feat: pitch PID regulator, MPU and LPS modified

This commit is contained in:
2024-10-29 09:17:33 +07:00
parent 0cb666c860
commit 2648fc3598
43 changed files with 917 additions and 100 deletions

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.idea/helicopter_firmware.iml generated Executable file
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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<module classpath="External" external.linked.project.id="helicopter_firmware" external.linked.project.path="$MODULE_DIR$" external.root.project.path="$MODULE_DIR$" external.system.id="PlatformIO" type="CPP_MODULE" version="4" />

7
.idea/misc.xml generated Normal file → Executable file
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@@ -1,5 +1,12 @@
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
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<option name="linkedExternalProjectsSettings"> <option name="linkedExternalProjectsSettings">

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.idea/vcs.xml generated Normal file → Executable file
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LICENSE Normal file → Executable file
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README.md Normal file → Executable file
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convert_sysincludes.py Normal file → Executable file
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70
get-platformio.py Executable file

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include/README Normal file → Executable file
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lib/README Normal file → Executable file
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1
platformio.ini Normal file → Executable file
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@@ -25,6 +25,7 @@ lib_deps_external =
https://github.com/GyverLibs/mString.git @ 1.7 https://github.com/GyverLibs/mString.git @ 1.7
https://github.com/GyverLibs/GyverPID @ 3.3 https://github.com/GyverLibs/GyverPID @ 3.3
https://github.com/pololu/vl53l0x-arduino @ 1.3.1 https://github.com/pololu/vl53l0x-arduino @ 1.3.1
https://github.com/pololu/lps-arduino
[env:esp32dev] [env:esp32dev]
platform = espressif32 @ 6.5.0 platform = espressif32 @ 6.5.0

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src/.clang-format Normal file → Executable file
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src/App.hpp Normal file → Executable file
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src/BoardI2C.hpp Normal file → Executable file
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src/Filters/Kalman2DFilter.hpp Normal file → Executable file
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src/Filters/kalman.hpp Normal file → Executable file
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src/Filters/median3.hpp Normal file → Executable file
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src/Filters/runningAverage.hpp Normal file → Executable file
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26
src/Logic/FlightController.cpp Normal file → Executable file
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@@ -3,13 +3,15 @@
FlightController::FlightController( FlightController::FlightController(
Sensors *sensors, SavedPidRegulator *heightController, SavedPidRegulator *yawController, Sensors *sensors, SavedPidRegulator *heightController, SavedPidRegulator *yawController,
BrushedMotor *rotor1, BrushedMotor *rotor2, BrushedMotor *rotor1, BrushedMotor *rotor2,
PIDController *tailRotorController, bool unlimitedBattery) { PIDController *tailRotorController, bool unlimitedBattery
) {
assert(sensors != nullptr); assert(sensors != nullptr);
assert(heightController != nullptr); assert(heightController != nullptr);
assert(yawController != nullptr); assert(yawController != nullptr);
assert(tailRotorController != nullptr); assert(tailRotorController != nullptr);
assert(rotor1 != nullptr); assert(rotor1 != nullptr);
assert(rotor2 != nullptr); assert(rotor2 != nullptr);
_sensors = sensors; _sensors = sensors;
_unlimitedBattery = unlimitedBattery; _unlimitedBattery = unlimitedBattery;
_heightController = heightController; _heightController = heightController;
@@ -62,17 +64,19 @@ void FlightController::tick() {
_tailRotorController->update(); _tailRotorController->update();
_heightController->input = _sensors->flightHeight(); _heightController->input = _sensors->flightHeight();
auto baseDuty = (uint32_t) round(_heightController->getResultNow()); //auto baseDuty = (uint32_t) round(_heightController->getResultNow());
_rotor1->setDuty(baseDuty); //_rotor1->setDuty(baseDuty);
_rotor2->setDuty(baseDuty); //_rotor2->setDuty(baseDuty);
} }
} }
ReportedDeviceState FlightController::currentDeviceState() const { ReportedDeviceState FlightController::currentDeviceState() const {
return {.batteryCharge = _sensors->batteryCharge(), return {
.batteryCharge = _sensors->batteryCharge(),
.flightHeight = _sensors->flightHeight(), .flightHeight = _sensors->flightHeight(),
.status = _status, .status = _status,
.mpuState = _sensors->mpuData()}; .mpuState = _sensors->mpuData()
};
} }
void FlightController::startTakeoff() { void FlightController::startTakeoff() {
@@ -153,15 +157,17 @@ void FlightController::newPitchStickPosition(int16_t newYawStickPostition) {
} }
void FlightController::setRotor1Duty(int16_t rotor1Duty) { void FlightController::setRotor1Duty(int16_t rotor1Duty) {
if (_status == DeviceStatus::Idle) { {
auto duty = (int16_t) map((long) rotor1Duty, 0, 5000, 0, 1023); auto duty = (int16_t) map((long) rotor1Duty, 0, 5000, 0, 1023);
_rotor1->setExtendedDuty(duty); _rotor1->setExtendedDuty(duty);
_rotor2->setExtendedDuty(duty);
} }
} }
void FlightController::setRotor2Duty(int16_t rotor2Duty) { void FlightController::setRotor2Duty(int16_t rotor2Duty) {
if (_status == DeviceStatus::Idle) { {
auto duty = (int16_t) map((long) rotor2Duty, 0, 5000, 0, 1023); auto duty = (int16_t) map((long) rotor2Duty, 0, 5000, 0, 1023);
_rotor1->setExtendedDuty(duty);
_rotor2->setExtendedDuty(duty); _rotor2->setExtendedDuty(duty);
} }
} }
@@ -203,7 +209,9 @@ PidSettings FlightController::pidSettings() const {
PidSettings settings{}; PidSettings settings{};
settings.flightController = {.p = _heightController->Kp, .i = _heightController->Ki, .d = _heightController->Kd}; settings.flightController = {.p = _heightController->Kp, .i = _heightController->Ki, .d = _heightController->Kd};
settings.yawController = {.p = _yawController->Kp, .i = _yawController->Ki, .d = _yawController->Kd}; settings.yawController = {.p = _yawController->Kp, .i = _yawController->Ki, .d = _yawController->Kd};
settings.pitchController = {.p = _tailRotorController->Kp, .i = _tailRotorController->Ki, .d = _tailRotorController->Kd}; settings.pitchController = {
.p = _tailRotorController->Kp, .i = _tailRotorController->Ki, .d = _tailRotorController->Kd
};
return settings; return settings;
} }

0
src/Logic/FlightController.hpp Normal file → Executable file
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src/Logic/FlightDispatcher.cpp Normal file → Executable file
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src/Logic/FlightDispatcher.hpp Normal file → Executable file
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0
src/Logic/PIDController.hpp Normal file → Executable file
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4
src/Logic/SavedPidRegulator.hpp Normal file → Executable file
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@@ -11,8 +11,8 @@ struct PidParams {
class SavedPidRegulator : public GyverPID { class SavedPidRegulator : public GyverPID {
public: public:
SavedPidRegulator(float p, float i, float d, const char *name = "saved_pid", uint16_t dt = 10) SavedPidRegulator(float p, float i, float d, const char *name = "saved_pid", const uint16_t dt = 10)
: GyverPID(p, i, d, (int16_t) dt) { : GyverPID(p, i, d, static_cast<int16_t>(dt)) {
_name = name; _name = name;
_preferences.begin(name); _preferences.begin(name);
_pDefault = p; _pDefault = p;

0
src/Motor/BrushedMotor.cpp Normal file → Executable file
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0
src/Motor/BrushedMotor.hpp Normal file → Executable file
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0
src/RF/BluetoothDispatcher.cpp Normal file → Executable file
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0
src/RF/BluetoothDispatcher.hpp Normal file → Executable file
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@@ -7,9 +7,10 @@ typedef std::function<void()> OnMeasuringFinishedCb;
class Barometer { class Barometer {
public: public:
Barometer(GyverBME280 *bme) { explicit Barometer(GyverBME280 *bme) {
assert(bme != nullptr);
_bme = bme; _bme = bme;
}; }
~Barometer() { ~Barometer() {
delete this->_bme; delete this->_bme;
@@ -46,7 +47,7 @@ public:
float flightHeight() /* [cm] */ { float flightHeight() /* [cm] */ {
if (_isCalibration) if (_isCalibration)
return 0.f; return 0.f;
else return round(altitude() - _startedAltitude); return round(altitude() - _startedAltitude);
} }
void onMeasuaringHeightFinished(OnMeasuringFinishedCb callback) { void onMeasuaringHeightFinished(OnMeasuringFinishedCb callback) {

80
src/Sensors/BarometerBMP280.hpp Executable file
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@@ -0,0 +1,80 @@
// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#include "GyverBME280.h"
typedef std::function<void()> OnMeasuringFinishedCb;
class Barometer {
public:
Barometer(GyverBME280 *bme) {
_bme = bme;
};
~Barometer() {
delete this->_bme;
}
bool initialize(void) {
_bme->setMode(NORMAL_MODE);
_bme->setFilter(FILTER_COEF_16);
_bme->setTempOversampling(OVERSAMPLING_2);
_bme->setPressOversampling(OVERSAMPLING_16);
_bme->setStandbyTime(STANDBY_500US);
return _bme->begin();
}
void measureBaseAltitudeSync(void) {
for (int i = 0; i < _calibrationIterationsCount; ++i) {
_startedAltitude += altitude();
delay(_calibrationIterationDelay);
}
_startedAltitude /= _calibrationIterationsCount;
}
void measureBaseAltitudeAsync(void) {
_calibrationIterationsCounter = 0;
_calibrationTimer = millis();
_isCalibration = true;
_startedAltitude = 0.f;
}
float altitude() /* [cm] */ {
return pressureToAltitude(_bme->readPressure()) * 100;
}
float flightHeight() /* [cm] */ {
if (_isCalibration)
return 0.f;
else return round(altitude() - _startedAltitude);
}
void onMeasuaringHeightFinished(OnMeasuringFinishedCb callback) {
_measuaringHeightFinishedCb = std::move(callback);
}
void tick() {
if (_isCalibration) {
if (millis() - _calibrationTimer >= _calibrationIterationDelay) {
_startedAltitude += altitude();
}
if (++_calibrationIterationsCounter >= _calibrationIterationsCount) {
_startedAltitude /= _calibrationIterationsCount;
_isCalibration = false;
if (_measuaringHeightFinishedCb) {
_measuaringHeightFinishedCb();
}
}
}
}
private:
GyverBME280 *_bme;
float _startedAltitude = 0.f;
bool _isCalibration = false;
uint32_t _calibrationTimer = 0;
int _calibrationIterationsCounter = 0;
OnMeasuringFinishedCb _measuaringHeightFinishedCb = nullptr;
static constexpr int _calibrationIterationsCount = 800;
static constexpr int _calibrationIterationDelay = 1; // [ms]
};

0
src/Sensors/BatteryController.hpp Normal file → Executable file
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0
src/Sensors/MPU.hpp Normal file → Executable file
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37
src/Sensors/RangingSensor.cpp Normal file → Executable file
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@@ -5,39 +5,10 @@
#include "RangingSensor.hpp" #include "RangingSensor.hpp"
#include "esp_log.h" #include "esp_log.h"
RangingSensor::RangingSensor(TwoWire &i2c) { RangingSensor::RangingSensor() {}
_sensor = VL53L0X();
_sensor.setBus(&i2c);
if (_sensor.init()) {
_sensor.setMeasurementTimingBudget(20000);
_sensor.setTimeout(25);
ESP_LOGI(_tag, "Sensor initialized");
} else {
ESP_LOGE(_tag, "Failed to initialize RangingSensor!");
assert(false);
}
_sensor.startContinuous(10);
}
void RangingSensor::startFlight() { void RangingSensor::startFlight() {}
//_start_distance = _distance;
}
void RangingSensor::tick() { void RangingSensor::tick() {}
_distance = (uint32_t) round(runMiddleArifm((float) _sensor.readRangeContinuousMillimeters())) / 10;
}
uint32_t RangingSensor::getDistance() { uint32_t RangingSensor::getDistance() { return 0; }
return _distance - _start_distance;
}
float RangingSensor::runMiddleArifm(float newVal) {
static int t = 0;
static float vals[_MID_ARITM_WINDOW];
static float average = 0;
if (++t >= _MID_ARITM_WINDOW) t = 0; // перемотка t
average -= vals[t]; // вычитаем старое
average += newVal; // прибавляем новое
vals[t] = newVal; // запоминаем в массив
return ((float) average / _MID_ARITM_WINDOW);
}

15
src/Sensors/RangingSensor.hpp Normal file → Executable file
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@@ -5,28 +5,17 @@
#ifndef HELICOPTER_FIRMWARE_RANGINGSENSOR_H #ifndef HELICOPTER_FIRMWARE_RANGINGSENSOR_H
#define HELICOPTER_FIRMWARE_RANGINGSENSOR_H #define HELICOPTER_FIRMWARE_RANGINGSENSOR_H
#include "Wire.h" #include "Arduino.h"
#include "VL53L0X.h"
class RangingSensor { class RangingSensor {
public: public:
RangingSensor(TwoWire &i2c); RangingSensor();
void tick(); void tick();
void startFlight(); void startFlight();
uint32_t getDistance(); uint32_t getDistance();
private:
TwoWire *_i2c;
VL53L0X _sensor;
float _distance = 0; // [cm]
float _start_distance = 0; // [cm]
static constexpr const char *_tag = "RangingSensor";
constexpr static const int _MID_ARITM_WINDOW = 5;
float runMiddleArifm(float newVal);
}; };

9
src/Sensors/Sensors.cpp Normal file → Executable file
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@@ -31,7 +31,7 @@ Sensors::Sensors(Barometer *barometer, RangingSensor *ranging_sensor, MPU *mpu,
ESP_LOGI(_tag, "MPU6050 initialized"); ESP_LOGI(_tag, "MPU6050 initialized");
} else { } else {
ESP_LOGI(_tag, "MPU6050 initialization failed!"); ESP_LOGI(_tag, "MPU6050 initialization failed!");
assert(false); //assert(false);
} }
_battery->initialize(); _battery->initialize();
@@ -83,7 +83,7 @@ float Sensors::rawFlightHeight(void) const {
float Sensors::flightHeight(void) const { float Sensors::flightHeight(void) const {
/* Returns flight height from cache immediately */ /* Returns flight height from cache immediately */
return rawFlightHeight(); return _flightHeightFromBarometer;
} }
MpuData Sensors::mpuData() const { MpuData Sensors::mpuData() const {
@@ -101,9 +101,8 @@ bool Sensors::tick(void) {
bool err; bool err;
bool isMpuDataReady = _mpu->tick(err); bool isMpuDataReady = _mpu->tick(err);
if (isMpuDataReady and !err) { if (isMpuDataReady and !err) {
//_2d_filter->filter(_mpu->accZInertial(), _barometer->flightHeight(), _2d_filter->filter(_mpu->accZInertial(), _barometer->flightHeight(),
// _flightHeightFromBarometer, _zVelocityAltitude); _flightHeightFromBarometer, _zVelocityAltitude);
_flightHeightFromBarometer = rawFlightHeight();
_zVelocityAltitude = _mpu->accZInertial(); _zVelocityAltitude = _mpu->accZInertial();
_mpuData = {.ax = _mpu->ax(), _mpuData = {.ax = _mpu->ax(),
.ay = _mpu->ay(), .ay = _mpu->ay(),

0
src/Sensors/Sensors.hpp Normal file → Executable file
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0
src/board_pins.h Normal file → Executable file
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12
src/main.cpp Normal file → Executable file
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@@ -3,6 +3,8 @@
#include "App.hpp" #include "App.hpp"
#include "BoardI2C.hpp" #include "BoardI2C.hpp"
#include "Sensors/RangingSensor.hpp"
#include "LPS.h"
BoardI2C i2c; BoardI2C i2c;
@@ -10,23 +12,27 @@ static Application *app = nullptr;
void setup() { void setup() {
Serial.begin(115200); Serial.begin(115200);
try {
app = new Application(new FlightDispatcher( app = new Application(new FlightDispatcher(
new BluetoothDispatcher(new BluetoothSerial(), "Redmi Note 8 Pro"), new BluetoothDispatcher(new BluetoothSerial(), "Redmi Note 8 Pro"),
new FlightController( new FlightController(
new Sensors(new Barometer(new GyverBME280(i2c)), new Sensors(new Barometer(new GyverBME280(i2c)),
new RangingSensor(i2c), new RangingSensor(),
new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)), new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)),
new Kalman2DFilter(10.f, 1.f, 1.8f), new Kalman2DFilter(10.f, 1.f, 1.8f),
new BatteryController(BATTERY_DATA_PIN, BATTERY_DATA_SWITCH_PIN), new BatteryController(BATTERY_DATA_PIN, BATTERY_DATA_SWITCH_PIN),
HeightSensor::RangeMeterOnly), HeightSensor::BarometerOnly),
new SavedPidRegulator(3.5f, 0.0015f, 0.01f, "HeightControl"), // height new SavedPidRegulator(3.5f, 0.0015f, 0.01f, "HeightControl"), // height
new SavedPidRegulator(2.f, 12.f, 0.f, "YawControl"), // yaw new SavedPidRegulator(2.f, 12.f, 0.f, "YawControl"), // yaw
new BrushedMotor(23, 16, 30000, 0, 10), new BrushedMotor(23, 16, 30000, 0, 10),
new BrushedMotor(26, 27, 30000, 1, 10), new BrushedMotor(26, 27, 30000, 1, 10),
new PIDController(0.6f, 3.5f, 0.03f, new PIDController(210.f, 15.f, 20.f,
new BrushedMotor(25, 33, 30000, 3, 10), new BrushedMotor(25, 33, 30000, 3, 10),
"PitchControl"), // pitch "PitchControl"), // pitch
true))); true)));
} catch (std::bad_alloc &e) {
ESP_LOGI("Main", "Failed to allocate memory: %s", e.what());
}
} }
void loop() { void loop() {

0
test/README Normal file → Executable file
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