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zr-v4/Arducopter/SerialCom.pde

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/*
ArduCopter v1.2 - June 2010
www.ArduCopter.com
Copyright (c) 2010. All rights reserved.
An Open Source Arduino based multicopter.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
void readSerialCommand() {
// Check for serial message
if (Serial.available()) {
queryType = Serial.read();
switch (queryType) {
case 'A': // Stable PID
KP_QUAD_ROLL = readFloatSerial();
KI_QUAD_ROLL = readFloatSerial();
KD_QUAD_ROLL = readFloatSerial();
KP_QUAD_PITCH = readFloatSerial();
KI_QUAD_PITCH = readFloatSerial();
KD_QUAD_PITCH = readFloatSerial();
KP_QUAD_YAW = readFloatSerial();
KI_QUAD_YAW = readFloatSerial();
KD_QUAD_YAW = readFloatSerial();
STABLE_MODE_KP_RATE = readFloatSerial();
MAGNETOMETER = readFloatSerial();
break;
case 'C': // Receive GPS PID
KP_GPS_ROLL = readFloatSerial();
KI_GPS_ROLL = readFloatSerial();
KD_GPS_ROLL = readFloatSerial();
KP_GPS_PITCH = readFloatSerial();
KI_GPS_PITCH = readFloatSerial();
KD_GPS_PITCH = readFloatSerial();
GPS_MAX_ANGLE = readFloatSerial();
GEOG_CORRECTION_FACTOR = readFloatSerial();
break;
case 'E': // Receive altitude PID
KP_ALTITUDE = readFloatSerial();
KD_ALTITUDE = readFloatSerial();
KI_ALTITUDE = readFloatSerial();
break;
case 'G': // Receive drift correction PID
Kp_ROLLPITCH = readFloatSerial();
Ki_ROLLPITCH = readFloatSerial();
Kp_YAW = readFloatSerial();
Ki_YAW = readFloatSerial();
break;
case 'I': // Receive sensor offset
gyro_offset_roll = readFloatSerial();
gyro_offset_pitch = readFloatSerial();
gyro_offset_yaw = readFloatSerial();
acc_offset_x = readFloatSerial();
acc_offset_y = readFloatSerial();
acc_offset_z = readFloatSerial();
break;
case 'K': // Spare
break;
case 'M': // Receive debug motor commands
frontMotor = readFloatSerial();
backMotor = readFloatSerial();
rightMotor = readFloatSerial();
leftMotor = readFloatSerial();
motorArmed = readFloatSerial();
break;
case 'O': // Rate Control PID
Kp_RateRoll = readFloatSerial();
Ki_RateRoll = readFloatSerial();
Kd_RateRoll = readFloatSerial();
Kp_RatePitch = readFloatSerial();
Ki_RatePitch = readFloatSerial();
Kd_RatePitch = readFloatSerial();
Kp_RateYaw = readFloatSerial();
Ki_RateYaw = readFloatSerial();
Kd_RateYaw = readFloatSerial();
xmitFactor = readFloatSerial();
break;
case 'W': // Write all user configurable values to EEPROM
writeEEPROM(KP_QUAD_ROLL, KP_QUAD_ROLL_ADR);
writeEEPROM(KD_QUAD_ROLL, KD_QUAD_ROLL_ADR);
writeEEPROM(KI_QUAD_ROLL, KI_QUAD_ROLL_ADR);
writeEEPROM(KP_QUAD_PITCH, KP_QUAD_PITCH_ADR);
writeEEPROM(KD_QUAD_PITCH, KD_QUAD_PITCH_ADR);
writeEEPROM(KI_QUAD_PITCH, KI_QUAD_PITCH_ADR);
writeEEPROM(KP_QUAD_YAW, KP_QUAD_YAW_ADR);
writeEEPROM(KD_QUAD_YAW, KD_QUAD_YAW_ADR);
writeEEPROM(KI_QUAD_YAW, KI_QUAD_YAW_ADR);
writeEEPROM(STABLE_MODE_KP_RATE, STABLE_MODE_KP_RATE_ADR);
writeEEPROM(KP_GPS_ROLL, KP_GPS_ROLL_ADR);
writeEEPROM(KD_GPS_ROLL, KD_GPS_ROLL_ADR);
writeEEPROM(KI_GPS_ROLL, KI_GPS_ROLL_ADR);
writeEEPROM(KP_GPS_PITCH, KP_GPS_PITCH_ADR);
writeEEPROM(KD_GPS_PITCH, KD_GPS_PITCH_ADR);
writeEEPROM(KI_GPS_PITCH, KI_GPS_PITCH_ADR);
writeEEPROM(GPS_MAX_ANGLE, GPS_MAX_ANGLE_ADR);
writeEEPROM(KP_ALTITUDE, KP_ALTITUDE_ADR);
writeEEPROM(KD_ALTITUDE, KD_ALTITUDE_ADR);
writeEEPROM(KI_ALTITUDE, KI_ALTITUDE_ADR);
writeEEPROM(acc_offset_x, acc_offset_x_ADR);
writeEEPROM(acc_offset_y, acc_offset_y_ADR);
writeEEPROM(acc_offset_z, acc_offset_z_ADR);
writeEEPROM(gyro_offset_roll, gyro_offset_roll_ADR);
writeEEPROM(gyro_offset_pitch, gyro_offset_pitch_ADR);
writeEEPROM(gyro_offset_yaw, gyro_offset_yaw_ADR);
writeEEPROM(Kp_ROLLPITCH, Kp_ROLLPITCH_ADR);
writeEEPROM(Ki_ROLLPITCH, Ki_ROLLPITCH_ADR);
writeEEPROM(Kp_YAW, Kp_YAW_ADR);
writeEEPROM(Ki_YAW, Ki_YAW_ADR);
writeEEPROM(GEOG_CORRECTION_FACTOR, GEOG_CORRECTION_FACTOR_ADR);
writeEEPROM(MAGNETOMETER, MAGNETOMETER_ADR);
writeEEPROM(Kp_RateRoll, KP_RATEROLL_ADR);
writeEEPROM(Ki_RateRoll, KI_RATEROLL_ADR);
writeEEPROM(Kd_RateRoll, KD_RATEROLL_ADR);
writeEEPROM(Kp_RatePitch, KP_RATEPITCH_ADR);
writeEEPROM(Ki_RatePitch, KI_RATEPITCH_ADR);
writeEEPROM(Kd_RatePitch, KD_RATEPITCH_ADR);
writeEEPROM(Kp_RateYaw, KP_RATEYAW_ADR);
writeEEPROM(Ki_RateYaw, KI_RATEYAW_ADR);
writeEEPROM(Kd_RateYaw, KD_RATEYAW_ADR);
writeEEPROM(xmitFactor, XMITFACTOR_ADR);
break;
case 'Y': // Initialize EEPROM with default values
KP_QUAD_ROLL = 1.8;
KD_QUAD_ROLL = 0.4; //0.48
KI_QUAD_ROLL = 0.30; //0.4
KP_QUAD_PITCH = 1.8;
KD_QUAD_PITCH = 0.4; //0.48
KI_QUAD_PITCH = 0.30; //0.4
KP_QUAD_YAW = 3.6;
KD_QUAD_YAW = 1.2;
KI_QUAD_YAW = 0.15;
STABLE_MODE_KP_RATE = 0.2; // New param for stable mode
KP_GPS_ROLL = 0.012;
KD_GPS_ROLL = 0.005;
KI_GPS_ROLL = 0.004;
KP_GPS_PITCH = 0.012;
KD_GPS_PITCH = 0.005;
KI_GPS_PITCH = 0.004;
GPS_MAX_ANGLE = 10;
KP_ALTITUDE = 0.8;
KD_ALTITUDE = 0.2;
KI_ALTITUDE = 0.2;
acc_offset_x = 2073;
acc_offset_y = 2056;
acc_offset_z = 2010;
gyro_offset_roll = 1659;
gyro_offset_pitch = 1618;
gyro_offset_yaw = 1673;
Kp_ROLLPITCH = 0.0014;
Ki_ROLLPITCH = 0.00000015;
Kp_YAW = 1.2;
Ki_YAW = 0.00005;
GEOG_CORRECTION_FACTOR = 0.87;
MAGNETOMETER = 0;
Kp_RateRoll = 0.6;
Ki_RateRoll = 0.1;
Kd_RateRoll = -0.8;
Kp_RatePitch = 0.6;
Ki_RatePitch = 0.1;
Kd_RatePitch = -0.8;
Kp_RateYaw = 1.6;
Ki_RateYaw = 0.3;
Kd_RateYaw = 0;
xmitFactor = 0.8;
break;
}
}
}
void sendSerialTelemetry() {
float aux_float[3]; // used for sensor calibration
switch (queryType) {
case '=': // Reserved debug command to view any variable from Serial Monitor
Serial.print("throttle =");Serial.println(ch_throttle);
Serial.print("control roll =");Serial.println(control_roll-CHANN_CENTER);
Serial.print("control pitch =");Serial.println(control_pitch-CHANN_CENTER);
Serial.print("control yaw =");Serial.println(control_yaw-CHANN_CENTER);
Serial.print("front left yaw =");Serial.println(frontMotor);
Serial.print("front right yaw =");Serial.println(rightMotor);
Serial.print("rear left yaw =");Serial.println(leftMotor);
Serial.print("rear right motor =");Serial.println(backMotor);Serial.println();
Serial.print("current roll rate =");Serial.println(read_adc(0));
Serial.print("current pitch rate =");Serial.println(read_adc(1));
Serial.print("current yaw rate =");Serial.println(read_adc(2));
Serial.print("command rx yaw =");Serial.println(command_rx_yaw);
Serial.println();
queryType = 'X';
break;
case 'B': // Send roll, pitch and yaw PID values
Serial.print(KP_QUAD_ROLL, 3);
comma();
Serial.print(KI_QUAD_ROLL, 3);
comma();
Serial.print(KD_QUAD_ROLL, 3);
comma();
Serial.print(KP_QUAD_PITCH, 3);
comma();
Serial.print(KI_QUAD_PITCH, 3);
comma();
Serial.print(KD_QUAD_PITCH, 3);
comma();
Serial.print(KP_QUAD_YAW, 3);
comma();
Serial.print(KI_QUAD_YAW, 3);
comma();
Serial.print(KD_QUAD_YAW, 3);
comma();
Serial.print(STABLE_MODE_KP_RATE, 3);
comma();
Serial.println(MAGNETOMETER, 3);
queryType = 'X';
break;
case 'D': // Send GPS PID
Serial.print(KP_GPS_ROLL, 3);
comma();
Serial.print(KI_GPS_ROLL, 3);
comma();
Serial.print(KD_GPS_ROLL, 3);
comma();
Serial.print(KP_GPS_PITCH, 3);
comma();
Serial.print(KI_GPS_PITCH, 3);
comma();
Serial.print(KD_GPS_PITCH, 3);
comma();
Serial.print(GPS_MAX_ANGLE, 3);
comma();
Serial.println(GEOG_CORRECTION_FACTOR, 3);
queryType = 'X';
break;
case 'F': // Send altitude PID
Serial.print(KP_ALTITUDE, 3);
comma();
Serial.print(KI_ALTITUDE, 3);
comma();
Serial.println(KD_ALTITUDE, 3);
queryType = 'X';
break;
case 'H': // Send drift correction PID
Serial.print(Kp_ROLLPITCH, 4);
comma();
Serial.print(Ki_ROLLPITCH, 7);
comma();
Serial.print(Kp_YAW, 4);
comma();
Serial.println(Ki_YAW, 6);
queryType = 'X';
break;
case 'J': // Send sensor offset
Serial.print(gyro_offset_roll);
comma();
Serial.print(gyro_offset_pitch);
comma();
Serial.print(gyro_offset_yaw);
comma();
Serial.print(acc_offset_x);
comma();
Serial.print(acc_offset_y);
comma();
Serial.println(acc_offset_z);
AN_OFFSET[3] = acc_offset_x;
AN_OFFSET[4] = acc_offset_y;
AN_OFFSET[5] = acc_offset_z;
queryType = 'X';
break;
case 'L': // Spare
queryType = 'X';
break;
case 'N': // Send magnetometer config
queryType = 'X';
break;
case 'P': // Send rate control PID
Serial.print(Kp_RateRoll, 3);
comma();
Serial.print(Ki_RateRoll, 3);
comma();
Serial.print(Kd_RateRoll, 3);
comma();
Serial.print(Kp_RatePitch, 3);
comma();
Serial.print(Ki_RatePitch, 3);
comma();
Serial.print(Kd_RatePitch, 3);
comma();
Serial.print(Kp_RateYaw, 3);
comma();
Serial.print(Ki_RateYaw, 3);
comma();
Serial.print(Kd_RateYaw, 3);
comma();
Serial.println(xmitFactor, 3);
queryType = 'X';
break;
case 'Q': // Send sensor data
Serial.print(read_adc(0));
comma();
Serial.print(read_adc(1));
comma();
Serial.print(read_adc(2));
comma();
Serial.print(read_adc(4));
comma();
Serial.print(read_adc(3));
comma();
Serial.print(read_adc(5));
comma();
Serial.print(err_roll);
comma();
Serial.print(err_pitch);
comma();
Serial.print(degrees(-roll));
comma();
Serial.print(degrees(-pitch));
comma();
Serial.println(degrees(yaw));
break;
case 'R': // Send raw sensor data
break;
case 'S': // Send all flight data
Serial.print(timer-timer_old);
comma();
Serial.print(read_adc(0));
comma();
Serial.print(read_adc(1));
comma();
Serial.print(read_adc(2));
comma();
Serial.print(ch_throttle);
comma();
Serial.print(control_roll);
comma();
Serial.print(control_pitch);
comma();
Serial.print(control_yaw);
comma();
Serial.print(frontMotor); // Front Motor
comma();
Serial.print(backMotor); // Back Motor
comma();
Serial.print(rightMotor); // Right Motor
comma();
Serial.print(leftMotor); // Left Motor
comma();
Serial.print(read_adc(4));
comma();
Serial.print(read_adc(3));
comma();
Serial.println(read_adc(5));
break;
case 'T': // Spare
break;
case 'U': // Send receiver values
Serial.print(ch_roll); // Aileron
comma();
Serial.print(ch_pitch); // Elevator
comma();
Serial.print(ch_yaw); // Yaw
comma();
Serial.print(ch_throttle); // Throttle
comma();
Serial.print(ch_aux); // AUX1 (Mode)
comma();
Serial.println(ch_aux2); // AUX2
break;
case 'V': // Spare
break;
case 'X': // Stop sending messages
break;
case '!': // Send flight software version
Serial.println("1.2");
queryType = 'X';
break;
}
}
// Used to read floating point values from the serial port
float readFloatSerial() {
byte index = 0;
byte timeout = 0;
char data[128] = "";
do {
if (Serial.available() == 0) {
delay(10);
timeout++;
}
else {
data[index] = Serial.read();
timeout = 0;
index++;
}
} while ((data[constrain(index-1, 0, 128)] != ';') && (timeout < 5) && (index < 128));
return atof(data);
}
void comma() {
Serial.print(',');
}