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

global.cpp@95:98dbbcc6b39d, 2022-02-02 (annotated)

Committer:
NaotoMorita
Date:
Wed Feb 02 07:59:58 2022 +0000
Revision:
95:98dbbcc6b39d
Parent:
91:393b9ae62681
Child:
103:34e911b94440
without kf in preflight check

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 // var
cocorlow 56:888379912f81 4
cocorlow 56:888379912f81 5 // communication
NaotoMorita 58:a7947322db87 6 Serial pc(USBTX, USBRX);
cocorlow 56:888379912f81 7 I2C i2c(PB_9,PB_8); // sda, scl
NaotoMorita 73:be7a8b8188de 8 UsaPack tail(PG_14, PG_9, 115200); // log - tail
cocorlow 56:888379912f81 9 SBUS sbus(PD_5, PD_6);
cocorlow 56:888379912f81 10
cocorlow 56:888379912f81 11 // sensor
osaka 83:0a644de28415 12 LSM9DS1 lsm(i2c);
osaka 83:0a644de28415 13 LPS lps(i2c);
osaka 83:0a644de28415 14 //UsaPack sensor1(PC_10, PC_11, 115200);
osaka 83:0a644de28415 15 //UsaPack sensor2(PC_12, PD_2, 115200);
NaotoMorita 61:c05353850017 16 CalibrateMagneto magCalibrator;
cocorlow 56:888379912f81 17
cocorlow 56:888379912f81 18 // io
cocorlow 56:888379912f81 19 DigitalIn userButton(USER_BUTTON);
cocorlow 56:888379912f81 20 DigitalIn locdef1(PG_2);
cocorlow 56:888379912f81 21 DigitalIn locdef2(PG_3);
cocorlow 56:888379912f81 22
cocorlow 56:888379912f81 23 // control
osaka 83:0a644de28415 24 FastPWM servo(PE_9);
cocorlow 56:888379912f81 25 PID pitchPID(5.0, 0,0, PID_dt); // rad
cocorlow 56:888379912f81 26 PID pitchratePID(0.5, 0.0, 0.0, PID_dt); // rad/s
osaka 84:028bd650e8bc 27 solaESKF eskf;
NaotoMorita 79:aa2631950f46 28 int itowVEL_log = 0;
cocorlow 56:888379912f81 29
cocorlow 56:888379912f81 30 int loop_count = 0;
cocorlow 56:888379912f81 31 float att_dt = 0.01f;
cocorlow 56:888379912f81 32 float rc[16];
cocorlow 56:888379912f81 33
cocorlow 56:888379912f81 34 int16_t ax, ay, az;
cocorlow 56:888379912f81 35 int16_t gx, gy, gz;
cocorlow 56:888379912f81 36 float magval[3] = {1.0f, 0.0f, 0.0f};
cocorlow 56:888379912f81 37
cocorlow 63:851e96f54a86 38 // elevator
cocorlow 63:851e96f54a86 39 float de;
cocorlow 63:851e96f54a86 40 float deobj;
cocorlow 63:851e96f54a86 41
cocorlow 56:888379912f81 42 // position
osaka 83:0a644de28415 43 Matrix SensorAlignmentAG(3,3);
osaka 83:0a644de28415 44 Matrix SensorAlignmentMAG(3,3);
cocorlow 56:888379912f81 45 Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 46 Vector3 acc;
NaotoMorita 71:62eb45ecffe9 47 Vector3 accref(0.0f, 0.0f, 0.98f);
cocorlow 56:888379912f81 48 Vector3 mag;
cocorlow 56:888379912f81 49 Vector3 magref(0.65f, 0.0f, 0.75f);
cocorlow 56:888379912f81 50 Vector3 gyro;
NaotoMorita 71:62eb45ecffe9 51 Vector3 vb;
osaka 85:0b14a2a600fc 52 Matrix euler(3,1);
osaka 83:0a644de28415 53 float palt;
osaka 83:0a644de28415 54 float palt0;
NaotoMorita 90:0b1f62f7a83a 55 bool gpsUpdateFlag = false;
osaka 84:028bd650e8bc 56 bool headingUpdateFlag = false;
osaka 91:393b9ae62681 57 bool prefligt_finished = false;
osaka 84:028bd650e8bc 58 float dynaccnorm2;
cocorlow 56:888379912f81 59
cocorlow 56:888379912f81 60 int out1, out2;
cocorlow 56:888379912f81 61 float scaledServoOut[1] = {0.0f};
cocorlow 56:888379912f81 62 float servoOut[1] = {1500.0f};
cocorlow 56:888379912f81 63
cocorlow 56:888379912f81 64 float val_thmg = 0.0f;
NaotoMorita 61:c05353850017 65 float sigma_thmg = 0.0f;
cocorlow 56:888379912f81 66 float th_mg = 0.0f;
cocorlow 56:888379912f81 67 float accnormerr = 0.0f;
NaotoMorita 61:c05353850017 68 float sigma_accnorm = 0.0f;
cocorlow 56:888379912f81 69
cocorlow 56:888379912f81 70 int calibrationFlag = 0;
cocorlow 56:888379912f81 71 int pos_tail = 0; // 0:left 1:center 2:right
NaotoMorita 90:0b1f62f7a83a 72 float agoffset[6] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
NaotoMorita 61:c05353850017 73 float magbiasMin[3] = {0.0f, 0.0f, 0.0f};
NaotoMorita 61:c05353850017 74 float magbiasMax[3] = {0.0f, 0.0f, 0.0f};
NaotoMorita 71:62eb45ecffe9 75 float accMin[3] = {-1.0f, -1.0f, -1.0f};
NaotoMorita 71:62eb45ecffe9 76 float accMax[3] = { 1.0f, 1.0f, 1.0f};
osaka 87:981895e1d4f2 77 int gpsitow = 0;
cocorlow 56:888379912f81 78
osaka 88:0fc5df2fddcb 79 float roll_offset = 0.0f;
osaka 88:0fc5df2fddcb 80 float pitch_offset = 0.0f;
cocorlow 56:888379912f81 81
cocorlow 56:888379912f81 82 // eepromのread writeのためのunionを定義
osaka 85:0b14a2a600fc 83 const int eeprom_address = 0xA0; // EEPROMの3つの入力が全て+より
cocorlow 56:888379912f81 84 const int eeprom_pointeraddress = 0;
cocorlow 56:888379912f81 85
cocorlow 56:888379912f81 86 // UsaPack
cocorlow 56:888379912f81 87 const int tail_address[3] = {1111, 2222, 3333};
cocorlow 63:851e96f54a86 88 const int time_address = 4444;
NaotoMorita 73:be7a8b8188de 89 valuePack posValues;
NaotoMorita 73:be7a8b8188de 90 updatePack updateValues;
cocorlow 63:851e96f54a86 91 Timer system_dt;
cocorlow 56:888379912f81 92
cocorlow 56:888379912f81 93 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
cocorlow 56:888379912f81 94 {
cocorlow 56:888379912f81 95 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
osaka 84:028bd650e8bc 96 }
osaka 84:028bd650e8bc 97
osaka 84:028bd650e8bc 98 void setDiag(Matrix& mat, float val){
osaka 84:028bd650e8bc 99 for (int i = 1; i < mat.getCols()+1; i++){
osaka 84:028bd650e8bc 100 mat(i,i) = val;
osaka 84:028bd650e8bc 101 }
osaka 88:0fc5df2fddcb 102 }
osaka 88:0fc5df2fddcb 103
osaka 88:0fc5df2fddcb 104 //alignment
osaka 88:0fc5df2fddcb 105 int n_ave = 0;
osaka 88:0fc5df2fddcb 106 float roll_sum = 0.0f;
osaka 88:0fc5df2fddcb 107 float pitch_sum = 0.0f;