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

run.cpp@103:34e911b94440, 2022-02-28 (annotated)

Committer:
osaka
Date:
Mon Feb 28 12:21:31 2022 +0000
Revision:
103:34e911b94440
Parent:
101:d9895b8eb49f
Child:
104:f81befbc5ab7
with optical-flow

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 {
osaka 85:0b14a2a600fc 5
cocorlow 56:888379912f81 6 pc.printf("reading calibration value\r\n");
cocorlow 56:888379912f81 7 //キャリブレーション値を取得
cocorlow 56:888379912f81 8 U read_calib;
cocorlow 56:888379912f81 9 readEEPROM(eeprom_address, eeprom_pointeraddress, read_calib.c, N_EEPROM*4);
cocorlow 56:888379912f81 10 wait(3);
cocorlow 56:888379912f81 11 pos_tail = (int)read_calib.i[0];
NaotoMorita 61:c05353850017 12 magbiasMin[0] = float(read_calib.i[1])/1000.0f;
NaotoMorita 61:c05353850017 13 magbiasMin[1] = float(read_calib.i[2])/1000.0f;
NaotoMorita 61:c05353850017 14 magbiasMin[2] = float(read_calib.i[3])/1000.0f;
NaotoMorita 61:c05353850017 15 magbiasMax[0] = float(read_calib.i[4])/1000.0f;
NaotoMorita 61:c05353850017 16 magbiasMax[1] = float(read_calib.i[5])/1000.0f;
NaotoMorita 61:c05353850017 17 magbiasMax[2] = float(read_calib.i[6])/1000.0f;
NaotoMorita 90:0b1f62f7a83a 18 roll_offset = (float)read_calib.i[10] / 200000.0f;
NaotoMorita 90:0b1f62f7a83a 19 pitch_offset = (float)read_calib.i[11] / 200000.0f;
NaotoMorita 90:0b1f62f7a83a 20
osaka 84:028bd650e8bc 21 //センサの初期化・ジャイロバイアス・加速度スケールの取得
osaka 84:028bd650e8bc 22 int n_init = 1000;
osaka 84:028bd650e8bc 23 for(int i = 0;i<n_init;i++){
osaka 84:028bd650e8bc 24 lsm.readAccel();
osaka 84:028bd650e8bc 25 lsm.readMag();
osaka 84:028bd650e8bc 26 lsm.readGyro();
osaka 84:028bd650e8bc 27 agoffset[0] += lsm.ax * 9.8f;
osaka 84:028bd650e8bc 28 agoffset[1] += lsm.ay * 9.8f;
osaka 84:028bd650e8bc 29 agoffset[2] += lsm.az * 9.8f-9.8f;
osaka 84:028bd650e8bc 30 agoffset[3] +=(lsm.gx * M_PI / 180.0f);
osaka 84:028bd650e8bc 31 agoffset[4] +=(lsm.gy * M_PI / 180.0f);
osaka 84:028bd650e8bc 32 agoffset[5] +=(lsm.gz * M_PI / 180.0f);
osaka 84:028bd650e8bc 33 palt0 += lps.pressureToAltitudeMeters(lps.readPressureMillibars());
osaka 84:028bd650e8bc 34 magref.x += lsm.mx;
osaka 84:028bd650e8bc 35 magref.y += lsm.my;
osaka 84:028bd650e8bc 36 magref.z += lsm.mz;
osaka 84:028bd650e8bc 37 }
osaka 84:028bd650e8bc 38 for(int i = 0;i<6;i++){
osaka 84:028bd650e8bc 39 agoffset[i] /= float(n_init);
osaka 84:028bd650e8bc 40 }
NaotoMorita 100:473d550dfbfa 41 //eskf.setAccBias(agoffset[0],agoffset[1],agoffset[2]);
NaotoMorita 100:473d550dfbfa 42 //eskf.setGyroBias(agoffset[3],agoffset[4],agoffset[5]);
osaka 84:028bd650e8bc 43 magref.x /= float(n_init);
osaka 84:028bd650e8bc 44 magref.y /= float(n_init);
osaka 84:028bd650e8bc 45 magref.z /= float(n_init);
osaka 84:028bd650e8bc 46 palt0 /= float(n_init);
cocorlow 56:888379912f81 47
cocorlow 56:888379912f81 48 switch(pos_tail){
cocorlow 56:888379912f81 49 case 0:
cocorlow 56:888379912f81 50 pc.printf("This MBED is Located at Left \r\n");
cocorlow 56:888379912f81 51 break;
cocorlow 56:888379912f81 52 case 1:
cocorlow 56:888379912f81 53 pc.printf("This MBED is Located at Center \r\n");
cocorlow 56:888379912f81 54 break;
cocorlow 56:888379912f81 55 case 2:
cocorlow 56:888379912f81 56 pc.printf("This MBED is Located at Right \r\n");
cocorlow 56:888379912f81 57 break;
cocorlow 56:888379912f81 58 default: // error situation
cocorlow 56:888379912f81 59 pc.printf("error\r\n");
cocorlow 56:888379912f81 60 break;
cocorlow 56:888379912f81 61 }
cocorlow 56:888379912f81 62 pc.printf("tail_address : %d\r\n", tail_address[pos_tail]);
NaotoMorita 90:0b1f62f7a83a 63 pc.printf("Alignment values are %f(pitch deg) %f(roll deg)\r\n",roll_offset*180.0f/M_PI,pitch_offset*180.0f/M_PI);
NaotoMorita 90:0b1f62f7a83a 64
NaotoMorita 90:0b1f62f7a83a 65 wait(1);
NaotoMorita 69:0caaad87cf1d 66
osaka 84:028bd650e8bc 67 //ESKFの共分散設定
osaka 84:028bd650e8bc 68 eskf.setGravity(0.0f,0.0f,9.8f);
NaotoMorita 101:d9895b8eb49f 69 eskf.setPhatPosition(0.1f);
NaotoMorita 101:d9895b8eb49f 70 eskf.setPhatVelocity(0.1f);
NaotoMorita 101:d9895b8eb49f 71 eskf.setPhatAngleError(0.5f);
NaotoMorita 101:d9895b8eb49f 72 eskf.setPhatAccBias(0.001f);
NaotoMorita 101:d9895b8eb49f 73 eskf.setPhatGyroBias(0.001f);
osaka 84:028bd650e8bc 74 eskf.setPhatGravity(0.0000001f);
NaotoMorita 101:d9895b8eb49f 75
osaka 84:028bd650e8bc 76 eskf.setQVelocity(0.001f);
osaka 84:028bd650e8bc 77 eskf.setQAngleError(0.0000025f);
osaka 84:028bd650e8bc 78 eskf.setQAccBias(0.000001f);
osaka 84:028bd650e8bc 79 eskf.setQGyroBias(0.000001f);
osaka 84:028bd650e8bc 80
osaka 84:028bd650e8bc 81 Matrix Rgpspos(3,3);
osaka 84:028bd650e8bc 82 setDiag(Rgpspos,1.0f);
osaka 84:028bd650e8bc 83
osaka 84:028bd650e8bc 84 Matrix Rgpsvel(3,3);
osaka 84:028bd650e8bc 85 Rgpsvel(1,1) = 0.01f;
osaka 84:028bd650e8bc 86 Rgpsvel(2,2) = 0.01f;
osaka 84:028bd650e8bc 87 Rgpsvel(3,3) = 0.1f;
osaka 84:028bd650e8bc 88
osaka 84:028bd650e8bc 89 Matrix Rgps(5,5);
osaka 84:028bd650e8bc 90 setDiag(Rgps,0.05f);
osaka 84:028bd650e8bc 91 Rgps(4,4) = 0.1f;
osaka 84:028bd650e8bc 92 Rgps(5,5) = 0.1f;
osaka 84:028bd650e8bc 93
osaka 84:028bd650e8bc 94 float dynAccCriteria = 0.4f;
osaka 84:028bd650e8bc 95 Matrix Racc(3,3);
osaka 84:028bd650e8bc 96 setDiag(Racc,100.0f);
osaka 84:028bd650e8bc 97 Matrix RaccDyn(3,3);
osaka 84:028bd650e8bc 98 setDiag(RaccDyn,5000.0f);
osaka 84:028bd650e8bc 99
osaka 84:028bd650e8bc 100 Matrix Rheading(1,1);
osaka 84:028bd650e8bc 101 Rheading(1,1) = 0.01f;
osaka 84:028bd650e8bc 102
NaotoMorita 71:62eb45ecffe9 103 wait(0.5);
NaotoMorita 69:0caaad87cf1d 104 Timer _t;
NaotoMorita 69:0caaad87cf1d 105 _t.start();
NaotoMorita 73:be7a8b8188de 106 tail.Subscribe(tail_address[pos_tail], &(updateValues));
cocorlow 56:888379912f81 107
osaka 91:393b9ae62681 108 //pre-flight check
NaotoMorita 100:473d550dfbfa 109 int i = 1;
osaka 91:393b9ae62681 110 while(1){
NaotoMorita 101:d9895b8eb49f 111 //float tstart = _t.read();
NaotoMorita 101:d9895b8eb49f 112 //getIMUval();
NaotoMorita 101:d9895b8eb49f 113 //eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
NaotoMorita 101:d9895b8eb49f 114 //eskf.updateErrState(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
NaotoMorita 101:d9895b8eb49f 115 //Matrix Reye(3,3);
NaotoMorita 101:d9895b8eb49f 116 //setDiag(Reye,1.0f);
NaotoMorita 101:d9895b8eb49f 117 //Matrix zeroMat(3,1);
NaotoMorita 101:d9895b8eb49f 118 //zeroMat(1,1) = 0.0f;
NaotoMorita 101:d9895b8eb49f 119 //zeroMat(2,1) = 0.0f;
NaotoMorita 101:d9895b8eb49f 120 //zeroMat(3,1) = 0.0f;
NaotoMorita 101:d9895b8eb49f 121 //if(i%3==0){
NaotoMorita 101:d9895b8eb49f 122 // eskf.updateGPSVelocity(zeroMat,Reye);
NaotoMorita 101:d9895b8eb49f 123 //}else if(i%3==1){
NaotoMorita 101:d9895b8eb49f 124 // float heading = atan2f(-mag.y,mag.x);
NaotoMorita 101:d9895b8eb49f 125 // eskf.updateHeading(heading,Rheading);
NaotoMorita 101:d9895b8eb49f 126 //}else{
NaotoMorita 101:d9895b8eb49f 127 // eskf.updateAcc(MatrixMath::Vector2mat(acc),Reye);
NaotoMorita 101:d9895b8eb49f 128 //}
NaotoMorita 100:473d550dfbfa 129
osaka 91:393b9ae62681 130 bool preflightCheck = true;
osaka 91:393b9ae62681 131 if(sbus.failSafe){
NaotoMorita 92:6a2319f7f6ed 132 pc.printf("sbus\r\n");
osaka 91:393b9ae62681 133 preflightCheck = false;
osaka 91:393b9ae62681 134 }
osaka 91:393b9ae62681 135 if(!(updateValues.gps_fix == 0x03)){
NaotoMorita 92:6a2319f7f6ed 136 pc.printf("gps\r\n");
osaka 91:393b9ae62681 137 preflightCheck = false;
osaka 91:393b9ae62681 138 }
NaotoMorita 101:d9895b8eb49f 139 //pc.printf("%d %d \r\n",updateValues.gps_itow,updateValues.gps_fix );
osaka 91:393b9ae62681 140
NaotoMorita 100:473d550dfbfa 141 if(preflightCheck == true && i>500){
osaka 91:393b9ae62681 142 prefligt_finished = true;
osaka 91:393b9ae62681 143 break;
osaka 91:393b9ae62681 144 }
NaotoMorita 93:b0f7a1e91476 145 wait(0.01f);
NaotoMorita 92:6a2319f7f6ed 146 pc.printf("pre-flight check\r\n");
osaka 91:393b9ae62681 147 send2center();
NaotoMorita 101:d9895b8eb49f 148 //float tend = _t.read();
NaotoMorita 101:d9895b8eb49f 149 //att_dt = (tend-tstart);
NaotoMorita 100:473d550dfbfa 150 i++;
osaka 91:393b9ae62681 151 }
osaka 91:393b9ae62681 152
NaotoMorita 95:98dbbcc6b39d 153 wait(2.0f);
NaotoMorita 93:b0f7a1e91476 154
NaotoMorita 93:b0f7a1e91476 155 eskf.setPihat(updateValues.pi[0], updateValues.pi[1], palt);
cocorlow 56:888379912f81 156 LoopTicker PIDtick;
cocorlow 56:888379912f81 157 PIDtick.attach(calcServoOut,PID_dt);
cocorlow 56:888379912f81 158
osaka 84:028bd650e8bc 159 float tgps = _t.read();
osaka 84:028bd650e8bc 160 float theading = _t.read();
cocorlow 56:888379912f81 161
cocorlow 56:888379912f81 162 while(1)
cocorlow 56:888379912f81 163 {
cocorlow 56:888379912f81 164 float tstart = _t.read();
osaka 84:028bd650e8bc 165 //センサの値を取得
cocorlow 56:888379912f81 166 getIMUval();
osaka 103:34e911b94440 167 calcOpticalVel();
osaka 84:028bd650e8bc 168
osaka 84:028bd650e8bc 169 //ekfの更新
osaka 84:028bd650e8bc 170 eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
osaka 84:028bd650e8bc 171 eskf.updateErrState(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
osaka 84:028bd650e8bc 172
NaotoMorita 90:0b1f62f7a83a 173 //キャリブレーション中
NaotoMorita 90:0b1f62f7a83a 174 if(updateValues.calibrationFlag == 1111){
NaotoMorita 90:0b1f62f7a83a 175 gpsUpdateFlag = false;
NaotoMorita 90:0b1f62f7a83a 176 if(tstart-tgps>0.2f){
NaotoMorita 90:0b1f62f7a83a 177 gpsUpdateFlag = true;
NaotoMorita 90:0b1f62f7a83a 178 tgps = _t.read();
NaotoMorita 90:0b1f62f7a83a 179 }
NaotoMorita 90:0b1f62f7a83a 180
NaotoMorita 90:0b1f62f7a83a 181 headingUpdateFlag = false;
NaotoMorita 90:0b1f62f7a83a 182 if(tstart-theading>0.05f){
osaka 84:028bd650e8bc 183 headingUpdateFlag = true;
osaka 84:028bd650e8bc 184 theading = _t.read();
osaka 84:028bd650e8bc 185 }
NaotoMorita 90:0b1f62f7a83a 186
NaotoMorita 90:0b1f62f7a83a 187 if(gpsUpdateFlag == true){
NaotoMorita 90:0b1f62f7a83a 188 Vector3 pi(0.0f, 0.0f, 0.0f);
NaotoMorita 90:0b1f62f7a83a 189 Vector3 vi(0.0f, 0.0f, 0.0f);
NaotoMorita 90:0b1f62f7a83a 190 eskf.updateGPS(MatrixMath::Vector2mat(pi),0.0f,MatrixMath::Vector2mat(vi),Rgps);
NaotoMorita 90:0b1f62f7a83a 191 }else if(headingUpdateFlag == true){
NaotoMorita 90:0b1f62f7a83a 192 eskf.updateHeading(0.0f,Rheading);
NaotoMorita 90:0b1f62f7a83a 193 }else{
NaotoMorita 90:0b1f62f7a83a 194 eskf.updateAcc(MatrixMath::Vector2mat(acc),Racc*0.01f);
NaotoMorita 90:0b1f62f7a83a 195 }
osaka 84:028bd650e8bc 196 }else{
NaotoMorita 90:0b1f62f7a83a 197 gpsUpdateFlag = false;
NaotoMorita 101:d9895b8eb49f 198 //pc.printf("%d %d \r\n",updateValues.gps_itow,updateValues.gps_fix );
NaotoMorita 90:0b1f62f7a83a 199 if((gpsitow != updateValues.gps_itow) && (updateValues.gps_fix == 0x03)){
NaotoMorita 90:0b1f62f7a83a 200 gpsUpdateFlag = true;
NaotoMorita 90:0b1f62f7a83a 201 gpsitow = updateValues.gps_itow;
NaotoMorita 90:0b1f62f7a83a 202 tgps = _t.read();
NaotoMorita 90:0b1f62f7a83a 203 }
NaotoMorita 90:0b1f62f7a83a 204
NaotoMorita 90:0b1f62f7a83a 205 headingUpdateFlag = false;
NaotoMorita 90:0b1f62f7a83a 206 if(tstart-theading>0.05f){
NaotoMorita 90:0b1f62f7a83a 207 Matrix euler = eskf.computeAngles();
NaotoMorita 90:0b1f62f7a83a 208 if(fabsf(euler(2,1))<30.0f*M_PI/180.0f){
NaotoMorita 90:0b1f62f7a83a 209 headingUpdateFlag = true;
NaotoMorita 90:0b1f62f7a83a 210 theading = _t.read();
NaotoMorita 90:0b1f62f7a83a 211 }
NaotoMorita 90:0b1f62f7a83a 212 }
NaotoMorita 90:0b1f62f7a83a 213
NaotoMorita 90:0b1f62f7a83a 214 if(gpsUpdateFlag==true){
NaotoMorita 90:0b1f62f7a83a 215 Vector3 pi(updateValues.pi[0], updateValues.pi[1], updateValues.pi[2]);
NaotoMorita 90:0b1f62f7a83a 216 Vector3 vi(updateValues.vi[0], updateValues.vi[1], updateValues.vi[2]);
osaka 98:39e4d1844a24 217 Rgps(1, 1) = (updateValues.gps_acc * 0.849f) * (updateValues.gps_acc * 0.849f);
osaka 98:39e4d1844a24 218 Rgps(2, 2) = (updateValues.gps_acc * 0.849f) * (updateValues.gps_acc * 0.849f);
NaotoMorita 90:0b1f62f7a83a 219 eskf.updateGPS(MatrixMath::Vector2mat(pi),palt,MatrixMath::Vector2mat(vi),Rgps);
NaotoMorita 101:d9895b8eb49f 220 pc.printf("gps\r\n");
NaotoMorita 90:0b1f62f7a83a 221 }else if(headingUpdateFlag == true){
NaotoMorita 90:0b1f62f7a83a 222 float heading = atan2f(-mag.y,mag.x);
NaotoMorita 90:0b1f62f7a83a 223 eskf.updateHeading(heading,Rheading);
osaka 84:028bd650e8bc 224 }else{
NaotoMorita 90:0b1f62f7a83a 225 Matrix dynacc = eskf.calcDynAcc(MatrixMath::Vector2mat(acc));
NaotoMorita 90:0b1f62f7a83a 226 dynaccnorm2 = dynacc(1,1)*dynacc(1,1)+dynacc(2,1)*dynacc(2,1)+dynacc(3,1)*dynacc(3,1);
NaotoMorita 90:0b1f62f7a83a 227 if(dynaccnorm2 > dynAccCriteria*dynAccCriteria){
NaotoMorita 90:0b1f62f7a83a 228 eskf.updateAcc(MatrixMath::Vector2mat(acc),RaccDyn);
NaotoMorita 90:0b1f62f7a83a 229 }else{
NaotoMorita 90:0b1f62f7a83a 230 eskf.updateAcc(MatrixMath::Vector2mat(acc),Racc);
NaotoMorita 90:0b1f62f7a83a 231 }
osaka 84:028bd650e8bc 232 }
osaka 84:028bd650e8bc 233 }
osaka 87:981895e1d4f2 234
cocorlow 56:888379912f81 235 PIDtick.loop();
cocorlow 56:888379912f81 236
osaka 84:028bd650e8bc 237 //制御時間を計測
cocorlow 56:888379912f81 238 float tend = _t.read();
cocorlow 56:888379912f81 239 att_dt = (tend-tstart);
cocorlow 56:888379912f81 240 }
cocorlow 56:888379912f81 241 }