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

run.cpp@95:98dbbcc6b39d, 2022-02-02 (annotated)

Committer:
NaotoMorita
Date:
Wed Feb 02 07:59:58 2022 +0000
Revision:
95:98dbbcc6b39d
Parent:
94:a90b4b920fa9
Child:
98:39e4d1844a24
without kf in preflight check

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
cocorlow 56:888379912f81 6 pc.printf("reading calibration value\r\n");
cocorlow 56:888379912f81 7 //キャリブレーション値を取得
cocorlow 56:888379912f81 8 U read_calib;
cocorlow 56:888379912f81 9 readEEPROM(eeprom_address, eeprom_pointeraddress, read_calib.c, N_EEPROM*4);
cocorlow 56:888379912f81 10 wait(3);
cocorlow 56:888379912f81 11 pos_tail = (int)read_calib.i[0];
NaotoMorita 61:c05353850017 12 magbiasMin[0] = float(read_calib.i[1])/1000.0f;
NaotoMorita 61:c05353850017 13 magbiasMin[1] = float(read_calib.i[2])/1000.0f;
NaotoMorita 61:c05353850017 14 magbiasMin[2] = float(read_calib.i[3])/1000.0f;
NaotoMorita 61:c05353850017 15 magbiasMax[0] = float(read_calib.i[4])/1000.0f;
NaotoMorita 61:c05353850017 16 magbiasMax[1] = float(read_calib.i[5])/1000.0f;
NaotoMorita 61:c05353850017 17 magbiasMax[2] = float(read_calib.i[6])/1000.0f;
NaotoMorita 90:0b1f62f7a83a 18 roll_offset = (float)read_calib.i[10] / 200000.0f;
NaotoMorita 90:0b1f62f7a83a 19 pitch_offset = (float)read_calib.i[11] / 200000.0f;
NaotoMorita 90:0b1f62f7a83a 20
osaka 84:028bd650e8bc 21 //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
osaka 84:028bd650e8bc 22 int n_init = 1000;
osaka 84:028bd650e8bc 23 for(int i = 0;i<n_init;i++){
osaka 84:028bd650e8bc 24 lsm.readAccel();
osaka 84:028bd650e8bc 25 lsm.readMag();
osaka 84:028bd650e8bc 26 lsm.readGyro();
osaka 84:028bd650e8bc 27 agoffset[0] += lsm.ax * 9.8f;
osaka 84:028bd650e8bc 28 agoffset[1] += lsm.ay * 9.8f;
osaka 84:028bd650e8bc 29 agoffset[2] += lsm.az * 9.8f-9.8f;
osaka 84:028bd650e8bc 30 agoffset[3] +=(lsm.gx * M_PI / 180.0f);
osaka 84:028bd650e8bc 31 agoffset[4] +=(lsm.gy * M_PI / 180.0f);
osaka 84:028bd650e8bc 32 agoffset[5] +=(lsm.gz * M_PI / 180.0f);
osaka 84:028bd650e8bc 33 palt0 += lps.pressureToAltitudeMeters(lps.readPressureMillibars());
osaka 84:028bd650e8bc 34 magref.x += lsm.mx;
osaka 84:028bd650e8bc 35 magref.y += lsm.my;
osaka 84:028bd650e8bc 36 magref.z += lsm.mz;
osaka 84:028bd650e8bc 37 }
osaka 84:028bd650e8bc 38 for(int i = 0;i<6;i++){
osaka 84:028bd650e8bc 39 agoffset[i] /= float(n_init);
osaka 84:028bd650e8bc 40 }
osaka 84:028bd650e8bc 41 magref.x /= float(n_init);
osaka 84:028bd650e8bc 42 magref.y /= float(n_init);
osaka 84:028bd650e8bc 43 magref.z /= float(n_init);
osaka 84:028bd650e8bc 44 palt0 /= float(n_init);
cocorlow 56:888379912f81 45
cocorlow 56:888379912f81 46 switch(pos_tail){
cocorlow 56:888379912f81 47 case 0:
cocorlow 56:888379912f81 48 pc.printf("This MBED is Located at Left \r\n");
cocorlow 56:888379912f81 49 break;
cocorlow 56:888379912f81 50 case 1:
cocorlow 56:888379912f81 51 pc.printf("This MBED is Located at Center \r\n");
cocorlow 56:888379912f81 52 break;
cocorlow 56:888379912f81 53 case 2:
cocorlow 56:888379912f81 54 pc.printf("This MBED is Located at Right \r\n");
cocorlow 56:888379912f81 55 break;
cocorlow 56:888379912f81 56 default: // error situation
cocorlow 56:888379912f81 57 pc.printf("error\r\n");
cocorlow 56:888379912f81 58 break;
cocorlow 56:888379912f81 59 }
cocorlow 56:888379912f81 60 pc.printf("tail_address : %d\r\n", tail_address[pos_tail]);
NaotoMorita 90:0b1f62f7a83a 61 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);
NaotoMorita 90:0b1f62f7a83a 62
NaotoMorita 90:0b1f62f7a83a 63 wait(1);
NaotoMorita 69:0caaad87cf1d 64
osaka 84:028bd650e8bc 65 //ESKFの共分散設定
osaka 84:028bd650e8bc 66 eskf.setGravity(0.0f,0.0f,9.8f);
osaka 84:028bd650e8bc 67 eskf.setPhatPosition(0.1f);
osaka 84:028bd650e8bc 68 eskf.setPhatVelocity(0.1f);
osaka 84:028bd650e8bc 69 eskf.setPhatAngleError(0.5f);
osaka 84:028bd650e8bc 70 eskf.setPhatAccBias(0.001f);
osaka 84:028bd650e8bc 71 eskf.setPhatGyroBias(0.001f);
osaka 84:028bd650e8bc 72 eskf.setPhatGravity(0.0000001f);
osaka 84:028bd650e8bc 73
osaka 84:028bd650e8bc 74 eskf.setQVelocity(0.001f);
osaka 84:028bd650e8bc 75 eskf.setQAngleError(0.0000025f);
osaka 84:028bd650e8bc 76 eskf.setQAccBias(0.000001f);
osaka 84:028bd650e8bc 77 eskf.setQGyroBias(0.000001f);
osaka 84:028bd650e8bc 78
osaka 84:028bd650e8bc 79 Matrix Rgpspos(3,3);
osaka 84:028bd650e8bc 80 setDiag(Rgpspos,1.0f);
osaka 84:028bd650e8bc 81
osaka 84:028bd650e8bc 82 Matrix Rgpsvel(3,3);
osaka 84:028bd650e8bc 83 Rgpsvel(1,1) = 0.01f;
osaka 84:028bd650e8bc 84 Rgpsvel(2,2) = 0.01f;
osaka 84:028bd650e8bc 85 Rgpsvel(3,3) = 0.1f;
osaka 84:028bd650e8bc 86
osaka 84:028bd650e8bc 87 Matrix Rgps(5,5);
osaka 84:028bd650e8bc 88 setDiag(Rgps,0.05f);
osaka 84:028bd650e8bc 89 Rgps(4,4) = 0.1f;
osaka 84:028bd650e8bc 90 Rgps(5,5) = 0.1f;
osaka 84:028bd650e8bc 91
osaka 84:028bd650e8bc 92 float dynAccCriteria = 0.4f;
osaka 84:028bd650e8bc 93 Matrix Racc(3,3);
osaka 84:028bd650e8bc 94 setDiag(Racc,100.0f);
osaka 84:028bd650e8bc 95 Matrix RaccDyn(3,3);
osaka 84:028bd650e8bc 96 setDiag(RaccDyn,5000.0f);
osaka 84:028bd650e8bc 97
osaka 84:028bd650e8bc 98 Matrix Rheading(1,1);
osaka 84:028bd650e8bc 99 Rheading(1,1) = 0.01f;
osaka 84:028bd650e8bc 100
NaotoMorita 71:62eb45ecffe9 101 wait(0.5);
NaotoMorita 69:0caaad87cf1d 102 Timer _t;
NaotoMorita 69:0caaad87cf1d 103 _t.start();
NaotoMorita 73:be7a8b8188de 104 tail.Subscribe(tail_address[pos_tail], &(updateValues));
cocorlow 56:888379912f81 105
osaka 91:393b9ae62681 106 //pre-flight check
NaotoMorita 95:98dbbcc6b39d 107
osaka 91:393b9ae62681 108 while(1){
osaka 91:393b9ae62681 109 bool preflightCheck = true;
osaka 91:393b9ae62681 110 if(sbus.failSafe){
NaotoMorita 92:6a2319f7f6ed 111 pc.printf("sbus\r\n");
osaka 91:393b9ae62681 112 preflightCheck = false;
osaka 91:393b9ae62681 113 }
osaka 91:393b9ae62681 114 if(!(updateValues.gps_fix == 0x03)){
NaotoMorita 92:6a2319f7f6ed 115 pc.printf("gps\r\n");
osaka 91:393b9ae62681 116 preflightCheck = false;
osaka 91:393b9ae62681 117 }
osaka 91:393b9ae62681 118
NaotoMorita 95:98dbbcc6b39d 119 if(preflightCheck == true){
osaka 91:393b9ae62681 120 prefligt_finished = true;
osaka 91:393b9ae62681 121 break;
osaka 91:393b9ae62681 122 }
NaotoMorita 93:b0f7a1e91476 123 wait(0.01f);
NaotoMorita 92:6a2319f7f6ed 124 pc.printf("pre-flight check\r\n");
osaka 91:393b9ae62681 125 send2center();
osaka 91:393b9ae62681 126 }
osaka 91:393b9ae62681 127
NaotoMorita 95:98dbbcc6b39d 128 wait(2.0f);
NaotoMorita 93:b0f7a1e91476 129
NaotoMorita 93:b0f7a1e91476 130 eskf.setPihat(updateValues.pi[0], updateValues.pi[1], palt);
cocorlow 56:888379912f81 131 LoopTicker PIDtick;
cocorlow 56:888379912f81 132 PIDtick.attach(calcServoOut,PID_dt);
cocorlow 56:888379912f81 133
osaka 84:028bd650e8bc 134 float tgps = _t.read();
osaka 84:028bd650e8bc 135 float theading = _t.read();
cocorlow 56:888379912f81 136
cocorlow 56:888379912f81 137 while(1)
cocorlow 56:888379912f81 138 {
cocorlow 56:888379912f81 139 float tstart = _t.read();
osaka 84:028bd650e8bc 140 //センサの値を取得
cocorlow 56:888379912f81 141 getIMUval();
osaka 84:028bd650e8bc 142
osaka 84:028bd650e8bc 143 //ekfの更新
osaka 84:028bd650e8bc 144 eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
osaka 84:028bd650e8bc 145 eskf.updateErrState(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
osaka 84:028bd650e8bc 146
NaotoMorita 90:0b1f62f7a83a 147 //キャリブレーション中
NaotoMorita 90:0b1f62f7a83a 148 if(updateValues.calibrationFlag == 1111){
NaotoMorita 90:0b1f62f7a83a 149 gpsUpdateFlag = false;
NaotoMorita 90:0b1f62f7a83a 150 if(tstart-tgps>0.2f){
NaotoMorita 90:0b1f62f7a83a 151 gpsUpdateFlag = true;
NaotoMorita 90:0b1f62f7a83a 152 tgps = _t.read();
NaotoMorita 90:0b1f62f7a83a 153 }
NaotoMorita 90:0b1f62f7a83a 154
NaotoMorita 90:0b1f62f7a83a 155 headingUpdateFlag = false;
NaotoMorita 90:0b1f62f7a83a 156 if(tstart-theading>0.05f){
osaka 84:028bd650e8bc 157 headingUpdateFlag = true;
osaka 84:028bd650e8bc 158 theading = _t.read();
osaka 84:028bd650e8bc 159 }
NaotoMorita 90:0b1f62f7a83a 160
NaotoMorita 90:0b1f62f7a83a 161 if(gpsUpdateFlag == true){
NaotoMorita 90:0b1f62f7a83a 162 Vector3 pi(0.0f, 0.0f, 0.0f);
NaotoMorita 90:0b1f62f7a83a 163 Vector3 vi(0.0f, 0.0f, 0.0f);
NaotoMorita 90:0b1f62f7a83a 164 eskf.updateGPS(MatrixMath::Vector2mat(pi),0.0f,MatrixMath::Vector2mat(vi),Rgps);
NaotoMorita 90:0b1f62f7a83a 165 }else if(headingUpdateFlag == true){
NaotoMorita 90:0b1f62f7a83a 166 eskf.updateHeading(0.0f,Rheading);
NaotoMorita 90:0b1f62f7a83a 167 }else{
NaotoMorita 90:0b1f62f7a83a 168 eskf.updateAcc(MatrixMath::Vector2mat(acc),Racc*0.01f);
NaotoMorita 90:0b1f62f7a83a 169 }
osaka 84:028bd650e8bc 170 }else{
NaotoMorita 90:0b1f62f7a83a 171 gpsUpdateFlag = false;
NaotoMorita 90:0b1f62f7a83a 172 if((gpsitow != updateValues.gps_itow) && (updateValues.gps_fix == 0x03)){
NaotoMorita 90:0b1f62f7a83a 173 gpsUpdateFlag = true;
NaotoMorita 90:0b1f62f7a83a 174 gpsitow = updateValues.gps_itow;
NaotoMorita 90:0b1f62f7a83a 175 tgps = _t.read();
NaotoMorita 90:0b1f62f7a83a 176 }
NaotoMorita 90:0b1f62f7a83a 177
NaotoMorita 90:0b1f62f7a83a 178 headingUpdateFlag = false;
NaotoMorita 90:0b1f62f7a83a 179 if(tstart-theading>0.05f){
NaotoMorita 90:0b1f62f7a83a 180 Matrix euler = eskf.computeAngles();
NaotoMorita 90:0b1f62f7a83a 181 if(fabsf(euler(2,1))<30.0f*M_PI/180.0f){
NaotoMorita 90:0b1f62f7a83a 182 headingUpdateFlag = true;
NaotoMorita 90:0b1f62f7a83a 183 theading = _t.read();
NaotoMorita 90:0b1f62f7a83a 184 }
NaotoMorita 90:0b1f62f7a83a 185 }
NaotoMorita 90:0b1f62f7a83a 186
NaotoMorita 90:0b1f62f7a83a 187 if(gpsUpdateFlag==true){
NaotoMorita 90:0b1f62f7a83a 188 Vector3 pi(updateValues.pi[0], updateValues.pi[1], updateValues.pi[2]);
NaotoMorita 90:0b1f62f7a83a 189 Vector3 vi(updateValues.vi[0], updateValues.vi[1], updateValues.vi[2]);
NaotoMorita 90:0b1f62f7a83a 190 eskf.updateGPS(MatrixMath::Vector2mat(pi),palt,MatrixMath::Vector2mat(vi),Rgps);
NaotoMorita 90:0b1f62f7a83a 191 }else if(headingUpdateFlag == true){
NaotoMorita 90:0b1f62f7a83a 192 float heading = atan2f(-mag.y,mag.x);
NaotoMorita 90:0b1f62f7a83a 193 eskf.updateHeading(heading,Rheading);
osaka 84:028bd650e8bc 194 }else{
NaotoMorita 90:0b1f62f7a83a 195 Matrix dynacc = eskf.calcDynAcc(MatrixMath::Vector2mat(acc));
NaotoMorita 90:0b1f62f7a83a 196 dynaccnorm2 = dynacc(1,1)*dynacc(1,1)+dynacc(2,1)*dynacc(2,1)+dynacc(3,1)*dynacc(3,1);
NaotoMorita 90:0b1f62f7a83a 197 if(dynaccnorm2 > dynAccCriteria*dynAccCriteria){
NaotoMorita 90:0b1f62f7a83a 198 eskf.updateAcc(MatrixMath::Vector2mat(acc),RaccDyn);
NaotoMorita 90:0b1f62f7a83a 199 }else{
NaotoMorita 90:0b1f62f7a83a 200 eskf.updateAcc(MatrixMath::Vector2mat(acc),Racc);
NaotoMorita 90:0b1f62f7a83a 201 }
osaka 84:028bd650e8bc 202 }
osaka 84:028bd650e8bc 203 }
osaka 87:981895e1d4f2 204
cocorlow 56:888379912f81 205 PIDtick.loop();
cocorlow 56:888379912f81 206
osaka 84:028bd650e8bc 207 //制御時間を計測
cocorlow 56:888379912f81 208 float tend = _t.read();
cocorlow 56:888379912f81 209 att_dt = (tend-tstart);
cocorlow 56:888379912f81 210 }
cocorlow 56:888379912f81 211 }