Helicopter/firmware
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

PID controllers hierarchy revision

Browse Source
This commit is contained in:
Goga Coder
2024-03-08 23:10:55 +07:00
parent 271bd845bf
commit 4a85827150
16 changed files with 389 additions and 234 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
src/main.cpp
View File

@@ -11,14 +11,18 @@ static Application *app = nullptr;
void setup() {
Serial.begin(115200);
app = new Application(new FlightDispatcher(
new BluetoothDispatcher(new BluetoothSerial()),
new FlightController(
new Sensors(new Barometer(new GyverBME280(i2c)),
new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)), new Kalman2DFilter(10.f, 1.f, 1.8f),
new BatteryController(BATTERY_DATA_PIN, BATTERY_DATA_SWITCH_PIN)),
new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 1), 1),
new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 2), 2),
new PIDController(1.f, 1.f, 1.f, new BrushedMotor(1, 2, 3, 4, 3), 3), true)));
new BluetoothDispatcher(new BluetoothSerial()),
new FlightController(
new Sensors(new Barometer(new GyverBME280(i2c)),
new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)),
new Kalman2DFilter(10.f, 1.f, 1.8f),
new BatteryController(BATTERY_DATA_PIN, BATTERY_DATA_SWITCH_PIN)),
new SavedPidRegulator(3.5f, 0.0015f, 0.01f, "HeightController"), // height
new SavedPidRegulator(2.f, 12.f, 0.f, "YawController"), // yaw
new BrushedMotor(1, 2, 3, 4, 1),
new BrushedMotor(1, 2, 3, 4, 1),
new PIDController(0.6f, 3.5f, 0.03f, new BrushedMotor(1, 2, 3, 4, 3), "RollController"), // pitch
true)));
}
void loop() {