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

Mixer/Mixer.cpp@33:fd98776b6cc7, 2013-04-04 (annotated)

Committer:
maetugr
Date:
Thu Apr 04 14:25:21 2013 +0000
Revision:
33:fd98776b6cc7
Parent:
30:021e13b62575
Child:
34:3aa1cbcde59d
New version developed in eastern holidays, ported Madgwick Filter, added support for chaning PID values while flying over bluetooth, still not flying stable or even controllable

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 26:96a072233d7a 1 #include "Mixer.h"
maetugr 26:96a072233d7a 2
maetugr 30:021e13b62575 3 Mixer::Mixer(int Configuration)
maetugr 26:96a072233d7a 4 {
maetugr 30:021e13b62575 5 Mixer::Configuration = Configuration;
maetugr 30:021e13b62575 6
maetugr 26:96a072233d7a 7 for(int i=0; i<4; i++)
maetugr 26:96a072233d7a 8 Motor_speed[i]=0;
maetugr 26:96a072233d7a 9 }
maetugr 26:96a072233d7a 10
maetugr 33:fd98776b6cc7 11 void Mixer::compute(int Throttle, const float * controller_value)
maetugr 26:96a072233d7a 12 {
maetugr 30:021e13b62575 13 // Mixing tables for each configuration
maetugr 30:021e13b62575 14 float mix_table[2][4][3] = {
maetugr 30:021e13b62575 15 {
maetugr 30:021e13b62575 16 { 0, 1, 1}, // + configuration
maetugr 30:021e13b62575 17 { 1, 0, -1},
maetugr 30:021e13b62575 18 { 0, -1, 1},
maetugr 30:021e13b62575 19 { -1, 0, -1}
maetugr 30:021e13b62575 20 },
maetugr 30:021e13b62575 21 {
maetugr 30:021e13b62575 22 { RT, RT, 1}, // X configuration
maetugr 30:021e13b62575 23 { -RT, RT, -1},
maetugr 30:021e13b62575 24 { -RT, -RT, 1},
maetugr 30:021e13b62575 25 { RT, -RT, -1}
maetugr 30:021e13b62575 26 }
maetugr 30:021e13b62575 27 };
maetugr 29:8b7362a2ee14 28
maetugr 30:021e13b62575 29 // Calculate new motorspeeds
maetugr 30:021e13b62575 30 for(int i=0; i<4; i++) {
maetugr 30:021e13b62575 31 Motor_speed[i] = Throttle;
maetugr 30:021e13b62575 32 for(int j = 0; j < 3; j++)
maetugr 30:021e13b62575 33 Motor_speed[i] += mix_table[Configuration][i][j] * controller_value[j];
maetugr 30:021e13b62575 34 }
maetugr 26:96a072233d7a 35
maetugr 30:021e13b62575 36 for(int i = 0; i < 4; i++) // make sure no motor stands still
maetugr 26:96a072233d7a 37 Motor_speed[i] = Motor_speed[i] > 50 ? Motor_speed[i] : 50;
maetugr 26:96a072233d7a 38 }