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Sam Hos
2025-02-19 13:19:38 +01:00
parent c52161f3b4
commit a1203b6b9d
1 changed files with 32 additions and 31 deletions
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docs/Assignments/week_4_programming/programming.md
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@@ -174,37 +174,6 @@ First used the wrong library I used the Adafruit bno0xx library instead of the S
## New driver
After researching for a while and looking through other fab academy projects I found out that other people also made drones with micro controllers and used a pre-made driver that they customized (https://fab.cba.mit.edu/classes/863.23/Architecture/people/Zhixing/finalproject.html). After doing some research on how to keep the drone upright I also decided to use an existing driver because the math required for that is way above my level. Im gonna be using the [dRhemFlightVTOL](https://github.com/nickrehm/dRehmFlight/tree/master) driver. The only problem is that it doesn't support my Inertial measuring unit (BNO085). So I will have to customize the driver to make it work with it.
### Hijacking the controls
I need to reverse engineer the controls because now it just calls a function called radiocontrols() that manages the controls. There are 4 pwm channel that controls where the drone is going. I wanna make my own controller and simulate these pwm signals.
```cpp
thro_des = (channel_1_pwm - 1000.0) / 1000.0; // Between 0 and 1
roll_des = (channel_2_pwm - 1500.0) / 500.0; // Between -1 and 1
pitch_des = (channel_3_pwm - 1500.0) / 500.0; // Between -1 and 1
yaw_des = (channel_4_pwm - 1500.0) / 500.0; // Between -1 and 1
```
From looking further in the code it has safety protocols when the channels go too low or too high so using that we have a range where the pwm speed should be.
```cpp
// Triggers for failure criteria
// Line 1260
if (channel_1_pwm > maxVal || channel_1_pwm < minVal)
check1 = 1;
if (channel_2_pwm > maxVal || channel_2_pwm < minVal)
check2 = 1;
if (channel_3_pwm > maxVal || channel_3_pwm < minVal)
check3 = 1;
if (channel_4_pwm > maxVal || channel_4_pwm < minVal)
check4 = 1;
if (channel_5_pwm > maxVal || channel_5_pwm < minVal)
check5 = 1;
if (channel_6_pwm > maxVal || channel_6_pwm < minVal)
check6 = 1;
```
In this case minVal is 800 an maxVal is 2200. So we need to stay between these ranges to control the drone. In theory you can send any value to the ESC because it calibrates to the lowest and highest values you give it but there is a range. From past experiences I have experienced that 12bit PWM is not sufficient, 16 bit is needed.
[ESC calibration](https://ardupilot.org/copter/docs/esc-calibration.html)
## Editing the new driver
Adding in support for the BNO085. The original driver doesn't support the BNO085.
I first started off searching for every instance of an existing sensor.
@@ -278,6 +247,38 @@ When attempting to compile it still throws some errors so there are still functi
![alt text](image-19.jpg)
So I will be needing to make my own case to control the drone.
### Hijacking the controls from the original driver.
I need to reverse engineer the controls because now it just calls a function called radiocontrols() that manages the controls. There are 4 pwm channel that controls where the drone is going. I wanna make my own controller and simulate these pwm signals.
```cpp
thro_des = (channel_1_pwm - 1000.0) / 1000.0; // Between 0 and 1
roll_des = (channel_2_pwm - 1500.0) / 500.0; // Between -1 and 1
pitch_des = (channel_3_pwm - 1500.0) / 500.0; // Between -1 and 1
yaw_des = (channel_4_pwm - 1500.0) / 500.0; // Between -1 and 1
```
From looking further in the code it has safety protocols when the channels go too low or too high so using that we have a range where the pwm speed should be.
```cpp
// Triggers for failure criteria
// Line 1260
if (channel_1_pwm > maxVal || channel_1_pwm < minVal)
check1 = 1;
if (channel_2_pwm > maxVal || channel_2_pwm < minVal)
check2 = 1;
if (channel_3_pwm > maxVal || channel_3_pwm < minVal)
check3 = 1;
if (channel_4_pwm > maxVal || channel_4_pwm < minVal)
check4 = 1;
if (channel_5_pwm > maxVal || channel_5_pwm < minVal)
check5 = 1;
if (channel_6_pwm > maxVal || channel_6_pwm < minVal)
check6 = 1;
```
In this case minVal is 800 an maxVal is 2200. So we need to stay between these ranges to control the drone. In theory you can send any value to the ESC because it calibrates to the lowest and highest values you give it but there is a range. From past experiences I have experienced that 12bit PWM is not sufficient, 16 bit is needed.
[ESC calibration](https://ardupilot.org/copter/docs/esc-calibration.html)
I wanna control to drone using another microcontroller, specifically an esp because then I can use the espNOW protocol to connect them together and get communication running between them. First I wanna make something functional before I upgrade it so that's why I'm starting out easy.