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

run.cpp@87:981895e1d4f2, 2022-01-07 (annotated)

Committer:
osaka
Date:
Fri Jan 07 09:49:19 2022 +0000
Revision:
87:981895e1d4f2
Parent:
86:6b8e797306b6
Child:
88:0fc5df2fddcb
GPS & mag fuse OK

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];
osaka 85:0b14a2a600fc 12 /*
NaotoMorita 61:c05353850017 13 agoffset[3] = float(read_calib.i[7]);
NaotoMorita 61:c05353850017 14 agoffset[4] = float(read_calib.i[8]);
NaotoMorita 61:c05353850017 15 agoffset[5] = float(read_calib.i[9]);
NaotoMorita 61:c05353850017 16 magbiasMin[0] = float(read_calib.i[1])/1000.0f;
NaotoMorita 61:c05353850017 17 magbiasMin[1] = float(read_calib.i[2])/1000.0f;
NaotoMorita 61:c05353850017 18 magbiasMin[2] = float(read_calib.i[3])/1000.0f;
NaotoMorita 61:c05353850017 19 magbiasMax[0] = float(read_calib.i[4])/1000.0f;
NaotoMorita 61:c05353850017 20 magbiasMax[1] = float(read_calib.i[5])/1000.0f;
NaotoMorita 61:c05353850017 21 magbiasMax[2] = float(read_calib.i[6])/1000.0f;
NaotoMorita 71:62eb45ecffe9 22 rpy_align.x = float(read_calib.i[10])/200000.0f;
NaotoMorita 71:62eb45ecffe9 23 rpy_align.y = float(read_calib.i[11])/200000.0f;
NaotoMorita 61:c05353850017 24 magCalibrator.setExtremes(magbiasMin,magbiasMax);
cocorlow 56:888379912f81 25 // tail_address[pos_tail] = (int)read_calib.i[10];
osaka 84:028bd650e8bc 26 */
osaka 85:0b14a2a600fc 27 /*
osaka 84:028bd650e8bc 28 //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 29 int n_init = 1000;
osaka 84:028bd650e8bc 30 for(int i = 0;i<n_init;i++){
osaka 84:028bd650e8bc 31 lsm.readAccel();
osaka 84:028bd650e8bc 32 lsm.readMag();
osaka 84:028bd650e8bc 33 lsm.readGyro();
osaka 84:028bd650e8bc 34 agoffset[0] += lsm.ax * 9.8f;
osaka 84:028bd650e8bc 35 agoffset[1] += lsm.ay * 9.8f;
osaka 84:028bd650e8bc 36 agoffset[2] += lsm.az * 9.8f-9.8f;
osaka 84:028bd650e8bc 37 agoffset[3] +=(lsm.gx * M_PI / 180.0f);
osaka 84:028bd650e8bc 38 agoffset[4] +=(lsm.gy * M_PI / 180.0f);
osaka 84:028bd650e8bc 39 agoffset[5] +=(lsm.gz * M_PI / 180.0f);
osaka 84:028bd650e8bc 40 palt0 += lps.pressureToAltitudeMeters(lps.readPressureMillibars());
osaka 84:028bd650e8bc 41 magref.x += lsm.mx;
osaka 84:028bd650e8bc 42 magref.y += lsm.my;
osaka 84:028bd650e8bc 43 magref.z += lsm.mz;
osaka 84:028bd650e8bc 44 }
osaka 84:028bd650e8bc 45 for(int i = 0;i<6;i++){
osaka 84:028bd650e8bc 46 agoffset[i] /= float(n_init);
osaka 84:028bd650e8bc 47 }
osaka 84:028bd650e8bc 48 magref.x /= float(n_init);
osaka 84:028bd650e8bc 49 magref.y /= float(n_init);
osaka 84:028bd650e8bc 50 magref.z /= float(n_init);
osaka 84:028bd650e8bc 51 palt0 /= float(n_init);
osaka 85:0b14a2a600fc 52 */
cocorlow 56:888379912f81 53
cocorlow 56:888379912f81 54 switch(pos_tail){
cocorlow 56:888379912f81 55 case 0:
cocorlow 56:888379912f81 56 pc.printf("This MBED is Located at Left \r\n");
cocorlow 56:888379912f81 57 break;
cocorlow 56:888379912f81 58 case 1:
cocorlow 56:888379912f81 59 pc.printf("This MBED is Located at Center \r\n");
cocorlow 56:888379912f81 60 break;
cocorlow 56:888379912f81 61 case 2:
cocorlow 56:888379912f81 62 pc.printf("This MBED is Located at Right \r\n");
cocorlow 56:888379912f81 63 break;
cocorlow 56:888379912f81 64 default: // error situation
cocorlow 56:888379912f81 65 pc.printf("error\r\n");
cocorlow 56:888379912f81 66 break;
cocorlow 56:888379912f81 67 }
cocorlow 56:888379912f81 68 pc.printf("tail_address : %d\r\n", tail_address[pos_tail]);
NaotoMorita 71:62eb45ecffe9 69 pc.printf("Alignment values are %f(pitch deg) %f(roll deg)\r\n",rpy_align.x*180.0f/M_PI,rpy_align.y*180.0f/M_PI);
NaotoMorita 69:0caaad87cf1d 70
osaka 84:028bd650e8bc 71 //ESKFの共分散設定
osaka 84:028bd650e8bc 72 eskf.setGravity(0.0f,0.0f,9.8f);
osaka 84:028bd650e8bc 73 eskf.setPhatPosition(0.1f);
osaka 84:028bd650e8bc 74 eskf.setPhatVelocity(0.1f);
osaka 84:028bd650e8bc 75 eskf.setPhatAngleError(0.5f);
osaka 84:028bd650e8bc 76 eskf.setPhatAccBias(0.001f);
osaka 84:028bd650e8bc 77 eskf.setPhatGyroBias(0.001f);
osaka 84:028bd650e8bc 78 eskf.setPhatGravity(0.0000001f);
osaka 84:028bd650e8bc 79
osaka 84:028bd650e8bc 80 eskf.setQVelocity(0.001f);
osaka 84:028bd650e8bc 81 eskf.setQAngleError(0.0000025f);
osaka 84:028bd650e8bc 82 eskf.setQAccBias(0.000001f);
osaka 84:028bd650e8bc 83 eskf.setQGyroBias(0.000001f);
osaka 84:028bd650e8bc 84
osaka 84:028bd650e8bc 85 Matrix Rgpspos(3,3);
osaka 84:028bd650e8bc 86 setDiag(Rgpspos,1.0f);
osaka 84:028bd650e8bc 87
osaka 84:028bd650e8bc 88 Matrix Rgpsvel(3,3);
osaka 84:028bd650e8bc 89 Rgpsvel(1,1) = 0.01f;
osaka 84:028bd650e8bc 90 Rgpsvel(2,2) = 0.01f;
osaka 84:028bd650e8bc 91 Rgpsvel(3,3) = 0.1f;
osaka 84:028bd650e8bc 92
osaka 84:028bd650e8bc 93 Matrix Rgps(5,5);
osaka 84:028bd650e8bc 94 setDiag(Rgps,0.05f);
osaka 84:028bd650e8bc 95 Rgps(4,4) = 0.1f;
osaka 84:028bd650e8bc 96 Rgps(5,5) = 0.1f;
osaka 84:028bd650e8bc 97
osaka 84:028bd650e8bc 98 float dynAccCriteria = 0.4f;
osaka 84:028bd650e8bc 99 Matrix Racc(3,3);
osaka 84:028bd650e8bc 100 setDiag(Racc,100.0f);
osaka 84:028bd650e8bc 101 Matrix RaccDyn(3,3);
osaka 84:028bd650e8bc 102 setDiag(RaccDyn,5000.0f);
osaka 84:028bd650e8bc 103
osaka 84:028bd650e8bc 104 Matrix Rheading(1,1);
osaka 84:028bd650e8bc 105 Rheading(1,1) = 0.01f;
osaka 84:028bd650e8bc 106
NaotoMorita 71:62eb45ecffe9 107 wait(0.5);
NaotoMorita 69:0caaad87cf1d 108 Timer _t;
NaotoMorita 69:0caaad87cf1d 109 _t.start();
osaka 84:028bd650e8bc 110
osaka 84:028bd650e8bc 111 /*
NaotoMorita 71:62eb45ecffe9 112 magCalibrator.setExtremes(magbiasMin,magbiasMax);
NaotoMorita 71:62eb45ecffe9 113 for(int i = 0; i < 1000; i++){
NaotoMorita 71:62eb45ecffe9 114 getIMUval();
NaotoMorita 71:62eb45ecffe9 115 }
NaotoMorita 71:62eb45ecffe9 116 ekf.defineQhat(rpy_align);
osaka 84:028bd650e8bc 117 float sum2accnorm = 0;
NaotoMorita 71:62eb45ecffe9 118 float sumaccnorm = 0;
cocorlow 56:888379912f81 119 for(int i = 0; i < 1000; i++){
NaotoMorita 69:0caaad87cf1d 120 float tstart = _t.read();
cocorlow 56:888379912f81 121 getIMUval();
NaotoMorita 69:0caaad87cf1d 122 ekf.updateStaticAccMeasures(acc,accref);
NaotoMorita 71:62eb45ecffe9 123 ekf.updateGyroBiasConstraints(gyro);
NaotoMorita 71:62eb45ecffe9 124 ekf.fuseErr2Nominal();
NaotoMorita 71:62eb45ecffe9 125 ekf.resetBias();
NaotoMorita 71:62eb45ecffe9 126 //ekf.updateMagMeasures(mag);
NaotoMorita 69:0caaad87cf1d 127 ekf.computeAngles(rpy, rpy_align);
NaotoMorita 69:0caaad87cf1d 128 sumaccnorm += acc.Norm();
NaotoMorita 69:0caaad87cf1d 129 sum2accnorm += acc.Norm()*acc.Norm();
NaotoMorita 69:0caaad87cf1d 130 float tend = _t.read();
NaotoMorita 69:0caaad87cf1d 131 att_dt = (tend-tstart);
cocorlow 56:888379912f81 132 }
NaotoMorita 69:0caaad87cf1d 133 accref.z = sumaccnorm / 1000.0f;
osaka 84:028bd650e8bc 134 */
osaka 84:028bd650e8bc 135
osaka 84:028bd650e8bc 136 while(1)
osaka 84:028bd650e8bc 137 {
osaka 84:028bd650e8bc 138 float tstart = _t.read();
osaka 84:028bd650e8bc 139 getIMUval();
osaka 84:028bd650e8bc 140 eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
osaka 84:028bd650e8bc 141 eskf.updateErrState(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
osaka 84:028bd650e8bc 142 Vector3 pi(updateValues.pi[0], updateValues.pi[1], updateValues.pi[2]);
osaka 84:028bd650e8bc 143 Vector3 vi(updateValues.vi[0], updateValues.vi[1], updateValues.vi[2]);
osaka 84:028bd650e8bc 144 eskf.updateGPS(MatrixMath::Vector2mat(pi),palt,MatrixMath::Vector2mat(vi),Rgps);
osaka 84:028bd650e8bc 145 float heading = atan2f(-mag.y,mag.x);
osaka 84:028bd650e8bc 146 eskf.updateHeading(heading,Rheading);
osaka 84:028bd650e8bc 147 Matrix Raccpreflight(3,3);
osaka 84:028bd650e8bc 148 setDiag(Raccpreflight,5.0f);
osaka 84:028bd650e8bc 149 eskf.updateAcc(MatrixMath::Vector2mat(acc),Raccpreflight);
osaka 84:028bd650e8bc 150
osaka 84:028bd650e8bc 151 bool preflightCheck = true;
osaka 84:028bd650e8bc 152 Matrix gyroBias = eskf.getGyroBias();
osaka 84:028bd650e8bc 153 if(fabsf(gyro.x-gyroBias(1,1))>2.0f || fabsf(gyro.y-gyroBias(2,1))>2.0f || fabsf(gyro.z-gyroBias(3,1))>2.0f){
osaka 84:028bd650e8bc 154 preflightCheck = false;
osaka 84:028bd650e8bc 155 //twelite.serial.printf("PreFlight Check : high gyro value\r\n");
osaka 84:028bd650e8bc 156 }
osaka 84:028bd650e8bc 157 Matrix accBias = eskf.getAccBias();
osaka 84:028bd650e8bc 158 if(fabsf(acc.x-accBias(1,1))>2.0f || fabsf(acc.y-gyroBias(2,1))>2.0f){
osaka 84:028bd650e8bc 159 preflightCheck = false;
osaka 84:028bd650e8bc 160 //twelite.serial.printf("PreFlight Check : high acc value\r\n");
osaka 84:028bd650e8bc 161 }
osaka 84:028bd650e8bc 162 Matrix vihat = eskf.getVihat();
osaka 84:028bd650e8bc 163 if(fabsf(vihat(1,1))>2.0f || fabsf(vihat(2,1))>2.0f||fabsf(vihat(3,1))>2.0f){
osaka 84:028bd650e8bc 164 preflightCheck = false;
osaka 84:028bd650e8bc 165 //twelite.serial.printf("PreFlight Check : high velocity value\r\n");
osaka 84:028bd650e8bc 166 }
osaka 84:028bd650e8bc 167 Matrix pihat = eskf.getPihat();
osaka 84:028bd650e8bc 168 if(fabsf(pihat(1,1))>2.0f || fabsf(pihat(2,1))>2.0f||fabsf(pihat(3,1))>2.0f){
osaka 84:028bd650e8bc 169 preflightCheck = false;
osaka 84:028bd650e8bc 170 //twelite.serial.printf("PreFlight Check : not home position\r\n");
osaka 84:028bd650e8bc 171 }
osaka 84:028bd650e8bc 172 if(sbus.failSafe){
osaka 84:028bd650e8bc 173 preflightCheck = false;
osaka 84:028bd650e8bc 174 //twelite.serial.printf("PreFlight Check : no RC\r\n");
osaka 84:028bd650e8bc 175 }
osaka 84:028bd650e8bc 176 // sbusデータの読み込み
osaka 84:028bd650e8bc 177 for (int i =0 ; i < 16;i ++){
osaka 84:028bd650e8bc 178 rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
osaka 84:028bd650e8bc 179 }
osaka 84:028bd650e8bc 180 if (rc[4]>-0.3f && rc[6] < -0.3f){
osaka 84:028bd650e8bc 181 preflightCheck = false;
osaka 84:028bd650e8bc 182 //twelite.serial.printf("PreFlight Check : autoPilot enabled\r\n");
osaka 84:028bd650e8bc 183 }
osaka 84:028bd650e8bc 184 if(!(updateValues.gps_fix == 0x02 || updateValues.gps_fix == 0x03)){
osaka 84:028bd650e8bc 185 preflightCheck = false;
osaka 84:028bd650e8bc 186 //twelite.serial.printf("PreFlight Check : no gps lock\r\n");
osaka 84:028bd650e8bc 187 }
osaka 84:028bd650e8bc 188 if(preflightCheck == true){
osaka 84:028bd650e8bc 189 break;
osaka 84:028bd650e8bc 190 }
osaka 85:0b14a2a600fc 191 break; //pre-flight checkなし
osaka 84:028bd650e8bc 192 }
NaotoMorita 73:be7a8b8188de 193
NaotoMorita 73:be7a8b8188de 194 tail.Subscribe(tail_address[pos_tail], &(updateValues));
cocorlow 56:888379912f81 195
cocorlow 56:888379912f81 196 LoopTicker PIDtick;
cocorlow 56:888379912f81 197 PIDtick.attach(calcServoOut,PID_dt);
cocorlow 56:888379912f81 198
osaka 84:028bd650e8bc 199 float tgps = _t.read();
osaka 84:028bd650e8bc 200 float theading = _t.read();
cocorlow 56:888379912f81 201
cocorlow 56:888379912f81 202 while(1)
cocorlow 56:888379912f81 203 {
cocorlow 56:888379912f81 204 float tstart = _t.read();
osaka 84:028bd650e8bc 205 //センサの値を取得
cocorlow 56:888379912f81 206 getIMUval();
osaka 84:028bd650e8bc 207
osaka 84:028bd650e8bc 208 //ekfの更新
osaka 84:028bd650e8bc 209 eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
osaka 84:028bd650e8bc 210 eskf.updateErrState(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
osaka 84:028bd650e8bc 211
osaka 84:028bd650e8bc 212 headingUpdateFlag = false;
osaka 84:028bd650e8bc 213 if(tstart-theading>0.05f){
osaka 84:028bd650e8bc 214 Matrix euler = eskf.computeAngles();
osaka 84:028bd650e8bc 215 if(fabsf(euler(2,1))<30.0f*M_PI/180.0f){
osaka 84:028bd650e8bc 216 headingUpdateFlag = true;
osaka 84:028bd650e8bc 217 theading = _t.read();
osaka 84:028bd650e8bc 218 }
NaotoMorita 79:aa2631950f46 219 }
osaka 87:981895e1d4f2 220 //eskf.updateAcc(MatrixMath::Vector2mat(acc),Racc);
osaka 87:981895e1d4f2 221 pc.printf("%f %f %f %f %f %f\n", updateValues.pi[0], updateValues.pi[1], updateValues.pi[2], updateValues.vi[0], updateValues.vi[1], updateValues.vi[2]);
osaka 87:981895e1d4f2 222
osaka 87:981895e1d4f2 223 if((gpsitow != updateValues.gps_itow) && (updateValues.gps_fix == 0x03)){
osaka 87:981895e1d4f2 224 gpsitow = updateValues.gps_itow;
osaka 84:028bd650e8bc 225 Vector3 pi(updateValues.pi[0], updateValues.pi[1], updateValues.pi[2]);
osaka 84:028bd650e8bc 226 Vector3 vi(updateValues.vi[0], updateValues.vi[1], updateValues.vi[2]);
osaka 84:028bd650e8bc 227 eskf.updateGPS(MatrixMath::Vector2mat(pi),palt,MatrixMath::Vector2mat(vi),Rgps);
osaka 84:028bd650e8bc 228 //eskf.updateGPSPosition(MatrixMath::Vector2mat(pi),palt,Rgpspos);
osaka 84:028bd650e8bc 229 //eskf.updateGPSVelocity(MatrixMath::Vector2mat(vi),Rgpsvel);
osaka 84:028bd650e8bc 230 }else if(headingUpdateFlag == true){
osaka 84:028bd650e8bc 231 float heading = atan2f(-mag.y,mag.x);
osaka 84:028bd650e8bc 232 eskf.updateHeading(heading,Rheading);
osaka 84:028bd650e8bc 233 }else{
osaka 84:028bd650e8bc 234 Matrix dynacc = eskf.calcDynAcc(MatrixMath::Vector2mat(acc));
osaka 84:028bd650e8bc 235 dynaccnorm2 = dynacc(1,1)*dynacc(1,1)+dynacc(2,1)*dynacc(2,1)+dynacc(3,1)*dynacc(3,1);
osaka 84:028bd650e8bc 236 //twelite.serial.printf("%f\r\n",sqrt(dynaccnorm2));
osaka 84:028bd650e8bc 237 if(dynaccnorm2 > dynAccCriteria*dynAccCriteria){
osaka 84:028bd650e8bc 238 eskf.updateAcc(MatrixMath::Vector2mat(acc),RaccDyn);
osaka 84:028bd650e8bc 239 }else{
osaka 84:028bd650e8bc 240 eskf.updateAcc(MatrixMath::Vector2mat(acc),Racc);
osaka 84:028bd650e8bc 241 }
osaka 84:028bd650e8bc 242 }
osaka 87:981895e1d4f2 243
cocorlow 56:888379912f81 244 PIDtick.loop();
cocorlow 56:888379912f81 245
osaka 84:028bd650e8bc 246 //制御時間を計測
cocorlow 56:888379912f81 247 float tend = _t.read();
cocorlow 56:888379912f81 248 att_dt = (tend-tstart);
cocorlow 56:888379912f81 249 }
cocorlow 56:888379912f81 250 }