HAPSRG / Mbed 2 deprecated HAPStail

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM

run.cpp@69:0caaad87cf1d, 2021-06-28 (annotated)

Committer:
NaotoMorita
Date:
Mon Jun 28 03:30:54 2021 +0000
Revision:
69:0caaad87cf1d
Parent:
66:a210d7130a44
Child:
70:9e7be21475f8
errStateEKF

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 56:888379912f81 1 #include "global.hpp"
cocorlow 56:888379912f81 2
cocorlow 56:888379912f81 3 void run()
cocorlow 56:888379912f81 4 {
cocorlow 56:888379912f81 5 pc.printf("reading calibration value\r\n");
cocorlow 56:888379912f81 6 //キャリブレーション値を取得
cocorlow 56:888379912f81 7 U read_calib;
cocorlow 56:888379912f81 8 readEEPROM(eeprom_address, eeprom_pointeraddress, read_calib.c, N_EEPROM*4);
cocorlow 56:888379912f81 9 wait(3);
cocorlow 56:888379912f81 10 pos_tail = (int)read_calib.i[0];
NaotoMorita 61:c05353850017 11 agoffset[3] = float(read_calib.i[7]);
NaotoMorita 61:c05353850017 12 agoffset[4] = float(read_calib.i[8]);
NaotoMorita 61:c05353850017 13 agoffset[5] = float(read_calib.i[9]);
NaotoMorita 61:c05353850017 14 magbiasMin[0] = float(read_calib.i[1])/1000.0f;
NaotoMorita 61:c05353850017 15 magbiasMin[1] = float(read_calib.i[2])/1000.0f;
NaotoMorita 61:c05353850017 16 magbiasMin[2] = float(read_calib.i[3])/1000.0f;
NaotoMorita 61:c05353850017 17 magbiasMax[0] = float(read_calib.i[4])/1000.0f;
NaotoMorita 61:c05353850017 18 magbiasMax[1] = float(read_calib.i[5])/1000.0f;
NaotoMorita 61:c05353850017 19 magbiasMax[2] = float(read_calib.i[6])/1000.0f;
NaotoMorita 61:c05353850017 20 rpy_align.y = float(read_calib.i[10])/200000.0f;
NaotoMorita 61:c05353850017 21 rpy_align.x = float(read_calib.i[11])/200000.0f;
NaotoMorita 61:c05353850017 22 magCalibrator.setExtremes(magbiasMin,magbiasMax);
cocorlow 56:888379912f81 23 // tail_address[pos_tail] = (int)read_calib.i[10];
cocorlow 56:888379912f81 24
cocorlow 56:888379912f81 25 switch(pos_tail){
cocorlow 56:888379912f81 26 case 0:
cocorlow 56:888379912f81 27 pc.printf("This MBED is Located at Left \r\n");
cocorlow 56:888379912f81 28 break;
cocorlow 56:888379912f81 29 case 1:
cocorlow 56:888379912f81 30 pc.printf("This MBED is Located at Center \r\n");
cocorlow 56:888379912f81 31 break;
cocorlow 56:888379912f81 32 case 2:
cocorlow 56:888379912f81 33 pc.printf("This MBED is Located at Right \r\n");
cocorlow 56:888379912f81 34 break;
cocorlow 56:888379912f81 35 default: // error situation
cocorlow 56:888379912f81 36 pc.printf("error\r\n");
cocorlow 56:888379912f81 37 break;
cocorlow 56:888379912f81 38 }
cocorlow 56:888379912f81 39 pc.printf("tail_address : %d\r\n", tail_address[pos_tail]);
cocorlow 56:888379912f81 40 pc.printf("Alignment values are %f(pitch deg) %f(roll deg)\r\n",rpy_align.y*180.0f/M_PI,rpy_align.x*180.0f/M_PI);
cocorlow 56:888379912f81 41 getIMUval();
NaotoMorita 69:0caaad87cf1d 42 //ekf.triad(acc/acc.Norm(), accref/accref.Norm(), mag/mag.Norm(), magref/magref.Norm());
NaotoMorita 69:0caaad87cf1d 43 ekf.defineQhat(rpy_align);
NaotoMorita 69:0caaad87cf1d 44 float sum2accnorm = 0;
NaotoMorita 69:0caaad87cf1d 45 float sumaccnorm = 0;
NaotoMorita 69:0caaad87cf1d 46
NaotoMorita 69:0caaad87cf1d 47 Timer _t;
NaotoMorita 69:0caaad87cf1d 48 _t.start();
NaotoMorita 69:0caaad87cf1d 49
cocorlow 56:888379912f81 50 for(int i = 0; i < 1000; i++){
NaotoMorita 69:0caaad87cf1d 51 float tstart = _t.read();
cocorlow 56:888379912f81 52 getIMUval();
NaotoMorita 69:0caaad87cf1d 53 ekf.updateQhat(gyro, att_dt);
NaotoMorita 69:0caaad87cf1d 54 ekf.updateErrState(gyro, att_dt);
NaotoMorita 69:0caaad87cf1d 55 ekf.updateStaticAccMeasures(acc,accref);
NaotoMorita 69:0caaad87cf1d 56 ekf.fuseErr2Qhat();
NaotoMorita 69:0caaad87cf1d 57 //ekf.resetGyroBias(gyroBias);
NaotoMorita 69:0caaad87cf1d 58 ekf.updateMagMeasures(mag);
NaotoMorita 69:0caaad87cf1d 59 ekf.computeAngles(rpy, rpy_align);
NaotoMorita 69:0caaad87cf1d 60 sumaccnorm += acc.Norm();
NaotoMorita 69:0caaad87cf1d 61 sum2accnorm += acc.Norm()*acc.Norm();
NaotoMorita 69:0caaad87cf1d 62 float tend = _t.read();
NaotoMorita 69:0caaad87cf1d 63 att_dt = (tend-tstart);
cocorlow 56:888379912f81 64 }
NaotoMorita 69:0caaad87cf1d 65 accref.z = sumaccnorm / 1000.0f;
cocorlow 56:888379912f81 66 for (int i = 0; i < 3; i++)
cocorlow 56:888379912f81 67 {
cocorlow 56:888379912f81 68 if (i == pos_tail)
cocorlow 56:888379912f81 69 {
cocorlow 63:851e96f54a86 70 continue;
cocorlow 56:888379912f81 71 }
cocorlow 56:888379912f81 72 else
cocorlow 56:888379912f81 73 {
cocorlow 56:888379912f81 74 tail.Subscribe(tail_address[i], &(posValues[i]));
cocorlow 56:888379912f81 75 }
cocorlow 56:888379912f81 76 }
cocorlow 63:851e96f54a86 77 tail.Subscribe(time_address, &broadcast_time);
cocorlow 56:888379912f81 78
cocorlow 56:888379912f81 79 LoopTicker PIDtick;
cocorlow 56:888379912f81 80 PIDtick.attach(calcServoOut,PID_dt);
cocorlow 56:888379912f81 81
cocorlow 56:888379912f81 82
cocorlow 56:888379912f81 83 while(1)
cocorlow 56:888379912f81 84 {
cocorlow 56:888379912f81 85 float tstart = _t.read();
cocorlow 56:888379912f81 86 //姿勢角を更新
cocorlow 56:888379912f81 87 getIMUval();
NaotoMorita 69:0caaad87cf1d 88 ekf.updateQhat(gyro, att_dt);
NaotoMorita 69:0caaad87cf1d 89 ekf.updateErrState(gyro, att_dt);
NaotoMorita 69:0caaad87cf1d 90 if(ekf.determinDynStatus(acc,accref)){
NaotoMorita 69:0caaad87cf1d 91 ekf.updateAccMeasures(acc,accref);
NaotoMorita 69:0caaad87cf1d 92 }else{
NaotoMorita 69:0caaad87cf1d 93 ekf.updateStaticAccMeasures(acc,accref);
NaotoMorita 69:0caaad87cf1d 94 }
NaotoMorita 69:0caaad87cf1d 95 ekf.fuseErr2Qhat();
NaotoMorita 69:0caaad87cf1d 96 ekf.resetBias();
NaotoMorita 69:0caaad87cf1d 97 ekf.updateMagMeasures(mag);
NaotoMorita 69:0caaad87cf1d 98 ekf.computeAngles(rpy, rpy_align);
cocorlow 56:888379912f81 99 PIDtick.loop();
cocorlow 56:888379912f81 100
cocorlow 56:888379912f81 101 float tend = _t.read();
cocorlow 56:888379912f81 102 att_dt = (tend-tstart);
cocorlow 56:888379912f81 103 }
cocorlow 56:888379912f81 104 }