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:
- 5:8b3f82abe3a4
- Parent:
- 4:eb418af66d81
- Child:
- 6:5e815d4b4d8f
--- a/main.cpp Thu Feb 19 23:30:15 2015 +0000
+++ b/main.cpp Fri Feb 20 00:52:54 2015 +0000
@@ -67,7 +67,6 @@
float gyroOffset[3];
float angle[3]; //total calculated angle
- float currTime; //current time variable will be given in the funtion
float prevTime; //previous time values will be given in the function
if (mpu.testConnection()) //just testing if things are working...
@@ -108,9 +107,7 @@
// quad.run (speed);
//-------------------------------------------START INFINITE LOOP-------------------------------------------------
while(1) {
- currTime = timer.read(); //get present time
-
- mpu.computeAngle (angle, accOffset, gyroOffset, &currTime, &prevTime); // get angle using all these values
+ mpu.computeAngle (angle, accOffset, gyroOffset, timer.read()-prevTime); // get angle using all these values
rollPID.setInterval(timer.read()-prevTime); //need to change the interval because don't know how much time passed
pitchPID.setInterval(timer.read()-prevTime);