Matthias Grob / Mbed 2 deprecated FlyBed1

NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.

Dependencies:   mbed MODI2C

main.cpp@23:955a7c7ddf8b, 2012-11-17 (annotated)

Committer:
maetugr
Date:
Sat Nov 17 18:31:24 2012 +0000
Revision:
23:955a7c7ddf8b
Parent:
22:d301b455a1ad
Child:
24:c5a3cba48498
relativ nicht schlechte PID-Werte

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 7:9d4313510646 1 #include "mbed.h" // Standard Library
maetugr 7:9d4313510646 2 #include "LED.h" // LEDs framework for blinking ;)
maetugr 13:4737ee9ebfee 3 #include "PC.h" // Serial Port via USB by Roland Elmiger for debugging with Terminal (driver needed: https://mbed.org/media/downloads/drivers/mbedWinSerial_16466.exe)
maetugr 7:9d4313510646 4 #include "L3G4200D.h" // Gyro (Gyroscope)
maetugr 7:9d4313510646 5 #include "ADXL345.h" // Acc (Accelerometer)
maetugr 7:9d4313510646 6 #include "HMC5883.h" // Comp (Compass)
maetugr 14:cf260677ecde 7 #include "BMP085_old.h" // Alt (Altitude sensor)
maetugr 7:9d4313510646 8 #include "RC_Channel.h" // RemoteControl Chnnels with PPM
maetugr 15:753c5d6a63b3 9 #include "Servo_PWM.h" // Motor PPM using PwmOut
maetugr 13:4737ee9ebfee 10 #include "PID.h" // PID Library by Aaron Berk
maetugr 0:0c4fafa398b4 11
maetugr 21:c2a2e7cbabdd 12 //#define RAD2DEG 57.295779513082320876798154814105 // ratio between radians and degree (360/2Pi) //TODO not needed??
maetugr 15:753c5d6a63b3 13 #define RATE 0.02 // speed of the interrupt for Sensors and PID
maetugr 15:753c5d6a63b3 14
maetugr 23:955a7c7ddf8b 15 #define P_VALUE 0.035 // PID values
maetugr 23:955a7c7ddf8b 16 #define I_VALUE 3.5
maetugr 23:955a7c7ddf8b 17 #define D_VALUE 0.04
maetugr 12:67a06c9b69d5 18
maetugr 14:cf260677ecde 19 //#define COMPASSCALIBRATE // decomment if you want to calibrate the Compass on start
maetugr 21:c2a2e7cbabdd 20 #define PC_CONNECTED // decoment if you want to debug per USB and your PC
maetugr 2:93f703d2c4d7 21
maetugr 14:cf260677ecde 22 Timer GlobalTimer; // global time to calculate processing speed
maetugr 14:cf260677ecde 23 Ticker Datagetter; // timecontrolled interrupt to get data form IMU and RC
maetugr 14:cf260677ecde 24
maetugr 14:cf260677ecde 25 // initialisation of hardware (see includes for more info)
maetugr 5:818c0668fd2d 26 LED LEDs;
maetugr 21:c2a2e7cbabdd 27 #ifdef PC_CONNECTED
maetugr 21:c2a2e7cbabdd 28 PC pc(USBTX, USBRX, 115200);
maetugr 21:c2a2e7cbabdd 29 #endif
maetugr 5:818c0668fd2d 30 L3G4200D Gyro(p28, p27);
maetugr 5:818c0668fd2d 31 ADXL345 Acc(p28, p27);
maetugr 11:9bf69bc6df45 32 HMC5883 Comp(p28, p27);
maetugr 14:cf260677ecde 33 BMP085_old Alt(p28, p27);
maetugr 21:c2a2e7cbabdd 34 RC_Channel RC[] = {p11, p12, p13, p14}; // noooo p19/p20 !
maetugr 21:c2a2e7cbabdd 35 Servo_PWM Motor[] = {p21, p22, p23, p24}; // p21 - p26 only !
maetugr 8:d25ecdcdbeb5 36
maetugr 21:c2a2e7cbabdd 37 // 0:X:Roll 1:Y:Pitch 2:Z:Yaw
maetugr 22:d301b455a1ad 38 PID Controller[] = {PID(P_VALUE, I_VALUE, D_VALUE, RATE), PID(P_VALUE, I_VALUE, D_VALUE, RATE), PID(0.02, 100, 0.005, RATE)}; // TODO: RATE != dt immer anpassen
maetugr 14:cf260677ecde 39
maetugr 22:d301b455a1ad 40 // global variables
maetugr 20:e116e596e540 41 bool armed = false; // this variable is for security
maetugr 14:cf260677ecde 42 unsigned long dt_get_data = 0; // TODO: dt namen
maetugr 12:67a06c9b69d5 43 unsigned long time_get_data = 0;
maetugr 12:67a06c9b69d5 44 unsigned long dt_read_sensors = 0;
maetugr 12:67a06c9b69d5 45 unsigned long time_read_sensors = 0;
maetugr 14:cf260677ecde 46 float angle[3] = {0,0,0}; // calculated values of the position [0: x,roll | 1: y,pitch | 2: z,yaw]
maetugr 14:cf260677ecde 47 float tempangle = 0; // temporärer winkel für yaw ohne kompass
maetugr 20:e116e596e540 48 float Gyro_angle[3] ={0,0,0};
maetugr 21:c2a2e7cbabdd 49 float controller_value[] = {0,0,0};
maetugr 21:c2a2e7cbabdd 50 float motor_value[] = {0,0,0,0};
maetugr 21:c2a2e7cbabdd 51
maetugr 22:d301b455a1ad 52 float motor_calc(int rc_value, float contr_value)
maetugr 21:c2a2e7cbabdd 53 {
maetugr 23:955a7c7ddf8b 54 return rc_value + contr_value > 50 ? rc_value + contr_value : 50; // nicht unter 0 sinken TODO: nicht Motor halten -> langsame Reaktion
maetugr 21:c2a2e7cbabdd 55 }
maetugr 8:d25ecdcdbeb5 56
maetugr 14:cf260677ecde 57 void get_Data() // method which is called by the Ticker Datagetter every RATE seconds
maetugr 8:d25ecdcdbeb5 58 {
maetugr 12:67a06c9b69d5 59 time_read_sensors = GlobalTimer.read_us();
maetugr 12:67a06c9b69d5 60
maetugr 15:753c5d6a63b3 61 // read data from sensors // ATTENTION! the I2C option repeated true is important because otherwise interrupts while bus communications cause crashes
maetugr 14:cf260677ecde 62 Gyro.read();
maetugr 15:753c5d6a63b3 63 Acc.read(); // TODO: nicht jeder Sensor immer? höhe nicht so wichtig
maetugr 21:c2a2e7cbabdd 64 //Comp.read();
maetugr 13:4737ee9ebfee 65 //Alt.Update(); TODO braucht zu lange zum auslesen!
maetugr 12:67a06c9b69d5 66
maetugr 12:67a06c9b69d5 67 dt_read_sensors = GlobalTimer.read_us() - time_read_sensors;
maetugr 8:d25ecdcdbeb5 68
maetugr 8:d25ecdcdbeb5 69 // meassure dt
maetugr 12:67a06c9b69d5 70 dt_get_data = GlobalTimer.read_us() - time_get_data; // time in us since last loop
maetugr 12:67a06c9b69d5 71 time_get_data = GlobalTimer.read_us(); // set new time for next measurement
maetugr 8:d25ecdcdbeb5 72
maetugr 20:e116e596e540 73 Gyro_angle[0] += Gyro.data[0] *dt_get_data/15000000.0;
maetugr 20:e116e596e540 74 Gyro_angle[1] += Gyro.data[1] *dt_get_data/15000000.0;
maetugr 20:e116e596e540 75 Gyro_angle[2] += Gyro.data[2] *dt_get_data/15000000.0;
maetugr 20:e116e596e540 76
maetugr 8:d25ecdcdbeb5 77 // calculate angles for roll, pitch an yaw
maetugr 12:67a06c9b69d5 78 angle[0] += (Acc.angle[0] - angle[0])/50 + Gyro.data[0] *dt_get_data/15000000.0;
maetugr 12:67a06c9b69d5 79 angle[1] += (Acc.angle[1]+3 - angle[1])/50 + Gyro.data[1] *dt_get_data/15000000.0;// TODO Offset accelerometer einstellen
maetugr 21:c2a2e7cbabdd 80 //tempangle += (Comp.get_angle() - tempangle)/50 + Gyro.data[2] *dt_get_data/15000000.0;
maetugr 20:e116e596e540 81 angle[2] = Gyro_angle[2]; // gyro only here
maetugr 12:67a06c9b69d5 82
maetugr 15:753c5d6a63b3 83 // PID controlling
maetugr 21:c2a2e7cbabdd 84 if (!(RC[0].read() == -100)) {
maetugr 22:d301b455a1ad 85 Controller[0].setSetPoint(-(int)((RC[0].read()-440)/440.0*90.0));
maetugr 21:c2a2e7cbabdd 86 Controller[1].setSetPoint(-(int)((RC[1].read()-430)/430.0*90.0));
maetugr 21:c2a2e7cbabdd 87 }
maetugr 21:c2a2e7cbabdd 88 for(int i=0;i<3;i++) {
maetugr 21:c2a2e7cbabdd 89 Controller[i].setProcessValue(angle[i]);
maetugr 21:c2a2e7cbabdd 90 controller_value[i] = Controller[i].compute() - 1000;
maetugr 21:c2a2e7cbabdd 91 }
maetugr 8:d25ecdcdbeb5 92
maetugr 21:c2a2e7cbabdd 93 // Arming / disarming
maetugr 21:c2a2e7cbabdd 94 if(RC[2].read() < 20 && RC[3].read() > 850)
maetugr 21:c2a2e7cbabdd 95 armed = true;
maetugr 21:c2a2e7cbabdd 96 if(RC[2].read() < 30 && RC[3].read() < 30)
maetugr 20:e116e596e540 97 armed = false;
maetugr 21:c2a2e7cbabdd 98 if(RC[3].read() < -10 || RC[2].read() < -10 || RC[1].read() < -10 || RC[0].read() < -10)
maetugr 20:e116e596e540 99 armed = false;
maetugr 20:e116e596e540 100
maetugr 12:67a06c9b69d5 101 // calculate new motorspeeds
maetugr 21:c2a2e7cbabdd 102 if (armed) // for SECURITY!
maetugr 22:d301b455a1ad 103 {
maetugr 21:c2a2e7cbabdd 104 // Pitch
maetugr 21:c2a2e7cbabdd 105 motor_value[0] = motor_calc(RC[2].read(), +controller_value[1]);
maetugr 21:c2a2e7cbabdd 106 motor_value[2] = motor_calc(RC[2].read(), -controller_value[1]);
maetugr 21:c2a2e7cbabdd 107
maetugr 22:d301b455a1ad 108 #if 0
maetugr 22:d301b455a1ad 109 // Roll
maetugr 22:d301b455a1ad 110 motor_value[1] = motor_calc(RC[2].read(), +controller_value[0]);
maetugr 22:d301b455a1ad 111 motor_value[3] = motor_calc(RC[2].read(), -controller_value[0]);
maetugr 22:d301b455a1ad 112
maetugr 22:d301b455a1ad 113 // Yaw
maetugr 22:d301b455a1ad 114 motor_value[0] -= controller_value[2];
maetugr 22:d301b455a1ad 115 motor_value[2] -= controller_value[2];
maetugr 22:d301b455a1ad 116
maetugr 22:d301b455a1ad 117 motor_value[1] += controller_value[2];
maetugr 22:d301b455a1ad 118 motor_value[3] += controller_value[2];
maetugr 22:d301b455a1ad 119 #endif
maetugr 21:c2a2e7cbabdd 120
maetugr 15:753c5d6a63b3 121 } else {
maetugr 21:c2a2e7cbabdd 122 for(int i=0;i<4;i++)
maetugr 21:c2a2e7cbabdd 123 motor_value[i] = 0;
maetugr 21:c2a2e7cbabdd 124 }
maetugr 21:c2a2e7cbabdd 125 // Set new motorspeeds
maetugr 21:c2a2e7cbabdd 126 for(int i=0;i<4;i++)
maetugr 22:d301b455a1ad 127 Motor[i] = (int)motor_value[i];
maetugr 8:d25ecdcdbeb5 128 }
maetugr 5:818c0668fd2d 129
maetugr 14:cf260677ecde 130 int main() { // main programm only used for initialisation and debug output
maetugr 16:74a6531350b5 131 NVIC_SetPriority(TIMER3_IRQn, 1); // set priorty of tickers below hardware interrupts (standard priority is 0)
maetugr 15:753c5d6a63b3 132
maetugr 21:c2a2e7cbabdd 133 for(int i=0;i<3;i++) {
maetugr 21:c2a2e7cbabdd 134 Controller[i].setInputLimits(-90.0, 90.0);
maetugr 21:c2a2e7cbabdd 135 Controller[i].setOutputLimits(0.0, 2000.0);
maetugr 21:c2a2e7cbabdd 136 Controller[i].setBias(1000);
maetugr 21:c2a2e7cbabdd 137 Controller[i].setMode(MANUAL_MODE);//AUTO_MODE);
maetugr 21:c2a2e7cbabdd 138 Controller[i].setSetPoint(0);
maetugr 21:c2a2e7cbabdd 139 }
maetugr 12:67a06c9b69d5 140
maetugr 21:c2a2e7cbabdd 141 #ifdef PC_CONNECTED
maetugr 21:c2a2e7cbabdd 142 #ifdef COMPASSCALIBRATE
maetugr 21:c2a2e7cbabdd 143 pc.locate(10,5);
maetugr 21:c2a2e7cbabdd 144 pc.printf("CALIBRATING");
maetugr 21:c2a2e7cbabdd 145 Comp.calibrate(60);
maetugr 21:c2a2e7cbabdd 146 #endif
maetugr 21:c2a2e7cbabdd 147
maetugr 21:c2a2e7cbabdd 148 // init screen
maetugr 12:67a06c9b69d5 149 pc.locate(10,5);
maetugr 21:c2a2e7cbabdd 150 pc.printf("Flybed v0.2");
maetugr 12:67a06c9b69d5 151 #endif
maetugr 1:5a64632b1eb9 152 LEDs.roll(2);
maetugr 5:818c0668fd2d 153
maetugr 21:c2a2e7cbabdd 154 // Start!
maetugr 2:93f703d2c4d7 155 GlobalTimer.start();
maetugr 12:67a06c9b69d5 156 Datagetter.attach(&get_Data, RATE); // start to get data all RATEms
maetugr 12:67a06c9b69d5 157
maetugr 12:67a06c9b69d5 158 while(1) {
maetugr 21:c2a2e7cbabdd 159 #ifdef PC_CONNECTED
maetugr 21:c2a2e7cbabdd 160 pc.locate(30,0); // PC output
maetugr 21:c2a2e7cbabdd 161 pc.printf("dt:%dms dt_sensors:%dus Altitude:%6.1fm ", dt_get_data/1000, dt_read_sensors, Alt.CalcAltitude(Alt.Pressure));
maetugr 21:c2a2e7cbabdd 162 pc.locate(5,1);
maetugr 21:c2a2e7cbabdd 163 if(armed)
maetugr 21:c2a2e7cbabdd 164 pc.printf("ARMED!!!!!!!!!!!!!");
maetugr 21:c2a2e7cbabdd 165 else
maetugr 21:c2a2e7cbabdd 166 pc.printf("DIS_ARMED ");
maetugr 21:c2a2e7cbabdd 167 pc.locate(5,3);
maetugr 21:c2a2e7cbabdd 168 pc.printf("Roll:%6.1f Pitch:%6.1f Yaw:%6.1f ", angle[0], angle[1], angle[2]);
maetugr 21:c2a2e7cbabdd 169 pc.printf("\n\r control Roll: %d control Pitch: %d ", (int)((RC[0].read()-440)/440.0*90.0), (int)((RC[1].read()-430)/430.0*90.0));
maetugr 21:c2a2e7cbabdd 170
maetugr 21:c2a2e7cbabdd 171 pc.locate(5,5);
maetugr 21:c2a2e7cbabdd 172 pc.printf("Gyro.data: X:%6.1f Y:%6.1f Z:%6.1f", Gyro.data[0], Gyro.data[1], Gyro.data[2]);
maetugr 21:c2a2e7cbabdd 173 pc.locate(5,6);
maetugr 21:c2a2e7cbabdd 174 pc.printf("Gyro_angle: X:%6.1f Y:%6.1f Z:%6.1f", Gyro_angle[0], Gyro_angle[1], Gyro_angle[2]);
maetugr 21:c2a2e7cbabdd 175
maetugr 21:c2a2e7cbabdd 176 pc.locate(5,8);
maetugr 21:c2a2e7cbabdd 177 pc.printf("Acc.data: X:%6d Y:%6d Z:%6d", Acc.data[0], Acc.data[1], Acc.data[2]);
maetugr 21:c2a2e7cbabdd 178 pc.locate(5,9);
maetugr 21:c2a2e7cbabdd 179 pc.printf("Acc.angle: Roll:%6.1f Pitch:%6.1f Yaw:%6.1f ", Acc.angle[0], Acc.angle[1], Acc.angle[2]);
maetugr 21:c2a2e7cbabdd 180
maetugr 21:c2a2e7cbabdd 181 pc.locate(5,11);
maetugr 21:c2a2e7cbabdd 182 pc.printf("PID Result:");
maetugr 21:c2a2e7cbabdd 183 for(int i=0;i<3;i++)
maetugr 21:c2a2e7cbabdd 184 pc.printf(" %d: %6.1f", i, controller_value[i]);
maetugr 21:c2a2e7cbabdd 185
maetugr 23:955a7c7ddf8b 186 pc.locate(5,12);
maetugr 22:d301b455a1ad 187 pc.printf("Motor Result:");
maetugr 22:d301b455a1ad 188 for(int i=0;i<4;i++)
maetugr 22:d301b455a1ad 189 pc.printf(" %d: %6.1f", i, motor_value[i]);
maetugr 21:c2a2e7cbabdd 190
maetugr 23:955a7c7ddf8b 191 pc.locate(5,14);
maetugr 23:955a7c7ddf8b 192 pc.printf(" roll: %d pitch: %d ", -(int)((RC[0].read()-440)/440.0*90.0), -(int)((RC[1].read()-430)/430.0*90.0));
maetugr 23:955a7c7ddf8b 193
maetugr 21:c2a2e7cbabdd 194 pc.locate(10,15);
maetugr 21:c2a2e7cbabdd 195 pc.printf("Debug_Yaw: Comp:%6.1f tempangle:%6.1f ", Comp.get_angle(), tempangle);
maetugr 21:c2a2e7cbabdd 196 pc.locate(10,16);
maetugr 21:c2a2e7cbabdd 197 pc.printf("Comp_data: %6.1f %6.1f %6.1f |||| %6.1f ", Comp.data[0], Comp.data[1], Comp.data[2], Comp.get_angle());
maetugr 21:c2a2e7cbabdd 198 pc.locate(10,17);
maetugr 21:c2a2e7cbabdd 199 //pc.printf("Comp_scale: %6.4f %6.4f %6.4f ", Comp.scale[0], Comp.scale[1], Comp.scale[2]); no more accessible its private
maetugr 21:c2a2e7cbabdd 200 pc.locate(10,18);
maetugr 21:c2a2e7cbabdd 201 pc.printf("Comp_data: %6.1f %6.1f %6.1f |||| %6.1f ", Comp.data[0], Comp.data[1], Comp.data[2], Comp.get_angle());
maetugr 21:c2a2e7cbabdd 202
maetugr 21:c2a2e7cbabdd 203 pc.locate(10,19);
maetugr 21:c2a2e7cbabdd 204 pc.printf("RC0: %4d :[", RC[0].read());
maetugr 21:c2a2e7cbabdd 205 for (int i = 0; i < RC[0].read()/17; i++)
maetugr 21:c2a2e7cbabdd 206 pc.printf("=");
maetugr 21:c2a2e7cbabdd 207 pc.printf(" ");
maetugr 21:c2a2e7cbabdd 208 pc.locate(10,20);
maetugr 21:c2a2e7cbabdd 209 pc.printf("RC1: %4d :[", RC[1].read());
maetugr 21:c2a2e7cbabdd 210 for (int i = 0; i < RC[1].read()/17; i++)
maetugr 21:c2a2e7cbabdd 211 pc.printf("=");
maetugr 21:c2a2e7cbabdd 212 pc.printf(" ");
maetugr 21:c2a2e7cbabdd 213 pc.locate(10,21);
maetugr 21:c2a2e7cbabdd 214 pc.printf("RC2: %4d :[", RC[2].read());
maetugr 21:c2a2e7cbabdd 215 for (int i = 0; i < RC[2].read()/17; i++)
maetugr 21:c2a2e7cbabdd 216 pc.printf("=");
maetugr 21:c2a2e7cbabdd 217 pc.printf(" ");
maetugr 21:c2a2e7cbabdd 218 pc.locate(10,22);
maetugr 21:c2a2e7cbabdd 219 pc.printf("RC3: %4d :[", RC[3].read());
maetugr 21:c2a2e7cbabdd 220 for (int i = 0; i < RC[3].read()/17; i++)
maetugr 21:c2a2e7cbabdd 221 pc.printf("=");
maetugr 21:c2a2e7cbabdd 222 pc.printf(" ");
maetugr 21:c2a2e7cbabdd 223 #endif
maetugr 21:c2a2e7cbabdd 224 wait(0.01);
maetugr 21:c2a2e7cbabdd 225 if(armed){
maetugr 21:c2a2e7cbabdd 226 LEDs.rollnext();
maetugr 21:c2a2e7cbabdd 227 } else {
maetugr 21:c2a2e7cbabdd 228 LEDs.set(1);
maetugr 21:c2a2e7cbabdd 229 LEDs.set(2);
maetugr 21:c2a2e7cbabdd 230 LEDs.set(3);
maetugr 21:c2a2e7cbabdd 231 LEDs.set(4);
maetugr 21:c2a2e7cbabdd 232 }
maetugr 20:e116e596e540 233
maetugr 0:0c4fafa398b4 234 }
maetugr 0:0c4fafa398b4 235 }