STM32F407飞控源码超声波定高与循迹功能 -

/****************************************************************
@本程序只供学习使用，未经作者许可，不得用于其它任何用途
+编者：普哥
+描述：飞控核心控制程序（PID控制）
+编写日期：2017/3/10
+版权所有，盗版必纠。
****************************************************************/
#include "ctrl.h"
#include "height_ctrl.h"
#include "search.h"
ctrl_t ctrl_1;//内环，角速度控制结构体
ctrl_t ctrl_2;//外环，角度(姿态)控制结构体
/*-----------------------------------------------
+实现功能：恢复默认控制幅度
-------------------------------------------------*/
void Ctrl_Para_Init() //设置默认参数
{
/* 微分控制幅度*/
ctrl_1.PID[PIDROLL].kdamp = 1;
ctrl_1.PID[PIDPITCH].kdamp = 1;
ctrl_1.PID[PIDYAW].kdamp = 1;
/* 角速度的偏差权重比例系数*/
ctrl_1.FB = 0.20; //外 0<fb<1
}
xyz_f_t except_A = {0,0,0};//遥控控制期望姿态角度
xyz_f_t ctrl_angle_offset = {0,0,0};//期望姿态角度偏移
xyz_f_t compensation;
/*----------------------------------------------------------
+ 实现功能：姿态PID控制角速度由任务调度调用周期5ms
+ 调用参数：两次调用间隔
----------------------------------------------------------*/
void CTRL_2(float T) //外环角度控制
{
/* 期望角度遥控器控制量中心死区30 单位微秒*/
except_A.x = MAX_CTRL_ANGLE *( my_deathzoom( ( CH_filter[ROL]) ,30 )/500.0f );
except_A.y = MAX_CTRL_ANGLE *( my_deathzoom( (-CH_filter[PIT]) ,30 )/500.0f );
if( Thr_Low == 0 )//遥控器控制量的油门拉起
{
/* 期望航向姿态由遥控器航向控制积分*/
except_A.z += (s16)( MAX_CTRL_YAW_SPEED *( my_deathzoom_2( (CH_filter[YAW]) ,40 )/500.0f ) ) *T ;
}
else //遥控器控制量的油门低
{
except_A.z += 1 *3.14 *T *( Yaw - except_A.z );//期望航向姿态为当前姿态
}
except_A.z = To_180_degrees(except_A.z);//角度范围控制在+-180角度
/* 得到角度误差为姿态自稳与遥控器控制量之和 */
ctrl_2.err.x = To_180_degrees( ctrl_angle_offset.x + except_A.x - Roll );
ctrl_2.err.y = To_180_degrees( ctrl_angle_offset.y + except_A.y - Pitch );
ctrl_2.err.z = To_180_degrees( ctrl_angle_offset.z + except_A.z - Yaw );
/* 计算角度误差权重 */
ctrl_2.err_weight.x = ABS(ctrl_2.err.x)/ANGLE_TO_MAX_AS;
ctrl_2.err_weight.y = ABS(ctrl_2.err.y)/ANGLE_TO_MAX_AS;
ctrl_2.err_weight.z = ABS(ctrl_2.err.z)/ANGLE_TO_MAX_AS;
/* 角度误差微分（跟随误差曲线变化）*/
ctrl_2.err_d.x = 10 *ctrl_2.PID[PIDROLL].kd *(ctrl_2.err.x - ctrl_2.err_old.x) *( 0.005f/T ) *( 0.65f + 0.35f *ctrl_2.err_weight.x );
ctrl_2.err_d.y = 10 *ctrl_2.PID[PIDPITCH].kd *(ctrl_2.err.y - ctrl_2.err_old.y) *( 0.005f/T ) *( 0.65f + 0.35f *ctrl_2.err_weight.y );
ctrl_2.err_d.z = 10 *ctrl_2.PID[PIDYAW].kd *(ctrl_2.err.z - ctrl_2.err_old.z) *( 0.005f/T ) *( 0.65f + 0.35f *ctrl_2.err_weight.z );
/* 角度误差积分 */
ctrl_2.err_i.x += ctrl_2.PID[PIDROLL].ki *ctrl_2.err.x *T;
ctrl_2.err_i.y += ctrl_2.PID[PIDPITCH].ki *ctrl_2.err.y *T;
ctrl_2.err_i.z += ctrl_2.PID[PIDYAW].ki *ctrl_2.err.z *T;
/* 角度误差积分分离 */
ctrl_2.eliminate_I.x = Thr_Weight *CTRL_2_INT_LIMIT;
ctrl_2.eliminate_I.y = Thr_Weight *CTRL_2_INT_LIMIT;
ctrl_2.eliminate_I.z = Thr_Weight *CTRL_2_INT_LIMIT;
/* 角度误差积分限幅 */
ctrl_2.err_i.x = LIMIT( ctrl_2.err_i.x, -ctrl_2.eliminate_I.x,ctrl_2.eliminate_I.x );
ctrl_2.err_i.y = LIMIT( ctrl_2.err_i.y, -ctrl_2.eliminate_I.y,ctrl_2.eliminate_I.y );
ctrl_2.err_i.z = LIMIT( ctrl_2.err_i.z, -ctrl_2.eliminate_I.z,ctrl_2.eliminate_I.z );
/* 对用于计算比例项输出的角度误差限幅 */
ctrl_2.err.x = LIMIT( ctrl_2.err.x, -90, 90 );
ctrl_2.err.y = LIMIT( ctrl_2.err.y, -90, 90 );
ctrl_2.err.z = LIMIT( ctrl_2.err.z, -90, 90 );
/* 角度PID输出 */
ctrl_2.out.x = ctrl_2.PID[PIDROLL].kp *( ctrl_2.err.x + ctrl_2.err_d.x + ctrl_2.err_i.x ); //rol
ctrl_2.out.y = ctrl_2.PID[PIDPITCH].kp *( ctrl_2.err.y + ctrl_2.err_d.y + ctrl_2.err_i.y ); //pit
ctrl_2.out.z = ctrl_2.PID[PIDYAW].kp *( ctrl_2.err.z + ctrl_2.err_d.z + ctrl_2.err_i.z );
/* 记录历史数据 */
ctrl_2.err_old.x = ctrl_2.err.x;
ctrl_2.err_old.y = ctrl_2.err.y;
ctrl_2.err_old.z = ctrl_2.err.z;
}
xyz_f_t except_AS;//期望角速度
float g_old[ITEMS];//记录的陀螺仪数据
/*----------------------------------------------------------
+ 实现功能：角速度电机输出量由任务调度调用周期2ms
+ 调用参数：两次调用间隔
----------------------------------------------------------*/
void CTRL_1(float T) //x roll,y pitch,z yaw内环角速度控制
{
xyz_f_t EXP_LPF_TMP;//期望角速度
/* 给期望（目标）角速度 */
EXP_LPF_TMP.x = MAX_CTRL_ASPEED *(ctrl_2.out.x/ANGLE_TO_MAX_AS);
EXP_LPF_TMP.y = MAX_CTRL_ASPEED *(ctrl_2.out.y/ANGLE_TO_MAX_AS);
EXP_LPF_TMP.z = MAX_CTRL_ASPEED *(ctrl_2.out.z/ANGLE_TO_MAX_AS);
/* 期望角速度*/
except_AS.x = EXP_LPF_TMP.x;
except_AS.y = EXP_LPF_TMP.y;
except_AS.z = EXP_LPF_TMP.z;
/* 期望角速度限幅 */
except_AS.x = LIMIT(except_AS.x, -MAX_CTRL_ASPEED,MAX_CTRL_ASPEED ); //-300到300之间
except_AS.y = LIMIT(except_AS.y, -MAX_CTRL_ASPEED,MAX_CTRL_ASPEED );
except_AS.z = LIMIT(except_AS.z, -MAX_CTRL_ASPEED,MAX_CTRL_ASPEED );
/* 角速度直接微分（角加速度），负反馈可形成角速度的阻尼（阻碍角速度的变化）*/
ctrl_1.damp.x = ( mpu6050.Gyro_deg.x - g_old[A_X]) *( 0.002f/T );
ctrl_1.damp.y = (-mpu6050.Gyro_deg.y - g_old[A_Y]) *( 0.002f/T );
ctrl_1.damp.z = (-mpu6050.Gyro_deg.z - g_old[A_Z]) *( 0.002f/T );
/* 角速度误差 */
ctrl_1.err.x = ( except_AS.x - mpu6050.Gyro_deg.x ) *(300.0f/MAX_CTRL_ASPEED);
ctrl_1.err.y = ( except_AS.y + mpu6050.Gyro_deg.y ) *(300.0f/MAX_CTRL_ASPEED); //-y
ctrl_1.err.z = ( except_AS.z + mpu6050.Gyro_deg.z ) *(300.0f/MAX_CTRL_ASPEED); //-z
/* 角速度误差权重 */
ctrl_1.err_weight.x = ABS(ctrl_1.err.x)/MAX_CTRL_ASPEED;
ctrl_1.err_weight.y = ABS(ctrl_1.err.y)/MAX_CTRL_ASPEED;
ctrl_1.err_weight.z = ABS(ctrl_1.err.z)/MAX_CTRL_YAW_SPEED;
/* 角速度微分 */
ctrl_1.err_d.x = ( ctrl_1.PID[PIDROLL].kd *( -10 *ctrl_1.damp.x) *( 0.002f/T ) );
ctrl_1.err_d.y = ( ctrl_1.PID[PIDPITCH].kd *( -10 *ctrl_1.damp.y) *( 0.002f/T ) );
ctrl_1.err_d.z = ( ctrl_1.PID[PIDYAW].kd *( -10 *ctrl_1.damp.z) *( 0.002f/T ) );
/* 角速度误差积分 */
ctrl_1.err_i.x += ctrl_1.PID[PIDROLL].ki *(ctrl_1.err.x - ctrl_1.damp.x) *T;
ctrl_1.err_i.y += ctrl_1.PID[PIDPITCH].ki *(ctrl_1.err.y - ctrl_1.damp.y) *T;
ctrl_1.err_i.z += ctrl_1.PID[PIDYAW].ki *(ctrl_1.err.z - ctrl_1.damp.z) *T;
/* 角速度误差积分分离 */
ctrl_1.eliminate_I.x = Thr_Weight *CTRL_1_INT_LIMIT ;
ctrl_1.eliminate_I.y = Thr_Weight *CTRL_1_INT_LIMIT ;
ctrl_1.eliminate_I.z = Thr_Weight *CTRL_1_INT_LIMIT ;
/* 角速度误差积分限幅 */
ctrl_1.err_i.x = LIMIT( ctrl_1.err_i.x, -ctrl_1.eliminate_I.x,ctrl_1.eliminate_I.x );
ctrl_1.err_i.y = LIMIT( ctrl_1.err_i.y, -ctrl_1.eliminate_I.y,ctrl_1.eliminate_I.y );
ctrl_1.err_i.z = LIMIT( ctrl_1.err_i.z, -ctrl_1.eliminate_I.z,ctrl_1.eliminate_I.z );
/* 角速度PID输出 */
ctrl_1.out.x = 3 *( ctrl_1.FB *LIMIT((0.45f + 0.55f*ctrl_2.err_weight.x),0,1)*except_AS.x + ( 1 - ctrl_1.FB ) *ctrl_1.PID[PIDROLL].kp *( ctrl_1.err.x + ctrl_1.err_d.x + ctrl_1.err_i.x ) );
ctrl_1.out.y = 3 *( ctrl_1.FB *LIMIT((0.45f + 0.55f*ctrl_2.err_weight.y),0,1)*except_AS.y + ( 1 - ctrl_1.FB ) *ctrl_1.PID[PIDPITCH].kp *( ctrl_1.err.y + ctrl_1.err_d.y + ctrl_1.err_i.y ) );
ctrl_1.out.z = 3 *( ctrl_1.FB *LIMIT((0.45f + 0.55f*ctrl_2.err_weight.z),0,1)*except_AS.z + ( 1 - ctrl_1.FB ) *ctrl_1.PID[PIDYAW].kp *( ctrl_1.err.z + ctrl_1.err_d.z + ctrl_1.err_i.z ) );
Thr_Ctrl(T);// 电机油门量控制
All_Out(ctrl_1.out.x,ctrl_1.out.y,ctrl_1.out.z);//角速度控制量转换到电机转速的输出量
/* 记录角速度误差积分*/
ctrl_1.err_old.x = ctrl_1.err.x;
ctrl_1.err_old.y = ctrl_1.err.y;
ctrl_1.err_old.z = ctrl_1.err.z;
/* 记录角速度数据*/
g_old[A_X] = mpu6050.Gyro_deg.x ;
g_old[A_Y] = -mpu6050.Gyro_deg.y ;
g_old[A_Z] = -mpu6050.Gyro_deg.z ;
}
float thr_value;//油门赋值
u8 Thr_Low;//低油门信号判断
float Thr_Weight; //滤波后油门数据
/*----------------------------------------------------------
+ 实现功能：油门信号控制
+ 调用参数：两次调用间隔
----------------------------------------------------------*/
void Thr_Ctrl(float T)
{
static float thr;//油门值
static float Thr_tmp;//滤波后的油门值
thr = 500 + CH_filter[THR]; //油门值范围 0 ~ 1000
Thr_tmp += 10 *3.14f *T *(thr/400.0f - Thr_tmp); //低通滤玻，油门数据积分滤波
Thr_Weight = LIMIT(Thr_tmp,0,1);// 滤波后油门数据限幅,后边多处分离数据会用到这个值
if( thr < 100 )//低油门信号判断
{
Thr_Low = 1;
}
else
{
Thr_Low = 0;
}
/* 允许高度控制*/
#if(CTRL_HEIGHT)
Height_Ctrl(T,thr);//油门控制高度
thr_value = Thr_Weight *height_ctrl_out; //油门赋值
#else
thr_value = thr; //实际使用值
#endif
thr_value = LIMIT(thr_value,0,10 *MAX_THR *MAX_PWM/100);//油门限幅
}
float motor[MAXMOTORS];//电机数量
float posture_value[MAXMOTORS];//姿态作用于电机位置的控制量
float curve[MAXMOTORS];//姿态对电机的实际控制量
/*----------------------------------------------------------
+ 实现功能：角速度控制量转换到电机转速的输出量
+ 调用参数：角速度控制量
----------------------------------------------------------*/
void All_Out(float out_roll,float out_pitch,float out_yaw)
{
s16 motor_out[MAXMOTORS];
u8 i;//循环计数变量
float posture_value[MAXMOTORS];//姿态作用于电机位置的控制量
float curve[MAXMOTORS];//姿态对电机的实际控制量
float Line_Out=0,Line_LR_Out=0;//寻线PID输出
float Point_X=0,Point_Y=0;//定点PID输出
/* 允许循迹控制*/
#if(CTRL_SEARCH)
Line_Out = Line_ctrl_out; //循迹偏移PID输出
Line_LR_Out = Line_LR_ctrl_out; //循迹偏移PID输出
Point_X = Point_X_ctrl_out; //左右定点PID输出
Point_Y = Point_Y_ctrl_out; //前后定点PID输出
#else
Line_Out = 0
Line_LR_Out = 0
Point_X = 0
Point_Y = 0
#endif
/* 航向的角速度控制量限幅防止动力不足*/
out_yaw = LIMIT( out_yaw , -5*MAX_THR ,5*MAX_THR ); //50%
/*默认是四旋翼X模式，CCW是从上方向下看逆时针选择，CW与CCW刚好相反,
注意前方偏右是连接1号电机电调，逆时针顺序依次是2开始
CW2 1CCW
\ /
/ \
CCW3 4CW */
posture_value[0] = - out_roll + out_pitch + out_yaw - Line_Out -Point_X -Point_Y -Line_LR_Out ;//右前方，CCW
posture_value[1] = + out_roll + out_pitch - out_yaw + Line_Out +Point_X -Point_Y -Line_LR_Out ;//左前方，CW
posture_value[2] = + out_roll - out_pitch + out_yaw + Line_Out +Point_X +Point_Y +Line_LR_Out;//左后方，CCW
posture_value[3] = - out_roll - out_pitch - out_yaw - Line_Out -Point_X +Point_Y +Line_LR_Out ;//右后方，CW
for(i=0;i<4;i++)//作用于电机位置的控制量
{
posture_value[i] = LIMIT(posture_value[i], -1000,1000 );//姿态作用于电机位置的控制量限幅
}
/* 姿态对电机的实际控制量*/
curve[0] = (0.55f + 0.45f *ABS(posture_value[0])/1000.0f) *posture_value[0] ;
curve[1] = (0.55f + 0.45f *ABS(posture_value[1])/1000.0f) *posture_value[1] ;
curve[2] = (0.55f + 0.45f *ABS(posture_value[2])/1000.0f) *posture_value[2] ;
curve[3] = (0.55f + 0.45f *ABS(posture_value[3])/1000.0f) *posture_value[3] ;
/* 单个电机的总控制量*/
motor[0] = thr_value + Thr_Weight *curve[0] ;
motor[1] = thr_value + Thr_Weight *curve[1] ;
motor[2] = thr_value + Thr_Weight *curve[2] ;
motor[3] = thr_value + Thr_Weight *curve[3] ;
/* 是否解锁 */
if(fly_ready)//已经解锁
{
if( !Thr_Low ) //遥控器的控制量油门拉起
{
for(i=0;i<4;i++)
{
/* 保证大于在电机最小起转转速*/
motor[i] = LIMIT(motor[i], (10 *READY_SPEED),(10*MAX_PWM) );
}
}
else //遥控器控制量的油门低
{
for(i=0;i<4;i++)
{
motor[i] = LIMIT(motor[i], 0,(10*MAX_PWM) );
}
}
}
else//未解锁
{
for(i=0;i<4;i++)//电机停转
{
motor[i] = 0;
}
}
/* int16到float数据类型转换*/
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