Matthias Grob
/
FlyBed2
My fully self designed first stable working Quadrocopter Software.
main.cpp@5:06e978fd147a, 2014-07-06 (annotated)
- Committer:
- maetugr
- Date:
- Sun Jul 06 05:51:25 2014 +0000
- Revision:
- 5:06e978fd147a
- Parent:
- 4:b0a60b0b24a9
- Child:
- 7:ac2895479e34
switched from dedicated PWM Motor Driver to Interrupt Motor Driver which works on every Pin because PWM crashed a lot of I2C Sensor Values!
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 | 5:06e978fd147a | 8 | #include "Servo.h" // Motor PPM using any DigitalOut Pin |
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 | 5:06e978fd147a | 25 | bool armed = false; // is for security (when false no motor rotates any more) |
maetugr | 5:06e978fd147a | 26 | bool debug = true; // shows if we want output for the computer |
maetugr | 5:06e978fd147a | 27 | bool RC_present = false; // shows if an RC is present |
maetugr | 5:06e978fd147a | 28 | float P = 0, I = 0, D = 0; |
maetugr | 5:06e978fd147a | 29 | //float P = 13.16, I = 8, D = 2.73; // PID values |
maetugr | 5:06e978fd147a | 30 | float PY = 0, IY = 0, DY = 0; |
maetugr | 5:06e978fd147a | 31 | //float PY = 5.37, IY = 0, DY = 3; // PID values for Yaw |
maetugr | 2:03e5f7ab473f | 32 | float RC_angle[] = {0,0,0}; // Angle of the RC Sticks, to steer the QC |
maetugr | 0:12950aa67f2a | 33 | float Motor_speed[4] = {0,0,0,0}; // Mixed Motorspeeds, ready to send |
maetugr | 5:06e978fd147a | 34 | float * command_pointer = &D; |
maetugr | 5:06e978fd147a | 35 | |
maetugr | 5:06e978fd147a | 36 | /*float max[3] = {-10000,-10000,-10000}; |
maetugr | 5:06e978fd147a | 37 | float min[3] = {10000,10000,10000};*/ |
maetugr | 0:12950aa67f2a | 38 | |
maetugr | 0:12950aa67f2a | 39 | LED LEDs; |
maetugr | 0:12950aa67f2a | 40 | PC pc(USBTX, USBRX, 921600); // USB |
maetugr | 1:5e2b81f2d0b4 | 41 | //PC pc(p9, p10, 115200); // Bluetooth |
maetugr | 0:12950aa67f2a | 42 | IMU_10DOF IMU(p28, p27); |
maetugr | 1:5e2b81f2d0b4 | 43 | 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 | 44 | 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 | 5:06e978fd147a | 45 | Servo ESC[] = {Servo(p21,PPM_FREQU), Servo(p22,PPM_FREQU), Servo(p23,PPM_FREQU), Servo(p24,PPM_FREQU)}; // use any DigitalOit Pin |
maetugr | 0:12950aa67f2a | 46 | |
maetugr | 1:5e2b81f2d0b4 | 47 | extern "C" void mbed_reset(); |
maetugr | 1:5e2b81f2d0b4 | 48 | |
maetugr | 0:12950aa67f2a | 49 | void executer() { |
maetugr | 1:5e2b81f2d0b4 | 50 | char command = pc.getc(); |
maetugr | 1:5e2b81f2d0b4 | 51 | if (command == 'X') |
maetugr | 1:5e2b81f2d0b4 | 52 | mbed_reset(); |
maetugr | 5:06e978fd147a | 53 | if (command == '-') |
maetugr | 5:06e978fd147a | 54 | debug = !debug; |
maetugr | 2:03e5f7ab473f | 55 | if (command == 'A') { |
maetugr | 2:03e5f7ab473f | 56 | IMU.Acc.calibrate(100,0.05); |
maetugr | 2:03e5f7ab473f | 57 | 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 | 58 | wait(10); |
maetugr | 2:03e5f7ab473f | 59 | } |
maetugr | 2:03e5f7ab473f | 60 | if (command == 'C') { |
maetugr | 2:03e5f7ab473f | 61 | IMU.Comp.calibrate(60); |
maetugr | 2:03e5f7ab473f | 62 | 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 | 63 | wait(20); |
maetugr | 2:03e5f7ab473f | 64 | } |
maetugr | 2:03e5f7ab473f | 65 | |
maetugr | 2:03e5f7ab473f | 66 | pc.putc(command); |
maetugr | 0:12950aa67f2a | 67 | LEDs.tilt(2); |
maetugr | 0:12950aa67f2a | 68 | } |
maetugr | 0:12950aa67f2a | 69 | |
maetugr | 0:12950aa67f2a | 70 | int main() { |
maetugr | 0:12950aa67f2a | 71 | pc.attach(&executer); |
maetugr | 0:12950aa67f2a | 72 | while(1) { |
maetugr | 0:12950aa67f2a | 73 | // IMU |
maetugr | 0:12950aa67f2a | 74 | IMU.readAngles(); |
maetugr | 2:03e5f7ab473f | 75 | //IMU.readAltitude(); // TODO: reading altitude takes much more time than the angles -> don't do this in your fast loop, Ticker? |
maetugr | 0:12950aa67f2a | 76 | //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 | 77 | |
maetugr | 0:12950aa67f2a | 78 | // Arming / disarming |
maetugr | 2:03e5f7ab473f | 79 | RC_present = !(RC[AILERON].read() == -100 || RC[ELEVATOR].read() == -100 || RC[RUDDER].read() == -100 || RC[THROTTLE].read() == -100); // TODO: Failsafe |
maetugr | 1:5e2b81f2d0b4 | 80 | if(RC[THROTTLE].read() < 20 && RC[RUDDER].read() > 850) { |
maetugr | 1:5e2b81f2d0b4 | 81 | armed = true; |
maetugr | 2:03e5f7ab473f | 82 | RC_angle[YAW] = IMU.angle[YAW]; |
maetugr | 1:5e2b81f2d0b4 | 83 | } |
maetugr | 2:03e5f7ab473f | 84 | if((RC[THROTTLE].read() < 30 && RC[RUDDER].read() < 30) || !RC_present) { |
maetugr | 0:12950aa67f2a | 85 | armed = false; |
maetugr | 0:12950aa67f2a | 86 | } |
maetugr | 0:12950aa67f2a | 87 | |
maetugr | 2:03e5f7ab473f | 88 | // Setting PID Values from auxiliary RC channels |
maetugr | 1:5e2b81f2d0b4 | 89 | if (RC[CHANNEL8].read() > 0 && RC[CHANNEL8].read() < 1000) |
maetugr | 5:06e978fd147a | 90 | D = 0 + (((float)RC[CHANNEL8].read()) * 15 / 1000); |
maetugr | 5:06e978fd147a | 91 | /*if (RC[CHANNEL7].read() > 0 && RC[CHANNEL7].read() < 1000) |
maetugr | 5:06e978fd147a | 92 | D = 2 + (((float)RC[CHANNEL7].read()) * 4 / 1000);*/ |
maetugr | 2:03e5f7ab473f | 93 | for(int i=0;i<2;i++) |
maetugr | 2:03e5f7ab473f | 94 | Controller[i].setPID(P,I,D); // give the new PID values to roll and pitch controller |
maetugr | 2:03e5f7ab473f | 95 | Controller[YAW].setPID(PY,IY,DY); |
maetugr | 1:5e2b81f2d0b4 | 96 | |
maetugr | 2:03e5f7ab473f | 97 | // RC Angle ROLL-PITCH-Part |
maetugr | 2:03e5f7ab473f | 98 | for(int i=0;i<2;i++) { // calculate new angle we want the QC to have |
maetugr | 2:03e5f7ab473f | 99 | if (RC_present) |
maetugr | 2:03e5f7ab473f | 100 | RC_angle[i] = (RC[i].read()-500)*RC_SENSITIVITY/500.0; |
maetugr | 2:03e5f7ab473f | 101 | else |
maetugr | 2:03e5f7ab473f | 102 | RC_angle[i] = 0; |
maetugr | 2:03e5f7ab473f | 103 | } |
maetugr | 2:03e5f7ab473f | 104 | |
maetugr | 2:03e5f7ab473f | 105 | // RC Angle YAW-Part |
maetugr | 2:03e5f7ab473f | 106 | float RC_yaw_adding; // temporary variable to take the desired yaw adjustment |
maetugr | 2:03e5f7ab473f | 107 | if (RC_present && RC[THROTTLE].read() > 20) |
maetugr | 2:03e5f7ab473f | 108 | RC_yaw_adding = -(RC[RUDDER].read()-500)*YAWSPEED/500; |
maetugr | 1:5e2b81f2d0b4 | 109 | else |
maetugr | 2:03e5f7ab473f | 110 | RC_yaw_adding = 0; |
maetugr | 2:03e5f7ab473f | 111 | |
maetugr | 2:03e5f7ab473f | 112 | 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 | 113 | if(RC_angle[YAW] + RC_yaw_adding < -180) |
maetugr | 2:03e5f7ab473f | 114 | RC_yaw_adding += 360; |
maetugr | 2:03e5f7ab473f | 115 | if(RC_angle[YAW] + RC_yaw_adding > 180) |
maetugr | 2:03e5f7ab473f | 116 | RC_yaw_adding -= 360; |
maetugr | 2:03e5f7ab473f | 117 | } |
maetugr | 2:03e5f7ab473f | 118 | RC_angle[YAW] += RC_yaw_adding; // the yaw angle is integrated from stick input |
maetugr | 1:5e2b81f2d0b4 | 119 | |
maetugr | 0:12950aa67f2a | 120 | // Controlling |
maetugr | 2:03e5f7ab473f | 121 | for(int i=0;i<2;i++) { |
maetugr | 2:03e5f7ab473f | 122 | Controller[i].setIntegrate(armed); // only integrate in controller when armed, so the value is not totally odd from not flying |
maetugr | 4:b0a60b0b24a9 | 123 | 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 |
maetugr | 2:03e5f7ab473f | 124 | } |
maetugr | 2:03e5f7ab473f | 125 | Controller[YAW].setIntegrate(armed); // same for YAW |
maetugr | 2:03e5f7ab473f | 126 | if (abs(RC_angle[YAW] - IMU.angle[YAW]) > 180) // for YAW a special calculation because of range -180 to 180 |
maetugr | 2:03e5f7ab473f | 127 | if (RC_angle[YAW] > IMU.angle[YAW]) |
maetugr | 4:b0a60b0b24a9 | 128 | Controller[YAW].compute(RC_angle[YAW] - 360, IMU.angle[YAW], IMU.Sensor.data_gyro[YAW]); |
maetugr | 2:03e5f7ab473f | 129 | else |
maetugr | 4:b0a60b0b24a9 | 130 | Controller[YAW].compute(RC_angle[YAW] + 360, IMU.angle[YAW], IMU.Sensor.data_gyro[YAW]); |
maetugr | 2:03e5f7ab473f | 131 | else |
maetugr | 4:b0a60b0b24a9 | 132 | Controller[YAW].compute(RC_angle[YAW], IMU.angle[YAW], IMU.Sensor.data_gyro[YAW]); |
maetugr | 0:12950aa67f2a | 133 | |
maetugr | 0:12950aa67f2a | 134 | // Mixing |
maetugr | 5:06e978fd147a | 135 | Motor_speed[2] = RC[THROTTLE].read() + Controller[PITCH].Value; |
maetugr | 5:06e978fd147a | 136 | Motor_speed[0] = RC[THROTTLE].read() - Controller[PITCH].Value; |
maetugr | 5:06e978fd147a | 137 | Motor_speed[1] = RC[THROTTLE].read() + Controller[ROLL].Value; |
maetugr | 5:06e978fd147a | 138 | Motor_speed[3] = RC[THROTTLE].read() - Controller[ROLL].Value; |
maetugr | 5:06e978fd147a | 139 | |
maetugr | 5:06e978fd147a | 140 | Motor_speed[0] -= Controller[YAW].Value; |
maetugr | 5:06e978fd147a | 141 | Motor_speed[2] -= Controller[YAW].Value; |
maetugr | 5:06e978fd147a | 142 | Motor_speed[3] += Controller[YAW].Value; |
maetugr | 5:06e978fd147a | 143 | Motor_speed[1] += Controller[YAW].Value; |
maetugr | 5:06e978fd147a | 144 | |
maetugr | 0:12950aa67f2a | 145 | if (armed) // for SECURITY! |
maetugr | 0:12950aa67f2a | 146 | { |
maetugr | 5:06e978fd147a | 147 | ESC[0] = (int)Motor_speed[0]; |
maetugr | 5:06e978fd147a | 148 | ESC[2] = (int)Motor_speed[2]; |
maetugr | 5:06e978fd147a | 149 | //for(int i=0;i<4;i++) // Set new motorspeeds |
maetugr | 5:06e978fd147a | 150 | //ESC[i] = (int)Motor_speed[i]; |
maetugr | 0:12950aa67f2a | 151 | |
maetugr | 0:12950aa67f2a | 152 | } else { |
maetugr | 0:12950aa67f2a | 153 | for(int i=0;i<4;i++) // for security reason, set every motor to zero speed |
maetugr | 0:12950aa67f2a | 154 | ESC[i] = 0; |
maetugr | 0:12950aa67f2a | 155 | } |
maetugr | 0:12950aa67f2a | 156 | |
maetugr | 5:06e978fd147a | 157 | if (debug) { |
maetugr | 4:b0a60b0b24a9 | 158 | //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); |
maetugr | 5:06e978fd147a | 159 | //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() |
maetugr | 3:e277653258ab | 160 | //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); |
maetugr | 3:e277653258ab | 161 | //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); |
maetugr | 5:06e978fd147a | 162 | //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); |
maetugr | 5:06e978fd147a | 163 | pc.printf("$STATE,%d,%.3f\r\n", armed, IMU.dt); |
maetugr | 5:06e978fd147a | 164 | pc.printf("$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()); |
maetugr | 5:06e978fd147a | 165 | pc.printf("$GYRO,%.3f,%.3f,%.3f\r\n", IMU.Sensor.data_gyro[ROLL], IMU.Sensor.data_gyro[PITCH], IMU.Sensor.data_gyro[YAW]); |
maetugr | 5:06e978fd147a | 166 | pc.printf("$ACC,%.3f,%.3f,%.3f\r\n", IMU.Sensor.data_acc[ROLL], IMU.Sensor.data_acc[PITCH], IMU.Sensor.data_acc[YAW]); |
maetugr | 5:06e978fd147a | 167 | pc.printf("$ANG,%.3f,%.3f,%.3f\r\n", IMU.angle[ROLL], IMU.angle[PITCH], IMU.angle[YAW]); |
maetugr | 5:06e978fd147a | 168 | pc.printf("$CONT,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f\r\n", Controller[ROLL].Value, Controller[PITCH].Value, Controller[YAW].Value, P, I, D); |
maetugr | 5:06e978fd147a | 169 | 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]); |
maetugr | 5:06e978fd147a | 170 | /*for (int i=0;i<3;i++) { |
maetugr | 5:06e978fd147a | 171 | min[i] = IMU.Sensor.data_gyro[i]<min[i] ? IMU.Sensor.data_gyro[i] : min[i]; |
maetugr | 5:06e978fd147a | 172 | max[i] = IMU.Sensor.data_gyro[i]>max[i] ? IMU.Sensor.data_gyro[i] : max[i]; |
maetugr | 5:06e978fd147a | 173 | }*/ |
maetugr | 5:06e978fd147a | 174 | //pc.printf("%.5f\r\n", IMU.dt); |
maetugr | 5:06e978fd147a | 175 | //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]); |
maetugr | 5:06e978fd147a | 176 | //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]); |
maetugr | 5:06e978fd147a | 177 | wait(0.04); |
maetugr | 5:06e978fd147a | 178 | } |
maetugr | 0:12950aa67f2a | 179 | |
maetugr | 0:12950aa67f2a | 180 | LEDs.rollnext(); |
maetugr | 0:12950aa67f2a | 181 | } |
maetugr | 0:12950aa67f2a | 182 | } |