BBFlight project began in the winter of last year which is my first project basing in STM32,
significantly,i study electronic control and printed circuit designing through this.Thank to my
brother,he taught me so much about progamming and circuit design ,in addition, he influenced my
coding ideal deeply, inspired me a lot. In this year, up to now, this summer holiday, i finished
the client by python for pc and the software for drone controlling.But it also exist many problems
of BBFlight, like unstable command communication, low efficiency about drone cpu using,etc.
ms5611.h
----------------------
#define ConversionTime 10000
#define DefaultPresInitFilterTime 50
**高度转换要运行够50次滤波**
system_config.h
---------------------
#define USB_DEBUG
#define USE_LPF_FILTER
#define SAMPLINGFREQ 200
#define LPFCUTOFFFREQ 50.0f
mpu9250.h
-----------------------
#define GYROSCALE250DPS
#define GYROSCALE500DPS
#define GYROSCALE1000DPS
#define GYROSCALE2000DPS
#define ACCELSCALE2G
#define ACCELSCALE4G
#define ACCELSCALE8G
#define ACCELSCALE16G
#define MAGSCALE14BITS
#define MAGSCALE16BITS
#define USE_MAG_PASSMODE========================
###This error is not because of the 16Mhz crystal. And finally,i found that the usb crashing problem is raise by the overflowing of the USB RX FIFO. When the slave misses the connection, the software of slave can not clear the fifo immediately( it comes to outtime processing) ,at the same time,the client will not stop send command. So that the usb moduel crashing happens if the fifo overflow. For slove this problem, i added some methods to interrupt the cilent transmitting when lost connection.
NVIC_PriorityGroup_2 抢占有两位 响应有两位 加起来可以表达16个优先级
|---| PreemptionPriority(抢占) | SubPriority（响应) |---| |:---:|:---:|:---:| |TIM1 SYSTEM_LOOP|0|1|sign| |NRFIT|0|0|---| |TIM2 DEBUG|1|1|sign| |USB WAKEUP|0|1|---| |USB RXIRQ|1|0|---| |USART|1|0|---|
=====================
M1 M2
T3C4 T4C4
MOTO_1 MOTO_0
Y
|-X
M3 M4
T3C3 T4C3
MOTO_2 MOTO_3
=====================
1. Be different to the normal quadcopter, the pwm controll value is linear of the rotational speed of motor instead of the moment of force of the motor. The elevating force is proportional to the moment of force but to the squre of rotational speed.
2. If the imu attitude calculation frequency higher than the motor controller frequency,the derivative term of PID controller should use the GYRO data, and inversely use the new Euler angles subtract the last one.
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