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

servo.cpp@68:11ffadc7adb1, 2021-06-22 (annotated)

Committer:
osaka
Date:
Tue Jun 22 12:00:40 2021 +0000
Revision:
68:11ffadc7adb1
Parent:
67:1da4e7ccdd2b
Child:
69:0caaad87cf1d
commit

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 // 割り込まれた時点での出力(computeの結果）を返す関数
cocorlow 56:888379912f81 4 void calcServoOut()
cocorlow 56:888379912f81 5 {
cocorlow 56:888379912f81 6 if(sbus.failSafe == false)
cocorlow 56:888379912f81 7 {
cocorlow 56:888379912f81 8 // sbusデータの読み込み
cocorlow 56:888379912f81 9 for (int i = 0; i < 16;i ++)
cocorlow 56:888379912f81 10 {
cocorlow 56:888379912f81 11 rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
cocorlow 56:888379912f81 12 }
cocorlow 56:888379912f81 13 }
NaotoMorita 62:ef10fd919f7b 14 //pc.printf("rc:%f\r\n",rc[1]);
NaotoMorita 57:923e3df16159 15
NaotoMorita 57:923e3df16159 16 // 自身の位置に応じてエレベータ舵角を決定する
cocorlow 63:851e96f54a86 17 deobj = 0.0f;
NaotoMorita 57:923e3df16159 18 switch(pos_tail)
NaotoMorita 57:923e3df16159 19 {
NaotoMorita 57:923e3df16159 20 case 0: //left
NaotoMorita 57:923e3df16159 21 deobj = -rc[1];
NaotoMorita 57:923e3df16159 22 break;
NaotoMorita 57:923e3df16159 23 case 1: //center
NaotoMorita 57:923e3df16159 24 deobj = -rc[1];
NaotoMorita 57:923e3df16159 25 break;
NaotoMorita 57:923e3df16159 26 case 2: //right
NaotoMorita 57:923e3df16159 27 deobj = -rc[1];
NaotoMorita 57:923e3df16159 28 break;
NaotoMorita 57:923e3df16159 29 default: // error situation
NaotoMorita 57:923e3df16159 30 deobj = 0.0f;
NaotoMorita 57:923e3df16159 31 break;
NaotoMorita 57:923e3df16159 32 }
NaotoMorita 57:923e3df16159 33 //指令角の最大最小値をrc7で変更
NaotoMorita 57:923e3df16159 34 float objgain = ((rc[6]+1.0f)/2*10.0f+1.0f)*M_PI/180.0f;
NaotoMorita 57:923e3df16159 35 float pitchobj = objgain * deobj;
NaotoMorita 57:923e3df16159 36
NaotoMorita 57:923e3df16159 37 //ゲインの係数をrc8で変更
NaotoMorita 62:ef10fd919f7b 38 float gaincoef = 1.0;
NaotoMorita 62:ef10fd919f7b 39 pitchPID.setGain(6.36*gaincoef, 10.6*gaincoef*0.0f,0.0);
NaotoMorita 57:923e3df16159 40 pitchratePID.setGain(0.9540*gaincoef,0.0,0.0);
cocorlow 56:888379912f81 41 pitchPID.setProcessValue(rpy.y);
cocorlow 56:888379912f81 42 pitchratePID.setProcessValue(gyro.y);
NaotoMorita 57:923e3df16159 43 //目標値のセット
NaotoMorita 57:923e3df16159 44 pitchPID.setSetPoint(pitchobj); //目標の設定
cocorlow 63:851e96f54a86 45 de = pitchPID.compute()+pitchratePID.compute();
cocorlow 56:888379912f81 46
osaka 67:1da4e7ccdd2b 47 if (pos_tail == 0)
osaka 67:1da4e7ccdd2b 48 {
osaka 67:1da4e7ccdd2b 49
osaka 68:11ffadc7adb1 50 scaledServoOut[0]=de;
osaka 67:1da4e7ccdd2b 51 }
osaka 67:1da4e7ccdd2b 52 else
osaka 67:1da4e7ccdd2b 53 {
osaka 68:11ffadc7adb1 54 scaledServoOut[0]=-de;
osaka 67:1da4e7ccdd2b 55 }
cocorlow 56:888379912f81 56
cocorlow 56:888379912f81 57 float LP_servo = 0.2;
cocorlow 56:888379912f81 58 for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++)
cocorlow 56:888379912f81 59 {
cocorlow 56:888379912f81 60 servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
cocorlow 56:888379912f81 61 if(servoOut[i]<servoPwmMin)
cocorlow 56:888379912f81 62 {
cocorlow 56:888379912f81 63 servoOut[i] = servoPwmMin;
cocorlow 56:888379912f81 64 }
cocorlow 56:888379912f81 65 if(servoOut[i]>servoPwmMax)
cocorlow 56:888379912f81 66 {
cocorlow 56:888379912f81 67 servoOut[i] = servoPwmMax;
cocorlow 56:888379912f81 68 }
cocorlow 56:888379912f81 69 }
cocorlow 56:888379912f81 70
cocorlow 56:888379912f81 71 servo.pulsewidth_us(servoOut[0]);
cocorlow 56:888379912f81 72
cocorlow 56:888379912f81 73 //観測アップデート
cocorlow 56:888379912f81 74 dynacc = ekf.calcDynAcc(LPacc, accref);
cocorlow 56:888379912f81 75 th_mg = abs(acos(LPmag/LPmag.Norm() % LPacc/LPacc.Norm())-val_thmg);
cocorlow 56:888379912f81 76
cocorlow 56:888379912f81 77 accnormerr = abs(LPacc.Norm()-accref.Norm());
cocorlow 56:888379912f81 78 //静止時100個の平均　0.01877522 0.00514146 0.00477393
cocorlow 56:888379912f81 79
cocorlow 56:888379912f81 80 //int ang_th = th_mg < 0.01877522;
cocorlow 56:888379912f81 81 //int dyn_th = dynaccnorm < 0.00514146;
cocorlow 56:888379912f81 82 //int norm_th = accnormerr< 0.00477393;
NaotoMorita 61:c05353850017 83 int ang_th = th_mg < sigma_thmg/200.0;
NaotoMorita 61:c05353850017 84 int dyn_th = dynacc.Norm() < sigma_accnorm/50.0;
NaotoMorita 61:c05353850017 85 int norm_th = accnormerr< sigma_accnorm/50.0;
cocorlow 56:888379912f81 86 if(dyn_th+ang_th+norm_th>0)
cocorlow 56:888379912f81 87 {
cocorlow 56:888379912f81 88 //if(dyn_th+ang_th+norm_th>-1){
cocorlow 56:888379912f81 89 obs_count += 1;
cocorlow 56:888379912f81 90 ekf.updateAcrossMeasures(LPmag/LPmag.Norm(), magref/magref.Norm(), ekf.Rmag);
cocorlow 56:888379912f81 91 ekf.updateAcrossMeasures(LPacc/LPacc.Norm(), accref/accref.Norm(), ekf.Racc);
cocorlow 56:888379912f81 92 }
cocorlow 56:888379912f81 93
cocorlow 66:a210d7130a44 94 // if(loop_count >= 10)
cocorlow 66:a210d7130a44 95 if(loop_count >= 3)
cocorlow 56:888379912f81 96 {
cocorlow 56:888379912f81 97 writeSdcard();
cocorlow 56:888379912f81 98 loop_count = 1;
cocorlow 56:888379912f81 99 obs_count = 0;
cocorlow 56:888379912f81 100 }
cocorlow 56:888379912f81 101 else
cocorlow 56:888379912f81 102 {
cocorlow 56:888379912f81 103 loop_count +=1;
cocorlow 56:888379912f81 104 }
cocorlow 56:888379912f81 105 }