal that the PID is aming for #define YAWSPEED 1.0 // maximal speed of yaw rotation in degree per Rate #define AILERON 0 // RC #define ELEVATOR 1 #define RUDDER 2 #define THROTTLE 3 #define CHANNEL8 4 #define CHANNEL7 5 #define CHANNEL6 6 #define ROLL 0 // Axes #define PITCH 1 #define YAW 2 //#define CONSTRAIN(VAL,LIMIT) ((VAL)<(-LIMIT)?(-LIMIT):((VAL)>(LIMIT)?(LIMIT):(VAL))) bool armed = false; // is for security (when false no motor rotates any more) bool debug = true; // shows if we want output for the computer bool RC_present = false; // shows if an RC is present float P_R = 4, I_R = 11, D_R = 0; float P_A = 1.865, I_A = 1.765, D_A = 0; //float P = 13.16, I = 8, D = 2.73; // PID values float PY = 3.2, IY = 0, DY = 0; //float PY = 5.37, IY = 0, DY = 3; // PID values for Yaw float RC_angle[] = {0,0,0}; // Angle of the RC Sticks, to steer the QC float Motor_speed[4] = {0,0,0,0}; // Mixed Motorspeeds, ready to send //float * command_pointer = &D; // TODO: pointer to varible that's going to be changed by UART command /*float max[3] = {-10000,-10000,-10000}; float min[3] = {10000,10000,10000};*/ LED LEDs; PC pc(USBTX, USBRX, 921600); // USB //PC pc(p9, p10, 115200); // Bluetooth IMU_10DOF IMU(p28, p27); 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 ! PID Controller_Rate[] = {PID(P_R, I_R, D_R, INTEGRAL_MAX), PID(P_R, I_R, D_R, INTEGRAL_MAX), PID(PY, IY, DY, INTEGRAL_MAX)}; // 0:X:Roll 1:Y:Pitch 2:Z:Yaw PID Controller_Angle[] = {PID(P_A, I_A, D_A, INTEGRAL_MAX), PID(P_A, I_A, D_A, INTEGRAL_MAX), PID(0, 0, 0, INTEGRAL_MAX)}; Servo ESC[] = {Servo(p21,PPM_FREQU), Servo(p22,PPM_FREQU), Servo(p23,PPM_FREQU), Servo(p24,PPM_FREQU)}; // use any DigitalOit Pin extern "C" void mbed_reset(); void executer() { char command = pc.getc(); if (command == 'X') mbed_reset(); if (command == '-') debug = !debug; if (command == 'A') { IMU.Acc.calibrate(100,0.05); pc.printf("\r\n***A***%.3f,%.3f,%.3f***\r\n", IMU.Acc.offset[ROLL], IMU.Acc.offset[PITCH], IMU.Acc.offset[YAW]); wait(10); } if (command == 'C') { IMU.Comp.calibrate(60); pc.printf("\r\n***C***%.3f,%.3f,%.3f***\r\n", IMU.Comp.offset[ROLL], IMU.Comp.offset[PITCH], IMU.Comp.offset[YAW]); wait(20); } pc.putc(command); LEDs.tilt(2); } int main() { pc.attach(&executer); while(1) { // IMU IMU.readAngles(); //IMU.readAltitude(); // TODO: reading altitude takes much more time than the angles -> don't do this in your fast loop, Ticker? //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 RC_present = !(RC[AILERON].read() == -100 || RC[ELEVATOR].read() == -100 || RC[RUDDER].read() == -100 || RC[THROTTLE].read() == -100); // TODO: Failsafe if(RC[THROTTLE].read() < 20 && RC[RUDDER].read() > 850) { armed = true; RC_angle[YAW] = IMU.angle[YAW]; } if((RC[THROTTLE].read() < 30 && RC[RUDDER].read() < 30) || !RC_present) { armed = false; } // Setting PID Values from auxiliary RC channels if (RC[CHANNEL8].read() > 0 && RC[CHANNEL8].read() < 1000) P_R = 0 + (((float)RC[CHANNEL8].read()) * 5 / 1000); if (RC[CHANNEL7].read() > 0 && RC[CHANNEL7].read() < 1000) I_R = 0 + (((float)RC[CHANNEL7].read()) * 12 / 1000); for(int i=0;i<3;i++) Controller_Angle[i].setPID(P_A,I_A,D_A); for(int i=0;i<2;i++) Controller_Rate[i].setPID(P_R,I_R,D_R); // give the new PID values to roll and pitch controller Controller_Rate[YAW].setPID(PY,IY,DY); // RC Angle ROLL-PITCH-Part for(int i=0;i<2;i++) { // calculate new angle we want the QC to have if (RC_present) RC_angle[i] = (RC[i].read()-500)*RC_SENSITIVITY/500.0; else RC_angle[i] = 0; } // RC Angle YAW-Part if (RC_present && RC[THROTTLE].read() > 20) RC_angle[YAW] -= (RC[RUDDER].read()-500)*YAWSPEED/500; float RC_yaw_adding; // temporary variable to take the desired yaw adjustment if (RC_present && RC[THROTTLE].read() > 20) RC_yaw_adding = -(RC[RUDDER].read()-500)*YAWSPEED/500; else RC_yaw_adding = 0; RC_angle[YAW] = RC_angle[YAW] + RC_yaw_adding < -180 ? RC_angle[YAW] + 360 + RC_yaw_adding : RC_angle[YAW] + RC_yaw_adding; RC_angle[YAW] = RC_angle[YAW] + RC_yaw_adding > 180 ? RC_angle[YAW] - 360 + RC_yaw_adding : RC_angle[YAW] + RC_yaw_adding; /*float RC_yaw_adding; // temporary variable to take the desired yaw adjustment if (RC_present && RC[THROTTLE].read() > 20) RC_yaw_adding = -(RC[RUDDER].read()-500)*YAWSPEED/500; else RC_yaw_adding = 0; 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 if(RC_angle[YAW] + RC_yaw_adding < -180) RC_yaw_adding += 360; if(RC_angle[YAW] + RC_yaw_adding > 180) RC_yaw_adding -= 360; } RC_angle[YAW] += RC_yaw_adding; // the yaw angle is integrated from stick input*/ // Controlling for(int i=0;i<2;i++) { Controller_Rate[i].setIntegrate(armed); // only integrate in controller when armed, so the value is not totally odd from not flying Controller_Rate[i].compute((RC[i].read()-500.0)*100.0/500.0, IMU.Sensor.data_gyro[i]); // give the controller the actual gyro values and get his advice to correct } Controller_Rate[2].setIntegrate(armed); // only integrate in controller when armed, so the value is not totally odd from not flying Controller_Rate[2].compute(-(RC[2].read()-500.0)*100.0/500.0, IMU.Sensor.data_gyro[2]); // give the controller the actual gyro values and get his advice to correct /*for(int i=0;i<3;i++) { Controller_Angle[i].setIntegrate(armed); // only integrate in controller when armed, so the value is not totally odd from not flying Controller_Angle[i].compute(RC_angle[i], IMU.angle[i]); // give the controller the actual gyro values and get his advice to correct Controller_Rate[i].setIntegrate(armed); // only integrate in controller when armed, so the value is not totally odd from not flying Controller_Rate[i].compute(-Controller_Angle[i].Value, IMU.Sensor.data_gyro[i]); // give the controller the actual gyro values and get his advice to correct }*/ // OLD Controlling /*for(int i=0;i<2;i++) { Controller[i].setIntegrate(armed); // only integrate in controller when armed, so the value is not totally odd from not flying Controller[i].compute(RC_angle[i], IMU.angle[i], IMU.Sensor.data_gyro[i]); // give the controller the actual gyro values for D and angle for P,I and get his advice to correct } Controller[YAW].setIntegrate(armed); // same for YAW if (abs(RC_angle[YAW] - IMU.angle[YAW]) > 180) // for YAW a special calculation because of range -180 to 180 if (RC_angle[YAW] > IMU.angle[YAW]) Controller[YAW].compute(RC_angle[YAW] - 360, IMU.angle[YAW], IMU.Sensor.data_gyro[YAW]); else Controller[YAW].compute(RC_angle[YAW] + 360, IMU.angle[YAW], IMU.Sensor.data_gyro[YAW]); else Controller[YAW].compute(RC_angle[YAW], IMU.angle[YAW], IMU.Sensor.data_gyro[YAW]);*/ // Mixing Motor_speed[2] = RC[THROTTLE].read() + Controller_Rate[PITCH].Value; Motor_speed[0] = RC[THROTTLE].read() - Controller_Rate[PITCH].Value; Motor_speed[1] = RC[THROTTLE].read() + Controller_Rate[ROLL].Value; Motor_speed[3] = RC[THROTTLE].read() - Controller_Rate[ROLL].Value; Motor_speed[0] -= Controller_Rate[YAW].Value; Motor_speed[2] -= Controller_Rate[YAW].Value; Motor_speed[3] += Controller_Rate[YAW].Value; Motor_speed[1] += Controller_Rate[YAW].Value; if (armed) // for SECURITY! { debug = false; // PITCH //ESC[0] = (int)Motor_speed[0]>50 ? (int)Motor_speed[0] : 50; //ESC[2] = (int)Motor_speed[2]>50 ? (int)Motor_speed[2] : 50; // ROLL //ESC[1] = (int)Motor_speed[1]>50 ? (int)Motor_speed[1] : 50; //ESC[3] = (int)Motor_speed[3]>50 ? (int)Motor_speed[3] : 50; for(int i=0;i<4;i++) // Set new motorspeeds ESC[i] = (int)Motor_speed[i]>50 ? (int)Motor_speed[i] : 50; } else { for(int i=0;i<4;i++) // for security reason, set every motor to zero speed ESC[i] = 0; } if (debug) { //pc.printf("%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f\r\n", IMU.Acc.data[0], IMU.Acc.data[1], IMU.Acc.data[2], D, IMU.angle[PITCH], Controller[PITCH].Value, RC_angle[YAW], IMU.dt); //MAIN OUTPUT pc.printf("%d,%.1f,%.1f,%.1f,%.3f,%.3f,%.3f,%.2f,%.2f\r\n", armed, IMU.angle[ROLL], IMU.angle[PITCH], IMU.angle[YAW], Controller[ROLL].Value, Controller[PITCH].Value, Controller[YAW].Value, P, D); // RC[0].read(), RC[1].read(), RC[2].read(), RC[3].read() //pc.printf("%d,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f\r\n", armed, P, PY, D, IMU.angle[PITCH], Controller[PITCH].Value, RC_angle[YAW], IMU.dt); //pc.printf("%d,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f\r\n", armed, P, PY, D, IMU.angle[PITCH], Controller[PITCH].Value, RC_angle[YAW], IMU.dt); //pc.printf("%+.3f,%+.3f,%+.3f,%+.3f,%+.3f,%+.3f,%.5f\r\n", IMU.angle[0], IMU.angle[1], IMU.angle[2], IMU.Sensor.data_gyro[0], IMU.Sensor.data_gyro[1], IMU.Sensor.data_gyro[2], IMU.dt); pc.printf("$STATE,%d,%.3f\r\n", armed, IMU.dt); pc.printf("$RC,%d,%d,%d,%d,%d,%d,%d\r\n", RC[AILERON].read(), RC[ELEVATOR].read(), RC[RUDDER].read(), RC[THROTTLE].read(), RC[CHANNEL6].read(), RC[CHANNEL7].read(), RC[CHANNEL8].read()); pc.printf("$GYRO,%.3f,%.3f,%.3f\r\n", IMU.Sensor.data_gyro[ROLL], IMU.Sensor.data_gyro[PITCH], IMU.Sensor.data_gyro[YAW]); pc.printf("$ACC,%.3f,%.3f,%.3f\r\n", IMU.Sensor.data_acc[ROLL], IMU.Sensor.data_acc[PITCH], IMU.Sensor.data_acc[YAW]); pc.printf("$ANG,%.3f,%.3f,%.3f\r\n", IMU.angle[ROLL], IMU.angle[PITCH], IMU.angle[YAW]); pc.printf("$RCANG,%.3f,%.3f,%.3f\r\n", RC_angle[ROLL], RC_angle[PITCH], RC_angle[YAW]); pc.printf("$CONT,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f\r\n", Controller_Rate[ROLL].Value, Controller_Rate[PITCH].Value, Controller_Rate[YAW].Value, P_R, I_R, D_R); pc.printf("$MOT,%d,%d,%d,%d\r\n", (int)Motor_speed[0], (int)Motor_speed[1], (int)Motor_speed[2], (int)Motor_speed[3]); /*for (int i=0;i<3;i++) { min[i] = IMU.Sensor.data_gyro[i]<min[i] ? IMU.Sensor.data_gyro[i] : min[i]; max[i] = IMU.Sensor.data_gyro[i]>max[i] ? IMU.Sensor.data_gyro[i] : max[i]; }*/ //pc.printf("%.5f\r\n", IMU.dt); //pc.printf("%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n", IMU.Sensor.raw_gyro[ROLL], IMU.Sensor.raw_gyro[PITCH], IMU.Sensor.raw_gyro[YAW], min[0], min[1], min[2], max[0], max[1], max[2]); //pc.printf("%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f\r\n", IMU.Sensor.data_gyro[ROLL], IMU.Sensor.data_gyro[PITCH], IMU.Sensor.data_gyro[YAW], min[0], min[1], min[2], max[0], max[1], max[2]); //pc.printf("%.3f,%.3f,%.3f\r\n", IMU.Sensor.data_gyro[ROLL], IMU.Sensor.data_gyro[PITCH], IMU.Sensor.data_gyro[YAW]); // SimPlot output /*int16_t sendvalue[4]; //Buffer to hold the packet, note it is 16bit data type sendvalue[0] = (int16_t) IMU.Sensor.data_gyro[ROLL]; //Channel 1 data. 16bit signed integer sendvalue[1] = (int16_t) IMU.Sensor.data_gyro[PITCH]; //Channel 2 data. 16bit signed integer sendvalue[2] = (int16_t) IMU.Sensor.data_gyro[YAW]; //Channel 3 data. 16bit signed integer sendvalue[3] = (int16_t) 0; //Channel 4 data. 16bit signed integer pc.putc(0xAB); // header pc.putc(0xCD); pc.putc(0x08); // size LSB pc.putc(0x00); // size MSB for(int i=0; i<4; i++) { pc.putc((char)sendvalue[i]); // LSB pc.putc((char)(sendvalue[i] >> 8)); // MSB }*/ wait(0.04); } LEDs.rollnext(); } }