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There have been 92 items by Brandon G (Search limited from 07-June 23)
#8527 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 27 January 2011 - 06:55 AM in Project Showcase
#8535 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 27 January 2011 - 08:10 AM in Project Showcase
Chris thank you for the forum etiquette reminder. The posts were fast given we we had discovered the algo at the exact same time i replied and implemented it in code, i've attached our algo. i think you might be on to something as far as making it a scaling variable that can change as the flight conditions change.
using System; namespace Quad.Net.Commons.Utilities { public class Scale { private readonly double[] _coefficients; private readonly double _offset; public Scale(double offset, params double[] coefficients) { _coefficients = coefficients; _offset = offset; } public double Calculate(double value) { double output = 0; for (int i = 0; i < _coefficients.Length; i++) { output += Math.Pow(value + _offset, i) * _coefficients[_coefficients.Length - i - 1]; } return output; } } } namespace Quad.Net.Tests { [TestFixture] public class ScaleTests { [Test] public void TestQuadratics() { Scale scale = new Scale(-1500, 0.0000008, 0, 0, 0); Assert.AreEqual(scale.Calculate(1000),-100); } } }
#8525 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 27 January 2011 - 06:49 AM in Project Showcase
#8524 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 27 January 2011 - 06:47 AM in Project Showcase
#8362 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 25 January 2011 - 06:21 AM in Project Showcase
#8900 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 02 February 2011 - 07:58 PM in Project Showcase
#8901 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 02 February 2011 - 07:58 PM in Project Showcase
#16328 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 04 August 2011 - 03:52 PM in Project Showcase
#8911 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 02 February 2011 - 09:39 PM in Project Showcase
#8909 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 02 February 2011 - 09:21 PM in Project Showcase
#8904 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 02 February 2011 - 08:51 PM in Project Showcase
#8360 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 25 January 2011 - 06:12 AM in Project Showcase
#8266 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 24 January 2011 - 08:31 AM in Project Showcase
#8204 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 23 January 2011 - 08:14 PM in Project Showcase
Magoocas,
I am impressed, i think we found our starting point and might want to involve Luke in what we are trying to do. if you've looked at source control you can see the implementational way in which im approaching.
We have
the Quad.Net solution with:
Framework (contains interfaces like IPWM)
Framwork.Implementations.SecretLabs (implementations like SecretLabs.NETMF.Hardware.PWM)
This allows for us to swap out framework specific implementations, ie using fez's custom framework
Hardware (contains generic interfaces for things like motors, gyros and escs)
Hardware.Implementations (implemntations of hardware like HobbyKings ss2530 ESC)
Hardware.Implementations.Secretlabs (implementations for things specific to netduino board, things like Pins)
Quad.Net.FlightController (main entry point but in the form of interfaces, requires an implemntation, like fez or netduino)
Quad.Net.FlightController.Netduino (specific implementation of netduino board and its settings)
Example of Netduino Implemntation with a speedcontroller
using System.Threading; using Quad.Net.ElectricSpeedController; using Quad.Net.Framework.Implementations.SecretLabs.PulseWidthModulation; using Quad.Net.Framework.PulseWidthModulation; using Quad.Net.Hardware.ElectricSpeedController; using Quad.Net.Hardware.Implementations.ElectricSpeedController.Implementations; using Quad.Net.Hardware.Implementations.SecretLabs.Pin; using Quad.Net.Hardware.Pin; using SecretLabs.NETMF.Hardware.Netduino; namespace Quad.Net.FlightController.Implementations.Netduino { public class Program { public static void Main() { ICpuPin pin = new CpuPin(Pins.GPIO_PIN_D9); ISpeedControllerSettings electricSpeedControllerSettings = new HobbyKingSs2530Settings(pin); IPWM pwm = new SecretLabsPWM(pin); Controller controller = new Controller(electricSpeedControllerSettings,pwm); for (int i = 0; i <= 100; i++) { controller.ElectricSpeedController.SetThrottle(i); Thread.Sleep(50); } } } }What i have tried to accomplish with this is a framework where any contributor can swap out hardware, gyros or microcontroller that supports netmf and specific implementations of framework, fez vs secretlabs
What i'm hoping will happen is a user can throw a new esc in, implement an ESC interface specific to that esc, and fly 5 minutes later, or a board or a gyro or eventually other sensors, if we keep this generic enough we could add features and hardware very quickly and segregate the project in a more agile framework than what is being done in other projects as well as allow for various combinations of hardware software with little or no effort. Everyone else code that i have veiwed ha been scary dependent on hardware or assumptions and thus why the project falls down
#8224 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 24 January 2011 - 12:41 AM in Project Showcase
If i get hardware and some skills with soddering i could be up and running right now, I cleaned up alot of his code as well
Magoocas, its in source control
Here's an entry point to give u an idea
using Quad.Net.Commons.Configuration; using Quad.Net.ElectricSpeedController; using Quad.Net.Framework.Implementations.SecretLabs.PulseWidthModulation; using Quad.Net.Framework.PulseWidthModulation; using Quad.Net.Hardware.ElectricSpeedController; using Quad.Net.Hardware.Gyro; using Quad.Net.Hardware.Implementations.ElectricSpeedController.Implementations; using Quad.Net.Hardware.Implementations.Gyro; using Quad.Net.Hardware.Implementations.Radio; using Quad.Net.Hardware.Implementations.SecretLabs.Pin; using Quad.Net.Hardware.Pin; using Quad.Net.Hardware.Radio; using SecretLabs.NETMF.Hardware.Netduino; namespace Quad.Net.FlightController.Implementations.Netduino { public class Program { public static void Main() { IConfiguration settings = GetStaticSettings(); //Assumes one type of speed controller on quad ISpeedControllerSettings speedControllerSettings = new HobbyKingSs2530Settings(); ICpuPin pinFrontESC = new CpuPin(Pins.GPIO_PIN_D9); IPWM pwmFront = new SecretLabsPWM(pinFrontESC); SpeedController electricSpeedControllerFront = new SpeedController(speedControllerSettings, pwmFront); ICpuPin pinRearESC = new CpuPin(Pins.GPIO_PIN_D8); IPWM pwmRear = new SecretLabsPWM(pinRearESC); SpeedController electricSpeedControllerRear = new SpeedController(speedControllerSettings, pwmRear); ICpuPin pinRightESC = new CpuPin(Pins.GPIO_PIN_D7); IPWM pwmRight = new SecretLabsPWM(pinRightESC); SpeedController electricSpeedControllerRight = new SpeedController(speedControllerSettings, pwmRight); ICpuPin pinLeftESC = new CpuPin(Pins.GPIO_PIN_D6); IPWM pwmLeft = new SecretLabsPWM(pinLeftESC); SpeedController electricSpeedControllerLeft = new SpeedController(speedControllerSettings, pwmLeft); Motors motors= new Motors(electricSpeedControllerFront,electricSpeedControllerRear,electricSpeedControllerRight,electricSpeedControllerLeft); AxesController axesController = new AxesController(settings); IGyro gyro = new DefaultGyro(); IRadio radio = new DefaultRadio(); ControllerLoopSettings loopSettings = new ControllerLoopSettings(settings); Controller controller = new Controller(motors, axesController, gyro, radio, loopSettings); } private static IConfiguration GetStaticSettings() { InMemoryConfiguration config = new InMemoryConfiguration(); config["PitchDerivativeGain"] = "-.5"; config["PitchItegralGain"] = "0"; config["PitchProportionalGain"] = "1.2"; config["RollDerivativeGain"] = "-.5"; config["RollItegralGain"] = "0"; config["RollProportionalGain"] = "1.2"; config["YawDerivativeGain"] = "0"; config["YawItegralGain"] = "0"; config["YawProportionalGain"] = "3"; config["RadioLoopFrequency"] = "25"; config["SensorLoopFrequency"] = "300"; config["MotorLoopFrequency"] = "300"; config["LoopUnit"] = "2"; return config; } } }
#8185 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 23 January 2011 - 05:44 PM in Project Showcase
#8184 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 23 January 2011 - 05:18 PM in Project Showcase
#8118 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 22 January 2011 - 09:14 PM in Project Showcase
#8226 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 24 January 2011 - 01:01 AM in Project Showcase
#8251 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 24 January 2011 - 05:55 AM in Project Showcase
below is the simple data used by the reciever and gyro(s)
namespace Quad.Net.Avionics { public class AircraftPrincipalAxes { /// <summary> /// http://en.wikipedia.org/wiki/Aircraft_principal_axes /// </summary> private int _pitchAngle; private int _rollAngle; private int _yawAngle; public AircraftPrincipalAxes(int pitchAngle, int rollAngle, int yawAngle) { _pitchAngle = pitchAngle; _rollAngle = rollAngle; _yawAngle = yawAngle; } public int PitchAngle { get { return _pitchAngle; } } public int RollAngle { get { return _rollAngle; } } public int YawAngle { get { return _yawAngle; } } } } using Quad.Net.Avionics; namespace Quad.Net.Hardware.Radio { public interface IRadio { int Throttle { get; } AircraftPrincipalAxes GetAxes(); } } using Quad.Net.Avionics; namespace Quad.Net.Hardware.Gyro { public interface IGyro { AircraftPrincipalAxes GetReading(); } }
these classes would be tied to the events coming off those 6 or 8(gyro implementation specific) pieces of hardware and updating their values within the control loop
you beat me to it Chris, thanks.
As chris said there are a bunch of IMU's that cacn calculate speed, angle acceleration, but the simnplest is to start with a 3 axis gyro and then the aim is to get more complicated later, eventually implementing 5-9 degrees of freedom
#8262 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 24 January 2011 - 08:00 AM in Project Showcase
#8257 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 24 January 2011 - 07:14 AM in Project Showcase
#8256 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 24 January 2011 - 06:34 AM in Project Showcase
#8253 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 24 January 2011 - 06:19 AM in Project Showcase
#7783 Quad.Net Quadrocopter for .NETMF
Posted by Brandon G on 16 January 2011 - 11:49 PM in Project Showcase
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