Revision 28:ba6ca9f4def4, committed 2012-12-01
- Comitter:
- maetugr
- Date:
- Sat Dec 01 07:13:04 2012 +0000
- Parent:
- 27:9e546fa47c33
- Child:
- 29:8b7362a2ee14
- Commit message:
- bevor eigener PID
Changed in this revision
--- a/Mixer/Mixer.cpp Wed Nov 28 12:29:02 2012 +0000
+++ b/Mixer/Mixer.cpp Sat Dec 01 07:13:04 2012 +0000
@@ -9,22 +9,20 @@
void Mixer::compute(unsigned long dt, const float * angle, int Throttle, const float * controller_value)
{
// Calculate new motorspeeds
- // Pitch
- Motor_speed[0] = Throttle +controller_value[1];
- Motor_speed[2] = Throttle -controller_value[1];
+
+ for(int i=0; i<4; i++)
+ Motor_speed[i] = Throttle;
+
+ Motor_speed[1] += +controller_value[0]; // Roll
+ Motor_speed[3] -= -controller_value[0];
- #if 1
- // Roll
- Motor_speed[1] = Throttle +controller_value[0];
- Motor_speed[3] = Throttle -controller_value[0];
-
- /*// Yaw
- Motor_speed[0] -= controller_value[2];
- Motor_speed[2] -= controller_value[2];
-
- Motor_speed[1] += controller_value[2];
- Motor_speed[3] += controller_value[2];*/
- #endif
+ Motor_speed[0] += controller_value[1]; // Pitch
+ Motor_speed[2] -= controller_value[1];
+
+ Motor_speed[1] += controller_value[2]; // Yaw
+ Motor_speed[3] += controller_value[2];
+ Motor_speed[0] -= controller_value[2];
+ Motor_speed[2] -= controller_value[2];
for(int i = 0; i < 4; i++) // make shure no motor stands still
Motor_speed[i] = Motor_speed[i] > 50 ? Motor_speed[i] : 50;
--- a/RC/RC_Channel.cpp Wed Nov 28 12:29:02 2012 +0000
+++ b/RC/RC_Channel.cpp Sat Dec 01 07:13:04 2012 +0000
@@ -4,7 +4,7 @@
RC_Channel::RC_Channel(PinName mypin, int index) : myinterrupt(mypin)
{
RC_Channel::index = index;
- time = -101; // start value to see if there was any value yet
+ time = -100; // start value to see if there was any value yet
loadCalibrationValue(&scale, "SCALE");
loadCalibrationValue(&offset, "OFFSET");
--- a/main.cpp Wed Nov 28 12:29:02 2012 +0000
+++ b/main.cpp Sat Dec 01 07:13:04 2012 +0000
@@ -12,16 +12,18 @@
#include "Mixer.h" // Class to calculate motorspeeds from Angles, Regulation and RC-Signals
#define RATE 0.02 // speed of the interrupt for Sensors and PID
+#define MAXPITCH 40 // maximal angle from horizontal that the PID is aming for
+#define YAWSPEED 2 // maximal speed of yaw rotation in degree per Rate
#define P_VALUE 0.02 // PID values
-#define I_VALUE 20 // Werte die bis jetzt am besten funktioniert haben
+#define I_VALUE 20
#define D_VALUE 0.004
//#define COMPASSCALIBRATE // decomment if you want to calibrate the Compass on start
#define PC_CONNECTED // decoment if you want to debug per USB and your PC
Timer GlobalTimer; // global time to calculate processing speed
-Ticker Datagetter; // timecontrolled interrupt to get data form IMU and RC
+Ticker Dutycycler; // timecontrolled interrupt to get data form IMU and RC
// initialisation of hardware (see includes for more info)
LED LEDs;
@@ -40,7 +42,7 @@
Mixer MIX;
// 0:X:Roll 1:Y:Pitch 2:Z:Yaw
-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
+PID Controller[] = {PID(P_VALUE, I_VALUE, D_VALUE, RATE), PID(P_VALUE, I_VALUE, D_VALUE, RATE), PID(0.02, 0, 0.004, RATE)}; // TODO: RATE != dt immer anpassen
// global variables
bool armed = false; // this variable is for security
@@ -50,8 +52,10 @@
unsigned long time_read_sensors = 0;
float tempangle = 0; // temporärer winkel für yaw mit kompass
float controller_value[] = {0,0,0};
+float virt_angle[] = {0,0,0};
+float yawposition = 0;
-void get_Data() // method which is called by the Ticker Datagetter every RATE seconds
+void dutycycle() // method which is called by the Ticker Dutycycler every RATE seconds
{
time_read_sensors = GlobalTimer.read_us();
@@ -67,10 +71,7 @@
dt = GlobalTimer.read_us() - time_for_dt; // time in us since last loop
time_for_dt = GlobalTimer.read_us(); // set new time for next measurement
- // TODO: RC_signal füllen!!!
-
IMU.compute(dt, Gyro.data, Acc.data);
- MIX.compute(dt, IMU.angle, RC[2].read(), controller_value);
// Arming / disarming
if(RC[2].read() < 20 && RC[3].read() > 850) {
@@ -92,18 +93,26 @@
if (armed) // for SECURITY!
{
+ // RC controlling
+ /*virt_angle[0] = IMU.angle[0] + (RC[0].read()-500)*MAXPITCH/500.0; // TODO: zuerst RC calibration
+ virt_angle[1] = IMU.angle[1] + (RC[1].read()-500)*MAXPITCH/500.0;
+ yawposition += (RC[3].read()-500)*YAWSPEED/500;
+ virt_angle[2] = IMU.angle[2] + yawposition;*/
+
// PID controlling
- if (!(RC[0].read() == -100)) {
- //Controller[0].setSetPoint(-(int)((RC[0].read()-440)/440.0*90.0));
- //Controller[1].setSetPoint(-(int)((RC[1].read()-430)/430.0*90.0));
- //Controller[2].setSetPoint(-(int)((RC[3].read()-424)/424.0*180.0)); // TODO: muss später += werden
+ /*if (!(RC[0].read() == -100)) { // the RC must be there to controll // alte version mit setpoint, nicht nötig? granzen bei yaw los? :)
+ Controller[0].setSetPoint(-((RC[0].read()-500)*MAXPITCH/500.0)); // set angles based on RC input
+ Controller[1].setSetPoint(-((RC[1].read()-500)*MAXPITCH/500.0));
+ Controller[2].setSetPoint(-((RC[3].read()-500)*180.0/500.0));
+ }*/
+ for(int i=0;i<3;i++) {
+ Controller[i].setProcessValue(virt_angle[i]); // give the controller the new measured angles that are allready controlled by RC
+ controller_value[i] = Controller[i].compute() - 1000; // -1000 because controller has output from 0 to 2000
}
- for(int i=0;i<3;i++) {
- Controller[i].setProcessValue(IMU.angle[i]);
- controller_value[i] = Controller[i].compute() - 1000;
- }
- // Set new motorspeeds
- for(int i=0;i<4;i++)
+
+ MIX.compute(dt, IMU.angle, RC[2].read(), controller_value); // let the Mixer compute motorspeeds based on throttle and controller output
+
+ for(int i=0;i<4;i++) // Set new motorspeeds
ESC[i] = (int)MIX.Motor_speed[i];
#ifdef LOGGER
@@ -116,7 +125,7 @@
#endif
} else {
for(int i=0;i<4;i++) // for security reason, set every motor to zero speed
- ESC[i] = 0;
+ ESC[i] = 0;
for(int i=0;i<3;i++)
Controller[i].reset(); // TODO: schon ok so? anfangspeek?!
}
@@ -161,7 +170,7 @@
// Start!
GlobalTimer.start();
- Datagetter.attach(&get_Data, RATE); // start to get data all RATEms
+ Dutycycler.attach(&dutycycle, RATE); // start to process all RATEms
while(1) {
#ifdef PC_CONNECTED
@@ -174,20 +183,16 @@
pc.printf("DIS_ARMED ");
pc.locate(5,3);
pc.printf("Roll:%6.1f Pitch:%6.1f Yaw:%6.1f ", IMU.angle[0], IMU.angle[1], IMU.angle[2]);
-
pc.locate(5,5);
pc.printf("Gyro.data: X:%6.1f Y:%6.1f Z:%6.1f", Gyro.data[0], Gyro.data[1], Gyro.data[2]);
-
pc.locate(5,8);
pc.printf("Acc.data: X:%6d Y:%6d Z:%6d", Acc.data[0], Acc.data[1], Acc.data[2]);
-
pc.locate(5,11);
pc.printf("PID Result:");
for(int i=0;i<3;i++)
pc.printf(" %d: %6.1f", i, controller_value[i]);
-
pc.locate(5,14);
- pc.printf("RC: roll: %d pitch: %d ", -(int)((RC[0].read()-440)/440.0*90.0), -(int)((RC[1].read()-430)/430.0*90.0));
+ pc.printf("RC controll: roll: %f pitch: %f yaw: %f ", (RC[0].read()-500)*MAXPITCH/500.0, (RC[0].read()-500)*MAXPITCH/500.0, yawposition);
pc.locate(10,15);
pc.printf("Debug_Yaw: Comp:%6.1f tempangle:%6.1f ", Comp.get_angle(), tempangle);
@@ -198,6 +203,7 @@
pc.locate(10,18);
pc.printf("Comp_data: %6.1f %6.1f %6.1f |||| %6.1f ", Comp.data[0], Comp.data[1], Comp.data[2], Comp.get_angle());
+ // graphical representation for RC signal // TODO: nicht nötig, nach funktionieren der RC kalibrierung weg damit
pc.locate(10,19);
pc.printf("RC0: %4d :[", RC[0].read());
for (int i = 0; i < RC[0].read()/17; i++)
@@ -219,7 +225,6 @@
pc.printf("=");
pc.printf(" ");
#endif
- wait(0.01);
if(armed){
LEDs.rollnext();
} else {
@@ -227,4 +232,4 @@
LEDs.set(i);
}
}
-}
+}
\ No newline at end of file
Matthias Grob
