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

global.cpp@70:9e7be21475f8, 2021-06-29 (annotated)

Committer:
NaotoMorita
Date:
Tue Jun 29 10:53:06 2021 +0000
Revision:
70:9e7be21475f8
Parent:
69:0caaad87cf1d
Child:
71:62eb45ecffe9
revert

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
cocorlow 56:888379912f81 8 UsaPack tail(PG_14, PG_9, 57600); // log - tail
cocorlow 56:888379912f81 9 SBUS sbus(PD_5, PD_6);
cocorlow 56:888379912f81 10
cocorlow 56:888379912f81 11 // sensor
cocorlow 56:888379912f81 12 MPU6050 accelgyro;
cocorlow 56:888379912f81 13 MAG3110 mag_sensor(PB_9,PB_8);
NaotoMorita 61:c05353850017 14 CalibrateMagneto magCalibrator;
cocorlow 56:888379912f81 15
cocorlow 56:888379912f81 16 // io
cocorlow 56:888379912f81 17 DigitalIn userButton(USER_BUTTON);
cocorlow 56:888379912f81 18 DigitalIn locdef1(PG_2);
cocorlow 56:888379912f81 19 DigitalIn locdef2(PG_3);
cocorlow 56:888379912f81 20
cocorlow 56:888379912f81 21 // control
NaotoMorita 62:ef10fd919f7b 22 FastPWM servo(PE_11);
cocorlow 56:888379912f81 23 PID pitchPID(5.0, 0,0, PID_dt); // rad
cocorlow 56:888379912f81 24 PID pitchratePID(0.5, 0.0, 0.0, PID_dt); // rad/s
NaotoMorita 69:0caaad87cf1d 25 errStateEKF ekf; // EKF class
cocorlow 56:888379912f81 26
cocorlow 56:888379912f81 27 int loop_count = 0;
cocorlow 56:888379912f81 28 int obs_count = 0;
cocorlow 56:888379912f81 29 float att_dt = 0.01f;
cocorlow 56:888379912f81 30 float rc[16];
cocorlow 56:888379912f81 31
cocorlow 56:888379912f81 32 int16_t ax, ay, az;
cocorlow 56:888379912f81 33 int16_t gx, gy, gz;
cocorlow 56:888379912f81 34 MotionSensorDataUnits mdata;
cocorlow 56:888379912f81 35 float magval[3] = {1.0f, 0.0f, 0.0f};
cocorlow 56:888379912f81 36
cocorlow 63:851e96f54a86 37 // elevator
cocorlow 63:851e96f54a86 38 float de;
cocorlow 63:851e96f54a86 39 float deobj;
cocorlow 63:851e96f54a86 40
cocorlow 56:888379912f81 41 // position
cocorlow 56:888379912f81 42 Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 43 Vector3 rpy_g(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 44 Vector3 acc;
cocorlow 56:888379912f81 45 Vector3 accref(0.0f, 0.0f, -0.98f);
cocorlow 56:888379912f81 46 Vector3 mag;
cocorlow 56:888379912f81 47 Vector3 magref(0.65f, 0.0f, 0.75f);
cocorlow 56:888379912f81 48 Vector3 dynacc;
cocorlow 56:888379912f81 49 Vector3 gyro;
NaotoMorita 70:9e7be21475f8 50 MedianFilter accMedian(3);
NaotoMorita 70:9e7be21475f8 51 MedianFilter gyroMedian(3);
NaotoMorita 70:9e7be21475f8 52 MedianFilter magMedian(3);
cocorlow 56:888379912f81 53
cocorlow 56:888379912f81 54 int out1, out2;
cocorlow 56:888379912f81 55 float scaledServoOut[1] = {0.0f};
cocorlow 56:888379912f81 56 float servoOut[1] = {1500.0f};
cocorlow 56:888379912f81 57
cocorlow 56:888379912f81 58 float val_thmg = 0.0f;
NaotoMorita 61:c05353850017 59 float sigma_thmg = 0.0f;
cocorlow 56:888379912f81 60 float th_mg = 0.0f;
cocorlow 56:888379912f81 61 float accnormerr = 0.0f;
NaotoMorita 61:c05353850017 62 float sigma_accnorm = 0.0f;
cocorlow 56:888379912f81 63
cocorlow 56:888379912f81 64 int calibrationFlag = 0;
cocorlow 56:888379912f81 65 int pos_tail = 0; // 0:left 1:center 2:right
cocorlow 56:888379912f81 66 int agoffset[6] = {0, 0, 0, 386, -450, 48};
NaotoMorita 61:c05353850017 67 float magbiasMin[3] = {0.0f, 0.0f, 0.0f};
NaotoMorita 61:c05353850017 68 float magbiasMax[3] = {0.0f, 0.0f, 0.0f};
NaotoMorita 70:9e7be21475f8 69 float accMin[3] = {-0.974521, -1.010208, -1.055415};
NaotoMorita 70:9e7be21475f8 70 float accMax[3] = { 1.036735, 0.973873, 0.969753};
cocorlow 56:888379912f81 71
cocorlow 56:888379912f81 72 Vector3 rpy_align(0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f, 0.0f);
cocorlow 56:888379912f81 73
cocorlow 56:888379912f81 74 // eepromのread writeのためのunionを定義
cocorlow 56:888379912f81 75 const int eeprom_address = 0xAE; // EEPROMの3つの入力が全て+より
cocorlow 56:888379912f81 76 const int eeprom_pointeraddress = 0;
cocorlow 56:888379912f81 77
cocorlow 56:888379912f81 78 // UsaPack
cocorlow 56:888379912f81 79 const int tail_address[3] = {1111, 2222, 3333};
cocorlow 63:851e96f54a86 80 const int time_address = 4444;
cocorlow 56:888379912f81 81 valuePack posValues[3];
cocorlow 63:851e96f54a86 82 Timer system_dt;
cocorlow 63:851e96f54a86 83 timePack broadcast_time;
cocorlow 63:851e96f54a86 84 timePack system_time;
cocorlow 56:888379912f81 85
cocorlow 56:888379912f81 86 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
cocorlow 56:888379912f81 87 {
cocorlow 56:888379912f81 88 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
cocorlow 56:888379912f81 89 }