├── .gitignore ├── Flight core ├── .gitignore ├── .travis.yml ├── lib │ └── MPU6050_tockn │ │ ├── README.md │ │ ├── library.properties │ │ └── src │ │ ├── MPU6050_tockn.cpp │ │ └── MPU6050_tockn.h ├── platformio.ini ├── src │ ├── Correct.h │ ├── Housekeeping.h │ ├── Motors_PWM.h │ ├── Radio_HC12.h │ ├── Sensor_MPU6050.h │ ├── drone_define.h │ └── main.cpp └── test │ ├── output_export.cpp │ └── test_main.cpp ├── LICENSE ├── README.md ├── Remote control ├── .gitignore ├── .travis.yml ├── platformio.ini └── src │ ├── communicate_drone.h │ ├── communicate_user.h │ ├── main.cpp │ └── remote_control_define.h └── doc └── schema_elec.png /.gitignore: -------------------------------------------------------------------------------- 1 | # Prerequisites 2 | *.d 3 | 4 | # Compiled Object files 5 | *.slo 6 | *.lo 7 | *.o 8 | *.obj 9 | 10 | # Precompiled Headers 11 | *.gch 12 | *.pch 13 | 14 | # Compiled Dynamic libraries 15 | *.so 16 | *.dylib 17 | *.dll 18 | 19 | # Fortran module files 20 | *.mod 21 | *.smod 22 | 23 | # Compiled Static libraries 24 | *.lai 25 | *.la 26 | *.a 27 | *.lib 28 | 29 | # Executables 30 | *.exe 31 | *.out 32 | *.app 33 | -------------------------------------------------------------------------------- /Flight core/.gitignore: -------------------------------------------------------------------------------- 1 | .pio 2 | .clang_complete 3 | .gcc-flags.json 4 | -------------------------------------------------------------------------------- /Flight core/.travis.yml: -------------------------------------------------------------------------------- 1 | # Continuous Integration (CI) is the practice, in software 2 | # engineering, of merging all developer working copies with a shared mainline 3 | # several times a day < https://docs.platformio.org/page/ci/index.html > 4 | # 5 | # Documentation: 6 | # 7 | # * Travis CI Embedded Builds with PlatformIO 8 | # < https://docs.travis-ci.com/user/integration/platformio/ > 9 | # 10 | # * PlatformIO integration with Travis CI 11 | # < https://docs.platformio.org/page/ci/travis.html > 12 | # 13 | # * User Guide for `platformio ci` command 14 | # < https://docs.platformio.org/page/userguide/cmd_ci.html > 15 | # 16 | # 17 | # Please choose one of the following templates (proposed below) and uncomment 18 | # it (remove "# " before each line) or use own configuration according to the 19 | # Travis CI documentation (see above). 20 | # 21 | 22 | 23 | # 24 | # Template #1: General project. Test it using existing `platformio.ini`. 25 | # 26 | 27 | # language: python 28 | # python: 29 | # - "2.7" 30 | # 31 | # sudo: false 32 | # cache: 33 | # directories: 34 | # - "~/.platformio" 35 | # 36 | # install: 37 | # - pip install -U platformio 38 | # - platformio update 39 | # 40 | # script: 41 | # - platformio run 42 | 43 | 44 | # 45 | # Template #2: The project is intended to be used as a library with examples. 46 | # 47 | 48 | # language: python 49 | # python: 50 | # - "2.7" 51 | # 52 | # sudo: false 53 | # cache: 54 | # directories: 55 | # - "~/.platformio" 56 | # 57 | # env: 58 | # - PLATFORMIO_CI_SRC=path/to/test/file.c 59 | # - PLATFORMIO_CI_SRC=examples/file.ino 60 | # - PLATFORMIO_CI_SRC=path/to/test/directory 61 | # 62 | # install: 63 | # - pip install -U platformio 64 | # - platformio update 65 | # 66 | # script: 67 | # - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N 68 | -------------------------------------------------------------------------------- /Flight core/lib/MPU6050_tockn/README.md: -------------------------------------------------------------------------------- 1 | # MPU6050_tockn 2 | Arduino library for easy communicating with the MPU6050 3 | ## Usage 4 | You can see [example sketch.](https://github.com/Tockn/MPU6050_tockn/tree/master/examples) 5 | 6 | If you want to get data of MPU6050, you must execute `update()` method before get method. 7 | `update()` will get all data of MPU6050, and calculating angle by accelerometer, gyroscope and complementary filter. 8 | 9 | ### Complementary filter 10 | `update()` method calculate angle by accelerometer and gyroscope using complementary filter. 11 | Those two coefficients determined by constructor. 12 | Default coefficient of accelerometer is 0.02, gyroscope is 0.98. 13 | `filtered_angle = (0.02 * accel) + (0.98 * gyro)` 14 | #### example 15 | If you want to set 0.1 to accelerometer coefficient and 0.9 to gyroscope coefficient, your code is 16 | ```MPU6050 mpu6050(Wire, 0.1, 0.9);``` 17 | 18 | 19 | ### Auto calibration 20 | If you use `calcGyroOffsets()` in `setup()`, it will calculate calibration of the gyroscope, and the value of the gyroscope will calibrated. 21 | ⚠DO NOT MOVE MPU6050 during calculating.⚠ 22 | ``` 23 | #include 24 | #include 25 | 26 | MPU6050 mpu6050(Wire); 27 | 28 | void setup(){ 29 | Wire.begin(); 30 | mpu6050.begin(); 31 | mpu6050.calcGyroOffsets(); 32 | } 33 | 34 | ``` 35 | 36 | If you use `calcGyroOffsets(true)` in `setup()`, you can see state of calculating calibration in serial monitor. 37 | ``` 38 | #include 39 | #include 40 | 41 | MPU6050 mpu6050(Wire); 42 | 43 | void setup(){ 44 | Serial.begin(9600); 45 | Wire.begin(); 46 | mpu6050.begin(); 47 | mpu6050.calcGyroOffsets(true); 48 | } 49 | ``` 50 | Serial monitor: 51 | ``` 52 | Calculate gyro offsets 53 | DO NOT MOVE MPU6050..... 54 | Done! 55 | X : 1.45 56 | Y : 1.23 57 | Z : -1.32 58 | Program will start after 3 seconds 59 | ``` 60 | 61 | If you know offsets of gyroscope, you can set them by `setGyroOffsets()`, and you don't have to execute `calcGyroOffsets()`, so you can launch program quickly. 62 | #### example 63 | ``` 64 | #include 65 | #include 66 | 67 | MPU6050 mpu6050(Wire); 68 | 69 | void setup(){ 70 | Serial.begin(9600); 71 | Wire.begin(); 72 | mpu6050.begin(); 73 | mpu6050.setGyroOffsets(1.45, 1.23, -1.32); 74 | } 75 | ``` 76 | ## Licence 77 | MIT 78 | ## Author 79 | 80 | [tockn](https://github.com/tockn) 81 | -------------------------------------------------------------------------------- /Flight core/lib/MPU6050_tockn/library.properties: -------------------------------------------------------------------------------- 1 | name=MPU6050_tockn 2 | version=1.5.2 3 | author=tockn 4 | maintainer=tockn 5 | sentence=Arduino library for easy communicating with the MPU6050. 6 | paragraph=It can get accel, gyro, and angle data. 7 | category=Sensors 8 | url=https://github.com/Tockn/MPU6050_tockn 9 | architectures=* 10 | -------------------------------------------------------------------------------- /Flight core/lib/MPU6050_tockn/src/MPU6050_tockn.cpp: -------------------------------------------------------------------------------- 1 | #include "MPU6050_tockn.h" 2 | #include "Arduino.h" 3 | 4 | #define GYRO_LSB_2_DEGSEC 65.5 // [bit/(°/s)] 5 | #define ACC_LSB_2_G 16384.0 // [bit/gravity] 6 | #define RAD_2_DEG 57.29578 // [°/rad] 7 | #define GYRO_OFFSET_NB_MES 3000 // 8 | #define TEMP_LSB_2_DEGREE 340.0 // [bit/celsius] 9 | #define TEMP_LSB_OFFSET 12412.0 // 10 | 11 | MPU6050::MPU6050(TwoWire &w){ 12 | wire = &w; 13 | accCoef = 0.02f; 14 | gyroCoef = 0.98f; 15 | } 16 | 17 | MPU6050::MPU6050(TwoWire &w, float aC, float gC){ 18 | wire = &w; 19 | accCoef = aC; 20 | gyroCoef = gC; 21 | } 22 | 23 | void MPU6050::begin(){ 24 | writeMPU6050(MPU6050_SMPLRT_DIV, 0x00); 25 | writeMPU6050(MPU6050_CONFIG, 0x00); 26 | writeMPU6050(MPU6050_GYRO_CONFIG, 0x08); 27 | writeMPU6050(MPU6050_ACCEL_CONFIG, 0x00); 28 | writeMPU6050(MPU6050_PWR_MGMT_1, 0x01); 29 | this->update(); 30 | angleGyroX = 0; 31 | angleGyroY = 0; 32 | angleX = this->getAccAngleX(); 33 | angleY = this->getAccAngleY(); 34 | preInterval = millis(); 35 | } 36 | 37 | void MPU6050::writeMPU6050(byte reg, byte data){ 38 | wire->beginTransmission(MPU6050_ADDR); 39 | wire->write(reg); 40 | wire->write(data); 41 | wire->endTransmission(); 42 | } 43 | 44 | byte MPU6050::readMPU6050(byte reg) { 45 | wire->beginTransmission(MPU6050_ADDR); 46 | wire->write(reg); 47 | wire->endTransmission(true); 48 | wire->requestFrom(MPU6050_ADDR, 1); 49 | byte data = wire->read(); 50 | return data; 51 | } 52 | 53 | void MPU6050::setGyroOffsets(float x, float y, float z){ 54 | gyroXoffset = x; 55 | gyroYoffset = y; 56 | gyroZoffset = z; 57 | } 58 | 59 | void MPU6050::calcGyroOffsets(bool console, uint16_t delayBefore, uint16_t delayAfter){ 60 | float x = 0, y = 0, z = 0; 61 | int16_t rx, ry, rz; 62 | 63 | for(int i = 0; i < GYRO_OFFSET_NB_MES; i++){ 64 | wire->beginTransmission(MPU6050_ADDR); 65 | wire->write(0x43); 66 | wire->endTransmission(false); 67 | wire->requestFrom((int)MPU6050_ADDR, 6); 68 | 69 | rx = wire->read() << 8; 70 | rx |= wire->read(); 71 | ry = wire->read() << 8; 72 | ry |= wire->read(); 73 | rz = wire->read() << 8; 74 | rz |= wire->read(); 75 | 76 | x += ((float)rx) / GYRO_LSB_2_DEGSEC; 77 | y += ((float)ry) / GYRO_LSB_2_DEGSEC; 78 | z += ((float)rz) / GYRO_LSB_2_DEGSEC; 79 | } 80 | gyroXoffset = x / GYRO_OFFSET_NB_MES; 81 | gyroYoffset = y / GYRO_OFFSET_NB_MES; 82 | gyroZoffset = z / GYRO_OFFSET_NB_MES; 83 | } 84 | 85 | void MPU6050::update(){ 86 | wire->beginTransmission(MPU6050_ADDR); 87 | wire->write(0x3B); 88 | wire->endTransmission(false); 89 | wire->requestFrom((int)MPU6050_ADDR, 14); 90 | 91 | rawAccX = wire->read() << 8; 92 | rawAccX |= wire->read(); 93 | rawAccY = wire->read() << 8; 94 | rawAccY |= wire->read(); 95 | rawAccZ = wire->read() << 8; 96 | rawAccZ |= wire->read(); 97 | rawTemp = wire->read() << 8; 98 | rawTemp |= wire->read(); 99 | rawGyroX = wire->read() << 8; 100 | rawGyroX |= wire->read(); 101 | rawGyroY = wire->read() << 8; 102 | rawGyroY |= wire->read(); 103 | rawGyroZ = wire->read() << 8; 104 | rawGyroZ |= wire->read(); 105 | 106 | temp = (rawTemp + TEMP_LSB_OFFSET) / TEMP_LSB_2_DEGREE; 107 | 108 | accX = ((float)rawAccX) / ACC_LSB_2_G; 109 | accY = ((float)rawAccY) / ACC_LSB_2_G; 110 | accZ = ((float)rawAccZ) / ACC_LSB_2_G; 111 | 112 | angleAccX = atan2(accY, sqrt(accZ * accZ + accX * accX)) * RAD_2_DEG; 113 | angleAccY = - atan2(accX, sqrt(accZ * accZ + accY * accY)) * RAD_2_DEG; 114 | 115 | gyroX = ((float)rawGyroX) / GYRO_LSB_2_DEGSEC; 116 | gyroY = ((float)rawGyroY) / GYRO_LSB_2_DEGSEC; 117 | gyroZ = ((float)rawGyroZ) / GYRO_LSB_2_DEGSEC; 118 | 119 | gyroX -= gyroXoffset; 120 | gyroY -= gyroYoffset; 121 | gyroZ -= gyroZoffset; 122 | 123 | unsigned long Tnew = millis(); 124 | interval = (Tnew - preInterval) * 0.001; 125 | preInterval = Tnew; 126 | 127 | angleGyroX += gyroX * interval; 128 | angleGyroY += gyroY * interval; 129 | angleGyroZ += gyroZ * interval; 130 | 131 | angleX = (gyroCoef * (angleX + gyroX * interval)) + (accCoef * angleAccX); 132 | angleY = (gyroCoef * (angleY + gyroY * interval)) + (accCoef * angleAccY); 133 | angleZ = angleGyroZ; 134 | 135 | } 136 | -------------------------------------------------------------------------------- /Flight core/lib/MPU6050_tockn/src/MPU6050_tockn.h: -------------------------------------------------------------------------------- 1 | #ifndef MPU6050_TOCKN_H 2 | #define MPU6050_TOCKN_H 3 | 4 | #include "Arduino.h" 5 | #include "Wire.h" 6 | 7 | #define MPU6050_ADDR 0x68 8 | #define MPU6050_SMPLRT_DIV 0x19 9 | #define MPU6050_CONFIG 0x1a 10 | #define MPU6050_GYRO_CONFIG 0x1b 11 | #define MPU6050_ACCEL_CONFIG 0x1c 12 | #define MPU6050_WHO_AM_I 0x75 13 | #define MPU6050_PWR_MGMT_1 0x6b 14 | #define MPU6050_TEMP_H 0x41 15 | #define MPU6050_TEMP_L 0x42 16 | 17 | class MPU6050{ 18 | public: 19 | 20 | MPU6050(TwoWire &w); 21 | MPU6050(TwoWire &w, float aC, float gC); 22 | 23 | void begin(); 24 | 25 | void setGyroOffsets(float x, float y, float z); 26 | 27 | void writeMPU6050(byte reg, byte data); 28 | byte readMPU6050(byte reg); 29 | 30 | int16_t getRawAccX(){ return rawAccX; }; 31 | int16_t getRawAccY(){ return rawAccY; }; 32 | int16_t getRawAccZ(){ return rawAccZ; }; 33 | 34 | int16_t getRawTemp(){ return rawTemp; }; 35 | 36 | int16_t getRawGyroX(){ return rawGyroX; }; 37 | int16_t getRawGyroY(){ return rawGyroY; }; 38 | int16_t getRawGyroZ(){ return rawGyroZ; }; 39 | 40 | float getTemp(){ return temp; }; 41 | 42 | float getAccX(){ return accX; }; 43 | float getAccY(){ return accY; }; 44 | float getAccZ(){ return accZ; }; 45 | 46 | float getGyroX(){ return gyroX; }; 47 | float getGyroY(){ return gyroY; }; 48 | float getGyroZ(){ return gyroZ; }; 49 | 50 | void calcGyroOffsets(bool console = false, uint16_t delayBefore = 1000, uint16_t delayAfter = 3000); 51 | 52 | float getGyroXoffset(){ return gyroXoffset; }; 53 | float getGyroYoffset(){ return gyroYoffset; }; 54 | float getGyroZoffset(){ return gyroZoffset; }; 55 | 56 | void update(); 57 | 58 | float getAccAngleX(){ return angleAccX; }; 59 | float getAccAngleY(){ return angleAccY; }; 60 | 61 | float getGyroAngleX(){ return angleGyroX; }; 62 | float getGyroAngleY(){ return angleGyroY; }; 63 | float getGyroAngleZ(){ return angleGyroZ; }; 64 | 65 | float getAngleX(){ return angleX; }; 66 | float getAngleY(){ return angleY; }; 67 | float getAngleZ(){ return angleZ; }; 68 | 69 | private: 70 | 71 | TwoWire *wire; 72 | 73 | int16_t rawAccX, rawAccY, rawAccZ, rawTemp, 74 | rawGyroX, rawGyroY, rawGyroZ; 75 | 76 | float gyroXoffset, gyroYoffset, gyroZoffset; 77 | 78 | float temp, accX, accY, accZ, gyroX, gyroY, gyroZ; 79 | 80 | float angleGyroX, angleGyroY, angleGyroZ, 81 | angleAccX, angleAccY, angleAccZ; 82 | 83 | float angleX, angleY, angleZ; 84 | 85 | float interval; 86 | long preInterval; 87 | 88 | float accCoef, gyroCoef; 89 | }; 90 | 91 | #endif 92 | -------------------------------------------------------------------------------- /Flight core/platformio.ini: -------------------------------------------------------------------------------- 1 | ; PlatformIO Project Configuration File 2 | ; 3 | ; Build options: build flags, source filter 4 | ; Upload options: custom upload port, speed and extra flags 5 | ; Library options: dependencies, extra library storages 6 | ; Advanced options: extra scripting 7 | ; 8 | ; Please visit documentation for the other options and examples 9 | ; https://docs.platformio.org/page/projectconf.html 10 | 11 | [env:nanoatmega328] 12 | platform = atmelavr 13 | board = nanoatmega328 14 | framework = arduino 15 | -------------------------------------------------------------------------------- /Flight core/src/Correct.h: -------------------------------------------------------------------------------- 1 | /* 2 | * PID correctors transforming the measured state 3 | * (angles and linear acceleration) into motor voltage commands. 4 | * 5 | * TODO: Include measured voltage BATTERY_VOLT somewhere... 6 | * and the voltage-lift experimental curves 7 | */ 8 | #include 9 | #include "drone_define.h" 10 | 11 | extern float STATE[9]; 12 | extern float COMMAND[6]; 13 | extern byte MOTOR_SPEED[4]; 14 | extern byte MOTOR_SPEED_AVG; 15 | extern byte MOTOR_OFFSET[4]; 16 | extern int DRONE_STATUS; 17 | extern int ERR; 18 | 19 | /*** CLASS DEFINITION ***/ 20 | 21 | class PIDcorrector{ 22 | public: 23 | float Kp, Ki, Kd = 0.0; 24 | float sum_err = 0.0; // public, but better don't modify this inloop 25 | 26 | PIDcorrector(float kp, float ki, float kd){ 27 | this->Kp = kp; 28 | this->Ki = ki; 29 | this->Kd = kd; 30 | } 31 | 32 | float compute(float command_pos, float state_pos, float state_speed, float dt){ 33 | float err = command_pos - state_pos; 34 | if(DRONE_STATUS==DRONE_STATUS_FLIGHT){ 35 | this->sum_err += err*dt; 36 | }else{ 37 | this->sum_err = 0.0; // no integration if drone is on the ground 38 | } 39 | err = this->Kp * err + this->Ki * this->sum_err - this->Kd * state_speed; 40 | return err; 41 | } 42 | }; 43 | 44 | /*** CODE ***/ 45 | 46 | PIDcorrector Pitch_Corr(C_PR_KP, C_PR_KI, C_PR_KD); 47 | PIDcorrector Roll_Corr(C_PR_KP, C_PR_KI, C_PR_KD); 48 | PIDcorrector Yaw_Corr(C_YAW_KP, C_YAW_KI, C_YAW_KD); 49 | PIDcorrector X_Corr(C_XY_KP, C_XY_KI, 0.0); 50 | PIDcorrector Y_Corr(C_XY_KP, C_XY_KI, 0.0); 51 | 52 | void UPDATE_CORRECTION(float dt){ 53 | ERR = NO_ERROR; 54 | 55 | // Compute angles to correct for linear acceleration and put them into COMMAND angles 56 | #if ENABLE_XY_PID 57 | COMMAND[1] = X_Corr.compute(0.0,-STATE[6],0.0,dt); 58 | COMMAND[2] = Y_Corr.compute(0.0,-STATE[7],0.0,dt); 59 | #endif 60 | 61 | // Compute motor command from the MPU6050 data 62 | float Kyaw = 0.0; 63 | #if ENABLE_YAW_PID 64 | Kyaw = Yaw_Corr.compute(COMMAND[0],STATE[0],STATE[3],dt); // check +--+ or -++- signs 65 | #endif 66 | 67 | float Kpitch = Pitch_Corr.compute(COMMAND[1],STATE[1],STATE[4],dt); 68 | float Kroll = Roll_Corr.compute(COMMAND[2],STATE[2],STATE[5],dt); 69 | 70 | if(MOTOR_SPEED_AVG>MOT_SAT_AVG){ ERR = SIMPLE_ERROR; } 71 | MOTOR_SPEED_AVG = min(MOTOR_SPEED_AVG,MOT_SAT_AVG); // saturate average 72 | 73 | // The +- sign depends on the motor position on the drone 74 | MOTOR_SPEED[0] = min(max(MOTOR_SPEED_AVG + MOTOR_OFFSET[0] + Kroll + Kpitch - Kyaw,0),MOT_SAT_MAX); 75 | MOTOR_SPEED[1] = min(max(MOTOR_SPEED_AVG + MOTOR_OFFSET[1] - Kroll + Kpitch + Kyaw,0),MOT_SAT_MAX); 76 | MOTOR_SPEED[2] = min(max(MOTOR_SPEED_AVG + MOTOR_OFFSET[2] + Kroll - Kpitch + Kyaw,0),MOT_SAT_MAX); 77 | MOTOR_SPEED[3] = min(max(MOTOR_SPEED_AVG + MOTOR_OFFSET[3] - Kroll - Kpitch - Kyaw,0),MOT_SAT_MAX); 78 | } 79 | -------------------------------------------------------------------------------- /Flight core/src/Housekeeping.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Monitor the power supply, check and print drone state. 3 | */ 4 | 5 | #include 6 | #include "drone_define.h" 7 | 8 | extern float STATE[9]; 9 | extern float COMMAND[6]; 10 | extern byte MOTOR_SPEED[4]; 11 | extern byte MOTOR_SPEED_AVG; 12 | extern int DRONE_STATUS; 13 | extern float BATTERY_VOLT; 14 | extern int ERR; 15 | 16 | void UPDATE_HOUSEKEEPING(){ 17 | ERR = NO_ERROR; 18 | // Get voltage 19 | float newMes = analogRead(PIN_V_CHECK)*HK_BIT_2_VOLT; 20 | BATTERY_VOLT += FILTER_VOLT_ACCEPT*(newMes - BATTERY_VOLT); // low pass filter 21 | if(BATTERY_VOLTVOLT_LEVEL_FLIGHT){ 24 | DRONE_STATUS = DRONE_STATUS_FLIGHT; 25 | }else{ 26 | DRONE_STATUS = DRONE_STATUS_LANDED; 27 | } 28 | } 29 | 30 | void INIT_HOUSEKEEPING(){ 31 | pinMode(PIN_V_CHECK,INPUT); 32 | for(int i=0;i<100;i++){ UPDATE_HOUSEKEEPING(); } // initialize voltage 33 | } 34 | 35 | void HOUSEKEEPING_PRINT_STATE(){ 36 | Serial.print(F("COM: ")); 37 | Serial.print(COMMAND[1],1); 38 | Serial.print(F(" ")); 39 | Serial.print(COMMAND[2],1); 40 | //Serial.print(F(" AVG: ")); 41 | //Serial.print(MOTOR_SPEED_AVG); 42 | Serial.print(F(" MOT: ")); 43 | for(int i=0;i<4;i++){ 44 | Serial.print(MOTOR_SPEED[i]-MOTOR_SPEED_AVG); 45 | Serial.print(F(" ")); 46 | } 47 | Serial.println(F(" ")); 48 | } 49 | -------------------------------------------------------------------------------- /Flight core/src/Motors_PWM.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Control motors using PWM signal on MOSFET transistors. 3 | */ 4 | 5 | #include 6 | 7 | extern const byte MOTOR_PIN[4]; 8 | extern byte MOTOR_SPEED[4]; 9 | 10 | void MOTOR_CONNECT(){ 11 | for(int i=0;i<4;i++){ pinMode(MOTOR_PIN[i],OUTPUT); } 12 | } 13 | 14 | void MOTOR_SET(){ 15 | for(int i=0;i<4;i++){ analogWrite(MOTOR_PIN[i],MOTOR_SPEED[i]); } 16 | } 17 | -------------------------------------------------------------------------------- /Flight core/src/Radio_HC12.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Use radio module HC-12 to communicate with the ground 3 | * 4 | * The message structure is made of 3 bytes as following: 5 | * [target, value, check] 6 | * A message smaller than 3 bytes is not valid and is not processed. 7 | * The check byte must satisfy the following bitwise XOR condition: 8 | * check = target ^ value 9 | * Otherwise the message is not processed. 10 | */ 11 | 12 | #include 13 | #include 14 | #include "drone_define.h" 15 | 16 | extern int ERR; 17 | extern byte MOTOR_SPEED_AVG; 18 | extern byte MOTOR_OFFSET[4]; 19 | 20 | SoftwareSerial hc12(RADIO_PIN_TX, RADIO_PIN_RX); 21 | 22 | void RADIO_INIT(){ 23 | hc12.begin(RADIO_BAUD); 24 | ERR = (int)(!hc12.isListening()); 25 | } 26 | 27 | void process_message(unsigned char* msg){ 28 | if((msg[0] ^ msg[1]) != msg[2]){ // message check operation 29 | ERR = SIMPLE_ERROR; 30 | }else{ 31 | switch(msg[0]){ 32 | case 1: MOTOR_SPEED_AVG = msg[1]; break; 33 | case 2: MOTOR_OFFSET[0] = msg[1]; break; 34 | case 3: MOTOR_OFFSET[1] = msg[1]; break; 35 | case 4: MOTOR_OFFSET[2] = msg[1]; break; 36 | case 5: MOTOR_OFFSET[3] = msg[1]; break; 37 | case 10: ERR = FATAL_ERROR; break; // stop message from remote control 38 | default: ERR = SIMPLE_ERROR; break; // message not understood 39 | } 40 | } 41 | } 42 | 43 | void RADIO_RECEIVE(){ 44 | ERR = NO_ERROR; 45 | unsigned char msg[MSG_LEN]; 46 | int nb = 0; 47 | while (hc12.available()) { 48 | unsigned char temp = hc12.read(); 49 | if(nb0)){ ERR = SIMPLE_ERROR; } // if too few data, raise an error 56 | if(nb==MSG_LEN){ process_message(msg); } 57 | } 58 | 59 | void RADIO_EMIT(byte target, byte value){ 60 | char msg[MSG_LEN]; 61 | msg[0] = target; 62 | msg[1] = value; 63 | msg[2] = msg[0] ^ msg[1]; 64 | hc12.write(msg); 65 | } 66 | -------------------------------------------------------------------------------- /Flight core/src/Sensor_MPU6050.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Get data from MPU6050 using TOCKN based library. 3 | * His library was slightly modified for speed and stability. 4 | */ 5 | 6 | #include 7 | 8 | #include "MPU6050_tockn.h" 9 | #include "drone_define.h" 10 | 11 | extern float STATE[9]; 12 | extern int ERR; 13 | 14 | MPU6050 mpu6050(Wire); 15 | 16 | void INIT_MPU6050(){ 17 | ERR = NO_ERROR; 18 | mpu6050.begin(); 19 | mpu6050.calcGyroOffsets(); 20 | } 21 | 22 | void UPDATE_MPU6050(){ 23 | ERR = NO_ERROR; 24 | mpu6050.update(); 25 | STATE[0] = mpu6050.getAngleZ(); 26 | STATE[1] = -mpu6050.getAngleY(); 27 | STATE[2] = mpu6050.getAngleX(); 28 | STATE[3] = mpu6050.getGyroZ(); 29 | STATE[4] = -mpu6050.getGyroY(); 30 | STATE[5] = mpu6050.getGyroX(); 31 | float ax = mpu6050.getAccX(); 32 | float ay = mpu6050.getAccY(); 33 | STATE[8] = mpu6050.getAccZ(); 34 | // Linear acceleration [units of gravity] from drone frame to reference ground frame 35 | ax = ax*cos(STATE[1]*DEG2RAD) - STATE[8]*sin(STATE[1]*DEG2RAD); 36 | ay = ay*cos(STATE[2]*DEG2RAD) - STATE[8]*sin(STATE[2]*DEG2RAD); 37 | // Low pass filter acceleration 38 | STATE[6] += FILTER_ACC_ACCEPT*(ax-STATE[6]); 39 | STATE[7] += FILTER_ACC_ACCEPT*(ay-STATE[7]); 40 | // Correct for acceleration drift by thresholding 41 | //STATE[6] *= (abs(STATE[6])>ACC_THRESH); 42 | //STATE[7] *= (abs(STATE[7])>ACC_THRESH); 43 | } 44 | -------------------------------------------------------------------------------- /Flight core/src/drone_define.h: -------------------------------------------------------------------------------- 1 | #ifndef DRONE_DEFINE_H 2 | #define DRONE_DEFINE_H 3 | 4 | // SERIAL PRINT 5 | #define BAUDRATE 250000 6 | #define VERBOSE false 7 | 8 | // DRONE STATUS 9 | #define DRONE_STATUS_LANDED 0 10 | #define DRONE_STATUS_FLIGHT 1 11 | 12 | // PID CORRECTORS PITCH ROLL 13 | #define C_PR_KP 2.0 // [bit/deg] 14 | #define C_PR_KI 1e-9 // [bit/deg/us] 15 | #define C_PR_KD 3e-1 // [bit/(deg/s)] 16 | 17 | // PID CORRECTOR YAW 18 | #define ENABLE_YAW_PID false // precompiler option to enable or not yaw correction 19 | #define C_YAW_KP 0.2 // [bit/deg] 20 | #define C_YAW_KI 0.0 // 1e-11 // [bit/deg/us] 21 | #define C_YAW_KD 1.0 // [bit/(deg/s)] 22 | 23 | // PID CORRECTORS LINEAR ACCELERATION 24 | #define ENABLE_XY_PID true // precompiler option to enable or not XY correction 25 | #define C_XY_KP 40.0 // 40.0 // [deg/gravity] 26 | #define C_XY_KI 1e-3 // 1e-4 // [deg/gravity/us] 27 | 28 | // MOTOR SATURATION LEVEL [otherwise motor command is between 0 and 255] 29 | #define MOT_SAT_AVG 170 // motor avg saturation, must be lower than motor max saturation to keep some dynamics for flight control 30 | #define MOT_SAT_MAX 200 // motor saturation = (motor average + command)_max 31 | 32 | // HOUSEKEEPING 33 | #define PIN_V_CHECK A6 // pin for the measurement of the battery voltage 34 | #define HK_BIT_2_VOLT 0.0274 // (R_high+R_low)/R_low*5.0/1024 = 0.02929 [V/bit] with R_high=10kOhm and R_low=2kOhm 35 | #define FILTER_VOLT_ACCEPT 0.03 // acceptance ratio of a new voltage measure (between 0 and 1) 36 | #define MIN_VOLT 7.0 // trigger an error if voltage is too low 37 | #define VOLT_LEVEL_FLIGHT 480 // motor bit level 60 at 8V that defines the DRONE_STATUS_FLIGHT 38 | 39 | // ERROR MANAGEMENT 40 | #define BLINK_TIME 300 // on error blinking time [ms] 41 | #define ANGLE_MAX_ERROR 60 // [deg] maximal acceptable angle before shut down 42 | #define NO_ERROR 0 43 | #define SIMPLE_ERROR 1 44 | #define FATAL_ERROR -1 45 | 46 | // RADIO 47 | #define RADIO_PIN_RX A1 // radio reception pin 48 | #define RADIO_PIN_TX A2 // radio transmission pin 49 | #define RADIO_BAUD 9600 // must be similar to remote control radio baud 50 | #define MSG_LEN 3 // [target,value,check] 51 | //#define MSG_DELAY 60 // [ms] delay between two consecutive messages (fatal error only) 52 | 53 | // MPU6050 54 | #define DEG2RAD 0.01745329252 // [rad/°] conversion from degree to radian 55 | //#define ACC_THRESH 0.01 // [units of g] threshold acceleration to remove eventual accelerometer drift 56 | #define FILTER_ACC_ACCEPT 0.3 // acceptance ratio of new linear acceleration measure 57 | 58 | #endif 59 | -------------------------------------------------------------------------------- /Flight core/src/main.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * Flight controller for quadcopter drone 3 | * -------------------------------------- 4 | * 5 | * This is the main file, it requires different headers to work. 6 | * You also need the remote control project to send data to the drone. 7 | * Capital names in the code indicate global definitions or global variables. 8 | * 9 | * Todo list: 10 | * Tune the corrector PID gains for the linear acceleration 11 | * Add the BMP180 sensor (low pass filtered) and Kalman (?) 12 | * Send command according to housekeeping measured voltage 13 | * 14 | * History: 15 | * 13 Feb 2020 - creation from drone_light.ino 16 | * 15 Feb 2020 - start writing linear acceleration control loop 17 | * 26 Feb 2020 - moved project to PlatformIO 18 | * gathered all #define into one unique header file 19 | * 07 Mar 2020 - better management of errors and fatal errors 20 | * 21 | * Author: Romain JL. Fétick (Toulouse, France) 22 | * 23 | * License: MIT 24 | */ 25 | 26 | // INCLUDE LIBRARIES 27 | #include 28 | #include 29 | 30 | // GLOBAL DEFINITIONS 31 | #include "drone_define.h" 32 | 33 | // GLOBAL VARIABLES 34 | int ERR = NO_ERROR; // error variable 35 | float STATE[9] = {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0}; // Yaw, Pitch, Roll, GyroX, GyroY, GyroZ, aX, aY, aZ 36 | float COMMAND[6] = {0.0,0.0,0.0,0.0,0.0,0.0}; // ypr+xyz 37 | int DRONE_STATUS = DRONE_STATUS_LANDED; 38 | 39 | float BATTERY_VOLT = 7.5; // approx. 7.5V, helps for housekeeping convergence at start 40 | 41 | const byte MOTOR_PIN[4] = {5,6,10,11}; 42 | byte MOTOR_SPEED_AVG = 0; 43 | byte MOTOR_OFFSET[4] = {0,0,0,0}; 44 | byte MOTOR_SPEED[4] = {0,0,0,0}; 45 | 46 | // INCLUDE HEADERS 47 | #include "Radio_HC12.h" 48 | #include "Housekeeping.h" 49 | #include "Motors_PWM.h" 50 | #include "Correct.h" 51 | #include "Sensor_MPU6050.h" 52 | 53 | // TIME MANAGEMENT 54 | unsigned long Told, Tnew; 55 | float DT; 56 | 57 | /*** ERROR management ***/ 58 | int error_nb_blink = 0; 59 | bool error_led_state = false; 60 | unsigned long Terr = 0; 61 | 62 | void process_error(){ 63 | if(error_nb_blink){ 64 | unsigned long Tcur = millis(); 65 | if((Tcur-Terr)>BLINK_TIME){ 66 | error_led_state = !error_led_state; 67 | digitalWrite(LED_BUILTIN,error_led_state); 68 | Terr = Tcur; 69 | error_nb_blink -= 1; 70 | } 71 | } 72 | } 73 | 74 | void raise_error(){ 75 | error_nb_blink = 6; 76 | } 77 | 78 | void raise_fatal_error(){ 79 | // Fatal error turns off definitely the motors, and enters in infinite error loop 80 | for(int i=0;i<4;i++){ MOTOR_SPEED[i] = 0; } 81 | MOTOR_SET(); 82 | 83 | delay(10); // wait before sending data 84 | RADIO_EMIT(10, 1); // send to radio an error message 85 | while(true){ 86 | raise_error(); 87 | process_error(); 88 | } 89 | } 90 | 91 | /*** SETUP ***/ 92 | void setup() { 93 | pinMode(LED_BUILTIN,OUTPUT); 94 | digitalWrite(LED_BUILTIN,HIGH); // Indicate that setup is not finished 95 | 96 | if(VERBOSE){ 97 | Serial.begin(BAUDRATE); 98 | Serial.println(F("DRONE FLIGHT CORE [07 Mar 2020]")); 99 | } 100 | 101 | Wire.begin(); 102 | TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz) 103 | 104 | INIT_HOUSEKEEPING(); 105 | 106 | MOTOR_CONNECT(); 107 | 108 | INIT_MPU6050(); 109 | if(ERR!=NO_ERROR){ 110 | if(VERBOSE){Serial.println(F("FATAL ERROR: Could not connect to MPU6050"));} 111 | raise_fatal_error(); 112 | } 113 | 114 | RADIO_INIT(); 115 | if(ERR!=NO_ERROR){ 116 | if(VERBOSE){Serial.println(F("FATAL ERROR: Could not connect to radio HC12"));} 117 | raise_fatal_error(); 118 | } 119 | 120 | digitalWrite(LED_BUILTIN,LOW); // setup is finished 121 | 122 | Told = micros(); 123 | } 124 | 125 | 126 | /*** LOOP ***/ 127 | void loop() { 128 | 129 | UPDATE_HOUSEKEEPING(); 130 | if(ERR!=NO_ERROR){ 131 | if(VERBOSE){Serial.println(F("ERROR: Housekeeping"));} 132 | raise_error(); 133 | } 134 | 135 | RADIO_RECEIVE(); 136 | if(ERR!=NO_ERROR){ 137 | if(ERR==FATAL_ERROR){ raise_fatal_error(); } // Radio can raise a fatal error 138 | if(VERBOSE){Serial.println(F("ERROR: Radio"));} 139 | raise_error(); 140 | } 141 | 142 | UPDATE_MPU6050(); 143 | if(ERR!=NO_ERROR){ 144 | if(VERBOSE){Serial.println(F("ERROR: MPU6050"));} 145 | raise_error(); 146 | } 147 | 148 | if((abs(STATE[1])>ANGLE_MAX_ERROR) || (abs(STATE[2])>ANGLE_MAX_ERROR)){ 149 | if(VERBOSE){Serial.println(F("FATAL ERROR: Too much angle"));} 150 | raise_fatal_error(); 151 | } 152 | 153 | Tnew = micros(); 154 | DT = Tnew-Told; 155 | Told = Tnew; 156 | 157 | UPDATE_CORRECTION(DT); 158 | if(ERR!=NO_ERROR){ 159 | if(VERBOSE){Serial.println(F("ERROR: Corrector"));} 160 | raise_error(); 161 | } 162 | 163 | MOTOR_SET(); 164 | 165 | if(VERBOSE){ HOUSEKEEPING_PRINT_STATE(); } 166 | 167 | process_error(); 168 | } 169 | -------------------------------------------------------------------------------- /Flight core/test/output_export.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | 5 | 6 | #ifdef __GNUC__ 7 | void output_start(unsigned int baudrate __attribute__((unused))) 8 | #else 9 | void output_start(unsigned int baudrate) 10 | #endif 11 | { 12 | Serial.begin(115200); 13 | } 14 | 15 | void output_char(int c) 16 | { 17 | Serial.write(c); 18 | } 19 | 20 | void output_flush(void) 21 | { 22 | Serial.flush(); 23 | } 24 | 25 | void output_complete(void) 26 | { 27 | Serial.end(); 28 | } -------------------------------------------------------------------------------- /Flight core/test/test_main.cpp: -------------------------------------------------------------------------------- 1 | #if defined(ARDUINO) && defined(UNIT_TEST) 2 | 3 | #include 4 | #include "unity.h" 5 | 6 | #include "../src/Radio_HC12.h" 7 | #include "../src/Sensor_MPU6050_tockn.h" 8 | 9 | int ERR = 1; 10 | byte MOTOR_SPEED_AVG = 0; 11 | byte MOTOR_OFFSET[4] = {0,0,0,0}; 12 | float STATE[9]; 13 | 14 | void testHC12() { 15 | Serial.println(F(">>> Testing connection with radio HC12")); 16 | delay(100); 17 | RADIO_INIT(); 18 | TEST_ASSERT_EQUAL(0,ERR); 19 | } 20 | 21 | void testMPU6050() { 22 | Serial.println(F(">>> Testing connection with MPU6050")); 23 | delay(100); 24 | INIT_MPU6050(); 25 | TEST_ASSERT_EQUAL(0,ERR); 26 | } 27 | 28 | void setup() { 29 | Serial.begin(115200); 30 | UNITY_BEGIN(); 31 | RUN_TEST(testHC12); 32 | RUN_TEST(testMPU6050); 33 | UNITY_END(); 34 | } 35 | 36 | void loop() { 37 | // nothing to be done here. 38 | UNITY_END(); 39 | } 40 | 41 | #endif 42 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Drone-arduino 2 | Drone quadcopter using Arduino Nano microcontroller 3 | 4 | **Note:** This is a work in progress, not stable yet 5 | 6 | **License:** See the LICENSE file 7 | 8 | **Author:** Romain JL. Fétick (Toulouse, France) 9 | 10 | ## Introduction 11 | 12 | The project consists in buiding from scratch a quadcopter drone and its remote control. 13 | The drone frame is 20 cm large and propeller radius is 6.5 cm. 14 | The total mass is 130g, the 2x3.7V batteries included. 15 | It is powered by four DC brushed motors. 16 | The core of the drone is an Arduino Nano, connected to: 17 | - a HC12 radio transmitter to receive commands from the remote control 18 | - a MPU6050 accelerometer to measure the drone state 19 | - four MOSFET transistors to send power to the motors 20 | - the batteries for power supply 21 | - a voltage divider circuit for battery monitoring 22 | 23 | schema_elec 24 | -------------------------------------------------------------------------------- /Remote control/.gitignore: -------------------------------------------------------------------------------- 1 | .pio 2 | .clang_complete 3 | .gcc-flags.json 4 | -------------------------------------------------------------------------------- /Remote control/.travis.yml: -------------------------------------------------------------------------------- 1 | # Continuous Integration (CI) is the practice, in software 2 | # engineering, of merging all developer working copies with a shared mainline 3 | # several times a day < https://docs.platformio.org/page/ci/index.html > 4 | # 5 | # Documentation: 6 | # 7 | # * Travis CI Embedded Builds with PlatformIO 8 | # < https://docs.travis-ci.com/user/integration/platformio/ > 9 | # 10 | # * PlatformIO integration with Travis CI 11 | # < https://docs.platformio.org/page/ci/travis.html > 12 | # 13 | # * User Guide for `platformio ci` command 14 | # < https://docs.platformio.org/page/userguide/cmd_ci.html > 15 | # 16 | # 17 | # Please choose one of the following templates (proposed below) and uncomment 18 | # it (remove "# " before each line) or use own configuration according to the 19 | # Travis CI documentation (see above). 20 | # 21 | 22 | 23 | # 24 | # Template #1: General project. Test it using existing `platformio.ini`. 25 | # 26 | 27 | # language: python 28 | # python: 29 | # - "2.7" 30 | # 31 | # sudo: false 32 | # cache: 33 | # directories: 34 | # - "~/.platformio" 35 | # 36 | # install: 37 | # - pip install -U platformio 38 | # - platformio update 39 | # 40 | # script: 41 | # - platformio run 42 | 43 | 44 | # 45 | # Template #2: The project is intended to be used as a library with examples. 46 | # 47 | 48 | # language: python 49 | # python: 50 | # - "2.7" 51 | # 52 | # sudo: false 53 | # cache: 54 | # directories: 55 | # - "~/.platformio" 56 | # 57 | # env: 58 | # - PLATFORMIO_CI_SRC=path/to/test/file.c 59 | # - PLATFORMIO_CI_SRC=examples/file.ino 60 | # - PLATFORMIO_CI_SRC=path/to/test/directory 61 | # 62 | # install: 63 | # - pip install -U platformio 64 | # - platformio update 65 | # 66 | # script: 67 | # - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N 68 | -------------------------------------------------------------------------------- /Remote control/platformio.ini: -------------------------------------------------------------------------------- 1 | ; PlatformIO Project Configuration File 2 | ; 3 | ; Build options: build flags, source filter 4 | ; Upload options: custom upload port, speed and extra flags 5 | ; Library options: dependencies, extra library storages 6 | ; Advanced options: extra scripting 7 | ; 8 | ; Please visit documentation for the other options and examples 9 | ; https://docs.platformio.org/page/projectconf.html 10 | 11 | [env:nanoatmega328] 12 | platform = atmelavr 13 | board = nanoatmega328 14 | framework = arduino 15 | -------------------------------------------------------------------------------- /Remote control/src/communicate_drone.h: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include "remote_control_define.h" 4 | 5 | extern SoftwareSerial HC12; 6 | 7 | void write_message(byte target, byte value){ 8 | char msg[3]; 9 | msg[0] = target; 10 | msg[1] = value; 11 | msg[2] = msg[0] ^ msg[1]; 12 | 13 | Serial.print((unsigned char)msg[0],DEC); 14 | Serial.print(" "); 15 | Serial.println((unsigned char)msg[1],DEC); 16 | 17 | digitalWrite(LED_BUILTIN,HIGH); 18 | HC12.write(msg); 19 | delay(MSG_DELAY); // avoid writing consecutive messages 20 | digitalWrite(LED_BUILTIN,LOW); 21 | } 22 | -------------------------------------------------------------------------------- /Remote control/src/communicate_user.h: -------------------------------------------------------------------------------- 1 | #include 2 | #include "remote_control_define.h" 3 | extern int last_val; 4 | 5 | byte readPoten(){ 6 | int poten = analogRead(POTEN_PIN); 7 | poten = min(max(poten,POTEN_MIN),POTEN_MAX); 8 | byte val = map(poten,POTEN_MIN,POTEN_MAX,0,255); 9 | return val; 10 | } 11 | 12 | void ask_init_poten(){ 13 | byte val = readPoten(); 14 | 15 | while(val>SIGMA){ 16 | Serial.print(F("Set potentiometer to 0 (current=")); 17 | Serial.print(val); 18 | Serial.println(")"); 19 | val = readPoten(); 20 | delay(500); 21 | } 22 | 23 | Serial.println(F("Ready to transmit data")); 24 | last_val = val; 25 | } 26 | 27 | 28 | int retrieve_serial(char* msg){ 29 | byte index = 0; 30 | msg[0] = 0; 31 | msg[1] = 0; 32 | while(Serial.available()){ 33 | char c = Serial.read(); 34 | if((c==' ') | (c=='\n')){ 35 | index++; 36 | }else{ 37 | if(index<2){ msg[index] = 10*msg[index] + (c-'0'); } 38 | } 39 | } 40 | return index; 41 | } 42 | -------------------------------------------------------------------------------- /Remote control/src/main.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * Drone remote control 3 | * 4 | * Author: Romain JL. Fétick 5 | * 6 | * History: 7 | * 01 Nov 2019 - creation 8 | * 16 Feb 2020 - simplification and better mapping 9 | */ 10 | 11 | #include 12 | #include 13 | #include "remote_control_define.h" 14 | 15 | SoftwareSerial HC12(RADIO_PIN_TX, RADIO_PIN_RX); 16 | int last_val = 0; 17 | 18 | #include "communicate_user.h" 19 | #include "communicate_drone.h" 20 | 21 | void setup() { 22 | Serial.begin(250000); 23 | Serial.println(F("DRONE_REMOTE_CONTROL.ino [16 Feb 2020]")); 24 | HC12.begin(RADIO_BAUD); 25 | pinMode(LED_BUILTIN,OUTPUT); 26 | pinMode(POTEN_PIN,INPUT); 27 | pinMode(BUTTON_PIN,INPUT); 28 | ask_init_poten(); 29 | } 30 | 31 | void loop() { 32 | byte val = readPoten(); 33 | int diff = last_val-val; 34 | if(abs(diff)>SIGMA){ 35 | write_message(1,val); 36 | last_val = val; 37 | } 38 | 39 | if(Serial.available()){ 40 | char msg[2]; 41 | int index = retrieve_serial(msg); 42 | if(index==2){ 43 | write_message(msg[0],msg[1]); 44 | }else{ 45 | Serial.println("Error retrieving serial"); 46 | } 47 | while(Serial.available()){ Serial.read(); } // empty serial 48 | } 49 | 50 | val = digitalRead(BUTTON_PIN); 51 | if(val){ 52 | // Should send here stop command to drone 53 | write_message(10, 1); // error message 54 | Serial.println("Button pressed"); 55 | } 56 | } 57 | -------------------------------------------------------------------------------- /Remote control/src/remote_control_define.h: -------------------------------------------------------------------------------- 1 | #ifndef REMOTE_CONTROL_DEFINE_H 2 | #define REMOTE_CONTROL_DEFINE_H 3 | 4 | #define RADIO_PIN_RX 2 5 | #define RADIO_PIN_TX 3 6 | #define RADIO_BAUD 9600 7 | 8 | #define BUTTON_PIN 9 // pin connected to stop button 9 | #define POTEN_PIN A1 // pin connected to potentiometer 10 | #define POTEN_MIN 20 // min value of analogRead on the potentiometer 11 | #define POTEN_MAX 1010 // max value of analogRead on the potentiometer 12 | #define SIGMA 4 // threshold to accept a new value (noise filtering) 13 | #define MSG_DELAY 60 // minimal delay between two consecutive messages 14 | 15 | 16 | #endif 17 | -------------------------------------------------------------------------------- /doc/schema_elec.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rfetick/Drone-arduino/9372f66861dfb9f19987309ad9e6e72090a21131/doc/schema_elec.png --------------------------------------------------------------------------------