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Quadrotor: 2. 4 Steps (with Pictures)Our code was written in a modified form of C++ that is described on the Arduino website. Our code represents a feedback control system known as PID (proportional integral derivative). Currently, it only employs use of the proportional and derivative components. With our current code, the quadrotor self- stabilizes quite well in the air, but is a little unstable on takeoff. However, this instability can be mitigated by taking off quickly. To find the current amounts of tilt on the X and Y axis from accelerometer and gyro data, we used an algorithm that would average previous accelerometer data and combine it with gyro data to reach an angle measurement that was fairly resilient to linear acceleration. We only do 2 Pulsin commands per loop (instead of 4) to cut the loop time in half, which makes the quadrotor control system much more responsive.//neutral accelerometer/gyro positions#define X_ZERO 3.
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Y_ZERO 3. 24#define Z_ZERO 3. PITCH_ZERO 2. 49#define ROLL_ZERO 2. YAW_ZERO 2. 48#define GYRO_CON 1. ACCEL_CON 0. 9. 3#define TIME_CON 0. SEN_CON 0. 9. 5//motor speed varsint speeds[4]; //gyro inputs - current tilt varsfloat pitch, roll, yaw; int pitchzero, rollzero; //accelerometer inputs - current acceleration varsfloat xin, yin, zin; //human inputs - control info varsfloat pitchin, rollin, yawin, zhuman; //random other varsfloat xaverage=0, yaverage=0; int y=0; int blah; //proportionality constantsfloat p=2. P proportionality constantfloat d=0. D proportionality constantvoid setup() {zhuman=0; rollin=0; Serial.
Mode(x, OUTPUT); }//send upper bound for human inputs to the motor speed controllersfor(int x=6; x< 1. Read(3); }pitchzero=y/1. Read(4); }rollzero=y/1. Read(0)- X_ZERO)*ACCEL_CON; yin=(analog. Read(1)- Y_ZERO)*ACCEL_CON; zin=(analog. Read(2)- Z_ZERO)*ACCEL_CON; pitch=(pitchzero- analog.
Read(3))*GYRO_CON; roll=(rollzero- analog. Read(4))*GYRO_CON; yaw=(analog. Watch Under The Dome Full Episodes Free Online on this page. Read(5)- YAW_ZERO)*GYRO_CON; //get human inputs through radio here range of - 3. In(2,HIGH)- 1. 50. In(3,HIGH)- 1. 50. In(4,HIGH); rollin=0. In(5,HIGH)- 1. 40.
SEN_CON *( xaverage + TIME_CON * pitch) + ( 1 - SEN_CON ) * xin; yaverage= SEN_CON *( yaverage + TIME_CON * roll) + ( 1 - SEN_CON ) * yin; //calculate the motor speedsif(zhuman< 1. Write(pin, HIGH); delay. Watch Spring Broke Online Fandango. Microseconds(duration); digital. Write(pin, LOW); }.
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