Matthias Grob / Mbed 2 deprecated FlyBed3

Successful acro and level mode now! Relying on MPU9250 as base sensor. I'm working continuously on tuning and features :) NEWEST VERSION ON: https://github.com/MaEtUgR/FlyBed (CODE 100% compatible/copyable)

Dependencies:   mbed

main.cpp@2:f0a9ecb4d049, 2015-09-10 (annotated)

Committer:
maetugr
Date:
Thu Sep 10 12:06:04 2015 +0000
Revision:
2:f0a9ecb4d049
Parent:
1:60882db03b0f
Child:
3:3709be130495
some minor optimizations; before testing an angle controller

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 0:37f0c1e8fa66 1 /* X- Configuration
maetugr 2:f0a9ecb4d049 2 m2 m3 -- >
maetugr 2:f0a9ecb4d049 3 \ / / \ /
maetugr 2:f0a9ecb4d049 4 / \ V |
maetugr 2:f0a9ecb4d049 5 m1 m0 \
maetugr 2:f0a9ecb4d049 6 ROLL PITCH */
maetugr 0:37f0c1e8fa66 7 #include "mbed.h"
maetugr 0:37f0c1e8fa66 8 #include "LED.h" // LEDs framework for blinking ;)
maetugr 0:37f0c1e8fa66 9 #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 0:37f0c1e8fa66 10
maetugr 0:37f0c1e8fa66 11 #include "IMU_10DOF.h" // Complete IMU class for 10DOF-Board (L3G4200D, ADXL345, HMC5883, BMP085)
maetugr 0:37f0c1e8fa66 12 #include "RC_Channel.h" // RemoteControl Channels with PPM
maetugr 0:37f0c1e8fa66 13 #include "PID.h" // PID Library (slim, self written)
maetugr 0:37f0c1e8fa66 14 #include "Servo.h" // Motor PPM using any DigitalOut Pin
maetugr 0:37f0c1e8fa66 15
maetugr 0:37f0c1e8fa66 16 #define PPM_FREQU 495 // Hz Frequency of PPM Signal for ESCs (maximum <500Hz)
maetugr 0:37f0c1e8fa66 17 #define INTEGRAL_MAX 300 // maximal output offset that can result from integrating errors
maetugr 0:37f0c1e8fa66 18 #define RC_SENSITIVITY 30 // maximal angle from horizontal that the PID is aming for
maetugr 0:37f0c1e8fa66 19 #define YAWSPEED 1.0 // maximal speed of yaw rotation in degree per Rate
maetugr 0:37f0c1e8fa66 20 #define AILERON 0 // RC
maetugr 0:37f0c1e8fa66 21 #define ELEVATOR 1
maetugr 0:37f0c1e8fa66 22 #define RUDDER 2
maetugr 0:37f0c1e8fa66 23 #define THROTTLE 3
maetugr 0:37f0c1e8fa66 24 #define CHANNEL8 4
maetugr 0:37f0c1e8fa66 25 #define CHANNEL7 5
maetugr 0:37f0c1e8fa66 26 #define CHANNEL6 6
maetugr 0:37f0c1e8fa66 27 #define ROLL 0 // Axes
maetugr 0:37f0c1e8fa66 28 #define PITCH 1
maetugr 0:37f0c1e8fa66 29 #define YAW 2
maetugr 0:37f0c1e8fa66 30
maetugr 0:37f0c1e8fa66 31 #define SQRT2 0.7071067811865
maetugr 0:37f0c1e8fa66 32
maetugr 0:37f0c1e8fa66 33 bool armed = false; // is for security (when false no motor rotates any more)
maetugr 2:f0a9ecb4d049 34 bool debug = true; // shows if we want output for the computer
maetugr 0:37f0c1e8fa66 35 bool RC_present = false; // shows if an RC is present
maetugr 2:f0a9ecb4d049 36 float P_R = 6, I_R = 0, D_R = 0; // PID values for the rate controller
maetugr 2:f0a9ecb4d049 37 float P_A = 1.865, I_A = 1.765, D_A = 0;// PID values for the angle controller
maetugr 2:f0a9ecb4d049 38 float PY = 3.2, IY = 0, DY = 0; // PID values for Yaw
maetugr 0:37f0c1e8fa66 39 float RC_angle[] = {0,0,0}; // Angle of the RC Sticks, to steer the QC
maetugr 0:37f0c1e8fa66 40 float Motor_speed[4] = {0,0,0,0}; // Mixed Motorspeeds, ready to send
maetugr 0:37f0c1e8fa66 41
maetugr 0:37f0c1e8fa66 42 LED LEDs;
maetugr 0:37f0c1e8fa66 43 PC pc(USBTX, USBRX, 115200); // USB
maetugr 0:37f0c1e8fa66 44 //PC pc(p9, p10, 115200); // Bluetooth
maetugr 0:37f0c1e8fa66 45 IMU_10DOF IMU(p5, p6, p7, p19);
maetugr 0:37f0c1e8fa66 46 RC_Channel RC[] = {RC_Channel(p8,1), RC_Channel(p15,2), RC_Channel(p17,4), RC_Channel(p16,3), RC_Channel(p25,2), RC_Channel(p26,4), RC_Channel(p29,3)}; // no p19/p20 !
maetugr 0:37f0c1e8fa66 47 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
maetugr 0:37f0c1e8fa66 48 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)};
maetugr 0:37f0c1e8fa66 49 Servo ESC[] = {Servo(p21,PPM_FREQU), Servo(p22,PPM_FREQU), Servo(p23,PPM_FREQU), Servo(p24,PPM_FREQU)}; // use any DigitalOit Pin
maetugr 0:37f0c1e8fa66 50
maetugr 0:37f0c1e8fa66 51 extern "C" void mbed_reset();
maetugr 0:37f0c1e8fa66 52
maetugr 0:37f0c1e8fa66 53 void executer() {
maetugr 0:37f0c1e8fa66 54 char command = pc.getc();
maetugr 0:37f0c1e8fa66 55 if (command == 'X')
maetugr 0:37f0c1e8fa66 56 mbed_reset();
maetugr 0:37f0c1e8fa66 57 if (command == '-')
maetugr 0:37f0c1e8fa66 58 debug = !debug;
maetugr 2:f0a9ecb4d049 59
maetugr 1:60882db03b0f 60 if (command == 'w')
maetugr 1:60882db03b0f 61 P_R += 0.1;
maetugr 1:60882db03b0f 62 if (command == 's')
maetugr 1:60882db03b0f 63 P_R -= 0.1;
maetugr 0:37f0c1e8fa66 64
maetugr 2:f0a9ecb4d049 65 if (command == 'q')
maetugr 2:f0a9ecb4d049 66 armed = true;
maetugr 2:f0a9ecb4d049 67 if (command == 'a')
maetugr 2:f0a9ecb4d049 68 armed = false;
maetugr 2:f0a9ecb4d049 69
maetugr 0:37f0c1e8fa66 70 pc.putc(command);
maetugr 0:37f0c1e8fa66 71 LEDs.tilt(2);
maetugr 0:37f0c1e8fa66 72 }
maetugr 0:37f0c1e8fa66 73
maetugr 0:37f0c1e8fa66 74 int main() {
maetugr 0:37f0c1e8fa66 75 pc.attach(&executer);
maetugr 0:37f0c1e8fa66 76 while(1) {
maetugr 0:37f0c1e8fa66 77 // IMU
maetugr 0:37f0c1e8fa66 78 IMU.readAngles();
maetugr 0:37f0c1e8fa66 79
maetugr 0:37f0c1e8fa66 80 // Arming / disarming
maetugr 0:37f0c1e8fa66 81 RC_present = !(RC[AILERON].read() == -100 || RC[ELEVATOR].read() == -100 || RC[RUDDER].read() == -100 || RC[THROTTLE].read() == -100); // TODO: Failsafe
maetugr 0:37f0c1e8fa66 82 if(RC[THROTTLE].read() < 20 && RC[RUDDER].read() > 850) {
maetugr 0:37f0c1e8fa66 83 armed = true;
maetugr 0:37f0c1e8fa66 84 RC_angle[YAW] = IMU.angle[YAW];
maetugr 0:37f0c1e8fa66 85 }
maetugr 0:37f0c1e8fa66 86 if((RC[THROTTLE].read() < 30 && RC[RUDDER].read() < 30) || !RC_present) {
maetugr 0:37f0c1e8fa66 87 armed = false;
maetugr 0:37f0c1e8fa66 88 }
maetugr 0:37f0c1e8fa66 89
maetugr 0:37f0c1e8fa66 90 // Setting PID Values from auxiliary RC channels
maetugr 0:37f0c1e8fa66 91 for(int i=0;i<3;i++)
maetugr 0:37f0c1e8fa66 92 Controller_Angle[i].setPID(P_A,I_A,D_A);
maetugr 0:37f0c1e8fa66 93 for(int i=0;i<2;i++)
maetugr 0:37f0c1e8fa66 94 Controller_Rate[i].setPID(P_R,I_R,D_R); // give the new PID values to roll and pitch controller
maetugr 0:37f0c1e8fa66 95 Controller_Rate[YAW].setPID(PY,IY,DY);
maetugr 0:37f0c1e8fa66 96
maetugr 0:37f0c1e8fa66 97 // RC Angle ROLL-PITCH-Part
maetugr 0:37f0c1e8fa66 98 for(int i=0;i<2;i++) { // calculate new angle we want the QC to have
maetugr 0:37f0c1e8fa66 99 if (RC_present)
maetugr 0:37f0c1e8fa66 100 RC_angle[i] = (RC[i].read()-500)*RC_SENSITIVITY/500.0;
maetugr 0:37f0c1e8fa66 101 else
maetugr 0:37f0c1e8fa66 102 RC_angle[i] = 0;
maetugr 0:37f0c1e8fa66 103 }
maetugr 0:37f0c1e8fa66 104
maetugr 0:37f0c1e8fa66 105 // RC Angle YAW-Part
maetugr 0:37f0c1e8fa66 106 float RC_yaw_adding; // temporary variable to take the desired yaw adjustment
maetugr 0:37f0c1e8fa66 107 if (RC_present && RC[THROTTLE].read() > 20)
maetugr 0:37f0c1e8fa66 108 RC_yaw_adding = -(RC[RUDDER].read()-500)*YAWSPEED/500; // the yaw angle is integrated from stick input
maetugr 0:37f0c1e8fa66 109 else
maetugr 0:37f0c1e8fa66 110 RC_yaw_adding = 0;
maetugr 0:37f0c1e8fa66 111
maetugr 0:37f0c1e8fa66 112 RC_angle[YAW] = RC_angle[YAW] + RC_yaw_adding < -180 ? RC_angle[YAW] + 360 + RC_yaw_adding : RC_angle[YAW] + RC_yaw_adding; // make shure it's in the cycle -180 to 180
maetugr 0:37f0c1e8fa66 113 RC_angle[YAW] = RC_angle[YAW] + RC_yaw_adding > 180 ? RC_angle[YAW] - 360 + RC_yaw_adding : RC_angle[YAW] + RC_yaw_adding;
maetugr 0:37f0c1e8fa66 114
maetugr 0:37f0c1e8fa66 115
maetugr 0:37f0c1e8fa66 116 // Controlling
maetugr 0:37f0c1e8fa66 117 for(int i=0;i<2;i++) {
maetugr 0:37f0c1e8fa66 118 Controller_Rate[i].setIntegrate(armed); // only integrate in controller when armed, so the value is not totally odd from not flying
maetugr 0:37f0c1e8fa66 119 Controller_Rate[i].compute((RC[i].read()-500.0)*100.0/500.0, IMU.mpu.Gyro[i]); // give the controller the actual gyro values and get his advice to correct
maetugr 0:37f0c1e8fa66 120 }
maetugr 0:37f0c1e8fa66 121 Controller_Rate[2].setIntegrate(armed); // only integrate in controller when armed, so the value is not totally odd from not flying
maetugr 0:37f0c1e8fa66 122 if (RC[THROTTLE].read() > 20)
maetugr 0:37f0c1e8fa66 123 Controller_Rate[2].compute(-(RC[2].read()-500.0)*100.0/500.0, IMU.mpu.Gyro[2]); // give the controller the actual gyro values and get his advice to correct
maetugr 0:37f0c1e8fa66 124 else
maetugr 0:37f0c1e8fa66 125 Controller_Rate[2].compute(0, IMU.mpu.Gyro[2]); // give the controller the actual gyro values and get his advice to correct
maetugr 0:37f0c1e8fa66 126
maetugr 0:37f0c1e8fa66 127
maetugr 0:37f0c1e8fa66 128 // Mixing
maetugr 0:37f0c1e8fa66 129 Motor_speed[0] = RC[THROTTLE].read() +SQRT2*Controller_Rate[ROLL].Value -SQRT2*Controller_Rate[PITCH].Value; // X Configuration
maetugr 0:37f0c1e8fa66 130 Motor_speed[1] = RC[THROTTLE].read() -SQRT2*Controller_Rate[ROLL].Value -SQRT2*Controller_Rate[PITCH].Value; //
maetugr 0:37f0c1e8fa66 131 Motor_speed[2] = RC[THROTTLE].read() -SQRT2*Controller_Rate[ROLL].Value +SQRT2*Controller_Rate[PITCH].Value; //
maetugr 0:37f0c1e8fa66 132 Motor_speed[3] = RC[THROTTLE].read() +SQRT2*Controller_Rate[ROLL].Value +SQRT2*Controller_Rate[PITCH].Value; //
maetugr 0:37f0c1e8fa66 133
maetugr 0:37f0c1e8fa66 134 Motor_speed[0] -= Controller_Rate[YAW].Value;
maetugr 0:37f0c1e8fa66 135 Motor_speed[2] -= Controller_Rate[YAW].Value;
maetugr 0:37f0c1e8fa66 136 Motor_speed[3] += Controller_Rate[YAW].Value;
maetugr 0:37f0c1e8fa66 137 Motor_speed[1] += Controller_Rate[YAW].Value;
maetugr 0:37f0c1e8fa66 138
maetugr 0:37f0c1e8fa66 139 if (armed) // for SECURITY!
maetugr 0:37f0c1e8fa66 140 {
maetugr 0:37f0c1e8fa66 141 debug = false;
maetugr 0:37f0c1e8fa66 142 // PITCH
maetugr 0:37f0c1e8fa66 143 //ESC[0] = (int)Motor_speed[0]>50 ? (int)Motor_speed[0] : 50;
maetugr 0:37f0c1e8fa66 144 //ESC[2] = (int)Motor_speed[2]>50 ? (int)Motor_speed[2] : 50;
maetugr 0:37f0c1e8fa66 145 // ROLL
maetugr 0:37f0c1e8fa66 146 //ESC[1] = (int)Motor_speed[1]>50 ? (int)Motor_speed[1] : 50;
maetugr 0:37f0c1e8fa66 147 //ESC[3] = (int)Motor_speed[3]>50 ? (int)Motor_speed[3] : 50;
maetugr 0:37f0c1e8fa66 148 for(int i=0;i<4;i++) // Set new motorspeeds
maetugr 0:37f0c1e8fa66 149 ESC[i] = (int)Motor_speed[i]>50 ? (int)Motor_speed[i] : 50;
maetugr 0:37f0c1e8fa66 150
maetugr 0:37f0c1e8fa66 151 } else {
maetugr 0:37f0c1e8fa66 152 for(int i=0;i<4;i++) // for security reason, set every motor to zero speed
maetugr 0:37f0c1e8fa66 153 ESC[i] = 0;
maetugr 1:60882db03b0f 154 debug = true;
maetugr 0:37f0c1e8fa66 155 }
maetugr 0:37f0c1e8fa66 156
maetugr 0:37f0c1e8fa66 157 if (debug) {
maetugr 1:60882db03b0f 158 pc.printf("$STATE,%d,%.3f\r\n", armed, IMU.dt);
maetugr 1:60882db03b0f 159 //pc.printf("$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 2:f0a9ecb4d049 160 pc.printf("$GYRO,%.3f,%.3f,%.3f\r\n", IMU.mpu.Gyro[ROLL], IMU.mpu.Gyro[PITCH], IMU.mpu.Gyro[YAW]);
maetugr 1:60882db03b0f 161 //pc.printf("$ACC,%.3f,%.3f,%.3f\r\n", IMU.mpu.Acc[ROLL], IMU.mpu.Acc[PITCH], IMU.mpu.Acc[YAW]);
maetugr 1:60882db03b0f 162 //pc.printf("$ANG,%.3f,%.3f,%.3f\r\n", IMU.angle[ROLL], IMU.angle[PITCH], IMU.angle[YAW]);
maetugr 0:37f0c1e8fa66 163 //pc.printf("$RCANG,%.3f,%.3f,%.3f\r\n", RC_angle[ROLL], RC_angle[PITCH], RC_angle[YAW]);
maetugr 1:60882db03b0f 164 pc.printf("$CONT,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f\r\n", Controller_Rate[ROLL].Value, Controller_Rate[PITCH].Value, Controller_Rate[YAW].Value, P_R, I_R, D_R);
maetugr 2:f0a9ecb4d049 165 pc.printf("$MOT,%d,%d,%d,%d\r\n", (int)Motor_speed[0], (int)Motor_speed[1], (int)Motor_speed[2], (int)Motor_speed[3]);
maetugr 0:37f0c1e8fa66 166
maetugr 1:60882db03b0f 167 wait(0.04);
maetugr 0:37f0c1e8fa66 168 }
maetugr 0:37f0c1e8fa66 169
maetugr 0:37f0c1e8fa66 170 LEDs.rollnext();
maetugr 0:37f0c1e8fa66 171 }
maetugr 0:37f0c1e8fa66 172 }