Joseph Roberts
Quadcopter software. Flying - Contact me for more details or a copy of the PC ground station code
Dependencies: ConfigFile PID PPM MODSERIAL mbed-rtos mbed MaxbotixDriver TinyGPS filter
Revision 7:bc5822aa8878, committed 2015-02-10
- Comitter:
- joe4465
- Date:
- Tue Feb 10 20:55:44 2015 +0000
- Parent:
- 6:4c207e7b1203
- Child:
- 8:5a7efcd0c0dd
- Commit message:
- Updated software to match new PCB
Changed in this revision
--- a/flightController.h Thu Jan 22 18:03:22 2015 +0000
+++ b/flightController.h Tue Feb 10 20:55:44 2015 +0000
@@ -109,8 +109,8 @@
//Calculate motor power if flying
//RC Mapped thottle is between 0 and 1
- //Add 0.1 to try to avoid false starts
- if(_rcMappedCommands[3] > (RC_THRUST_MIN + 0.1) && _armed == true)
+ //Add 0.2 to try to avoid false starts
+ if(_rcMappedCommands[3] > (RC_THRUST_MIN + 0.2) && _armed == true)
{
//Calculate base power to apply from throttle - returns 1060 at min, 1860 at max
float basePower = MOTORS_MIN + (_rcMappedCommands[3] * 800);
@@ -125,6 +125,7 @@
float motorFix = 0;
float motorMin = _motorPower[0];
float motorMax = _motorPower[0];
+
for(int i=1; i<4; i++)
{
if(_motorPower[i] < motorMin) motorMin = _motorPower[i];
@@ -186,8 +187,8 @@
//Use the 2 spare channels to alter the offset
if(_levelOffset == true)
{
- float pitchOffset =_channel7MedianFilter->process(Map(_rcCommands[6], RC_OUT_MIN, RC_OUT_MAX, -5, 5));
- float rollOffset =_channel8MedianFilter->process(Map(_rcCommands[7], RC_OUT_MIN, RC_OUT_MAX, -5, 5));
+ float pitchOffset = /*_channel7MedianFilter->process(*/Map(_rcCommands[6], RC_OUT_MIN, RC_OUT_MAX, -5, 5);//);
+ float rollOffset = /*_channel8MedianFilter->process(*/Map(_rcCommands[7], RC_OUT_MIN, RC_OUT_MAX, -5, 5);//);
_zeroValues[1] = _oldZeroValues[1] + pitchOffset;
_zeroValues[2] = _oldZeroValues[2] + rollOffset;
--- a/hardware.h Thu Jan 22 18:03:22 2015 +0000
+++ b/hardware.h Tue Feb 10 20:55:44 2015 +0000
@@ -36,10 +36,10 @@
#define RC_ROLL_RATE_MIN -90
#define RC_PITCH_RATE_MAX 90
#define RC_PITCH_RATE_MIN -90
-#define RC_ROLL_ANGLE_MAX 15
-#define RC_ROLL_ANGLE_MIN -15
-#define RC_PITCH_ANGLE_MAX 15
-#define RC_PITCH_ANGLE_MIN -15
+#define RC_ROLL_ANGLE_MAX 45
+#define RC_ROLL_ANGLE_MIN -45
+#define RC_PITCH_ANGLE_MAX 45
+#define RC_PITCH_ANGLE_MIN -45
#define RC_THRUST_MAX 1
#define RC_THRUST_MIN 0
@@ -104,12 +104,12 @@
char* _str = new char[1024];
//RC filters
-medianFilter *_yawMedianFilter;
-medianFilter *_pitchMedianFilter;
-medianFilter *_rollMedianFilter;
-medianFilter *_thrustMedianFilter;
-medianFilter *_channel7MedianFilter;
-medianFilter *_channel8MedianFilter;
+//medianFilter *_yawMedianFilter;
+//medianFilter *_pitchMedianFilter;
+//medianFilter *_rollMedianFilter;
+//medianFilter *_thrustMedianFilter;
+//medianFilter *_channel7MedianFilter;
+//medianFilter *_channel8MedianFilter;
//HARDWARE////////////////////////////////////////////////////////////////////////////////////
// M1 M2
@@ -120,10 +120,10 @@
// M3 M4
//Motors
-PwmOut _motor1(p22);
-PwmOut _motor2(p23);
-PwmOut _motor3(p24);
-PwmOut _motor4(p25);
+PwmOut _motor1(p21);
+PwmOut _motor2(p22);
+PwmOut _motor3(p23);
+PwmOut _motor4(p24);
//USB serial
Serial _wiredSerial(USBTX, USBRX);
@@ -136,7 +136,7 @@
//PPM in
PPM *_ppm;
-InterruptIn *_interruptPin = new InterruptIn(p7);
+InterruptIn *_interruptPin = new InterruptIn(p8);
//Battery monitor
//DigitalIn _batteryMonitor(p8);
@@ -148,20 +148,23 @@
DigitalOut _led4(LED4);
//Outputs
-DigitalOut _output1(p11);
-DigitalOut _output2(p12);
-DigitalOut _output3(p5);
-DigitalOut _output4(p6);
+//DigitalOut _output1(p11);
+//DigitalOut _output2(p12);
+//DigitalOut _output3(p5);
+//DigitalOut _output4(p6);
//IMU
FreeIMU _freeIMU;
+//Buzzer
+DigitalOut _buzzer(p20);
+
//Functions///////////////////////////////////////////////////////////////////////////////////////////////
//Zero gyro and arm
void Arm()
{
//Don't arm unless throttle is equal to 0 and the transmitter is connected
- if(_rcMappedCommands[3] < (RC_THRUST_MIN + 0.1) && _rcMappedCommands[3] != -1)
+ if(_rcMappedCommands[3] < (RC_THRUST_MIN + 0.2) && _rcMappedCommands[3] != -1 && _armed == false)
{
//Zero gyro
_freeIMU.zeroGyro();
@@ -174,14 +177,17 @@
//Disarm
void Disarm()
{
- //Set armed to false
- _armed = false;
-
- //Disable modes
- _levelOffset = false;
-
- //Save settings
- WriteSettingsToConfig();
+ if(_armed == true)
+ {
+ //Set armed to false
+ _armed = false;
+
+ //Disable modes
+ _levelOffset = false;
+
+ //Save settings
+ WriteSettingsToConfig();
+ }
}
//Zero pitch and roll
--- a/main.cpp Thu Jan 22 18:03:22 2015 +0000
+++ b/main.cpp Tue Feb 10 20:55:44 2015 +0000
@@ -209,6 +209,8 @@
//Setup wired serial coms
_wiredSerial.baud(115200);
+ _buzzer = 0;
+
printf("\r\n");
printf("*********************************************************************************\r\n");
printf("Starting Setup\r\n");
@@ -233,12 +235,12 @@
printf("Setup initial RC commands\r\n");
//Setup RC median filters
- _yawMedianFilter = new medianFilter(10);
- _pitchMedianFilter = new medianFilter(10);
- _rollMedianFilter = new medianFilter(10);
- _thrustMedianFilter = new medianFilter(10);
- _channel7MedianFilter = new medianFilter(10);
- _channel8MedianFilter = new medianFilter(10);
+ //_yawMedianFilter = new medianFilter(10);
+ //_pitchMedianFilter = new medianFilter(10);
+ //_rollMedianFilter = new medianFilter(10);
+ //_thrustMedianFilter = new medianFilter(10);
+ //_channel7MedianFilter = new medianFilter(10);
+ //_channel8MedianFilter = new medianFilter(10);
printf("Setup RC median filters\r\n");
//Initialise PPM
@@ -282,4 +284,9 @@
// Wait here forever
Thread::wait(osWaitForever);
+
+ /*while(true)
+ {
+ printf("%f\r\n", _ypr[1]);
+ }*/
}
\ No newline at end of file
--- a/rcCommandMonitor.h Thu Jan 22 18:03:22 2015 +0000
+++ b/rcCommandMonitor.h Tue Feb 10 20:55:44 2015 +0000
@@ -34,13 +34,13 @@
i = 0;
//Map yaw channel
- _rcMappedCommands[0] = - _yawMedianFilter->process(Map(_rcCommands[3], RC_OUT_MIN, RC_OUT_MAX, RC_YAW_RATE_MIN, RC_YAW_RATE_MAX));
+ _rcMappedCommands[0] = - /*_yawMedianFilter->process(*/Map(_rcCommands[3], RC_OUT_MIN, RC_OUT_MAX, RC_YAW_RATE_MIN, RC_YAW_RATE_MAX);//);
//Map thust channel
- _rcMappedCommands[3] = _thrustMedianFilter->process(Map(_rcCommands[2], RC_OUT_MIN, RC_OUT_MAX, RC_THRUST_MIN, RC_THRUST_MAX));
+ _rcMappedCommands[3] = /*_thrustMedianFilter->process(*/Map(_rcCommands[2], RC_OUT_MIN, RC_OUT_MAX, RC_THRUST_MIN, RC_THRUST_MAX);//);
//Map arm channel.
- if(_rcCommands[4] > 0.5 && _initialised == true && _armed == false) Arm();
+ if(_rcCommands[4] > 0.5 && _armed == false) Arm();
else if(_rcCommands[4] <= 0.5 && _armed == true)
{
Disarm();
@@ -62,16 +62,16 @@
if(_rate == false && _stab == true)//Stability mode
{
//Roll
- _rcMappedCommands[2] = _rollMedianFilter->process(Map(_rcCommands[0], RC_OUT_MIN, RC_OUT_MAX, RC_ROLL_ANGLE_MIN, RC_ROLL_ANGLE_MAX));
+ _rcMappedCommands[2] = /*_rollMedianFilter->process(*/Map(_rcCommands[0], RC_OUT_MIN, RC_OUT_MAX, RC_ROLL_ANGLE_MIN, RC_ROLL_ANGLE_MAX);//);
//Pitch
- _rcMappedCommands[1] = _pitchMedianFilter->process(-Map(_rcCommands[1], RC_OUT_MIN, RC_OUT_MAX, RC_PITCH_ANGLE_MIN, RC_PITCH_ANGLE_MAX)); //Needs to be reverse
+ _rcMappedCommands[1] = /*_pitchMedianFilter->process(*/-Map(_rcCommands[1], RC_OUT_MIN, RC_OUT_MAX, RC_PITCH_ANGLE_MIN, RC_PITCH_ANGLE_MAX);//); //Needs to be reverse
}
else if(_rate == true && _stab == false)//Rate mode
{
//Roll
- _rcMappedCommands[2] = _rollMedianFilter->process(Map(_rcCommands[0], RC_OUT_MIN, RC_OUT_MAX, RC_ROLL_RATE_MIN, RC_ROLL_RATE_MAX));
+ _rcMappedCommands[2] = /*_rollMedianFilter->process(*/Map(_rcCommands[0], RC_OUT_MIN, RC_OUT_MAX, RC_ROLL_RATE_MIN, RC_ROLL_RATE_MAX);//);
//Pitch
- _rcMappedCommands[1] = _pitchMedianFilter->process(-Map(_rcCommands[1], RC_OUT_MIN, RC_OUT_MAX, RC_PITCH_RATE_MIN, RC_PITCH_RATE_MAX)); //Needs to be reverse
+ _rcMappedCommands[1] = /*_pitchMedianFilter->process(*/-Map(_rcCommands[1], RC_OUT_MIN, RC_OUT_MAX, RC_PITCH_RATE_MIN, RC_PITCH_RATE_MAX);//); //Needs to be reverse
}
else
{
@@ -91,7 +91,7 @@
_rcMappedCommands[3] = -1;
//If connection has been down for 10 loops then assume the connection really is lost
- if(i > 10) Disarm();
+ if(i > 10 && _armed == true) Disarm();
}
Thread::wait(20);
}
--- a/serialPortMonitor.h Thu Jan 22 18:03:22 2015 +0000
+++ b/serialPortMonitor.h Tue Feb 10 20:55:44 2015 +0000
@@ -338,6 +338,7 @@
break;
case '1':
+ _levelOffset = false;
_zeroValues[0] = 0;
_zeroValues[1] = 0;
_zeroValues[2] = 0;