1. PID 테스트
날개 4개 중에서 한 축인 2개의 모터만 돌려서 우선 균형을 잡을 수 있는 지 PID 테스트를 해보았습니다.
PID 제어란 목표인 입력값과 현재 상태인 결과 사이의 차이(Error)에 비례, 적분, 미분의 기법을 써서 구동부를 제어하는 방법입니다.
기본적인 PID 제어 방법과 코드는 아래와 같아요.
기초: PID 제어
#define Kp (2) // configurable value.
#define Ki (1) // configurable value.
#define Kd (1) // configurable value.
#define dt 0.01
double pid(int degree)
{
static double P_err_prv; // Prev P error to get D_err.
double P_err, I_err, D_err; // Basic Error values.
P_err = SETPOINT - degree;
I_err += P_err * dt;
D_err = (P_err - P_err_prv) / dt;
P_err_prv = P_err; // backup P_err.
val_out = (Kp * P_err) + (Ki * I_err) + (Kd * D_err);
return val_out; // Calculated.
}
균형을 잡는 지 저희 쿼드콥터로 테스트 하기 위해서 디버깅 환경을 다음과 같이 꾸몄습니다.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 | #include "SoftwareSerial.h" #include "Servo.h" /////////////////BLDC Motor///////////////// #define MAX_THROTTLE 179 #define MIN_THROTTLE 0 #define MAX_PWM 100 #define MIN_PWM 20 #define MOTOR0 5 //motor pin number #define MOTOR1 9 //motor pin number #define MOTOR2 10 //motor pin number #define MOTOR3 3 //motor pin number Servo motor0; Servo motor1; Servo motor2; Servo motor3; int mspeed=0; int pwm=0, Cpwm=0; //////////////////////////////////////////// /////////////////IMU Sensor///////////////// //IMU Sensor Serial SoftwareSerial SensorSerial(2,4);//Rx Tx //IMU Sensor variable char data[40]; int i = 0; double roll, pitch, yaw; //////////////////////////////////////////// /////////////////PID Conrtroll///////////////// #define SETPOINT 0 #define INITfitpoint 30 #define INITKp 0.38 #define INITKi 0.000287 #define INITKd 33 #define MAXSPEED 3 #define MINSPEED 100 int fitpoint = INITfitpoint; double Kp = INITKp, Ki = INITKi, Kd = INITKd; double last_t; //////////////////////////////////////////// //---------------------------------------------------------------------// // // funtions // //--------------------------------------------------------------------// //esc조절 하기 void callibration(void) { Serial.println("Calibrate ESC? 'y' or 'n'."); while (!Serial.available()); char cali = Serial.read(); if(cali == 'y'){ Serial.println("send max throttle"); motor0.attach(MOTOR0); motor1.attach(MOTOR1); motor2.attach(MOTOR2); motor3.attach(MOTOR3); motor0.write(MAX_THROTTLE); motor1.write(MAX_THROTTLE); motor2.write(MAX_THROTTLE); motor3.write(MAX_THROTTLE); delay(4000); Serial.println("send min throttle"); motor0.attach(MOTOR0); motor1.attach(MOTOR1); motor2.attach(MOTOR2); motor3.attach(MOTOR3); motor0.write(MIN_THROTTLE); motor1.write(MIN_THROTTLE); motor2.write(MIN_THROTTLE); motor3.write(MIN_THROTTLE); delay(2000); Serial.println("callibration complete"); }else if(cali == 'n'){ motor0.attach(MOTOR0); motor1.attach(MOTOR1); motor2.attach(MOTOR2); motor3.attach(MOTOR3); motor0.write(MIN_THROTTLE); motor1.write(MIN_THROTTLE); motor2.write(MIN_THROTTLE); motor3.write(MIN_THROTTLE); } Serial.println("If you want Program keep going. Press any key."); while (!Serial.available()); } //------------------------------------------------------------------------// //센서값을 읽어서 roll,pitch,yaw 값을 알아낸다. //IMU 센서에서 받아온 아스키코드 값을 잘라서 숫자로 저장하는 함수 //trans_ascii_to_num(저장할 버퍼 배열, 롤값 저장할 변수, 피치값 저장할 변수, 요값 저장할 변수) void trans_ascii_to_num(char * SBuf, double * roll_ptr, double * pitch_ptr, double * yaw_ptr) { int value, value2; value=FindComma(SBuf);// ',' 위치(인덱스 값)을 반환? SBuf[value]='\0';// ','를 NULL(\0)값으로 바꾸어주어 하나의 스트링배열로 만들어주는듯?(NULL은 스트링의 마지막 값이니까) *roll_ptr=atof(SBuf); //atof()는 스트링을 double형으로 바꾸어주는 함수, 소수점도 알아서 인식하고 바꾸어준다. value++; value2=FindComma(&SBuf[value]); SBuf[value+value2]='\0'; *pitch_ptr=atof(&SBuf[value]); value=value+value2+1; value2=FindComma(&SBuf[value]); SBuf[value+value2]='\0'; *yaw_ptr=atof(&SBuf[value]); } int FindComma(char * buf) { int n; for(n=0;n<40;n++) { if(buf[n]==',') break; } return n; } //--------------------------------------------------------------------------------// //각도 값을 받아서 PID제어값 출력 double pid(double degree) { double val_out; static double p_err_prv, p_err, i_err, d_err; p_err = SETPOINT-degree; i_err += p_err; d_err = p_err - p_err_prv; p_err_prv = p_err; val_out = (Kp*p_err) + (Ki*i_err) + (Kd*d_err); Serial.print((Kp*p_err)); Serial.print(", ");Serial.print((Ki*i_err)); Serial.print(", ");Serial.print((Kd*d_err));Serial.print(", ");Serial.print(val_out); return val_out; } //------------------------------------------------------------------------ //제어값을 받어서 모터 구동 void run_motors(int speed1, int speed2) { pwm = speed1 + speed2; Cpwm = speed1 - speed2; if(pwm>MAX_PWM) pwm = MAX_PWM; else if(pwm<MIN_PWM) pwm = MIN_PWM; if(Cpwm>MAX_PWM) Cpwm = MAX_PWM; else if(Cpwm<MIN_PWM) Cpwm = MIN_PWM; motor1.write(pwm); motor3.write(Cpwm); Serial.print(", ");Serial.print(pwm);Serial.print(", ");Serial.print(Cpwm);Serial.println(""); } //------------------------------------------------------------------------------// //pid 계수의 값을 바꾼다. void modify_pid_val(void) { if(Serial.available()){ char c = Serial.read(); if(c=='r'){ fitpoint += 1; Serial.print("fitpoint = ");Serial.println(fitpoint); }else if(c=='t'){ fitpoint -= 1; Serial.print("fitpoint = ");Serial.println(fitpoint); }else if(c=='y'){ fitpoint= INITfitpoint; Serial.print("fitpoint = ");Serial.println(fitpoint); }else if(c=='q'){ Kp += 0.01; Serial.print("Kp = ");Serial.println(Kp); }else if(c=='w'){ Kp -= 0.01; Serial.print("Kp = ");Serial.println(Kp); }else if(c=='e'){ Kp= INITKp; Serial.print("Kp = ");Serial.println(Kp); }else if(c=='a'){ Ki += 0.000001; Serial.print("Ki = ");Serial.println(Ki*10000); }else if(c=='s'){ Ki -= 0.000001; Serial.print("Ki = ");Serial.println(Ki*10000); }else if(c=='d'){ Ki = INITKi; Serial.print("Ki = ");Serial.println(Ki*10000); }else if(c=='z'){ Kd += 1; Serial.print("Kd = ");Serial.println(Kd); }else if(c=='x'){ Kd -= 1; Serial.print("Kd = ");Serial.println(Kd); }else if(c=='c'){ Kd = INITKd; Serial.print("Kd = ");Serial.println(Kd); }else if(c=='p'){ Serial.print("Kp = ");Serial.print(Kp);Serial.print(", Ki = ");Serial.print(Ki*10000);Serial.print(", Kd = ");Serial.println(Kd); } } } //---------------------------------------------------------------------// // // main // //--------------------------------------------------------------------// void setup() { Serial.begin(115200); SensorSerial.begin(57600); callibration(); } void loop() { if(SensorSerial.available()){ data[i]= SensorSerial.read(); i++; if(data[i-1] == 0x0A) data[i-1] = ','; if(data[i-1] == '*'){//데이터 다받음. i=0; trans_ascii_to_num(data, &roll, &pitch, &yaw);//센서값을 읽어서 roll,pitch,yaw 값을 알아낸다. Serial.print(roll);Serial.print(", "); mspeed = pid(roll);//각도 값을 받아서 PID제어값 출력 run_motors(fitpoint, mspeed);//제어값을 받어서 모터 구동 } } modify_pid_val(); } | cs |
2. 호버링 제어
다음으로 위의 PID 코드를 수정하여 두 축의 균형을 잡을 수 있도록 소스를 수정 한 후 모터 4개를 모두 돌려서 테스트 하였습니다.
기체가 균형을 잡는지, 공중에 뜨는 지를 확인 하였는데 생각보다 안정적이지 않았습니다.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 | #include "SoftwareSerial.h" #include "Servo.h" /////////////////BLDC Motor///////////////// #define MAX_THROTTLE 179 #define MIN_THROTTLE 0 #define MAX_PWM 100 #define MIN_PWM 20 #define MOTOR1 5 //motor pin number #define MOTOR2 9 //motor pin number #define MOTOR3 10 //motor pin number #define MOTOR4 3 //motor pin number Servo motor1; Servo motor2; Servo motor3; Servo motor4; //////////////////////////////////////////// /////////////////IMU Sensor///////////////// //IMU Sensor Serial SoftwareSerial SensorSerial(2,4);//Rx Tx //IMU Sensor variable typedef union { signed short value; unsigned char byte[2]; } S2BYTE; S2BYTE data_word; unsigned char SBuf[100]; int SCnt=0; double DegRoll, DegPitch, DegYaw; //////////////////////////////////////////// /////////////////PID Conrtroll///////////////// #define MINhover 0 #define INIThover 20 #define INITROLLKp 0.38 #define INITROLLKi 0.000287 #define INITROLLKd 33 #define INITPITCHKp 0.29 #define INITPITCHKi 0.000287 #define INITPITCHKd 33 #define INITYAWKp 0.29 //0.38 #define INITYAWKi 0.000287 #define INITYAWKd 33 #define MAXSPEED 3 #define MINSPEED 100 #define INITROLLSETPOINT -1.532 #define INITPITCHSETPOINT -0.516 double roll_setpoint = INITROLLSETPOINT, pitch_setpoint = INITPITCHSETPOINT, yaw_setpoint = 0; int hover = INIThover; double roll_Kp = INITROLLKp, roll_Ki = INITROLLKi, roll_Kd = INITROLLKd; double pitch_Kp = INITPITCHKp, pitch_Ki = INITPITCHKi, pitch_Kd = INITPITCHKd; double yaw_Kp = INITYAWKp, yaw_Ki = INITYAWKi, yaw_Kd = INITYAWKd; int rollControll, pitchControll, yawControll; int initial = 0; //////////////////////////////////////////// //---------------------------------------------------------------------// // // funtions // //--------------------------------------------------------------------// //esc조절 하기 void callibration(void) { Serial.println("Calibrate ESC? 'y' or 'n'."); while (!Serial.available()); char cali = Serial.read(); if(cali == 'y'){ Serial.println("send max throttle"); motor1.attach(MOTOR1); motor2.attach(MOTOR2); motor3.attach(MOTOR3); motor4.attach(MOTOR4); motor1.write(MAX_THROTTLE); motor2.write(MAX_THROTTLE); motor3.write(MAX_THROTTLE); motor4.write(MAX_THROTTLE); delay(5000); Serial.println("send min throttle"); motor1.attach(MOTOR1); motor2.attach(MOTOR2); motor3.attach(MOTOR3); motor4.attach(MOTOR4); motor1.write(MIN_THROTTLE); motor2.write(MIN_THROTTLE); motor3.write(MIN_THROTTLE); motor4.write(MIN_THROTTLE); delay(2000); Serial.println("callibration complete"); }else if(cali == 'n'){ motor1.attach(MOTOR1); motor2.attach(MOTOR2); motor3.attach(MOTOR3); motor4.attach(MOTOR4); motor1.write(MIN_THROTTLE); motor2.write(MIN_THROTTLE); motor3.write(MIN_THROTTLE); motor4.write(MIN_THROTTLE); } Serial.println("If you want Program keep going. Press any key."); while (!Serial.available()); } //------------------------------------------------------------------------// //센서값을 읽어서 roll,pitch,yaw 값을 알아낸다. int recieve_data(void) { static int step_=0, check_all_recieve=0; unsigned char data1byte; int n; data1byte = SensorSerial.read(); switch(step_) { case 0: if(data1byte==0x55) {step_=1, check_all_recieve=0;} break; case 1: if(data1byte==0x55) { step_=2; SCnt=0;} else step_=0; break; case 2: SBuf[SCnt++] = (unsigned char)data1byte; if(SCnt==8) // roll(2byte),pitch(2byte),yaw(2byte),checksum(2byte) { step_=0; SCnt=0; check_all_recieve = 1; } break; default: break; } return check_all_recieve; } static int trans_data_to_degree(unsigned char *sdata) // sdata : roll(2)+pitch(2)+yaw(2)+chk(2) { int n; unsigned short chk=0; ///////////// checksum ///////////////// chk=0x55+0x55; for(n=0;n<6;n++) chk+=sdata[n]; if(chk != get_data_word(&sdata[6])) { Serial.println("checksum error!"); return 0; // } //////////////////////////////////////// DegRoll = get_data_word(&sdata[0]) / 100.; DegPitch = get_data_word(&sdata[2]) / 100. * -1; DegYaw = get_data_word(&sdata[4]) / 100.; return 1; } static signed short get_data_word(unsigned char *dat) { // little endian.. data_word.byte[0]=dat[1]; data_word.byte[1]=dat[0]; return data_word.value; } //--------------------------------------------------------------------------------// //각도 값을 받아서 PID제어값 출력 double roll_pid(double setpoint, double degree) { double val_out; static double roll_p_err_prv, roll_p_err, roll_i_err, roll_d_err; roll_p_err = setpoint-degree; roll_i_err += roll_p_err; roll_d_err = roll_p_err - roll_p_err_prv; roll_p_err_prv = roll_p_err; val_out = (roll_Kp*roll_p_err) + (roll_Ki*roll_i_err) + (roll_Kd*roll_d_err); Serial.print((roll_Kp* roll_p_err)); Serial.print(", ");Serial.print((roll_Ki* roll_i_err)); Serial.print(", ");Serial.print((roll_Kd* roll_d_err));Serial.print(", ");Serial.print(val_out); return val_out; } double pitch_pid(double setpoint, double degree) { double val_out; static double pitch_p_err_prv, pitch_p_err, pitch_i_err, pitch_d_err; pitch_p_err = setpoint-degree; pitch_i_err += pitch_p_err; pitch_d_err = pitch_p_err - pitch_p_err_prv; pitch_p_err_prv = pitch_p_err; val_out = (pitch_Kp*pitch_p_err) + (pitch_Ki*pitch_i_err) + (pitch_Kd*pitch_d_err); //Serial.print((pitch_Kp* pitch_p_err)); Serial.print(", ");Serial.print((pitch_Ki* pitch_i_err)); Serial.print(", ");Serial.print((pitch_Kd* pitch_d_err));Serial.print(", ");Serial.print(val_out); return val_out; } double yaw_pid(double setpoint, double degree) { double val_out; static double yaw_p_err_prv, yaw_p_err, yaw_i_err, yaw_d_err; yaw_p_err = setpoint-degree; yaw_i_err += yaw_p_err; yaw_d_err = yaw_p_err - yaw_p_err_prv; yaw_p_err_prv = yaw_p_err; val_out = (yaw_Kp*yaw_p_err) + (yaw_Ki*yaw_i_err) + (yaw_Kd*yaw_d_err); //Serial.print((yaw_Kp*yaw_p_err)); Serial.print(", ");Serial.print((yaw_Ki*yaw_i_err)); Serial.print(", ");Serial.print((yaw_Kd*yaw_d_err));Serial.print(", ");Serial.print(val_out); return val_out; } //------------------------------------------------------------------------ //제어값을 받어서 모터 구동 void run_motors(int throttle, int rollOffset, int pitchOffset, int yawOffset) { int motor1Power, motor3Power; // Motors on the X axis //=>; changing their speeds will affect the pitch int motor2Power, motor4Power; // Motors on the Y axis //=>; changing their speeds will affect the roll motor1Power = throttle + pitchOffset - yawOffset; motor2Power = throttle + rollOffset + yawOffset; motor3Power = throttle - pitchOffset - yawOffset; motor4Power = throttle - rollOffset + yawOffset; limit_max_min(motor1Power); limit_max_min(motor2Power); limit_max_min(motor3Power); limit_max_min(motor4Power); motor1.write(motor1Power);motor3.write(motor3Power); motor2.write(motor2Power);motor4.write(motor4Power); //Serial.print(", ");Serial.print(motor1Power);Serial.print(", ");Serial.print(motor3Power); Serial.print(", ");Serial.print(motor2Power);Serial.print(", ");Serial.print(motor4Power); } void limit_max_min(int pwm) { if(pwm>MAX_PWM) pwm = MAX_PWM; else if(pwm<MIN_PWM) pwm = MIN_PWM; } //------------------------------------------------------------------------------// //pid 계수의 값을 바꾼다. void modify_pid_val(void) { if(Serial.available()){ char c = Serial.read(); //hover debuging if(c=='1'){ hover += 1; Serial.print("hover = ");Serial.println(hover); }else if(c=='2'){ hover -= 1; Serial.print("hover = ");Serial.println(hover); }else if(c=='3'){ hover= INIThover; Serial.print("hover = ");Serial.println(hover); }else if(c=='4'){ hover= MINhover; Serial.print("hover = ");Serial.println(hover); } //roll debuging else if(c=='q'){ roll_Kp += 0.01; Serial.print("roll_Kp = ");Serial.println(roll_Kp); }else if(c=='w'){ roll_Kp -= 0.01; Serial.print("roll_Kp = ");Serial.println(roll_Kp); }else if(c=='e'){ roll_Kp= INITROLLKp; Serial.print("roll_Kp = ");Serial.println(roll_Kp); }else if(c=='a'){ roll_Ki += 0.000001; Serial.print("roll_Ki = ");Serial.println(roll_Ki*10000); }else if(c=='s'){ roll_Ki -= 0.000001; Serial.print("roll_Ki = ");Serial.println(roll_Ki*10000); }else if(c=='d'){ roll_Ki = INITROLLKi; Serial.print("roll_Ki = ");Serial.println(roll_Ki*10000); }else if(c=='z'){ roll_Kd += 1; Serial.print("roll_Kd = ");Serial.println(roll_Kd); }else if(c=='x'){ roll_Kd -= 1; Serial.print("roll_Kd = ");Serial.println(roll_Kd); }else if(c=='c'){ roll_Kd = INITROLLKd; Serial.print("roll_Kd = ");Serial.println(roll_Kd); } //pitch debuging else if(c=='r'){ pitch_Kp += 0.01; Serial.print("pitch_Kp = ");Serial.println(pitch_Kp); }else if(c=='t'){ pitch_Kp -= 0.01; Serial.print("pitch_Kp = ");Serial.println(pitch_Kp); }else if(c=='y'){ pitch_Kp= INITPITCHKp; Serial.print("pitch_Kp = ");Serial.println(pitch_Kp); }else if(c=='f'){ pitch_Ki += 0.000001; Serial.print("pitch_Ki = ");Serial.println(pitch_Ki*10000); }else if(c=='g'){ pitch_Ki -= 0.000001; Serial.print("pitch_Ki = ");Serial.println(pitch_Ki*10000); }else if(c=='h'){ pitch_Ki = INITPITCHKi; Serial.print("pitch_Ki = ");Serial.println(pitch_Ki*10000); }else if(c=='v'){ pitch_Kd += 1; Serial.print("pitch_Kd = ");Serial.println(pitch_Kd); }else if(c=='b'){ pitch_Kd -= 1; Serial.print("pitch_Kd = ");Serial.println(pitch_Kd); }else if(c=='n'){ pitch_Kd = INITPITCHKd; Serial.print("pitch_Kd = ");Serial.println(pitch_Kd); } //yaw debuging else if(c=='u'){ yaw_Kp += 0.01; Serial.print("yaw_Kp = ");Serial.println(yaw_Kp); }else if(c=='i'){ yaw_Kp -= 0.01; Serial.print("yaw_Kp = ");Serial.println(yaw_Kp); }else if(c=='o'){ yaw_Kp= INITYAWKp; Serial.print("yaw_Kp = ");Serial.println(yaw_Kp); }else if(c=='j'){ yaw_Ki += 0.000001; Serial.print("yaw_Ki = ");Serial.println(yaw_Ki*10000); }else if(c=='k'){ yaw_Ki -= 0.000001; Serial.print("yaw_Ki = ");Serial.println(yaw_Ki*10000); }else if(c=='l'){ yaw_Ki = INITYAWKi; Serial.print("yaw_Ki = ");Serial.println(yaw_Ki*10000); }else if(c=='m'){ yaw_Kd += 1; Serial.print("yaw_Kd = ");Serial.println(yaw_Kd); }else if(c==','){ yaw_Kd -= 1; Serial.print("yaw_Kd = ");Serial.println(yaw_Kd); }else if(c=='.'){ yaw_Kd = INITYAWKd; Serial.print("yaw_Kd = ");Serial.println(yaw_Kd); } } } //---------------------------------------------------------------------// // // main // //--------------------------------------------------------------------// void setup() { Serial.begin(115200); SensorSerial.begin(57600); callibration(); } void loop() { if(SensorSerial.available()){ if(recieve_data()==1) //roll(2byte),pitch(2byte),yaw(2byte),checksum(2byte) 모든 데이터 받았음 { if(trans_data_to_degree(SBuf)==1) //센서값을 읽어서 roll,pitch,yaw 값을 알아낸다. { if(initial == 0){ yaw_setpoint = DegYaw; initial = 1; //Serial.println(yaw_setpoint); } Serial.print(DegRoll);Serial.print(", "); //Serial.print(DegPitch);Serial.print(", "); //Serial.print(DegYaw); Serial.print(", "); rollControll = roll_pid(roll_setpoint, DegRoll);//각도 값을 받아서 PID제어값 출력 pitchControll = pitch_pid(pitch_setpoint, DegPitch); yawControll = yaw_pid(yaw_setpoint, DegYaw); run_motors(hover, rollControll, pitchControll, yawControll);//제어값을 받어서 모터 구동 Serial.print(", hover = ");Serial.print(hover); Serial.print(", roll_Kp = ");Serial.print(roll_Kp);Serial.print(", roll_Ki = ");Serial.print(roll_Ki*10000);Serial.print(", roll_Kd = ");Serial.println(roll_Kd); //Serial.print(", pitch_Kp = ");Serial.print(pitch_Kp);Serial.print(", pitch_Ki = ");Serial.print(pitch_Ki*10000);Serial.print(", pitch_Kd = ");Serial.println(pitch_Kd); //Serial.print(", yaw_Kp = ");Serial.print(yaw_Kp);Serial.print(", yaw_Ki = ");Serial.print(yaw_Ki*10000);Serial.print(", yaw_Kd = ");Serial.println(yaw_Kd); } } } modify_pid_val(); } | cs |
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| 부품 테스트 - 배터리 (0) | 2016.02.08 |
멀티콥터 조립 자료.pdf
