Hovering

Using Arduino Project Guidance
1

i've been assigned to program my quad-copter to hover at a certain height when the throttler is max. However i am uncertain on how to programme the code. Can anyone help me with the codes best with explanation :smiley: Much help is appreciated.

Regards, Xsindraz

2

If you're uncertain how to program it, does that mean you do however know the algorithms required, ie do you know what the sensors and actuators actually need to do to hover?

3

http://robots.dacloughb.com/project-2/testing-hover-capability/

just try this

4

@jimboZA Nope, i am new to this field. My current assignment differ from what i am studying.

@AMPS-N Thanks. However, from my understanding my project require the use ultrasonic sensor arduino to be programmed.

5

xsindraz:
@jimboZA Nope, i am new to this field. My current assignment differ from what i am studying.

Then you need to rephrase your question: you need to ask for advice on the algorithms and the mechanics of flight and understand that all fully before you go anywhere near code.

I'd suggest that you:

  • Research the field outside of this forum.
  • In parallel with that you learn the Arduino, if you didn't already do that, perhaps starting here.
  • Then put your new quadcopter and Arduino knowhow together by trying to code the sketch you need to hover
  • And then if you get stuck, ask for specific help on the issues you encounter.

Alternatively, if it's a "turnkey" solution you need, you ought to post here.

6

Can anyone explain what these codes means to me?

#include <SoftwareSerial.h>

#include <Wire.h>
#include <LSM303.h>
LSM303 compass;
LSM303::vector<int16_t> running_min = {
-1383, -2061, -3033}
, running_max = {
2229, 1974, 1206};

#define triggerZ 8
#define echoZ 9
#define ultrasonic_power 7

SoftwareSerial mySerial(2, 3); // RX, TX
int cx, cy;
unsigned long prevTime= millis();
unsigned long currTime;
unsigned long elapTime;

void setup() {
Serial.begin(9600);
mySerial.begin(9600);

pinMode(triggerZ, OUTPUT);
pinMode(echoZ, INPUT);
pinMode(ultrasonic_power, OUTPUT);
digitalWrite(ultrasonic_power, HIGH);
Wire.begin();
compass.init();
compass.enableDefault();

}
void loop() {
// if(calc_x() < -50 || calc_x() > 50){
// Serial.println(calc_x());
// }
//
// if(calc_y() < -50 || calc_y() > 50){
// Serial.println(calc_y());
// }
//

// currTime = millis();
// elapTime = currTime - elapTime;
// if(elapTime > 100){
// mySerial.print(calc_x());
// mySerial.print('\n');
// mySerial.print(calc_y());
// mySerial.print('\n');
// prevTime = millis();
// }
Serial.print(calc_x());
Serial.print('\t');
Serial.println(calc_y());
while(mySerial.available()){
if(mySerial.read() == 49){
mySerial.print(calc_x());
mySerial.print('\n');
mySerial.print(calc_y());
mySerial.print('\n');
}
}

// mySerial.print(calc_x());
// mySerial.print("\t");
// mySerial.print(calc_y());
// mySerial.print("\t");
// mySerial.println(calc_z());
//

}

int calc_x(){
compass.read();
int x;
x = compass.a.y;
// 0 - 1000, 0 -100 //
return(map(x, -16500, 16500, -250, 250));
}

int calc_y(){
compass.read();
int y;
y = compass.a.x;
return(map(y, -16500, 16500, -250, 250));
}

int calc_z() {
long duration, distance;
digitalWrite(triggerZ, LOW);
delayMicroseconds(2);
digitalWrite(triggerZ, HIGH);
delayMicroseconds(10);
digitalWrite(triggerZ, LOW);
duration = pulseIn(echoZ, HIGH, 12000);
distance = (duration / 2) / 29.1;
if (duration >11640){
distance = 200;
}
return (distance);

}

void send_data(){
mySerial.print(cx);
mySerial.print(cy);
}

void print_raw(){
Serial.print(calc_x());
Serial.print('\t');
Serial.print(cx);
Serial.print('\t');
Serial.print(calc_y());
Serial.print('\t');
Serial.println(cy);
}

7

xsindraz:
Can anyone explain what these codes means to me?

I have no idea what they mean to you. Mostly the sketch sends the Y and X magnetometer readings to Serial over and over and to SoftwareSerial when prompted with character code 49 ('1'). The code for the ultrasonic rangefinder (calc_z()) seems to never be used. Likewise for send_data() and print_raw().

#include <SoftwareSerial.h>
#include <Wire.h>
#include <LSM303.h>
LSM303 compass;
LSM303::vector<int16_t> running_min = {
  -1383, -2061, -3033
}
, running_max = {
  2229, 1974, 1206
};

#define triggerZ 8
#define echoZ 9
#define ultrasonic_power 7

SoftwareSerial mySerial(2, 3); // RX, TX
int cx, cy;
unsigned long prevTime = millis();
unsigned long currTime;
unsigned long elapTime;

void setup() {
  Serial.begin(9600);
  mySerial.begin(9600);

  pinMode(triggerZ, OUTPUT);
  pinMode(echoZ, INPUT);
  pinMode(ultrasonic_power, OUTPUT);
  digitalWrite(ultrasonic_power, HIGH);
  
  Wire.begin();
  compass.init();
  compass.enableDefault();
}

void loop() {
  Serial.print(calc_x());
  Serial.print('\t');
  Serial.println(calc_y());
  while (mySerial.available()) {
    if (mySerial.read() == 49) {
      mySerial.print(calc_x());
      mySerial.print('\n');
      mySerial.print(calc_y());
      mySerial.print('\n');
    }
  }
}

int calc_x() {
  compass.read();
  int x;
  x = compass.a.y;
  // 0 - 1000, 0 -100 //
  return (map(x, -16500, 16500, -250, 250));
}

int calc_y() {
  compass.read();
  int y;
  y = compass.a.x;
  return (map(y, -16500, 16500, -250, 250));
}

int calc_z() {
  long duration, distance;
  digitalWrite(triggerZ, LOW);
  delayMicroseconds(2);
  digitalWrite(triggerZ, HIGH);
  delayMicroseconds(10);
  digitalWrite(triggerZ, LOW);
  duration = pulseIn(echoZ, HIGH, 12000);
  distance = (duration / 2) / 29.1;
  if (duration > 11640) {
    distance = 200;
  }
  return (distance);
}

void send_data() {
  mySerial.print(cx);
  mySerial.print(cy);
}

void print_raw() {
  Serial.print(calc_x());
  Serial.print('\t');
  Serial.print(cx);
  Serial.print('\t');
  Serial.print(calc_y());
  Serial.print('\t');
  Serial.println(cy);
}
8

I can tell you what that code means to you - nothing.

What it means to me is that you can't even be bothers to read the how to use this forum sticky post.

9