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
History
finished with BT.
2015-03-01, by moklumbys [Sun, 01 Mar 2015 22:53:30 +0000] rev 9
finished with BT.
connects to bluetooth at the beginning, allowing to skip calibration of motors every time quadcopter is turned on.
2015-03-01, by moklumbys [Sun, 01 Mar 2015 22:45:31 +0000] rev 8
connects to bluetooth at the beginning, allowing to skip calibration of motors every time quadcopter is turned on.
enable calibrating by default.
2015-02-25, by moklumbys [Wed, 25 Feb 2015 10:38:30 +0000] rev 7
enable calibrating by default.
added bias values for PID controllers which corrected the problem with not giving negative (or sometimes positive) difference values.
2015-02-25, by moklumbys [Wed, 25 Feb 2015 00:56:18 +0000] rev 6
added bias values for PID controllers which corrected the problem with not giving negative (or sometimes positive) difference values.
All functions should work now.
2015-02-20, by moklumbys [Fri, 20 Feb 2015 00:52:54 +0000] rev 5
All functions should work now.
Adding comments, modified some thing to make things work as expected in reality....;
2015-02-19, by moklumbys [Thu, 19 Feb 2015 23:30:15 +0000] rev 4
Adding comments, modified some thing to make things work as expected in reality....;
finally looks like it gives sensible ritchDiff and rollDiff values. I will have to check what does it give for the actual speed values too.
2015-02-19, by moklumbys [Thu, 19 Feb 2015 12:20:06 +0000] rev 3
finally looks like it gives sensible ritchDiff and rollDiff values. I will have to check what does it give for the actual speed values too.
most of the things done for the quadcopter to be in stabilised position.;
2015-02-19, by moklumbys [Thu, 19 Feb 2015 10:38:43 +0000] rev 2
most of the things done for the quadcopter to be in stabilised position.;
some new features - printing values for speed, depending on the angle. Will be able to test it now using gyro&acc!;
2015-02-19, by moklumbys [Thu, 19 Feb 2015 00:16:33 +0000] rev 1
some new features - printing values for speed, depending on the angle. Will be able to test it now using gyro&acc!;
First attempt, still did not include MPU6050, but started including something...
2015-02-18, by moklumbys [Wed, 18 Feb 2015 23:44:09 +0000] rev 0
First attempt, still did not include MPU6050, but started including something...