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

run.cpp@118:97ffe77b6f38, 2022-03-30 (annotated)

Committer:
NaotoMorita
Date:
Wed Mar 30 05:30:13 2022 +0000
Revision:
118:97ffe77b6f38
Parent:
116:248f2d8cc11e
Child:
120:9f4725deb5a6
hilprepare

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
NaotoMorita 104:f81befbc5ab7 6 preflightCalibration();
NaotoMorita 69:0caaad87cf1d 7
osaka 84:028bd650e8bc 8 //ESKFの共分散設定
osaka 84:028bd650e8bc 9 eskf.setGravity(0.0f,0.0f,9.8f);
NaotoMorita 101:d9895b8eb49f 10 eskf.setPhatPosition(0.1f);
NaotoMorita 101:d9895b8eb49f 11 eskf.setPhatVelocity(0.1f);
NaotoMorita 101:d9895b8eb49f 12 eskf.setPhatAngleError(0.5f);
NaotoMorita 101:d9895b8eb49f 13 eskf.setPhatAccBias(0.001f);
NaotoMorita 101:d9895b8eb49f 14 eskf.setPhatGyroBias(0.001f);
osaka 84:028bd650e8bc 15 eskf.setPhatGravity(0.0000001f);
NaotoMorita 101:d9895b8eb49f 16
osaka 84:028bd650e8bc 17 eskf.setQVelocity(0.001f);
osaka 84:028bd650e8bc 18 eskf.setQAngleError(0.0000025f);
osaka 84:028bd650e8bc 19 eskf.setQAccBias(0.000001f);
osaka 84:028bd650e8bc 20 eskf.setQGyroBias(0.000001f);
osaka 84:028bd650e8bc 21
osaka 84:028bd650e8bc 22 Matrix Rgps(5,5);
osaka 84:028bd650e8bc 23 setDiag(Rgps,0.05f);
osaka 84:028bd650e8bc 24 Rgps(4,4) = 0.1f;
osaka 84:028bd650e8bc 25 Rgps(5,5) = 0.1f;
osaka 84:028bd650e8bc 26
osaka 84:028bd650e8bc 27 float dynAccCriteria = 0.4f;
osaka 84:028bd650e8bc 28 Matrix Racc(3,3);
osaka 84:028bd650e8bc 29 setDiag(Racc,100.0f);
osaka 84:028bd650e8bc 30 Matrix RaccDyn(3,3);
osaka 84:028bd650e8bc 31 setDiag(RaccDyn,5000.0f);
osaka 84:028bd650e8bc 32
osaka 84:028bd650e8bc 33 Matrix Rheading(1,1);
osaka 84:028bd650e8bc 34 Rheading(1,1) = 0.01f;
osaka 84:028bd650e8bc 35
NaotoMorita 105:aaaed895ffaf 36 Matrix Ropt(2,2);
NaotoMorita 105:aaaed895ffaf 37 setDiag(Ropt,10.0f);
NaotoMorita 105:aaaed895ffaf 38
NaotoMorita 71:62eb45ecffe9 39 wait(0.5);
NaotoMorita 104:f81befbc5ab7 40
NaotoMorita 69:0caaad87cf1d 41 _t.start();
NaotoMorita 73:be7a8b8188de 42 tail.Subscribe(tail_address[pos_tail], &(updateValues));
NaotoMorita 118:97ffe77b6f38 43 pc.Subscribe(0000,&(rp));
cocorlow 56:888379912f81 44
NaotoMorita 104:f81befbc5ab7 45 preflightCheck();
osaka 91:393b9ae62681 46
cocorlow 56:888379912f81 47 LoopTicker PIDtick;
cocorlow 56:888379912f81 48 PIDtick.attach(calcServoOut,PID_dt);
cocorlow 56:888379912f81 49
cocorlow 56:888379912f81 50 while(1)
cocorlow 56:888379912f81 51 {
NaotoMorita 104:f81befbc5ab7 52 tstart = _t.read();
osaka 84:028bd650e8bc 53 //センサの値を取得
cocorlow 56:888379912f81 54 getIMUval();
osaka 103:34e911b94440 55 calcOpticalVel();
osaka 84:028bd650e8bc 56
osaka 84:028bd650e8bc 57 //ekfの更新
osaka 84:028bd650e8bc 58 eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
osaka 84:028bd650e8bc 59 eskf.updateErrState(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
osaka 116:248f2d8cc11e 60 Matrix pihat = eskf.getPihat();
osaka 116:248f2d8cc11e 61 //pc.printf("pihat: %f %f %f\r\n", pihat(1, 1), pihat(2, 1), pihat(3, 1));
osaka 84:028bd650e8bc 62
NaotoMorita 90:0b1f62f7a83a 63 //キャリブレーション中
NaotoMorita 90:0b1f62f7a83a 64 if(updateValues.calibrationFlag == 1111){
NaotoMorita 104:f81befbc5ab7 65 mainloopCalibration();
osaka 84:028bd650e8bc 66 }else{
NaotoMorita 90:0b1f62f7a83a 67 gpsUpdateFlag = false;
NaotoMorita 101:d9895b8eb49f 68 //pc.printf("%d %d \r\n",updateValues.gps_itow,updateValues.gps_fix );
NaotoMorita 90:0b1f62f7a83a 69 if((gpsitow != updateValues.gps_itow) && (updateValues.gps_fix == 0x03)){
NaotoMorita 90:0b1f62f7a83a 70 gpsUpdateFlag = true;
NaotoMorita 90:0b1f62f7a83a 71 gpsitow = updateValues.gps_itow;
NaotoMorita 90:0b1f62f7a83a 72 tgps = _t.read();
NaotoMorita 90:0b1f62f7a83a 73 }
NaotoMorita 90:0b1f62f7a83a 74
NaotoMorita 106:36458fb9b5b7 75 sensorUpdateFlag = false;
NaotoMorita 106:36458fb9b5b7 76 if(tstart-tsensors>0.05f){
NaotoMorita 106:36458fb9b5b7 77 sensorUpdateFlag = true;
NaotoMorita 106:36458fb9b5b7 78 tsensors = _t.read();
NaotoMorita 90:0b1f62f7a83a 79 }
NaotoMorita 90:0b1f62f7a83a 80
NaotoMorita 90:0b1f62f7a83a 81 if(gpsUpdateFlag==true){
NaotoMorita 90:0b1f62f7a83a 82 Vector3 pi(updateValues.pi[0], updateValues.pi[1], updateValues.pi[2]);
NaotoMorita 90:0b1f62f7a83a 83 Vector3 vi(updateValues.vi[0], updateValues.vi[1], updateValues.vi[2]);
osaka 98:39e4d1844a24 84 Rgps(1, 1) = (updateValues.gps_acc * 0.849f) * (updateValues.gps_acc * 0.849f);
osaka 98:39e4d1844a24 85 Rgps(2, 2) = (updateValues.gps_acc * 0.849f) * (updateValues.gps_acc * 0.849f);
NaotoMorita 90:0b1f62f7a83a 86 eskf.updateGPS(MatrixMath::Vector2mat(pi),palt,MatrixMath::Vector2mat(vi),Rgps);
NaotoMorita 106:36458fb9b5b7 87 //pc.printf("gps\r\n");
NaotoMorita 106:36458fb9b5b7 88 }else if(sensorUpdateFlag == true){
NaotoMorita 106:36458fb9b5b7 89 if(sensorUpdateID==1){
NaotoMorita 106:36458fb9b5b7 90 Matrix euler = eskf.computeAngles();
NaotoMorita 106:36458fb9b5b7 91 if(fabsf(euler(2,1))<30.0f*M_PI/180.0f){
osaka 114:ba221936d53a 92 //float heading = atan2f(-mag.y,mag.x);
osaka 114:ba221936d53a 93 eskf.updateHeading(updateValues.heading,Rheading);
NaotoMorita 106:36458fb9b5b7 94 //pc.printf("heading\r\n");
NaotoMorita 106:36458fb9b5b7 95 }
NaotoMorita 106:36458fb9b5b7 96 sensorUpdateID += 1;
NaotoMorita 106:36458fb9b5b7 97 }else{
NaotoMorita 109:27ae949bc38e 98 //float vnorm_opt2 = updateValues.vx_opt*updateValues.vx_opt+updateValues.vy_opt*updateValues.vy_opt;
NaotoMorita 109:27ae949bc38e 99 //if(updateValues.dist_ir<1.0f && vnorm_opt2 < 400.0f){
NaotoMorita 109:27ae949bc38e 100 //if(vnorm_opt2 < 0.1f){
NaotoMorita 109:27ae949bc38e 101 //Matrix vbOpt(2,1);
NaotoMorita 109:27ae949bc38e 102 //vbOpt(1,1) = updateValues.vx_opt;
NaotoMorita 109:27ae949bc38e 103 //vbOpt(2,1) = updateValues.vy_opt;
NaotoMorita 109:27ae949bc38e 104 //eskf.updateVb(vbOpt,Ropt*0.1f);
NaotoMorita 109:27ae949bc38e 105 //}else{
NaotoMorita 108:e582f8bd4729 106 //Matrix vbOpt(2,1);
NaotoMorita 108:e582f8bd4729 107 //vbOpt(1,1) = updateValues.vx_opt;
NaotoMorita 108:e582f8bd4729 108 //vbOpt(2,1) = updateValues.vy_opt;
NaotoMorita 108:e582f8bd4729 109 //eskf.updateVb(vbOpt,Ropt);
NaotoMorita 109:27ae949bc38e 110 //}
NaotoMorita 106:36458fb9b5b7 111 //pc.printf("opt\r\n");
NaotoMorita 109:27ae949bc38e 112 //}
NaotoMorita 106:36458fb9b5b7 113 sensorUpdateID=1;
NaotoMorita 106:36458fb9b5b7 114 }
osaka 84:028bd650e8bc 115 }else{
NaotoMorita 90:0b1f62f7a83a 116 Matrix dynacc = eskf.calcDynAcc(MatrixMath::Vector2mat(acc));
NaotoMorita 90:0b1f62f7a83a 117 dynaccnorm2 = dynacc(1,1)*dynacc(1,1)+dynacc(2,1)*dynacc(2,1)+dynacc(3,1)*dynacc(3,1);
NaotoMorita 90:0b1f62f7a83a 118 if(dynaccnorm2 > dynAccCriteria*dynAccCriteria){
NaotoMorita 90:0b1f62f7a83a 119 eskf.updateAcc(MatrixMath::Vector2mat(acc),RaccDyn);
NaotoMorita 106:36458fb9b5b7 120 //pc.printf("dyn acc\r\n");
NaotoMorita 90:0b1f62f7a83a 121 }else{
NaotoMorita 90:0b1f62f7a83a 122 eskf.updateAcc(MatrixMath::Vector2mat(acc),Racc);
NaotoMorita 106:36458fb9b5b7 123 //pc.printf("static acc\r\n");
NaotoMorita 106:36458fb9b5b7 124 }
NaotoMorita 106:36458fb9b5b7 125
osaka 84:028bd650e8bc 126 }
NaotoMorita 106:36458fb9b5b7 127
NaotoMorita 105:aaaed895ffaf 128
osaka 84:028bd650e8bc 129 }
osaka 87:981895e1d4f2 130
cocorlow 56:888379912f81 131 PIDtick.loop();
cocorlow 56:888379912f81 132
osaka 84:028bd650e8bc 133 //制御時間を計測
cocorlow 56:888379912f81 134 float tend = _t.read();
cocorlow 56:888379912f81 135 att_dt = (tend-tstart);
cocorlow 56:888379912f81 136 }
cocorlow 56:888379912f81 137 }