HAPSRG / Mbed 2 deprecated HAPStail

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

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

run.cpp@109:27ae949bc38e, 2022-03-09 (annotated)

Committer:
NaotoMorita
Date:
Wed Mar 09 13:04:08 2022 +0000
Revision:
109:27ae949bc38e
Parent:
108:e582f8bd4729
Child:
114:ba221936d53a
20220309_withoutOpticalFlow

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 {
osaka 85:0b14a2a600fc 5
NaotoMorita 104:f81befbc5ab7 6 preflightCalibration();
NaotoMorita 69:0caaad87cf1d 7
osaka 84:028bd650e8bc 8 //ESKFの共分散設定
osaka 84:028bd650e8bc 9 eskf.setGravity(0.0f,0.0f,9.8f);
NaotoMorita 101:d9895b8eb49f 10 eskf.setPhatPosition(0.1f);
NaotoMorita 101:d9895b8eb49f 11 eskf.setPhatVelocity(0.1f);
NaotoMorita 101:d9895b8eb49f 12 eskf.setPhatAngleError(0.5f);
NaotoMorita 101:d9895b8eb49f 13 eskf.setPhatAccBias(0.001f);
NaotoMorita 101:d9895b8eb49f 14 eskf.setPhatGyroBias(0.001f);
osaka 84:028bd650e8bc 15 eskf.setPhatGravity(0.0000001f);
NaotoMorita 101:d9895b8eb49f 16
osaka 84:028bd650e8bc 17 eskf.setQVelocity(0.001f);
osaka 84:028bd650e8bc 18 eskf.setQAngleError(0.0000025f);
osaka 84:028bd650e8bc 19 eskf.setQAccBias(0.000001f);
osaka 84:028bd650e8bc 20 eskf.setQGyroBias(0.000001f);
osaka 84:028bd650e8bc 21
osaka 84:028bd650e8bc 22 Matrix Rgps(5,5);
osaka 84:028bd650e8bc 23 setDiag(Rgps,0.05f);
osaka 84:028bd650e8bc 24 Rgps(4,4) = 0.1f;
osaka 84:028bd650e8bc 25 Rgps(5,5) = 0.1f;
osaka 84:028bd650e8bc 26
osaka 84:028bd650e8bc 27 float dynAccCriteria = 0.4f;
osaka 84:028bd650e8bc 28 Matrix Racc(3,3);
osaka 84:028bd650e8bc 29 setDiag(Racc,100.0f);
osaka 84:028bd650e8bc 30 Matrix RaccDyn(3,3);
osaka 84:028bd650e8bc 31 setDiag(RaccDyn,5000.0f);
osaka 84:028bd650e8bc 32
osaka 84:028bd650e8bc 33 Matrix Rheading(1,1);
osaka 84:028bd650e8bc 34 Rheading(1,1) = 0.01f;
osaka 84:028bd650e8bc 35
NaotoMorita 105:aaaed895ffaf 36 Matrix Ropt(2,2);
NaotoMorita 105:aaaed895ffaf 37 setDiag(Ropt,10.0f);
NaotoMorita 105:aaaed895ffaf 38
NaotoMorita 71:62eb45ecffe9 39 wait(0.5);
NaotoMorita 104:f81befbc5ab7 40
NaotoMorita 69:0caaad87cf1d 41 _t.start();
NaotoMorita 73:be7a8b8188de 42 tail.Subscribe(tail_address[pos_tail], &(updateValues));
cocorlow 56:888379912f81 43
NaotoMorita 104:f81befbc5ab7 44 preflightCheck();
osaka 91:393b9ae62681 45
cocorlow 56:888379912f81 46 LoopTicker PIDtick;
cocorlow 56:888379912f81 47 PIDtick.attach(calcServoOut,PID_dt);
cocorlow 56:888379912f81 48
cocorlow 56:888379912f81 49 while(1)
cocorlow 56:888379912f81 50 {
NaotoMorita 104:f81befbc5ab7 51 tstart = _t.read();
osaka 84:028bd650e8bc 52 //センサの値を取得
cocorlow 56:888379912f81 53 getIMUval();
osaka 103:34e911b94440 54 calcOpticalVel();
osaka 84:028bd650e8bc 55
osaka 84:028bd650e8bc 56 //ekfの更新
osaka 84:028bd650e8bc 57 eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
osaka 84:028bd650e8bc 58 eskf.updateErrState(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
osaka 84:028bd650e8bc 59
NaotoMorita 90:0b1f62f7a83a 60 //キャリブレーション中
NaotoMorita 90:0b1f62f7a83a 61 if(updateValues.calibrationFlag == 1111){
NaotoMorita 104:f81befbc5ab7 62 mainloopCalibration();
osaka 84:028bd650e8bc 63 }else{
NaotoMorita 90:0b1f62f7a83a 64 gpsUpdateFlag = false;
NaotoMorita 101:d9895b8eb49f 65 //pc.printf("%d %d \r\n",updateValues.gps_itow,updateValues.gps_fix );
NaotoMorita 90:0b1f62f7a83a 66 if((gpsitow != updateValues.gps_itow) && (updateValues.gps_fix == 0x03)){
NaotoMorita 90:0b1f62f7a83a 67 gpsUpdateFlag = true;
NaotoMorita 90:0b1f62f7a83a 68 gpsitow = updateValues.gps_itow;
NaotoMorita 90:0b1f62f7a83a 69 tgps = _t.read();
NaotoMorita 90:0b1f62f7a83a 70 }
NaotoMorita 90:0b1f62f7a83a 71
NaotoMorita 106:36458fb9b5b7 72 sensorUpdateFlag = false;
NaotoMorita 106:36458fb9b5b7 73 if(tstart-tsensors>0.05f){
NaotoMorita 106:36458fb9b5b7 74 sensorUpdateFlag = true;
NaotoMorita 106:36458fb9b5b7 75 tsensors = _t.read();
NaotoMorita 90:0b1f62f7a83a 76 }
NaotoMorita 90:0b1f62f7a83a 77
NaotoMorita 90:0b1f62f7a83a 78 if(gpsUpdateFlag==true){
NaotoMorita 90:0b1f62f7a83a 79 Vector3 pi(updateValues.pi[0], updateValues.pi[1], updateValues.pi[2]);
NaotoMorita 90:0b1f62f7a83a 80 Vector3 vi(updateValues.vi[0], updateValues.vi[1], updateValues.vi[2]);
osaka 98:39e4d1844a24 81 Rgps(1, 1) = (updateValues.gps_acc * 0.849f) * (updateValues.gps_acc * 0.849f);
osaka 98:39e4d1844a24 82 Rgps(2, 2) = (updateValues.gps_acc * 0.849f) * (updateValues.gps_acc * 0.849f);
NaotoMorita 90:0b1f62f7a83a 83 eskf.updateGPS(MatrixMath::Vector2mat(pi),palt,MatrixMath::Vector2mat(vi),Rgps);
NaotoMorita 106:36458fb9b5b7 84 //pc.printf("gps\r\n");
NaotoMorita 106:36458fb9b5b7 85 }else if(sensorUpdateFlag == true){
NaotoMorita 106:36458fb9b5b7 86 if(sensorUpdateID==1){
NaotoMorita 106:36458fb9b5b7 87 Matrix euler = eskf.computeAngles();
NaotoMorita 106:36458fb9b5b7 88 if(fabsf(euler(2,1))<30.0f*M_PI/180.0f){
NaotoMorita 106:36458fb9b5b7 89 float heading = atan2f(-mag.y,mag.x);
NaotoMorita 106:36458fb9b5b7 90 eskf.updateHeading(heading,Rheading);
NaotoMorita 106:36458fb9b5b7 91 //pc.printf("heading\r\n");
NaotoMorita 106:36458fb9b5b7 92 }
NaotoMorita 106:36458fb9b5b7 93 sensorUpdateID += 1;
NaotoMorita 106:36458fb9b5b7 94 }else{
NaotoMorita 109:27ae949bc38e 95 //float vnorm_opt2 = updateValues.vx_opt*updateValues.vx_opt+updateValues.vy_opt*updateValues.vy_opt;
NaotoMorita 109:27ae949bc38e 96 //if(updateValues.dist_ir<1.0f && vnorm_opt2 < 400.0f){
NaotoMorita 109:27ae949bc38e 97 //if(vnorm_opt2 < 0.1f){
NaotoMorita 109:27ae949bc38e 98 //Matrix vbOpt(2,1);
NaotoMorita 109:27ae949bc38e 99 //vbOpt(1,1) = updateValues.vx_opt;
NaotoMorita 109:27ae949bc38e 100 //vbOpt(2,1) = updateValues.vy_opt;
NaotoMorita 109:27ae949bc38e 101 //eskf.updateVb(vbOpt,Ropt*0.1f);
NaotoMorita 109:27ae949bc38e 102 //}else{
NaotoMorita 108:e582f8bd4729 103 //Matrix vbOpt(2,1);
NaotoMorita 108:e582f8bd4729 104 //vbOpt(1,1) = updateValues.vx_opt;
NaotoMorita 108:e582f8bd4729 105 //vbOpt(2,1) = updateValues.vy_opt;
NaotoMorita 108:e582f8bd4729 106 //eskf.updateVb(vbOpt,Ropt);
NaotoMorita 109:27ae949bc38e 107 //}
NaotoMorita 106:36458fb9b5b7 108 //pc.printf("opt\r\n");
NaotoMorita 109:27ae949bc38e 109 //}
NaotoMorita 106:36458fb9b5b7 110 sensorUpdateID=1;
NaotoMorita 106:36458fb9b5b7 111 }
osaka 84:028bd650e8bc 112 }else{
NaotoMorita 90:0b1f62f7a83a 113 Matrix dynacc = eskf.calcDynAcc(MatrixMath::Vector2mat(acc));
NaotoMorita 90:0b1f62f7a83a 114 dynaccnorm2 = dynacc(1,1)*dynacc(1,1)+dynacc(2,1)*dynacc(2,1)+dynacc(3,1)*dynacc(3,1);
NaotoMorita 90:0b1f62f7a83a 115 if(dynaccnorm2 > dynAccCriteria*dynAccCriteria){
NaotoMorita 90:0b1f62f7a83a 116 eskf.updateAcc(MatrixMath::Vector2mat(acc),RaccDyn);
NaotoMorita 106:36458fb9b5b7 117 //pc.printf("dyn acc\r\n");
NaotoMorita 90:0b1f62f7a83a 118 }else{
NaotoMorita 90:0b1f62f7a83a 119 eskf.updateAcc(MatrixMath::Vector2mat(acc),Racc);
NaotoMorita 106:36458fb9b5b7 120 //pc.printf("static acc\r\n");
NaotoMorita 106:36458fb9b5b7 121 }
NaotoMorita 106:36458fb9b5b7 122
osaka 84:028bd650e8bc 123 }
NaotoMorita 106:36458fb9b5b7 124
NaotoMorita 105:aaaed895ffaf 125
osaka 84:028bd650e8bc 126 }
osaka 87:981895e1d4f2 127
cocorlow 56:888379912f81 128 PIDtick.loop();
cocorlow 56:888379912f81 129
osaka 84:028bd650e8bc 130 //制御時間を計測
cocorlow 56:888379912f81 131 float tend = _t.read();
cocorlow 56:888379912f81 132 att_dt = (tend-tstart);
cocorlow 56:888379912f81 133 }
cocorlow 56:888379912f81 134 }