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)
Diff: main.cpp
- Revision:
- 8:609a2ad4c30e
- Parent:
- 7:90f876d47862
--- a/main.cpp Mon Sep 14 12:49:08 2015 +0000 +++ b/main.cpp Thu Nov 19 18:47:27 2015 +0000 @@ -15,7 +15,7 @@ #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 15 // maximal angle from horizontal that the PID is aming for +#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 @@ -34,20 +34,22 @@ bool debug = true; // shows if we want output for the computer bool level = false; // switches between self leveling and acro mode bool RC_present = false; // shows if an RC is present -float P_R = 2.5, I_R = 0.3, D_R = 0; // PID values for the rate controller -float P_A = 2.1, I_A = 0.3, D_A = 0; // PID values for the angle controller P_A = 1.865, I_A = 1.765, D_A = 0 +float P_R = 2.6, I_R = 0.3, D_R = 0; // PID values for the rate controller +float P_A = 1.9, I_A = 0.2, D_A = 0; // PID values for the angle controller P_A = 1.865, I_A = 1.765, D_A = 0 float PY = 2.3, IY = 0, DY = 0; // 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 Timer LoopTimer; float Times[10] = {0,0,0,0,0,0,0,0,0,0}; -float control_frequency = PPM_FREQU; // frequency for the main loop in Hz +float control_frequency = 800;//PPM_FREQU; // frequency for the main loop in Hz +int counter = 0; +int divider = 20; LED LEDs; -PC pc(USBTX, USBRX, 115200); // USB -//PC pc(p9, p10, 115200); // Bluetooth PIN: 1234 -IMU_10DOF IMU(p5, p6, p7, p19); +//PC pc(USBTX, USBRX, 115200); // USB +PC pc(p9, p10, 115200); // Bluetooth PIN: 1234 +IMU_10DOF IMU(p5, p6, p7, p19, p28, p27); 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 ! 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)}; @@ -103,14 +105,17 @@ if (level) { for(int i=0;i<2;i++) { // LEVEL 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 + if (counter % 16 == 0) + Controller_Angle[i].compute(RC_angle[i], IMU.angle[i]); // give the controller the actual angles 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.mpu.Gyro[i]); // give the controller the actual gyro values and get his advice to correct + Controller_Rate[i].compute(-Controller_Angle[i].Value, /*IMU.mpu2.data_gyro[i]*/IMU.mpu.Gyro[i]); // give the controller the actual gyro values and get his advice to correct + //Controller_Rate[i].compute(-Controller_Angle[i].Value, (IMU.mpu2.data_gyro[i] + IMU.mpu.Gyro[i])/2 ); } } else { for(int i=0;i<2;i++) { // ACRO 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.mpu.Gyro[i]); // give the controller the actual gyro values and get his advice to correct + Controller_Rate[i].compute((RC[i].read()-500.0)*100.0/500.0, /*IMU.mpu2.data_gyro[i]*/IMU.mpu.Gyro[i]); // give the controller the actual gyro values and get his advice to correct + //Controller_Rate[i].compute((RC[i].read()-500.0)*100.0/500.0, (IMU.mpu2.data_gyro[i] + IMU.mpu.Gyro[i])/2 ); } } @@ -130,22 +135,22 @@ Motor_speed[3] = throttle +SQRT2*Controller_Rate[ROLL].Value +SQRT2*Controller_Rate[PITCH].Value; // Motor_speed[0] -= Controller_Rate[YAW].Value; + Motor_speed[1] += 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; Times[5] = LoopTimer.read(); // 17us 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; + //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]>100 ? (int)Motor_speed[i] : 100;*/ + for(int i=0;i<4;i++) // Set new motorspeeds + ESC[i] = (int)Motor_speed[i]>100 ? (int)Motor_speed[i] : 100; } else { for(int i=0;i<4;i++) // for security reason, set every motor to zero speed @@ -156,9 +161,13 @@ LEDs.rollnext(); - Times[7] = LoopTimer.read(); // 7us TOTAL 297us + /*if(counter % divider == 0) { + pc.printf("%.3f,%.3f,%.3f\r\n", IMU.mpu.Gyro[ROLL], IMU.mpu.Gyro[PITCH], IMU.mpu.Gyro[YAW]); + }*/ + counter++; - while(LoopTimer.read() < 1/control_frequency); + Times[7] = LoopTimer.read(); // 7us TOTAL 297us + while(LoopTimer.read() < 1/control_frequency); // Kill the rest of the time TODO: make a better solution so we can do misc things with these cycles Times[8] = LoopTimer.read(); LoopTimer.stop(); LoopTimer.reset(); @@ -167,17 +176,18 @@ if (debug) { pc.printf("$STATE,%d,%d,%.f,%.3f,%.3f\r\n", armed, level, control_frequency, IMU.dt*1e3, IMU.dt_sensors*1e6); //pc.printf("$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("$GYRO,%.3f,%.3f,%.3f\r\n", IMU.mpu.Gyro[ROLL], IMU.mpu.Gyro[PITCH], IMU.mpu.Gyro[YAW]); + pc.printf("$GYRO,%.3f,%.3f,%.3f\r\n", IMU.mpu.Gyro[ROLL], IMU.mpu.Gyro[PITCH], IMU.mpu.Gyro[YAW]); + pc.printf("$GYRO2,%.3f,%.3f,%.3f\r\n", IMU.mpu2.data_gyro[ROLL], IMU.mpu2.data_gyro[PITCH], IMU.mpu2.data_gyro[YAW]); //pc.printf("$ACC,%.3f,%.3f,%.3f\r\n", IMU.mpu.Acc[ROLL], IMU.mpu.Acc[PITCH], IMU.mpu.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("$CONTR,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f\r\n", Controller_Rate[ROLL].Value, Controller_Rate[PITCH].Value, Controller_Rate[YAW].Value, P_R, I_R, D_R, PY); pc.printf("$CONTA,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f\r\n", Controller_Angle[ROLL].Value, Controller_Angle[PITCH].Value, Controller_Angle[YAW].Value, P_A, I_A, D_A); pc.printf("$MOT,%d,%d,%d,%d\r\n", (int)Motor_speed[0], (int)Motor_speed[1], (int)Motor_speed[2], (int)Motor_speed[3]); - pc.printf("$TIMES"); + /*pc.printf("$TIMES"); for(int i = 1; i < 10; i++) pc.printf(",%.3f", (Times[i]-Times[i-1])*1e6); - pc.printf("\r\n"); + pc.printf("\r\n");*/ wait(0.1); } } @@ -209,6 +219,11 @@ if (command == 'd') I_R -= 0.1; + if (command == 'x') + D_R += 0.001; + if (command == 'c') + D_R -= 0.001; + if (command == 'r') P_A += 0.1; if (command == 'f') @@ -224,12 +239,15 @@ if (command == 'h') PY -= 0.1; - /*if (command == 'o') { + if (command == 'o') { control_frequency += 100; + } if (command == 'l') { control_frequency -= 100; - }*/ + + } + pc.putc(command); LEDs.tilt(2);