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

global.cpp@107:78e6f7bee68e, 2022-03-07 (annotated)

Committer:
NaotoMorita
Date:
Mon Mar 07 09:16:40 2022 +0000
Revision:
107:78e6f7bee68e
Parent:
106:36458fb9b5b7
Child:
108:e582f8bd4729
20220308_beforeMinamisouma

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 // var
cocorlow 56:888379912f81 4
cocorlow 56:888379912f81 5 // communication
NaotoMorita 58:a7947322db87 6 Serial pc(USBTX, USBRX);
cocorlow 56:888379912f81 7 I2C i2c(PB_9,PB_8); // sda, scl
NaotoMorita 73:be7a8b8188de 8 UsaPack tail(PG_14, PG_9, 115200); // log - tail
cocorlow 56:888379912f81 9 SBUS sbus(PD_5, PD_6);
cocorlow 56:888379912f81 10
cocorlow 56:888379912f81 11 // sensor
osaka 83:0a644de28415 12 LSM9DS1 lsm(i2c);
osaka 83:0a644de28415 13 LPS lps(i2c);
osaka 83:0a644de28415 14 //UsaPack sensor1(PC_10, PC_11, 115200);
osaka 83:0a644de28415 15 //UsaPack sensor2(PC_12, PD_2, 115200);
NaotoMorita 61:c05353850017 16 CalibrateMagneto magCalibrator;
cocorlow 56:888379912f81 17
cocorlow 56:888379912f81 18 // io
cocorlow 56:888379912f81 19 DigitalIn userButton(USER_BUTTON);
cocorlow 56:888379912f81 20 DigitalIn locdef1(PG_2);
cocorlow 56:888379912f81 21 DigitalIn locdef2(PG_3);
cocorlow 56:888379912f81 22
cocorlow 56:888379912f81 23 // control
osaka 83:0a644de28415 24 FastPWM servo(PE_9);
NaotoMorita 107:78e6f7bee68e 25 FastPWM rudServo(PE_11);
NaotoMorita 107:78e6f7bee68e 26 FastPWM motor1(PE_13);
NaotoMorita 107:78e6f7bee68e 27 FastPWM motor2(PA_6);
cocorlow 56:888379912f81 28 PID pitchPID(5.0, 0,0, PID_dt); // rad
cocorlow 56:888379912f81 29 PID pitchratePID(0.5, 0.0, 0.0, PID_dt); // rad/s
NaotoMorita 107:78e6f7bee68e 30 PID yawratePID(5.0, 0.0, 0.0, PID_dt); // rad/s
osaka 84:028bd650e8bc 31 solaESKF eskf;
NaotoMorita 79:aa2631950f46 32 int itowVEL_log = 0;
cocorlow 56:888379912f81 33
NaotoMorita 104:f81befbc5ab7 34 Timer _t;
cocorlow 56:888379912f81 35 int loop_count = 0;
cocorlow 56:888379912f81 36 float att_dt = 0.01f;
NaotoMorita 104:f81befbc5ab7 37 float tstart = 0.0f;
NaotoMorita 104:f81befbc5ab7 38 float tgps = 0.0f;
NaotoMorita 106:36458fb9b5b7 39 float tsensors = 0.0f;
cocorlow 56:888379912f81 40 float rc[16];
cocorlow 56:888379912f81 41
cocorlow 56:888379912f81 42 int16_t ax, ay, az;
cocorlow 56:888379912f81 43 int16_t gx, gy, gz;
cocorlow 56:888379912f81 44 float magval[3] = {1.0f, 0.0f, 0.0f};
cocorlow 56:888379912f81 45
cocorlow 63:851e96f54a86 46 // elevator
cocorlow 63:851e96f54a86 47 float de;
cocorlow 63:851e96f54a86 48 float deobj;
NaotoMorita 107:78e6f7bee68e 49 float dr;
NaotoMorita 107:78e6f7bee68e 50 float drobj;
cocorlow 63:851e96f54a86 51
cocorlow 56:888379912f81 52 // position
osaka 83:0a644de28415 53 Matrix SensorAlignmentAG(3,3);
osaka 83:0a644de28415 54 Matrix SensorAlignmentMAG(3,3);
cocorlow 56:888379912f81 55 Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 56 Vector3 acc;
NaotoMorita 71:62eb45ecffe9 57 Vector3 accref(0.0f, 0.0f, 0.98f);
cocorlow 56:888379912f81 58 Vector3 mag;
cocorlow 56:888379912f81 59 Vector3 magref(0.65f, 0.0f, 0.75f);
cocorlow 56:888379912f81 60 Vector3 gyro;
NaotoMorita 71:62eb45ecffe9 61 Vector3 vb;
osaka 85:0b14a2a600fc 62 Matrix euler(3,1);
osaka 83:0a644de28415 63 float palt;
osaka 83:0a644de28415 64 float palt0;
NaotoMorita 90:0b1f62f7a83a 65 bool gpsUpdateFlag = false;
NaotoMorita 106:36458fb9b5b7 66 bool sensorUpdateFlag = false;
NaotoMorita 106:36458fb9b5b7 67 int sensorUpdateID = 1;
osaka 91:393b9ae62681 68 bool prefligt_finished = false;
osaka 84:028bd650e8bc 69 float dynaccnorm2;
NaotoMorita 106:36458fb9b5b7 70 //float opt_vx;
NaotoMorita 106:36458fb9b5b7 71 //float opt_vy;
NaotoMorita 106:36458fb9b5b7 72 //const float theta_px = 42.0f * M_PI / 180.0f;
NaotoMorita 106:36458fb9b5b7 73 //const float theta_py = 42.0f * M_PI / 180.0f;
NaotoMorita 106:36458fb9b5b7 74 //const int pixel_x = 35;
NaotoMorita 106:36458fb9b5b7 75 //const int pixel_y = 35;
cocorlow 56:888379912f81 76
NaotoMorita 107:78e6f7bee68e 77 float scaledServoOut[2] = {0.0f,0.0f};
NaotoMorita 107:78e6f7bee68e 78 float servoOut[2] = {1500.0f,1500.0f};
NaotoMorita 107:78e6f7bee68e 79
NaotoMorita 107:78e6f7bee68e 80 float scaledMotorOut[2] = {-1.0f,-1.0f};
NaotoMorita 107:78e6f7bee68e 81 float motorOut[2] = {1000.0f,1000.0f};
cocorlow 56:888379912f81 82
cocorlow 56:888379912f81 83 int calibrationFlag = 0;
cocorlow 56:888379912f81 84 int pos_tail = 0; // 0:left 1:center 2:right
NaotoMorita 90:0b1f62f7a83a 85 float agoffset[6] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
NaotoMorita 61:c05353850017 86 float magbiasMin[3] = {0.0f, 0.0f, 0.0f};
NaotoMorita 61:c05353850017 87 float magbiasMax[3] = {0.0f, 0.0f, 0.0f};
NaotoMorita 71:62eb45ecffe9 88 float accMin[3] = {-1.0f, -1.0f, -1.0f};
NaotoMorita 71:62eb45ecffe9 89 float accMax[3] = { 1.0f, 1.0f, 1.0f};
osaka 87:981895e1d4f2 90 int gpsitow = 0;
cocorlow 56:888379912f81 91
osaka 88:0fc5df2fddcb 92 float roll_offset = 0.0f;
osaka 88:0fc5df2fddcb 93 float pitch_offset = 0.0f;
cocorlow 56:888379912f81 94
cocorlow 56:888379912f81 95 // eepromのread writeのためのunionを定義
osaka 85:0b14a2a600fc 96 const int eeprom_address = 0xA0; // EEPROMの3つの入力が全て+より
cocorlow 56:888379912f81 97 const int eeprom_pointeraddress = 0;
cocorlow 56:888379912f81 98
cocorlow 56:888379912f81 99 // UsaPack
cocorlow 56:888379912f81 100 const int tail_address[3] = {1111, 2222, 3333};
cocorlow 63:851e96f54a86 101 const int time_address = 4444;
NaotoMorita 73:be7a8b8188de 102 valuePack posValues;
NaotoMorita 73:be7a8b8188de 103 updatePack updateValues;
cocorlow 63:851e96f54a86 104 Timer system_dt;
cocorlow 56:888379912f81 105
cocorlow 56:888379912f81 106 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
cocorlow 56:888379912f81 107 {
cocorlow 56:888379912f81 108 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
osaka 84:028bd650e8bc 109 }
osaka 84:028bd650e8bc 110
osaka 84:028bd650e8bc 111 void setDiag(Matrix& mat, float val){
osaka 84:028bd650e8bc 112 for (int i = 1; i < mat.getCols()+1; i++){
osaka 84:028bd650e8bc 113 mat(i,i) = val;
osaka 84:028bd650e8bc 114 }
osaka 88:0fc5df2fddcb 115 }
osaka 88:0fc5df2fddcb 116
osaka 88:0fc5df2fddcb 117 //alignment
osaka 88:0fc5df2fddcb 118 int n_ave = 0;
osaka 88:0fc5df2fddcb 119 float roll_sum = 0.0f;
osaka 88:0fc5df2fddcb 120 float pitch_sum = 0.0f;