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

run.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 void run()
cocorlow 56:888379912f81 4 {
cocorlow 56:888379912f81 5 pc.printf("reading calibration value\r\n");
cocorlow 56:888379912f81 6 //キャリブレーション値を取得
cocorlow 56:888379912f81 7 U read_calib;
cocorlow 56:888379912f81 8 readEEPROM(eeprom_address, eeprom_pointeraddress, read_calib.c, N_EEPROM*4);
cocorlow 56:888379912f81 9 wait(3);
cocorlow 56:888379912f81 10 pos_tail = (int)read_calib.i[0];
NaotoMorita 61:c05353850017 11 agoffset[3] = float(read_calib.i[7]);
NaotoMorita 61:c05353850017 12 agoffset[4] = float(read_calib.i[8]);
NaotoMorita 61:c05353850017 13 agoffset[5] = float(read_calib.i[9]);
NaotoMorita 61:c05353850017 14 magbiasMin[0] = float(read_calib.i[1])/1000.0f;
NaotoMorita 61:c05353850017 15 magbiasMin[1] = float(read_calib.i[2])/1000.0f;
NaotoMorita 61:c05353850017 16 magbiasMin[2] = float(read_calib.i[3])/1000.0f;
NaotoMorita 61:c05353850017 17 magbiasMax[0] = float(read_calib.i[4])/1000.0f;
NaotoMorita 61:c05353850017 18 magbiasMax[1] = float(read_calib.i[5])/1000.0f;
NaotoMorita 61:c05353850017 19 magbiasMax[2] = float(read_calib.i[6])/1000.0f;
NaotoMorita 61:c05353850017 20 rpy_align.y = float(read_calib.i[10])/200000.0f;
NaotoMorita 61:c05353850017 21 rpy_align.x = float(read_calib.i[11])/200000.0f;
NaotoMorita 70:9e7be21475f8 22 accMin[0] = float(read_calib.i[12])/1000.0f;
NaotoMorita 70:9e7be21475f8 23 accMin[1] = float(read_calib.i[13])/1000.0f;
NaotoMorita 70:9e7be21475f8 24 accMin[2] = float(read_calib.i[14])/1000.0f;
NaotoMorita 70:9e7be21475f8 25 accMax[0] = float(read_calib.i[15])/1000.0f;
NaotoMorita 70:9e7be21475f8 26 accMax[1] = float(read_calib.i[16])/1000.0f;
NaotoMorita 70:9e7be21475f8 27 accMax[2] = float(read_calib.i[17])/1000.0f;
NaotoMorita 61:c05353850017 28 magCalibrator.setExtremes(magbiasMin,magbiasMax);
cocorlow 56:888379912f81 29 // tail_address[pos_tail] = (int)read_calib.i[10];
cocorlow 56:888379912f81 30
cocorlow 56:888379912f81 31 switch(pos_tail){
cocorlow 56:888379912f81 32 case 0:
cocorlow 56:888379912f81 33 pc.printf("This MBED is Located at Left \r\n");
cocorlow 56:888379912f81 34 break;
cocorlow 56:888379912f81 35 case 1:
cocorlow 56:888379912f81 36 pc.printf("This MBED is Located at Center \r\n");
cocorlow 56:888379912f81 37 break;
cocorlow 56:888379912f81 38 case 2:
cocorlow 56:888379912f81 39 pc.printf("This MBED is Located at Right \r\n");
cocorlow 56:888379912f81 40 break;
cocorlow 56:888379912f81 41 default: // error situation
cocorlow 56:888379912f81 42 pc.printf("error\r\n");
cocorlow 56:888379912f81 43 break;
cocorlow 56:888379912f81 44 }
cocorlow 56:888379912f81 45 pc.printf("tail_address : %d\r\n", tail_address[pos_tail]);
cocorlow 56:888379912f81 46 pc.printf("Alignment values are %f(pitch deg) %f(roll deg)\r\n",rpy_align.y*180.0f/M_PI,rpy_align.x*180.0f/M_PI);
cocorlow 56:888379912f81 47 getIMUval();
NaotoMorita 69:0caaad87cf1d 48 //ekf.triad(acc/acc.Norm(), accref/accref.Norm(), mag/mag.Norm(), magref/magref.Norm());
NaotoMorita 69:0caaad87cf1d 49 ekf.defineQhat(rpy_align);
NaotoMorita 69:0caaad87cf1d 50 float sum2accnorm = 0;
NaotoMorita 69:0caaad87cf1d 51 float sumaccnorm = 0;
NaotoMorita 69:0caaad87cf1d 52
NaotoMorita 69:0caaad87cf1d 53 Timer _t;
NaotoMorita 69:0caaad87cf1d 54 _t.start();
NaotoMorita 69:0caaad87cf1d 55
cocorlow 56:888379912f81 56 for(int i = 0; i < 1000; i++){
NaotoMorita 69:0caaad87cf1d 57 float tstart = _t.read();
cocorlow 56:888379912f81 58 getIMUval();
NaotoMorita 69:0caaad87cf1d 59 ekf.updateQhat(gyro, att_dt);
NaotoMorita 69:0caaad87cf1d 60 ekf.updateErrState(gyro, att_dt);
NaotoMorita 69:0caaad87cf1d 61 ekf.updateStaticAccMeasures(acc,accref);
NaotoMorita 69:0caaad87cf1d 62 ekf.fuseErr2Qhat();
NaotoMorita 69:0caaad87cf1d 63 ekf.updateMagMeasures(mag);
NaotoMorita 69:0caaad87cf1d 64 ekf.computeAngles(rpy, rpy_align);
NaotoMorita 69:0caaad87cf1d 65 sumaccnorm += acc.Norm();
NaotoMorita 69:0caaad87cf1d 66 sum2accnorm += acc.Norm()*acc.Norm();
NaotoMorita 69:0caaad87cf1d 67 float tend = _t.read();
NaotoMorita 69:0caaad87cf1d 68 att_dt = (tend-tstart);
cocorlow 56:888379912f81 69 }
NaotoMorita 69:0caaad87cf1d 70 accref.z = sumaccnorm / 1000.0f;
cocorlow 56:888379912f81 71 for (int i = 0; i < 3; i++)
cocorlow 56:888379912f81 72 {
cocorlow 56:888379912f81 73 if (i == pos_tail)
cocorlow 56:888379912f81 74 {
cocorlow 63:851e96f54a86 75 continue;
cocorlow 56:888379912f81 76 }
cocorlow 56:888379912f81 77 else
cocorlow 56:888379912f81 78 {
cocorlow 56:888379912f81 79 tail.Subscribe(tail_address[i], &(posValues[i]));
cocorlow 56:888379912f81 80 }
cocorlow 56:888379912f81 81 }
cocorlow 63:851e96f54a86 82 tail.Subscribe(time_address, &broadcast_time);
cocorlow 56:888379912f81 83
cocorlow 56:888379912f81 84 LoopTicker PIDtick;
cocorlow 56:888379912f81 85 PIDtick.attach(calcServoOut,PID_dt);
cocorlow 56:888379912f81 86
cocorlow 56:888379912f81 87
cocorlow 56:888379912f81 88 while(1)
cocorlow 56:888379912f81 89 {
cocorlow 56:888379912f81 90 float tstart = _t.read();
cocorlow 56:888379912f81 91 //姿勢角を更新
cocorlow 56:888379912f81 92 getIMUval();
NaotoMorita 69:0caaad87cf1d 93 ekf.updateQhat(gyro, att_dt);
NaotoMorita 69:0caaad87cf1d 94 ekf.updateErrState(gyro, att_dt);
NaotoMorita 69:0caaad87cf1d 95 if(ekf.determinDynStatus(acc,accref)){
NaotoMorita 69:0caaad87cf1d 96 ekf.updateAccMeasures(acc,accref);
NaotoMorita 69:0caaad87cf1d 97 }else{
NaotoMorita 69:0caaad87cf1d 98 ekf.updateStaticAccMeasures(acc,accref);
NaotoMorita 69:0caaad87cf1d 99 }
NaotoMorita 69:0caaad87cf1d 100 ekf.fuseErr2Qhat();
NaotoMorita 69:0caaad87cf1d 101 ekf.resetBias();
NaotoMorita 69:0caaad87cf1d 102 ekf.updateMagMeasures(mag);
NaotoMorita 69:0caaad87cf1d 103 ekf.computeAngles(rpy, rpy_align);
cocorlow 56:888379912f81 104 PIDtick.loop();
cocorlow 56:888379912f81 105
cocorlow 56:888379912f81 106 float tend = _t.read();
cocorlow 56:888379912f81 107 att_dt = (tend-tstart);
cocorlow 56:888379912f81 108 }
cocorlow 56:888379912f81 109 }