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
main.cpp
- Committer:
- moklumbys
- Date:
- 2015-02-19
- Revision:
- 2:3161f535d71a
- Parent:
- 1:40ade596b1e3
- Child:
- 3:5f43c8374ff2
File content as of revision 2:3161f535d71a:
#include "mbed.h" #include "Quadcopter.h" #include "PID.h" #include "MPU6050.h" #include "Timer.h" #define MAX_CALIBRATE 1.0 #define MIN_CALIBRATE 0.35 #define FL 0 // Front left #define FR 1 // Front right #define BL 2 // back left #define BR 3 // back right #define OFFSET_SAMPLES 50 //define how the accelerometer is placed on surface #define X_AXIS 1 #define Y_AXIS 2 #define Z_AXIS 0 #define MAX_CALIBRATE 1.0 #define MIN_CALIBRATE 0.35 #define FL 0 // Front left #define FR 1 // Front right #define BL 2 // back left #define BR 3 // back right #define PITCH_IN_MIN -90.0 #define PITCH_IN_MAX 90.0 #define PITCH_OUT_MIN -0.5 #define PITCH_OUT_MAX 0.5 #define ROLL_IN_MIN -90.0 #define ROLL_IN_MAX 90.0 #define ROLL_OUT_MIN -0.5 #define ROLL_OUT_MAX 0.5 #define Kc 0.1 #define Ti 0.1 #define Td 0.0 #define RATE 0.01 //--------------------------------ALL THE FUNCTION HEADERS----------------------- float map(float x, float in_min, float in_max, float out_min, float out_max); //---------------------------------------END------------------------------------- Quadcopter quad (p21, p22, p23, p24); Serial pc(USBTX, USBRX); // tx, rx MPU6050 mpu(p9, p10); //Also disables sleep mode Timer timer; //Kc, Ti, Td, interval PID pitchPID (Kc, Ti, Td, RATE); PID rollPID (Kc, Ti, Td, RATE); //***************************************STARTING MAIN FUNCTION********************* int main() { pc.baud (115200); float pitchDiff; float rollDiff; float speed[4]; float actSpeed[4]; float accOffset[3]; //offset values float gyroOffset[3]; float angle[3]; //total calculated angle float currTime; float prevTime; if (mpu.testConnection()) //just testing if things are working... pc.printf("MPU connection succeeded\n\r"); else pc.printf("MPU connection failed\n\r"); mpu.setAlpha(0.97); //set Alpha coefficient for low/high pass filters quad.calibrate(MIN_CALIBRATE, MAX_CALIBRATE); //calibrating motors 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); rollPID.setInputLimits (ROLL_IN_MIN, ROLL_IN_MAX); rollPID.setOutputLimits (ROLL_OUT_MIN, ROLL_OUT_MAX); pitchPID.setMode(AUTO_MODE); //start stabilising by puting AUTO mode rollPID.setMode(AUTO_MODE); //need to vary this one to move quadcopter pitchPID.setSetPoint (0.0); //seting the middle point.. Or smth like that, need to look into it more rollPID.setSetPoint (0.0); //meaning that quadcopter is flying at a constant place.. no turning, blah blah blah mpu.getOffset(accOffset, gyroOffset, OFFSET_SAMPLES); //take some samples at the beginning to get an offset wait(0.1); //wait to settle down timer.start(); //will need timer to detect when was the last time the values were updated prevTime = timer.read(); for (int i = 0; i < 4; i++){ speed[i] = 0.0; } //-------------------------------------------START INFINITE LOOP------------------------------------------------- while(1) { // for (float height = 0.0; height < 0.5; height+=0.05){ // for (int i = 0; i < 4; i++){ // speed[i] = height; // } // quad.run (speed); // wait(0.1); // } // for (uint16_t i = 0; i < 600; i++) // { currTime = timer.read(); //get present time mpu.computeAngle (angle, accOffset, gyroOffset, &currTime, &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); prevTime = timer.read(); //get present time -> will be used later on as previous value rollPID.setProcessValue (angle[X_AXIS]); //take some values to do processing pitchPID.setProcessValue (angle[Y_AXIS]); pitchDiff = pitchPID.compute(); //compute the difference rollDiff = rollPID.compute(); quad.stabilise(speed, actSpeed, rollDiff, pitchDiff); //stabilise the speed by giving new actSpeed value //print some values to check how thing work out // pc.printf("x=%0.3f y=%0.3f z=%0.3f\n", angle[X_AXIS], angle[Y_AXIS], angle[Z_AXIS]); pc.printf("Speed_FL=%0.4f, Speed_FR=%0.4f, Speed_BL= %0.4f, Speed_BR=%0.4f\n", speed[FL], speed[FR], speed[BL], speed[BR]); pc.printf("ActSpeed_FL=%0.4f, ActSpeed_FR=%0.4f, ActSpeed_BL=%0.4f, ActSpeed_BR=%0.4f\n", actSpeed[FL], actSpeed[FR], actSpeed[BL], actSpeed[BR]); // quad.run(actSpeed); //run the motors at the spesified speed actSpeed wait (0.01); // } // for (float height = 0.5; height > 0.0; height-=0.05){ // for (int i = 0; i < 4; i++){ // speed[i] = height; // } // quad.run (speed); // wait(0.1); // } // wait(1); } } //************************************************END MAIN FUNCTION******************************************************** //-----------------------------Mapping function----------------------------- float map(float x, float in_min, float in_max, float out_min, float out_max){ return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; }