Unity - Advanced Thrust Vectoring Rocket

This rocket stabilizes its self using a TVC mount.

Oct 17, 2021

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Components and supplies

Arduino UNO

Teensy 4.1

Tools and machines

Soldering iron (generic)

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VS Code

Project description

Code

PID controller

c_cpp

PID controller to help you get started! Cannot post more because of ITAR.

1#include <Arduino.h>
2#include "PID.h"
3
4PID::PID(float kp, float   ki, float kd)
5{
6    this->kp = kp;
7    this->ki = ki;
8    this->kd =   kd;
9}
10
11double PID::update(double input, double dt, double thrustSet, float   momentArm, float setpoint)
12{
13    this->momentArm = momentArm;
14    this->setpoint   = setpoint;
15
16    error = input - setpoint;
17
18    integral += error *   dt;
19    integral = constrain(integral, -6, 6);
20
21    derivative = (error   - prevError) / dt;
22    prevError = error;
23
24    ut = (kp * error) + (ki   * integral) + (kd * derivative);
25
26    output = asin(ut / (momentArm * thrustSet));
27
28     return output * (180 / PI);
29}

#include <Arduino.h>
#include "PID.h"

PID::PID(float kp, float   ki, float kd)
{
    this->kp = kp;
    this->ki = ki;
    this->kd =   kd;
}

double PID::update(double input, double dt, double thrustSet, float   momentArm, float setpoint)
{
    this->momentArm = momentArm;
    this->setpoint   = setpoint;

    error = input - setpoint;

    integral += error *   dt;
    integral = constrain(integral, -6, 6);

    derivative = (error   - prevError) / dt;
    prevError = error;

    ut = (kp * error) + (ki   * integral) + (kd * derivative);

    output = asin(ut / (momentArm * thrustSet));

     return output * (180 / PI);
}

PID controller

c_cpp

PID controller to help you get started! Cannot post more because of ITAR.

1#include <Arduino.h>
2#include "PID.h"
3
4PID::PID(float kp, float  ki, float kd)
5{
6    this->kp = kp;
7    this->ki = ki;
8    this->kd =  kd;
9}
10
11double PID::update(double input, double dt, double thrustSet, float  momentArm, float setpoint)
12{
13    this->momentArm = momentArm;
14    this->setpoint  = setpoint;
15
16    error = input - setpoint;
17
18    integral += error *  dt;
19    integral = constrain(integral, -6, 6);
20
21    derivative = (error  - prevError) / dt;
22    prevError = error;
23
24    ut = (kp * error) + (ki  * integral) + (kd * derivative);
25
26    output = asin(ut / (momentArm * thrustSet));
27
28    return output * (180 / PI);
29}

#include <Arduino.h>
#include "PID.h"

PID::PID(float kp, float  ki, float kd)
{
    this->kp = kp;
    this->ki = ki;
    this->kd =  kd;
}

double PID::update(double input, double dt, double thrustSet, float  momentArm, float setpoint)
{
    this->momentArm = momentArm;
    this->setpoint  = setpoint;

    error = input - setpoint;

    integral += error *  dt;
    integral = constrain(integral, -6, 6);

    derivative = (error  - prevError) / dt;
    prevError = error;

    ut = (kp * error) + (ki  * integral) + (kd * derivative);

    output = asin(ut / (momentArm * thrustSet));

    return output * (180 / PI);
}

Downloadable files

Avionics Schematic

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