File content as of revision 56:888379912f81:

#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];
    agoffset[3] = float(read_calib.i[5]);
    agoffset[4] = float(read_calib.i[6]);
    agoffset[5] = float(read_calib.i[7]);
    magbias[0] = float(read_calib.i[1])/1000.0f;
    magbias[1] = float(read_calib.i[2])/1000.0f;
    magbias[2] = float(read_calib.i[3])/1000.0f;
    magbias[3] = float(read_calib.i[4])/1000.0f;
    rpy_align.y = float(read_calib.i[8])/200000.0f;
    rpy_align.x = float(read_calib.i[9])/200000.0f;
//    tail_address[pos_tail] = (int)read_calib.i[10];
    
    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",rpy_align.y*180.0f/M_PI,rpy_align.x*180.0f/M_PI);
    getIMUval();
    ekf.triad(acc/acc.Norm(), accref/accref.Norm(), mag/mag.Norm(), magref/magref.Norm());
    float sumLPaccnorm = 0;
    for(int i = 0; i < 1000; i++){
        getIMUval();
        val_thmg += acos((mag % acc)/mag.Norm()/acc.Norm());
        sumLPaccnorm += LPacc.Norm();
    }
    accref.z = -sumLPaccnorm / 1000;
    val_thmg /= 1000;
    
    for (int i = 0; i < 3; i++)
    {
        if (i == pos_tail)
        {
            break;
        }
        else
        {
            tail.Subscribe(tail_address[i], &(posValues[i]));
        }
    }
    
    LoopTicker PIDtick;
    PIDtick.attach(calcServoOut,PID_dt);
    
    Timer _t;
    _t.start();
    
    while(1)
    {
        float tstart = _t.read();
        //姿勢角を更新
        getIMUval();
        ekf.updateBetweenMeasures(gyro, att_dt);
        ekf.computeAngles(rpy, rpy_g, rpy_align);
        PIDtick.loop(); 
        
        float tend = _t.read();
        att_dt = (tend-tstart);
    }
}