LeafLabs Garden » Topic: A quadcopter with Maple

LeafLabs Garden » Topic: A quadcopter with Maple http://forums.leaflabs.com/topic.php?id=2239 A place to share, learn, and grow... en-US Fri, 22 Jan 2016 00:18:12 +0000 http://bbpress.org/?v=1.0.2 <![CDATA[Search]]> q http://forums.leaflabs.com/search.php xchg.ca on "A quadcopter with Maple" http://forums.leaflabs.com/topic.php?id=2239#post-22164 Tue, 29 Jan 2013 19:45:18 +0000 xchg.ca 22164@http://forums.leaflabs.com/ Looks great! I want to control ESC motors myslef! But having issues with Arming ESC, can you explain how to handle ESC ? IF you can share some code we would be really appreciated ! nully on "A quadcopter with Maple" http://forums.leaflabs.com/topic.php?id=2239#post-13114 Tue, 04 Sep 2012 01:27:27 +0000 nully 13114@http://forums.leaflabs.com/ Wow, nice project! Anonymous on "A quadcopter with Maple" http://forums.leaflabs.com/topic.php?id=2239#post-12778 Tue, 21 Aug 2012 18:59:52 +0000 Anonymous 12778@http://forums.leaflabs.com/ Hello It is a good project. Can I download MCoptero v1.0 code? xpomvid on "A quadcopter with Maple" http://forums.leaflabs.com/topic.php?id=2239#post-11962 Tue, 24 Jul 2012 02:40:36 +0000 xpomvid 11962@http://forums.leaflabs.com/ The PID control used: //variables de trabajo unsigned long lastTimePitch, lastTimeRoll, lastTimeYaw, lastTimeAlt; float lastErrPitch, lastAngPitch, derivPitch, lastDerivPitch, integralPitch; float lastErrRoll, lastAngRoll, derivRoll, lastDerivRoll, integralRoll; float lastErrYaw, lastAngYaw, derivYaw, lastDerivYaw, integralYaw; float lastErrAlt, derivAlt, lastDerivAlt, integralAlt; float factorIn=0.80 ; //1.00; // factorIn amortigua el error. Rango 0.01-1.0 (0.01=suave, 1.0=fuerte) uint8 outLimYaw=100, outLim=100, errMaxPitchRoll=25, errMaxYaw=60, errMaxAlt=2; byte fcort=20; //frecuencia de corte del filtro de paso bajo float RC=1/(2*PI*fcort); // fcort = 10 Hz -> RC = 15.9155e-3 // fcort = 15 Hz -> RC = 10.6103e-3 // fcort = 20 Hz -> RC = 7.9577e-3 // fcort = 25 Hz -> RC = 6.3662e-3 // fcort = 30 Hz -> RC = 5.3052e-3 void ComputePIDPitch(void) { unsigned long now = millis(); float DT = (float)(now - lastTimePitch)/1000.00; //Error pitch errorPitch=(AngPitch-SetpointPitch)*factorIn; errorPitch = constrain(errorPitch,-errMaxPitchRoll,errMaxPitchRoll); //Limita el valor max del error de pitch //componente proporcional OutputPitch = errorPitch * KpPitch; //componente derivativa con filtro paso-bajo derivPitch =(errorPitch - lastErrPitch) / DT; derivPitch=lastDerivPitch+(DT/(RC+DT))*(derivPitch - lastDerivPitch); //suma componenete derivativa OutputPitch+=KdPitch*derivPitch; //componente integral integralPitch+=KiPitch*errorPitch*DT; //limita integralPitch integralPitch=constrain(integralPitch,-outLim,outLim); //Salida y limitada OutputPitch += integralPitch; OutputPitch=constrain(OutputPitch,-outLim,outLim); //renueva estado lastErrPitch=errorPitch; lastAngPitch=AngPitch; lastDerivPitch=derivPitch; lastTimePitch = now; } //---------------------------------------------------- void ComputePIDRoll(void) { unsigned long now = millis(); float DT = (float)(now - lastTimeRoll)/1000.00; //Error roll errorRoll=(AngRoll-SetpointRoll)*factorIn; errorRoll = constrain(errorRoll,-errMaxPitchRoll,errMaxPitchRoll); //Limita el valor max del error de roll //componente proporcional OutputRoll = errorRoll * KpRoll; //componente derivativa con filtro paso-bajo derivRoll = (errorRoll - lastErrRoll) / DT; derivRoll=lastDerivRoll+(DT/(RC+DT))*(derivRoll-lastDerivRoll); //suma componenete derivativa OutputRoll+=KdRoll*derivRoll; //componente integral integralRoll+=KiRoll*errorRoll*DT; //limita integralRoll integralRoll=constrain(integralRoll,-outLim,outLim); //Salida y limitada OutputRoll += integralRoll; OutputRoll=constrain(OutputRoll,-outLim,outLim); //renueva estado lastErrRoll=errorRoll; lastAngRoll=AngRoll; lastDerivRoll=derivRoll; lastTimeRoll = now; } //---------------------------------------------------- void ComputePIDYaw(void) { /*How long since we last calculated*/ unsigned long now = millis(); float DT = (float)(now - lastTimeYaw)/1000.00; //Error yaw errorYaw=(AngYaw-SetpointYaw)*factorIn; if (errorYaw > 180) errorYaw -= 360; // Normalizar a -180,180 else if(errorYaw < -180) errorYaw += 360; errorYaw = constrain(errorYaw,-errMaxYaw,errMaxYaw); // Limita el valor max del error de yaw //componente proporcional OutputYaw = errorYaw * KpYaw; //componente derivativa con filtro paso-bajo derivYaw = (errorYaw - lastErrYaw) / DT; derivYaw=lastDerivYaw+(DT/(RC+DT))*(derivYaw-lastDerivYaw); //suma componenete derivativa OutputYaw += KdYaw*derivYaw; //componente integral integralYaw+=KiYaw*errorYaw*DT; //limita integralYaw integralYaw=constrain(integralYaw,-outLimYaw, outLimYaw); //Salida y limitada OutputYaw+=integralYaw; OutputYaw=(-1)*constrain(OutputYaw,-outLim,outLim); //renueva estado lastErrYaw=errorYaw; lastAngYaw=AngYaw; lastDerivYaw=derivYaw; lastTimeYaw = now; } //---------------------------------------------------- void ComputePIDAlt(void) { unsigned long now = millis(); float DT = (float)(now - lastTimeAlt)/1000.00; //Error altura errorAlt=(-1)*(h_filter-SetpointAlt)*10; //dm errorAlt=constrain(errorAlt,-errMaxAlt,errMaxAlt); //componente proporcional OutputAlt = errorAlt * KpA; //componente derivativa con filtro paso-bajo derivAlt = (errorAlt - lastErrAlt) / DT; derivAlt=lastDerivAlt+(DT/(RC+DT))*(derivAlt-lastDerivAlt); //suma componenete derivativa OutputAlt+=KdA*derivAlt; //componente integral integralAlt+=KiA*errorAlt*DT; //limita integralPich integralAlt=constrain(integralAlt,-outLim,outLim); //Salida y filtro PID OutputAlt+=integralAlt; OutputAlt=constrain(OutputAlt,-outLim,outLim); //renueva estado lastErrAlt=errorAlt; lastDerivAlt=derivAlt; lastTimeAlt = now; } xpomvid on "A quadcopter with Maple" http://forums.leaflabs.com/topic.php?id=2239#post-11948 Mon, 23 Jul 2012 17:38:26 +0000 xpomvid 11948@http://forums.leaflabs.com/ Hi, here is the parts list and supplier. The code is not finished, it remains to debug and comments. /****************************************************************************** * MAPLECOPTER * * ----------------------------------------------------------------------------* * SOFTWARE CUADRICOPTERO: MCoptero v1.0 por XPOMVID * ----------------------------------------------------------------------------* * Placa: Maple Rev5 (BricoGeek) * * Procesador: 32-bit ARM Cortex M3 at 72MHz * * Memory: 120 KB Flash and 20 KB SRAM * * I/O Pins: 34 (of which 12 provide PWM output at 16-bit resolution) * * ADCs: 9 (at 12-bit resolution) * * Peripherals: 4 timers, 2 I2Cs, 2 SPI ports, 3 USARTs * * ---------------------------------------------------------------------------* * Sist. de medición inercial: 9DOF-Razor IMU-AHRS (BricoGeek) * * Yaw Gyro: LY530AL - 300°/s single-axis gyro * * Pitch and Roll Gyro: LPR530AL - 300°/s dual-axis gyro * * Accelerometer: ADXL345 - 13-bit, ±16g, triple-axis accelerometer * * Magnetometer: HMC5843 - triple-axis, digital magnetometer * * Todas las salidas de los sensores son procesadas por un * * <a href="mailto:ATmega328@3.3V">ATmega328@3.3V</a> w/ external 8MHz resonator y Firmware v1.0. * * ---------------------------------------------------------------------------* * Sensor de presión barométrica BMP085 (BricoGeek) * * ---------------------------------------------------------------------------* * Motor brushless 1000KV Outrunner (BricoGeek) * * Hélices 8x4.5 * * ---------------------------------------------------------------------------* * ESC TURNIGY Plush 25amp Speed Controller (HobbyKing) * * ---------------------------------------------------------------------------* * Emisora Turnigy 9X 9Ch Transmitter (HobbyKing) * *****************************************************************************/ mbolivar on "A quadcopter with Maple" http://forums.leaflabs.com/topic.php?id=2239#post-11944 Mon, 23 Jul 2012 14:47:22 +0000 mbolivar 11944@http://forums.leaflabs.com/ cool! <a href="https://twitter.com/leaflabs/status/227489817389301761">tweeted</a>. StephenFromNYC on "A quadcopter with Maple" http://forums.leaflabs.com/topic.php?id=2239#post-11935 Mon, 23 Jul 2012 08:49:19 +0000 StephenFromNYC 11935@http://forums.leaflabs.com/ xpomvid, I am glad you took the effort to create a new topic to describe your maple-based quadcopter project. In your <a href="http://forums.leaflabs.com/topic.php?id=1841#post-11862">original post</a> (part of the "Using Vin pin" topic) I did not understand the connection. Any chance you can share your code, parts list (and supplier), and other details with other LeafLabs users? Once again, congratulations and thanks! <a href="http://forums.leaflabs.com/profile.php?id=843">Stephen from NYC</a> (full disclosure: I am not a member of the LeafLabs staff) xpomvid on "A quadcopter with Maple" http://forums.leaflabs.com/topic.php?id=2239#post-11917 Sun, 22 Jul 2012 14:27:05 +0000 xpomvid 11917@http://forums.leaflabs.com/ A quadcopter with Maple rev5 + 9 DOF - Razor IMU - AHRS. <a href="http://youtu.be/2EGoGld0Z_4" rel="nofollow">http://youtu.be/2EGoGld0Z_4</a>