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

servo.cpp@114:ba221936d53a, 2022-03-23 (annotated)

Committer:
osaka
Date:
Wed Mar 23 11:55:07 2022 +0000
Revision:
114:ba221936d53a
Parent:
112:5a82800e1485
Child:
115:ceb9ef04bb26
rc & heading

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 // 割り込まれた時点での出力(computeの結果）を返す関数
cocorlow 56:888379912f81 4 void calcServoOut()
cocorlow 56:888379912f81 5 {
cocorlow 56:888379912f81 6 if(sbus.failSafe == false)
cocorlow 56:888379912f81 7 {
cocorlow 56:888379912f81 8 // sbusデータの読み込み
cocorlow 56:888379912f81 9 for (int i = 0; i < 16;i ++)
cocorlow 56:888379912f81 10 {
cocorlow 56:888379912f81 11 rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
cocorlow 56:888379912f81 12 }
cocorlow 56:888379912f81 13 }
NaotoMorita 62:ef10fd919f7b 14 //pc.printf("rc:%f\r\n",rc[1]);
NaotoMorita 57:923e3df16159 15
osaka 85:0b14a2a600fc 16 //姿勢角の取得
osaka 85:0b14a2a600fc 17 euler = eskf.computeAngles();
NaotoMorita 107:78e6f7bee68e 18 Matrix gyroBias = eskf.getGyroBias();
osaka 85:0b14a2a600fc 19 rpy.x = euler(1,1);
osaka 85:0b14a2a600fc 20 rpy.y = euler(2,1);
osaka 85:0b14a2a600fc 21 rpy.z = euler(3,1);
osaka 85:0b14a2a600fc 22
osaka 88:0fc5df2fddcb 23 if (updateValues.calibrationFlag == 1111)
osaka 88:0fc5df2fddcb 24 {
osaka 88:0fc5df2fddcb 25 alignment();
osaka 88:0fc5df2fddcb 26 }
osaka 88:0fc5df2fddcb 27 else
osaka 88:0fc5df2fddcb 28 {
osaka 88:0fc5df2fddcb 29 rpy.x -= roll_offset;
osaka 88:0fc5df2fddcb 30 rpy.y -= pitch_offset;
osaka 88:0fc5df2fddcb 31 }
osaka 88:0fc5df2fddcb 32
NaotoMorita 57:923e3df16159 33 // 自身の位置に応じてエレベータ舵角を決定する
NaotoMorita 71:62eb45ecffe9 34 float derc = rc[1];
NaotoMorita 71:62eb45ecffe9 35 float darc = rc[0]-rc[1];
cocorlow 63:851e96f54a86 36 deobj = 0.0f;
NaotoMorita 57:923e3df16159 37 switch(pos_tail)
NaotoMorita 57:923e3df16159 38 {
NaotoMorita 57:923e3df16159 39 case 0: //left
osaka 87:981895e1d4f2 40 deobj = derc+darc;
NaotoMorita 57:923e3df16159 41 break;
NaotoMorita 57:923e3df16159 42 case 1: //center
NaotoMorita 71:62eb45ecffe9 43 deobj = derc;
NaotoMorita 57:923e3df16159 44 break;
NaotoMorita 57:923e3df16159 45 case 2: //right
osaka 87:981895e1d4f2 46 deobj = derc-darc;
NaotoMorita 57:923e3df16159 47 break;
NaotoMorita 57:923e3df16159 48 default: // error situation
NaotoMorita 57:923e3df16159 49 deobj = 0.0f;
NaotoMorita 57:923e3df16159 50 break;
NaotoMorita 57:923e3df16159 51 }
NaotoMorita 74:af3b7cedff56 52
NaotoMorita 107:78e6f7bee68e 53 drobj = rc[3];
NaotoMorita 107:78e6f7bee68e 54
NaotoMorita 74:af3b7cedff56 55
NaotoMorita 74:af3b7cedff56 56 float objgain = 15.0f*M_PI/180.0f;
NaotoMorita 108:e582f8bd4729 57 float pitchobj = -objgain * (deobj+updateValues.de_command);
osaka 114:ba221936d53a 58 if(rc[7] < -0.3f){
NaotoMorita 111:00f991005d2d 59 pitchPID.setGain(6.36f, 10.6f,0.0);
NaotoMorita 111:00f991005d2d 60 pitchratePID.setGain(0.9540f,0.0f,0.0f);
NaotoMorita 111:00f991005d2d 61 }else{
NaotoMorita 111:00f991005d2d 62 pitchPID.setGain(6.36f, 0.0f,0.0);
NaotoMorita 111:00f991005d2d 63 pitchPID.resetIntError();
NaotoMorita 111:00f991005d2d 64 pitchratePID.setGain(0.9540f,0.0f,0.0f);
NaotoMorita 111:00f991005d2d 65 }
NaotoMorita 109:27ae949bc38e 66 yawratePID.setGain(2.0f,0.0f,0.0f);
NaotoMorita 108:e582f8bd4729 67 pitchPID.setProcessValue(rpy.y);
NaotoMorita 108:e582f8bd4729 68 pitchratePID.setProcessValue((gyro.y-gyroBias(2,1)));
NaotoMorita 107:78e6f7bee68e 69 yawratePID.setProcessValue(gyro.z-gyroBias(3,1));
NaotoMorita 57:923e3df16159 70 //目標値のセット
NaotoMorita 57:923e3df16159 71 pitchPID.setSetPoint(pitchobj); //目標の設定
NaotoMorita 71:62eb45ecffe9 72
cocorlow 63:851e96f54a86 73 de = pitchPID.compute()+pitchratePID.compute();
NaotoMorita 74:af3b7cedff56 74 if(de<-1.0f){de = -1.0f;}
NaotoMorita 74:af3b7cedff56 75 if(de>1.0f){de = 1.0f;}
NaotoMorita 108:e582f8bd4729 76 pc.printf("%f %f %f %f %f\r\n",pitchobj,deobj,de,drobj,dr);
NaotoMorita 107:78e6f7bee68e 77
NaotoMorita 107:78e6f7bee68e 78 dr = yawratePID.compute()+drobj;
NaotoMorita 107:78e6f7bee68e 79 if(dr<-1.0f){dr = -1.0f;}
NaotoMorita 107:78e6f7bee68e 80 if(dr>1.0f){dr = 1.0f;}
osaka 82:3daf57031f65 81
NaotoMorita 108:e582f8bd4729 82 scaledServoOut[0]=-de;
NaotoMorita 107:78e6f7bee68e 83 scaledServoOut[1]=dr;
osaka 112:5a82800e1485 84 scaledMotorOut[0]=rc[2]+drobj*0.2f+updateValues.dT_command;
osaka 112:5a82800e1485 85 scaledMotorOut[1]=rc[2]-drobj*0.2f+updateValues.dT_command;
cocorlow 56:888379912f81 86
cocorlow 56:888379912f81 87 float LP_servo = 0.2;
cocorlow 56:888379912f81 88 for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++)
cocorlow 56:888379912f81 89 {
cocorlow 56:888379912f81 90 servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
cocorlow 56:888379912f81 91 if(servoOut[i]<servoPwmMin)
cocorlow 56:888379912f81 92 {
cocorlow 56:888379912f81 93 servoOut[i] = servoPwmMin;
cocorlow 56:888379912f81 94 }
cocorlow 56:888379912f81 95 if(servoOut[i]>servoPwmMax)
cocorlow 56:888379912f81 96 {
cocorlow 56:888379912f81 97 servoOut[i] = servoPwmMax;
cocorlow 56:888379912f81 98 }
cocorlow 56:888379912f81 99 }
cocorlow 56:888379912f81 100
NaotoMorita 107:78e6f7bee68e 101 float LP_motor = 0.2;
NaotoMorita 107:78e6f7bee68e 102 for(int i = 0; i < sizeof(motorOut)/sizeof(motorOut[0]); i++)
NaotoMorita 107:78e6f7bee68e 103 {
NaotoMorita 107:78e6f7bee68e 104 motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i];
NaotoMorita 107:78e6f7bee68e 105 if(motorOut[i]<motorPwmMin)
NaotoMorita 107:78e6f7bee68e 106 {
NaotoMorita 107:78e6f7bee68e 107 motorOut[i] = motorPwmMin;
NaotoMorita 107:78e6f7bee68e 108 }
NaotoMorita 107:78e6f7bee68e 109 if(motorOut[i]>motorPwmMax)
NaotoMorita 107:78e6f7bee68e 110 {
NaotoMorita 107:78e6f7bee68e 111 motorOut[i] = motorPwmMax;
NaotoMorita 107:78e6f7bee68e 112 }
NaotoMorita 107:78e6f7bee68e 113 }
NaotoMorita 107:78e6f7bee68e 114
cocorlow 56:888379912f81 115 servo.pulsewidth_us(servoOut[0]);
NaotoMorita 107:78e6f7bee68e 116 rudServo.pulsewidth_us(servoOut[1]);
NaotoMorita 107:78e6f7bee68e 117 motor1.pulsewidth_us(motorOut[0]);
NaotoMorita 107:78e6f7bee68e 118 motor2.pulsewidth_us(motorOut[1]);
NaotoMorita 73:be7a8b8188de 119 send2center();
cocorlow 56:888379912f81 120 }