File content as of revision 90:0b1f62f7a83a:

#include "global.hpp"

void run()
{
    
    pc.printf("reading calibration value\r\n");
    //キャリブレーション値を取得
    U read_calib;
    readEEPROM(eeprom_address, eeprom_pointeraddress, read_calib.c, N_EEPROM*4);
    wait(3);
    pos_tail = (int)read_calib.i[0];
    magbiasMin[0] = float(read_calib.i[1])/1000.0f;
    magbiasMin[1] = float(read_calib.i[2])/1000.0f;
    magbiasMin[2] = float(read_calib.i[3])/1000.0f;
    magbiasMax[0] = float(read_calib.i[4])/1000.0f;
    magbiasMax[1] = float(read_calib.i[5])/1000.0f;
    magbiasMax[2] = float(read_calib.i[6])/1000.0f;
    roll_offset = (float)read_calib.i[10] / 200000.0f;
    pitch_offset = (float)read_calib.i[11] / 200000.0f;
    
    //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
    int n_init = 1000;
    for(int i = 0;i<n_init;i++){
        lsm.readAccel();
        lsm.readMag();
        lsm.readGyro();
        agoffset[0] += lsm.ax * 9.8f;
        agoffset[1] += lsm.ay * 9.8f;
        agoffset[2] += lsm.az * 9.8f-9.8f;
        agoffset[3] +=(lsm.gx * M_PI / 180.0f);
        agoffset[4] +=(lsm.gy * M_PI / 180.0f); 
        agoffset[5] +=(lsm.gz * M_PI / 180.0f); 
        palt0 += lps.pressureToAltitudeMeters(lps.readPressureMillibars());
        magref.x += lsm.mx;
        magref.y += lsm.my;
        magref.z += lsm.mz;
    }
    for(int i = 0;i<6;i++){
        agoffset[i] /= float(n_init);
    }
    magref.x /= float(n_init);
    magref.y /= float(n_init);
    magref.z /= float(n_init);
    palt0 /= float(n_init);
    
    switch(pos_tail){
    case 0:
        pc.printf("This MBED is Located at Left \r\n");
        break;
    case 1:
        pc.printf("This MBED is Located at Center \r\n");
        break;
    case 2:
        pc.printf("This MBED is Located at Right \r\n");
        break;
    default:   // error situation
        pc.printf("error\r\n");
        break;
    }
    pc.printf("tail_address : %d\r\n", tail_address[pos_tail]);
    pc.printf("Alignment values are %f(pitch deg) %f(roll deg)\r\n",roll_offset*180.0f/M_PI,pitch_offset*180.0f/M_PI);
    
    wait(1);
    
    //ESKFの共分散設定
    eskf.setGravity(0.0f,0.0f,9.8f);
    eskf.setPhatPosition(0.1f);
    eskf.setPhatVelocity(0.1f);
    eskf.setPhatAngleError(0.5f);
    eskf.setPhatAccBias(0.001f);
    eskf.setPhatGyroBias(0.001f);
    eskf.setPhatGravity(0.0000001f);
    
    eskf.setQVelocity(0.001f);
    eskf.setQAngleError(0.0000025f);
    eskf.setQAccBias(0.000001f);
    eskf.setQGyroBias(0.000001f);
    
    Matrix Rgpspos(3,3);
    setDiag(Rgpspos,1.0f);
    
    Matrix Rgpsvel(3,3);
    Rgpsvel(1,1) = 0.01f;
    Rgpsvel(2,2) = 0.01f;
    Rgpsvel(3,3) = 0.1f;
    
    Matrix Rgps(5,5);
    setDiag(Rgps,0.05f);
    Rgps(4,4) = 0.1f;
    Rgps(5,5) = 0.1f;
    
    float dynAccCriteria = 0.4f;
    Matrix Racc(3,3);
    setDiag(Racc,100.0f);
    Matrix RaccDyn(3,3);
    setDiag(RaccDyn,5000.0f);

    Matrix Rheading(1,1);
    Rheading(1,1) = 0.01f;
    
    wait(0.5);
    Timer _t;
    _t.start();
    tail.Subscribe(tail_address[pos_tail], &(updateValues));
    
    LoopTicker PIDtick;
    PIDtick.attach(calcServoOut,PID_dt);
    
    float tgps = _t.read();
    float theading = _t.read();
    
    while(1)
    {
        float tstart = _t.read();
        //センサの値を取得
        getIMUval();
        
        //ekfの更新
        eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
        eskf.updateErrState(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
        
        //キャリブレーション中
        if(updateValues.calibrationFlag == 1111){
            gpsUpdateFlag = false;
            if(tstart-tgps>0.2f){
                gpsUpdateFlag = true;
                tgps = _t.read();
            }
            
            headingUpdateFlag = false;
            if(tstart-theading>0.05f){
                headingUpdateFlag = true;
                theading = _t.read();
            }

            if(gpsUpdateFlag == true){
                Vector3 pi(0.0f, 0.0f, 0.0f);
                Vector3 vi(0.0f, 0.0f, 0.0f);
                eskf.updateGPS(MatrixMath::Vector2mat(pi),0.0f,MatrixMath::Vector2mat(vi),Rgps);
            }else if(headingUpdateFlag == true){
                eskf.updateHeading(0.0f,Rheading);
            }else{
                eskf.updateAcc(MatrixMath::Vector2mat(acc),Racc*0.01f);
            }
        }else{
            gpsUpdateFlag = false;
            if((gpsitow != updateValues.gps_itow) && (updateValues.gps_fix == 0x03)){
                gpsUpdateFlag = true;
                gpsitow = updateValues.gps_itow;
                tgps = _t.read();
            }
            
            headingUpdateFlag = false;
            if(tstart-theading>0.05f){
                Matrix euler = eskf.computeAngles();
                if(fabsf(euler(2,1))<30.0f*M_PI/180.0f){
                    headingUpdateFlag = true;
                    theading = _t.read();
                }
            }
            
            if(gpsUpdateFlag==true){
                Vector3 pi(updateValues.pi[0], updateValues.pi[1], updateValues.pi[2]);
                Vector3 vi(updateValues.vi[0], updateValues.vi[1], updateValues.vi[2]);
                eskf.updateGPS(MatrixMath::Vector2mat(pi),palt,MatrixMath::Vector2mat(vi),Rgps);
            }else if(headingUpdateFlag == true){
                    float heading = atan2f(-mag.y,mag.x);
                    eskf.updateHeading(heading,Rheading);
            }else{
                Matrix dynacc = eskf.calcDynAcc(MatrixMath::Vector2mat(acc));
                dynaccnorm2 = dynacc(1,1)*dynacc(1,1)+dynacc(2,1)*dynacc(2,1)+dynacc(3,1)*dynacc(3,1);
                if(dynaccnorm2 > dynAccCriteria*dynAccCriteria){
                    eskf.updateAcc(MatrixMath::Vector2mat(acc),RaccDyn);
                }else{
                    eskf.updateAcc(MatrixMath::Vector2mat(acc),Racc);
                }
            }
        }
        
        PIDtick.loop(); 
        
        //制御時間を計測
        float tend = _t.read();
        att_dt = (tend-tstart);
    }
}