实现飞2米高的框架(c语言版)

#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <math.h>
#include <unistd.h> // For sleep function
 
// 模拟MPU6050传感器结构体
typedef struct {
    float x, y, z; // 加速度数据
} MPU6050_Data;
 
// 模拟MPU6050传感器实例
MPU6050_Data mpu6050_data = {0.0, 0.0, 0.0}; // 初始化为0
 
// Quadcopter结构体
typedef struct {
    float target_height;
    float kp, ki, kd;
    float last_error;
    float integral;
    uint16_t max_pwm, min_pwm, current_pwm;
    MPU6050_Data* sensor;
} Quadcopter;
 
// 全局变量
Quadcopter quadcopter = {
    .target_height = 2.0,
    .kp = 0.5,
    .ki = 0.1,
    .kd = 0.3,
    .last_error = 0,
    .integral = 0,
    .max_pwm = 2000,
    .min_pwm = 1000,
    .current_pwm = 1500,
    .sensor = &mpu6050_data
};
 
// 模拟函数原型
MPU6050_Data* mpu6050_get_accel_data();
float read_altitude();
void pid_control(float current_height, float pitch, float roll);
void set_motor_speeds(uint16_t pwm_value, float pitch_output, float roll_output);
 
// 模拟MPU6050传感器数据读取函数
MPU6050_Data* mpu6050_get_accel_data() {
    // 在实际应用中，这里应读取MPU6050传感器的数据
    // 这里我们模拟一些数据
    mpu6050_data.x = 0.01; // 模拟pitch
    mpu6050_data.y = -0.02; // 模拟roll
    mpu6050_data.z = 0.0; // yaw通常用于航向控制，这里不使用
    return &mpu6050_data;
}
 
// 模拟读取高度函数
float read_altitude() {
    // 在实际应用中，这里应读取气压传感器的高度数据
    // 这里我们模拟一个高度值
    return 1.9;
}
 
// PID控制函数
void pid_control(float current_height, float pitch, float roll) {
    float error = quadcopter.target_height - current_height;
    quadcopter.integral += error * 0.02;
    float derivative = (error - quadcopter.last_error) / 0.02;
    float output = quadcopter.kp * error + quadcopter.ki * quadcopter.integral + quadcopter.kd * derivative;
    quadcopter.last_error = error;
 
    // 调整PWM值以控制高度
    quadcopter.current_pwm += output;
    quadcopter.current_pwm = (quadcopter.current_pwm > quadcopter.max_pwm) ? quadcopter.max_pwm : ((quadcopter.current_pwm < quadcopter.min_pwm) ? quadcopter.min_pwm : quadcopter.current_pwm);
 
    // 调整PWM值以控制姿态
    float pitch_output = -pitch * 0.5; // 俯仰控制
    float roll_output = -roll * 0.5;   // 滚转控制
 
    // 设置四个电机的速度
    set_motor_speeds(quadcopter.current_pwm, pitch_output, roll_output);
}
 
// 设置电机速度函数
void set_motor_speeds(uint16_t pwm_value, float pitch_output, float roll_output) {
    uint16_t front_left_pwm = pwm_value + (int16_t)(pitch_output - roll_output);
    uint16_t front_right_pwm = pwm_value - (int16_t)(pitch_output + roll_output);
    uint16_t rear_left_pwm = pwm_value + (int16_t)(pitch_output + roll_output);
    uint16_t rear_right_pwm = pwm_value - (int16_t)(pitch_output - roll_output);
 
    // 确保PWM值在有效范围内
    front_left_pwm = (front_left_pwm > quadcopter.max_pwm) ? quadcopter.max_pwm : ((front_left_pwm < quadcopter.min_pwm) ? quadcopter.min_pwm : front_left_pwm);
    front_right_pwm = (front_right_pwm > quadcopter.max_pwm) ? quadcopter.max_pwm : ((front_right_pwm < quadcopter.min_pwm) ? quadcopter.min_pwm : front_right_pwm);
    rear_left_pwm = (rear_left_pwm > quadcopter.max_pwm) ? quadcopter.max_pwm : ((rear_left_pwm < quadcopter.min_pwm) ? quadcopter.min_pwm : rear_left_pwm);
    rear_right_pwm = (rear_right_pwm > quadcopter.max_pwm) ? quadcopter.max_pwm : ((rear_right_pwm < quadcopter.min_pwm) ? quadcopter.min_pwm : rear_right_pwm);
 
    printf("Setting motor speeds: FL=%u, FR=%u, RL=%u, RR=%u\n", front_left_pwm, front_right_pwm, rear_left_pwm, rear_right_pwm);
}
 
// 主函数
int main() {
    while (1) {
        float current_height = read_altitude();
        MPU6050_Data* attitude_data = mpu6050_get_accel_data();
        float pitch = attitude_data->x;
        float roll = attitude_data->y;
        pid_control(current_height, pitch, roll);
        usleep(20000); // 采样时间为20ms
    }
    return 0;
}