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

run.cpp@66:a210d7130a44, 2021-06-22 (annotated)

Committer:
cocorlow
Date:
Tue Jun 22 10:12:21 2021 +0000
Revision:
66:a210d7130a44
Parent:
63:851e96f54a86
Child:
69:0caaad87cf1d
time!!

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 {
cocorlow 56:888379912f81 5 pc.printf("reading calibration value\r\n");
cocorlow 56:888379912f81 6 //キャリブレーション値を取得
cocorlow 56:888379912f81 7 U read_calib;
cocorlow 56:888379912f81 8 readEEPROM(eeprom_address, eeprom_pointeraddress, read_calib.c, N_EEPROM*4);
cocorlow 56:888379912f81 9 wait(3);
cocorlow 56:888379912f81 10 pos_tail = (int)read_calib.i[0];
NaotoMorita 61:c05353850017 11 agoffset[3] = float(read_calib.i[7]);
NaotoMorita 61:c05353850017 12 agoffset[4] = float(read_calib.i[8]);
NaotoMorita 61:c05353850017 13 agoffset[5] = float(read_calib.i[9]);
NaotoMorita 61:c05353850017 14 magbiasMin[0] = float(read_calib.i[1])/1000.0f;
NaotoMorita 61:c05353850017 15 magbiasMin[1] = float(read_calib.i[2])/1000.0f;
NaotoMorita 61:c05353850017 16 magbiasMin[2] = float(read_calib.i[3])/1000.0f;
NaotoMorita 61:c05353850017 17 magbiasMax[0] = float(read_calib.i[4])/1000.0f;
NaotoMorita 61:c05353850017 18 magbiasMax[1] = float(read_calib.i[5])/1000.0f;
NaotoMorita 61:c05353850017 19 magbiasMax[2] = float(read_calib.i[6])/1000.0f;
NaotoMorita 61:c05353850017 20 rpy_align.y = float(read_calib.i[10])/200000.0f;
NaotoMorita 61:c05353850017 21 rpy_align.x = float(read_calib.i[11])/200000.0f;
NaotoMorita 61:c05353850017 22 magCalibrator.setExtremes(magbiasMin,magbiasMax);
cocorlow 56:888379912f81 23 // tail_address[pos_tail] = (int)read_calib.i[10];
cocorlow 56:888379912f81 24
cocorlow 56:888379912f81 25 switch(pos_tail){
cocorlow 56:888379912f81 26 case 0:
cocorlow 56:888379912f81 27 pc.printf("This MBED is Located at Left \r\n");
cocorlow 56:888379912f81 28 break;
cocorlow 56:888379912f81 29 case 1:
cocorlow 56:888379912f81 30 pc.printf("This MBED is Located at Center \r\n");
cocorlow 56:888379912f81 31 break;
cocorlow 56:888379912f81 32 case 2:
cocorlow 56:888379912f81 33 pc.printf("This MBED is Located at Right \r\n");
cocorlow 56:888379912f81 34 break;
cocorlow 56:888379912f81 35 default: // error situation
cocorlow 56:888379912f81 36 pc.printf("error\r\n");
cocorlow 56:888379912f81 37 break;
cocorlow 56:888379912f81 38 }
cocorlow 56:888379912f81 39 pc.printf("tail_address : %d\r\n", tail_address[pos_tail]);
cocorlow 56:888379912f81 40 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);
cocorlow 56:888379912f81 41 getIMUval();
cocorlow 56:888379912f81 42 ekf.triad(acc/acc.Norm(), accref/accref.Norm(), mag/mag.Norm(), magref/magref.Norm());
NaotoMorita 61:c05353850017 43 float val2_thmg = 0;
NaotoMorita 61:c05353850017 44 float val2_accnorm = 0;
cocorlow 56:888379912f81 45 float sumLPaccnorm = 0;
cocorlow 56:888379912f81 46 for(int i = 0; i < 1000; i++){
cocorlow 56:888379912f81 47 getIMUval();
cocorlow 56:888379912f81 48 val_thmg += acos((mag % acc)/mag.Norm()/acc.Norm());
NaotoMorita 61:c05353850017 49 val2_thmg += (acos((mag % acc)/mag.Norm()/acc.Norm()))*(acos((mag % acc)/mag.Norm()/acc.Norm()));
cocorlow 56:888379912f81 50 sumLPaccnorm += LPacc.Norm();
NaotoMorita 61:c05353850017 51 val2_accnorm += LPacc.Norm()*LPacc.Norm();
cocorlow 56:888379912f81 52 }
cocorlow 56:888379912f81 53 accref.z = -sumLPaccnorm / 1000;
cocorlow 56:888379912f81 54 val_thmg /= 1000;
NaotoMorita 61:c05353850017 55 sigma_thmg = sqrt(val2_thmg/1000-val_thmg*val_thmg);
NaotoMorita 61:c05353850017 56 sigma_accnorm = sqrt(val2_accnorm/1000-accref.z*accref.z);
NaotoMorita 61:c05353850017 57 pc.printf("sigma: %f %f \r\n",sigma_thmg,sigma_accnorm);
cocorlow 56:888379912f81 58 for (int i = 0; i < 3; i++)
cocorlow 56:888379912f81 59 {
cocorlow 56:888379912f81 60 if (i == pos_tail)
cocorlow 56:888379912f81 61 {
cocorlow 63:851e96f54a86 62 continue;
cocorlow 56:888379912f81 63 }
cocorlow 56:888379912f81 64 else
cocorlow 56:888379912f81 65 {
cocorlow 56:888379912f81 66 tail.Subscribe(tail_address[i], &(posValues[i]));
cocorlow 56:888379912f81 67 }
cocorlow 56:888379912f81 68 }
cocorlow 63:851e96f54a86 69 tail.Subscribe(time_address, &broadcast_time);
cocorlow 56:888379912f81 70
cocorlow 56:888379912f81 71 LoopTicker PIDtick;
cocorlow 56:888379912f81 72 PIDtick.attach(calcServoOut,PID_dt);
cocorlow 56:888379912f81 73
cocorlow 56:888379912f81 74 Timer _t;
cocorlow 56:888379912f81 75 _t.start();
cocorlow 56:888379912f81 76
cocorlow 56:888379912f81 77 while(1)
cocorlow 56:888379912f81 78 {
cocorlow 56:888379912f81 79 float tstart = _t.read();
cocorlow 56:888379912f81 80 //姿勢角を更新
cocorlow 56:888379912f81 81 getIMUval();
cocorlow 56:888379912f81 82 ekf.updateBetweenMeasures(gyro, att_dt);
cocorlow 56:888379912f81 83 ekf.computeAngles(rpy, rpy_g, rpy_align);
cocorlow 56:888379912f81 84 PIDtick.loop();
cocorlow 66:a210d7130a44 85 // if (broadcast_time.ms != system_time.ms)
cocorlow 66:a210d7130a44 86 // {
cocorlow 66:a210d7130a44 87 // system_time = broadcast_time;
cocorlow 66:a210d7130a44 88 // system_dt.reset();
cocorlow 66:a210d7130a44 89 // system_dt.start();
cocorlow 66:a210d7130a44 90 // }
cocorlow 56:888379912f81 91
cocorlow 56:888379912f81 92 float tend = _t.read();
cocorlow 56:888379912f81 93 att_dt = (tend-tstart);
cocorlow 56:888379912f81 94 }
cocorlow 56:888379912f81 95 }