Hallo,
nachdem ich bei meinem Tricopter gerade dabei bin, die PID-Parameter einzustellen ist mir folgendes aufgefallen:
Wenn ich den µC flashe und dann die Stromversorgung beibehalte und nur den ISP-Stecker trenne, läuft alles wunderbar.
Wenn ich aber den µC flashe und danach die Stromversorgung und den ISP-Stecker trenne und dann den Akku wieder anschließe, drehen sich 2 der 3 Motoren ziemlich schnell, obwohl sich die Wii Motion Plus nicht bewegt...
Kann sich jemand dieses Verhalten erklären?
Zur Info:
Die ISP-Leitungen der beiden µCs (ATTINY2313 & ATMEGA328P) sind miteinander verbunden, lediglich die Reset-Anschlüsse sind jumperbar, damit ich immer den richtigen µC zum flashen auswählen kann. Die WM+ hängt neben Rc-Empfänger am ATMEGA328P, welcher über UART mit dem ATTINY2313 kommuniziert; dieser steuert nur die 4 Aktoren an. Am ATMEGA328P kanns fast nicht liegen, da ich vorher einen ATMEGA8 drauf hatte und dieser zeigte das gleiche Verhalten!
Hier noch der Code:
Code:
$regfile = "m328pdef.dat"
$crystal = 16000000
$framesize = 200
$hwstack = 200
$swstack = 200
$baud = 38400
Declare Sub Wmp_init()
Declare Sub Send_zero()
Declare Sub Read_data()
Declare Sub Set_offset()
Declare Sub Filter_gyro_data()
Declare Sub Pid_regulator()
Declare Sub Filter_rx_data()
Declare Sub Mixer()
Declare Sub Send_data()
$lib "I2C_TWI.LBX" 'Hardware I2C
Config Scl = Portc.5 'Ports for I2C-Bus
Config Sda = Portc.4
Config Twi = 100000
I2cinit
Config Timer1 = Timer , Prescale = 1
On Timer1 Pausedetect
Enable Timer1
Config Int1 = Falling
On Int1 Measure
Enable Int1
Config Pind.3 = Input
Portd.3 = 0
Const Start_byte = 127
Const _maxchannel = 4
Const _bl1offset = 0
Const _bl2offset = 0
Const _bl3offset = 0
Const _bl4offset = 0
Const _yaw_kp = 6
Const _roll_kp = 15
Const _pitch_kp = 15
Const _yaw_ki = 0
Const _roll_ki = 0
Const _pitch_ki = 0
Const _yaw_kd = 0 '5
Const _roll_kd = 0
Const _pitch_kd = 0
Dim _yaw_kp_err As Integer
Dim _roll_kp_err As Integer
Dim _pitch_kp_err As Integer
Dim _yaw_ki_err As Integer
Dim _roll_ki_err As Integer
Dim _pitch_ki_err As Integer
Dim _yaw_ki_sum As Integer
Dim _roll_ki_sum As Integer
Dim _pitch_ki_sum As Integer
Dim _yaw_kd_err As Integer
Dim _roll_kd_err As Integer
Dim _pitch_kd_err As Integer
Dim _yaw_kd_old As Integer
Dim _roll_kd_old As Integer
Dim _pitch_kd_old As Integer
Dim _yaw_pid As Integer
Dim _roll_pid As Integer
Dim _pitch_pid As Integer
Dim _yaw_err As Integer
Dim _roll_err As Integer
Dim _pitch_err As Integer
Dim _sbl_filter(4) As Integer
Dim _sbl_filter_2(4) As Integer
Dim Bufferbyte As Byte
Dim Kanal(_maxchannel) As Word
Dim Channel As Byte
Dim _bl(_maxchannel) As Word
Dim I As Byte
Dim _crc As Word
Dim _sbl(_maxchannel) As Integer
Dim Buffer(6) As Byte
Dim Yaw As Word
Dim Yaw0 As Byte At Yaw + 1 Overlay
Dim Yaw1 As Byte At Yaw Overlay
Dim Roll As Word
Dim Roll0 As Byte At Roll + 1 Overlay
Dim Roll1 As Byte At Roll Overlay
Dim Pitch As Word
Dim Pitch0 As Byte At Pitch + 1 Overlay
Dim Pitch1 As Byte At Pitch Overlay
Dim _yawoffset As Long
Dim _rolloffset As Long
Dim _pitchoffset As Long
Dim _yawoffset_int As Integer
Dim _rolloffset_int As Integer
Dim _pitchoffset_int As Integer
Dim _yawnow As Integer
Dim _rollnow As Integer
Dim _pitchnow As Integer
Dim _empfmiddle(_maxchannel) As Word
Dim _empfmin(_maxchannel) As Word
Dim _empfmax(_maxchannel) As Word
Dim _empfdiv(_maxchannel) As Word
Dim _stick_sensitivy(_maxchannel) As Word
_stick_sensitivy(1) = 2265
_stick_sensitivy(2) = 1800
_stick_sensitivy(3) = 1800
_stick_sensitivy(4) = 1800
_empfmiddle(1) = 26500
_empfmiddle(2) = 23800
_empfmiddle(3) = 25300
_empfmiddle(4) = 22250
_empfmin(1) = 14300
_empfmin(2) = 14650
_empfmin(3) = 17100
_empfmin(4) = 14750
_empfmax(1) = 32300
_empfmax(2) = 32600
_empfmax(3) = 32600
_empfmax(4) = 30500
For I = 1 To 4
_empfdiv(i) = _empfmiddle(i) - _empfmin(i)
_empfdiv(i) = _empfdiv(i) / _stick_sensitivy(i) '2265
_empfdiv(i) = _empfdiv(i) * 2
Next I
'Wait 1
Call Wmp_init()
Waitms 500
Call Set_offset()
Enable Interrupts
Wait 1
Do
Call Filter_rx_data()
Call Filter_gyro_data()
Call Pid_regulator()
Call Mixer()
Call Send_data()
Loop
Measure:
If Channel > 0 And Channel < 5 Then
Kanal(channel) = Timer1
End If
Timer1 = 1536
Incr Channel
Return
Pausedetect:
Channel = 0
Return
Sub Wmp_init()
I2cstart
I2cwbyte &HA6 ' sends memory address
I2cwbyte &HFE ' WM+ activation
I2cwbyte &H04 . ' Now Adress changes to &HA4
I2cstop
End Sub
Sub Send_zero()
I2cstart
I2cwbyte &HA4 ' sends memory address
I2cwbyte &H00 ' sends zero before receiving
I2cstop
Waitms 1
End Sub
Sub Read_data()
Gosub Send_zero ' sends zero before receiving
Gosub Send_zero
Gosub Send_zero
I2creceive &HA4 , Buffer(1) , 0 , 6 ' receive 6 bytes
Yaw1 = Buffer(1)
Roll1 = Buffer(2) ' Low Bytes
Pitch1 = Buffer(3)
Shift Buffer(4) , Right , 2 : Yaw0 = Buffer(4)
Shift Buffer(5) , Right , 2 : Roll0 = Buffer(5) ' High Bytes
Shift Buffer(6) , Right , 2 : Pitch0 = Buffer(6)
End Sub
Sub Set_offset()
_yawoffset = 0
_rolloffset = 0
_pitchoffset = 0
For I = 1 To 100
Call Read_data
_yawoffset = _yawoffset + Yaw
_rolloffset = _rolloffset + Roll
_pitchoffset = _pitchoffset + Pitch
Next I
_yawoffset = _yawoffset / 100
_rolloffset = _rolloffset / 100
_pitchoffset = _pitchoffset / 100
_yawoffset_int = _yawoffset
_rolloffset_int = _rolloffset
_pitchoffset_int = _pitchoffset
End Sub
Sub Filter_gyro_data()
Call Read_data()
_yawnow = Yaw - _yawoffset_int
_rollnow = Roll - _rolloffset_int
_pitchnow = Pitch - _pitchoffset_int
'_yawnow = _yawnow / 2
'_rollnow = _rollnow / 2
'_pitchnow = _pitchnow / 2
End Sub
Sub Pid_regulator()
_yaw_err = _sbl(4) / 1
_yaw_err = _yaw_err - _yawnow
_roll_err = _sbl(3) / 5
_roll_err = _roll_err - _rollnow
_pitch_err = _sbl(2) / 5
_pitch_err = _pitch_err - _pitchnow
_yaw_kp_err = _yaw_kp_err * _yaw_kp
_yaw_kp_err = _yaw_err / 10
_roll_kp_err = _roll_kp_err * _roll_kp
_roll_kp_err = _roll_err / 10
_pitch_kp_err = _pitch_kp_err * _pitch_kp
_pitch_kp_err = _pitch_err / 10
_yaw_ki_err = _yaw_ki_err * _yaw_ki
_yaw_ki_err = _yaw_err / 50
_yaw_ki_sum = _yaw_ki_sum + _yaw_ki_err
_roll_ki_err = _roll_ki_err * _roll_ki
_roll_ki_err = _roll_err / 50
_roll_ki_sum = _roll_ki_sum + _roll_ki_err
_pitch_ki_err = _pitch_ki_err * _pitch_ki
_pitch_ki_err = _pitch_err / 50
_pitch_ki_sum = _pitch_ki_sum + _pitch_ki_err
_yaw_kd_err = _yaw_kd_err * _yaw_kd
_yaw_kd_err = _yaw_err / 50
_yaw_kd_err = _yaw_kd_old - _yaw_kd_err
_yaw_kd_old = _yaw_kd_old
_roll_kd_err = _roll_kd_err * _roll_kd
_roll_kd_err = _roll_err / 50
_roll_kd_err = _roll_kd_old - _roll_kd_err
_roll_kd_old = _roll_kd_old
_pitch_kd_err = _pitch_kd_err * _pitch_kd
_pitch_kd_err = _pitch_err / 50
_pitch_kd_err = _pitch_kd_old - _pitch_kd_err
_pitch_kd_old = _pitch_kd_old
_yaw_pid = _yaw_kp_err + _yaw_ki_sum
_yaw_pid = _yaw_pid + _yaw_kd_err
_roll_pid = _roll_kp_err + _roll_ki_sum
_roll_pid = _roll_pid + _roll_kd_err
_pitch_pid = _pitch_kp_err + _pitch_ki_sum
_pitch_pid = _pitch_pid + _pitch_kd_err
If _yaw_pid < -1000 Then _yaw_pid = -1000
If _yaw_pid > 1000 Then _yaw_pid = 1000
If _roll_pid < -1000 Then _roll_pid = -1000
If _roll_pid > 1000 Then _roll_pid = 1000
If _pitch_pid < -1000 Then _pitch_pid = -1000
If _pitch_pid > 1000 Then _pitch_pid = 1000
End Sub
Sub Filter_rx_data()
For I = 1 To 4
_sbl(i) = Kanal(i) - _empfmiddle(i)
_sbl(i) = _sbl(i) / _empfdiv(i)
Next I
'_sbl(4) = _sbl(4) * -1
_sbl(2) = _sbl(2) / 2
_sbl(3) = _sbl(3) / 2
_sbl(4) = _sbl(4) / 2
'IIR-Filter
'filter_wert = filter_wert * s + wert * (1.0-s)
For I = 1 To 4
_sbl_filter(i) = _sbl_filter(i) * 6
_sbl_filter(i) = _sbl_filter(i) / 10
_sbl_filter_2(i) = _sbl(i) * 4
_sbl_filter_2(i) = _sbl_filter_2(i) / 10
_sbl_filter(i) = _sbl_filter(i) + _sbl_filter_2(i)
_sbl(i) = _sbl_filter(i)
Next I
End Sub
Sub Mixer()
_bl(1) = 62667 - _sbl(1)
_bl(2) = _bl(1)
_bl(3) = _bl(1)
_bl(4) = 62667
_bl(1) = _bl(1) + _bl1offset
_bl(2) = _bl(2) + _bl2offset
_bl(3) = _bl(3) + _bl3offset
_bl(4) = _bl(4) + _bl4offset
_bl(1) = _bl(1) + _pitch_pid
_bl(2) = _bl(2) + _roll_pid
_bl(3) = _bl(3) - _roll_pid
_bl(4) = _bl(4) - _yaw_pid
End Sub
Sub Send_data()
_crc = Crc16(_bl(1) , 4)
Printbin Start_byte ; _bl(1) ; _bl(2) ; _bl(3) ; _bl(4) ; _crc
End Sub
End
Ich kann mir das einfach nicht erklären, aber evtl. hat jemand von euch eine Erklärung dafür oder hat soetwas bei sich auch schon mal entdeckt?!
Gruß
Chris
EDIT:
Hier noch die Sprint-Layout Datei!
EDIT2:
Hat sich erledigt! Das WMP braucht anscheinend nach dem initialisieren eine gewisse Zeit, um brauchbare Werte zu liefern! Hab jetzt einfach
Code:
Call Wmp_init()
Call Filter_gyro_data()
Call Set_offset()
geschrieben. Dadurch werden die ersten Werte die das Teil liefert verworfen und dann funktionierts tadellos 
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