/**
* Remotely control a quadcopter using a RaspberryPi as
* the on board computer, reading the sensors and computing
* how much power to apply to the motors. The current implementation
* uses three sensors (gyroscope, accelerometer, and magnetometer).
**/
func main() {
const (
d2r = math.Pi / 180.0 // Used to convert degrees to radians
r2d = 180.0 / math.Pi // Used to convert radians to degrees
)
var (
imu *imus.ImuMayhony
sData io.SensorData
cData io.CmdData
i int // number of iterations in the for loop
cnt int // number of printf calls (or ~seconds)
now int64
lastTime int64 // last time a printf was called
second int64 // One second in nanoseconds
yaw float32
pitch float32
roll float32
)
imu = imus.NewImuMayhony()
sensorChannel := make(chan io.SensorData)
cmdChannel := make(chan io.CmdData)
go io.ReadSensors(sensorChannel)
go io.ReadCommands(cmdChannel)
second = int64(time.Second)
lastTime = time.Now().UnixNano()
for {
select {
case sData = <-sensorChannel:
yaw, pitch, roll = imu.Update(sData.When, sData.Gx*d2r, sData.Gy*d2r, sData.Gz*d2r, sData.Ax, sData.Ay, sData.Az, sData.Mx, sData.My, sData.Mz)
i++
now = time.Now().UnixNano()
if (now - lastTime) >= second {
cnt++
fmt.Printf("%d YPR(%10.5f, %10.5f, %10.5f)\n", cnt, yaw*r2d, pitch*r2d, roll*r2d)
lastTime = now
}
case cData = <-cmdChannel:
fmt.Printf("%d CMD(%d, %d, %d, %d, %d, %d\n", cData.Yaw, cData.Pitch, cData.Roll, cData.Aux1, cData.Aux2)
}
}
}
/**
* This test program reads data from the three sensors
* gyroscope, accelerometer, and magnetometer, runs it
* through the filter, and prints the computed
* Yaw, Pitch, and Roll every 100 iterations.
* Each iteration takes approximately 3 milliseconds
* on a RaspberryPi model B.
**/
func main() {
const (
d2r = math.Pi / 180.0 // Used to convert degrees to radians
r2d = 180.0 / math.Pi // Used to convert radians to degrees
)
var (
gyroscope *sensors.L3GD20 = nil
accelerometer *sensors.LSM303ACCEL = nil
magnetometer *sensors.LSM303MAG = nil
imu *imus.ImuMayhony = nil
err error
dbgPrint bool
gx, gy, gz float32 // Gyroscope rate in degrees
ax, ay, az float32 // Accelerometer data
mx, my, mz float32 // Magnetometer data
yaw, pitch, roll float32 // IMU results in radians
)
gyroscope, err = sensors.NewL3GD20()
if err != nil {
fmt.Printf("Error: getting device L3GD20, err=%v\n", err)
return
}
accelerometer, err = sensors.NewLSM303ACCEL()
if err != nil {
fmt.Printf("Error: getting device LSM303ACCEL, err=%v\n", err)
return
}
magnetometer, err = sensors.NewLSM303MAG()
if err != nil {
fmt.Printf("Error: getting device LSM303MAG, err=%v\n", err)
return
}
imu = imus.NewImuMayhony()
maxIterations := 10000
for {
startTime := time.Now().UnixNano()
for i := 0; i < maxIterations; i++ {
dbgPrint = (i % 100) == 0
now := time.Now().UnixNano()
gx, gy, gz, err = gyroscope.ReadXYZ()
if err == nil {
ax, ay, az, err = accelerometer.ReadXYZ()
if err == nil {
mx, my, mz, err = magnetometer.ReadXYZ()
if err == nil {
yaw, pitch, roll = imu.Update(now, gx*d2r, gy*d2r, gz*d2r, ax, ay, az, mx, my, mz)
if dbgPrint {
fmt.Printf(" YPR(%10.5f, %10.5f, %10.5f)\n", yaw*r2d, pitch*r2d, roll*r2d)
}
} else {
fmt.Printf("Error: reading magnetometer, err=%v\n", err)
}
} else {
fmt.Printf("Error: reading accelerometer, err=%v\n", err)
}
} else {
fmt.Printf("Error: reading gyroscope, err=%v\n", err)
}
}
finishTime := time.Now().UnixNano()
delta := finishTime - startTime
fmt.Printf("%4.2f milliseconds per iteration\n", (float64(delta)/float64(maxIterations))/1000000.0)
}
}