Montvydas Klumbys
Program used to control a quadcopter. It uses a PID library which can be found in: http://developer.mbed.org/cookbook/PID I also uses my own written library for easily controlling quadcopter motors, which can be found in: https://developer.mbed.org/users/moklumbys/code/Quadcopter/ One more library that I used is MPU6050 that was previously written by Erik Olieman but I was able to update it with new functions: https://developer.mbed.org/users/moklumbys/code/MPU6050/
Dependencies: MPU6050 PID Quadcopter Servo mbed
Diff: main.cpp
- Revision:
- 8:56bdb0d7002b
- Parent:
- 7:0c31ccba7b3c
- Child:
- 9:588b1618c710
--- a/main.cpp Wed Feb 25 10:38:30 2015 +0000
+++ b/main.cpp Sun Mar 01 22:45:31 2015 +0000
@@ -25,14 +25,14 @@
//input and output values for pitch
#define PITCH_IN_MIN -90.0
#define PITCH_IN_MAX 90.0
-#define PITCH_OUT_MIN -0.2
-#define PITCH_OUT_MAX 0.2
+#define PITCH_OUT_MIN -0.1
+#define PITCH_OUT_MAX 0.1
//input and output values for roll
#define ROLL_IN_MIN -90.0
#define ROLL_IN_MAX 90.0
-#define ROLL_OUT_MIN -0.2
-#define ROLL_OUT_MAX 0.2
+#define ROLL_OUT_MIN -0.1
+#define ROLL_OUT_MAX 0.1
//PID intervals/constants
#define Kc 1.0
@@ -82,7 +82,23 @@
mpu.setAlpha(0.97); //set Alpha coefficient for low/high pass filters
quad.setLimits(MIN_CALIBRATE, MAX_CALIBRATE); //set calibration limits for the system
- quad.calibrate(); //calibrating motors
+
+ while(1){
+ if (!bt.readable()){
+ if (!bt.scanf("%f", &val)){
+ bt.scanf("%c", &buff);
+ } else {
+ if (val == 'c'){
+ pc.printf ("Calibrating motors.\n");
+ quad.calibrate(); //calibrating motors
+ }
+ if (val == 's'){
+ pc.printf ("Skipping calibration.\n");
+ break;
+ }
+ }
+ }
+ }
pitchPID.setInputLimits (PITCH_IN_MIN, PITCH_IN_MAX); //seting input and output limits for both pitch and roll
pitchPID.setOutputLimits (PITCH_OUT_MIN, PITCH_OUT_MAX);
@@ -105,6 +121,11 @@
timer.start(); //will need timer to detect when was the last time the values were updated
prevTime = timer.read(); //set previous timer value
+
+ for (int i = 0; i < 4; i++){ //initialise speed to be 0.3
+ speed[i] = 0.2;
+ }
+ quad.run (speed);
//-------------------------------------------START INFINITE LOOP-------------------------------------------------
while(1) {
if(bt.readable()){
@@ -115,22 +136,7 @@
rollPID.setTunings(val, 0.0, 0.0);
pc.printf ("______________________SET______________________\n");
}
-// if (buff == 'k'){
-// bt.scanf("%f", &val);
-// pitchPID.setTunings(val, 0.0, 0.0);
-// rollPID.setTunings(val, 0.0, 0.0);
-// }
-// if (buff == 's'){
-// bt.scanf("%f", &val);
-// spd = val;
-// }
- // }
}
-
- for (int i = 0; i < 4; i++){ //initialise speed to be 0.0
- speed[i] = 0.3;
- }
- quad.run (speed);
mpu.computeAngle (angle, accOffset, gyroOffset, timer.read()-prevTime); // get angle using all these values