Reading a RC Airplane Receiver

Other Hardware Motors, Mechanics, Power and CNC
8

Hello again,

Ive now come a bit further with the project.

  • Values from sensors (GYRO AND ACC.)
  • Values from receiver (using a libraries called PPMrcIn and Statistic)
  • The sensor will only do its work when the transmitter is not sending any new values/directions
  • So, if you are flying the plane manually and then put your transmitter away. The plane will stabilize itself (roll and pitch)

I will post a bit of the code, showing my algorithms. And here I need you guys to help me improve my code.

One thing I know that is not working well, is the automatic stabilizer.
Lets say:

  • Plane is straightforward = roll and pitch has a value of 180 degrees.
  • Plane is leaning = roll has a value of 160 (which means leaning 20 degrees to the left, I believe)
    --> Divide value by 2 and insert it in servo.write() function.

The problem is that the indication of the servos gets to small.
Should I make it into several intervals instead, or will it take to much memory?

Servo YAW_SERVO;
Servo PITCH_SERVO;
Servo ROLL_SERVO;

int flag_roll = 0;
int flag_pitch = 0;
int flag_yaw = 0;

//////////////////////////////////////////////
//////     INITIATION OF  SERVOS       ///////
//////////////////////////////////////////////
void init_servo_motor(){
  YAW_SERVO.attach(SERVO_YAW_PIN);
  PITCH_SERVO.attach(SERVO_PITCH_PIN);
  ROLL_SERVO.attach(SERVO_ROLL_PIN);
}


//////////////////////////////////////////////
//////     READING THE RECEIVER AND      /////
//////  MANIPULATING THE SERVOS THROUGH IT ///       
//////////////////////////////////////////////
void read_receiver(){
    YAW.readSignal();
    PITCH.readSignal();
    ROLL.readSignal();
//  THROTTLE.readSignal();

   
          //////////////////////////////////////////////
          ///    CONTROL SERVO THROUGH RECEIVER     ////
          //////////////////////////////////////////////
      if(ROLL.getVersus() != 0){
      ROLL_SERVO.write(map((ROLL.getSignal()), 1000,2000,0,179));
      flag_roll = 0;
      Serial.println("RECEIVER ROLL");
    } 
    if(PITCH.getVersus() != 0){
      PITCH_SERVO.write(map((PITCH.getSignal()), 1000,2000,0,179));
      flag_pitch = 0;
      Serial.println("RECEIVER PITCH");
    }
    if(YAW.getVersus() != 0){
      YAW_SERVO.write(map((YAW.getSignal()), 1000,2000,0,179));
      flag_yaw = 0;
      Serial.println("RECEIVER YAW");
    }

    //CHECKING IF ALL OF THE LEVERS OF THE RECEIVER ARE OFF   
    if(ROLL.getVersus() == 0 && PITCH.getVersus() == 0 && YAW.getVersus() == 0){
      control_servo_sensor();
    }

 
}



void control_servo_sensor(){
  
    //////////////////////////////////
    ///    CONTROLLING THE SERVOS ////
    ///          WITH SENSOR      ////
    //////////////////////////////////
    
  get_sensor_values();
    
  // THIS IS FOR THE ROLL SERVO  //
    if(kalAngleX < 177 || kalAngleX > 182){ 
      
      Serial.println("SENSOR ROLL ");
      Serial.print(kalAngleX);
      
      int value_roll = kalAngleX/2;    
      ROLL_SERVO.write(value_roll);
      
      flag_roll = 0;
  }
  
    // THIS IS FOR THE PITCH SERVO // 
  if(kalAngleY < 182 || kalAngleY > 185){   
    
    Serial.println("SENSOR PITCH ");
    Serial.print(kalAngleY);
    
    int value_pitch = kalAngleY/2;
    PITCH_SERVO.write(value_pitch);
    
    flag_pitch = 0;
  }
    
       ///////////////////////////////////////////////////////////////////////  
       // RESET TO ZERO POSITION JUST FOR SAFETY (ROLL, PITCH, YAW SERVOS) // 
       ///////////////////////////////////////////////////////////////////////
       
     if(flag_roll == 0 && ROLL.getVersus() == 0 && kalAngleX > 177 && kalAngleX < 182){  
       Serial.println("RESETING ROLL");
       
       ROLL_SERVO.write(90);
       flag_roll = 1;
   }

   if(flag_pitch == 0 && PITCH.getVersus() == 0 && kalAngleY > 182 && kalAngleY < 185){
     Serial.println("RESETING PTCH");
     PITCH_SERVO.write(90);
     flag_pitch = 1;
   }
   
     if(flag_yaw == 0 && YAW.getVersus() == 0){
     Serial.println("RESETING PTCH");
     YAW_SERVO.write(90);
     flag_yaw = 1;
   }
  

}

PS. Yes, I have the pinchangeint library installed. But lets forget about that since Ive found a quite good library now that satisfies me.
Cheers!