solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
hil.cpp@92:00460f6df439, 2021-10-28 (annotated)
- Committer:
- NaotoMorita
- Date:
- Thu Oct 28 09:44:47 2021 +0000
- Revision:
- 92:00460f6df439
- Parent:
- 90:96c2b0ed4b96
- Child:
- 93:b827f78a717a
for PmodNAV
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
NaotoMorita | 73:84ffa0166e6c | 1 | #include "global.hpp" |
NaotoMorita | 73:84ffa0166e6c | 2 | |
NaotoMorita | 92:00460f6df439 | 3 | void getHilIMUval() |
NaotoMorita | 73:84ffa0166e6c | 4 | { |
NaotoMorita | 76:7fd3ac1afe3e | 5 | switch(vp.commandIndex){ |
NaotoMorita | 76:7fd3ac1afe3e | 6 | case 1: |
NaotoMorita | 76:7fd3ac1afe3e | 7 | NVIC_SystemReset(); |
NaotoMorita | 76:7fd3ac1afe3e | 8 | break; |
NaotoMorita | 76:7fd3ac1afe3e | 9 | default : |
NaotoMorita | 76:7fd3ac1afe3e | 10 | break; |
NaotoMorita | 76:7fd3ac1afe3e | 11 | } |
NaotoMorita | 73:84ffa0166e6c | 12 | rpy_align.x = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 13 | rpy_align.y = 0.0f; |
NaotoMorita | 82:c183c29d2427 | 14 | accref.z = 1.0f; |
NaotoMorita | 90:96c2b0ed4b96 | 15 | float sigma_acc = sqrt(0.00020f); |
NaotoMorita | 83:e69ab831031c | 16 | float sigma_gyro = sqrt(0.000005f); |
NaotoMorita | 83:e69ab831031c | 17 | float sigma_mag = sqrt(0.002f); |
NaotoMorita | 73:84ffa0166e6c | 18 | // gx gy gz ax ay az |
NaotoMorita | 90:96c2b0ed4b96 | 19 | // 加速度値を分解能で割って加速度(m/s^2)に変換する |
NaotoMorita | 92:00460f6df439 | 20 | acc.x = 9.8f*float(vp.accData[0]) / 4096.0f + sigma_acc*randn(); //FS_SEL_0 16,384 LSB / g |
NaotoMorita | 92:00460f6df439 | 21 | acc.y = 9.8f*float(vp.accData[1]) / 4096.0f + sigma_acc*randn(); |
NaotoMorita | 92:00460f6df439 | 22 | acc.z = 9.8f*float(vp.accData[2]) / 4096.0f + sigma_acc*randn(); |
NaotoMorita | 73:84ffa0166e6c | 23 | acc = accMedian.Process(acc); |
NaotoMorita | 73:84ffa0166e6c | 24 | // 角速度値を分解能で割って角速度(rad per sec)に変換する |
NaotoMorita | 92:00460f6df439 | 25 | gyro.x = float(vp.gyroData[0]) / 131.0f * 0.0174533f + sigma_gyro*randn(); // (rad/s) |
NaotoMorita | 92:00460f6df439 | 26 | gyro.y = float(vp.gyroData[1]) / 131.0f * 0.0174533f + sigma_gyro*randn(); |
NaotoMorita | 92:00460f6df439 | 27 | gyro.z = float(vp.gyroData[2]) / 131.0f * 0.0174533f + sigma_gyro*randn(); |
NaotoMorita | 73:84ffa0166e6c | 28 | gyro = gyroMedian.Process(gyro); |
NaotoMorita | 90:96c2b0ed4b96 | 29 | |
NaotoMorita | 90:96c2b0ed4b96 | 30 | mag.x = float(vp.magData[0])/1000.0f + sigma_mag*randn(); |
NaotoMorita | 90:96c2b0ed4b96 | 31 | mag.y = float(vp.magData[1])/1000.0f + sigma_mag*randn(); |
NaotoMorita | 90:96c2b0ed4b96 | 32 | mag.z = float(vp.magData[2])/1000.0f + sigma_mag*randn(); |
NaotoMorita | 84:ff48e01ea76b | 33 | mag = magMedian.Process(mag); |
NaotoMorita | 90:96c2b0ed4b96 | 34 | |
NaotoMorita | 92:00460f6df439 | 35 | if(abs(vp.accData[0])<0.0001f && abs(vp.accData[1])<0.0001f && abs(vp.accData[2])<0.0001f){ |
NaotoMorita | 92:00460f6df439 | 36 | acc.x = 0.0f; |
NaotoMorita | 92:00460f6df439 | 37 | acc.y = 0.0f; |
NaotoMorita | 92:00460f6df439 | 38 | acc.z = -9.8f; |
NaotoMorita | 92:00460f6df439 | 39 | gyro.x = 0.0f; |
NaotoMorita | 92:00460f6df439 | 40 | gyro.y = 0.0f; |
NaotoMorita | 92:00460f6df439 | 41 | gyro.z = 0.0f; |
NaotoMorita | 92:00460f6df439 | 42 | mag.x = 1.0f; |
NaotoMorita | 92:00460f6df439 | 43 | mag.y = 0.0f; |
NaotoMorita | 92:00460f6df439 | 44 | mag.z = 0.0f; |
NaotoMorita | 92:00460f6df439 | 45 | } |
NaotoMorita | 92:00460f6df439 | 46 | } |
NaotoMorita | 92:00460f6df439 | 47 | |
NaotoMorita | 92:00460f6df439 | 48 | void getHilGPSval() |
NaotoMorita | 92:00460f6df439 | 49 | { |
NaotoMorita | 92:00460f6df439 | 50 | float sigma_vi = 2.0f/1.1774f; |
NaotoMorita | 92:00460f6df439 | 51 | float sigma_pi = 2.0f/1.1774f; |
NaotoMorita | 92:00460f6df439 | 52 | |
NaotoMorita | 90:96c2b0ed4b96 | 53 | //GPSの速度情報m/s |
NaotoMorita | 84:ff48e01ea76b | 54 | vi.x = float(vp.viData[0])/1000.0f + sigma_vi*randn(); |
NaotoMorita | 84:ff48e01ea76b | 55 | vi.y = float(vp.viData[1])/1000.0f + sigma_vi*randn(); |
NaotoMorita | 84:ff48e01ea76b | 56 | vi.z = float(vp.viData[2])/1000.0f + sigma_vi*randn(); |
NaotoMorita | 82:c183c29d2427 | 57 | |
NaotoMorita | 92:00460f6df439 | 58 | //GPSの位置情報m/s |
NaotoMorita | 92:00460f6df439 | 59 | pi.x = float(vp.piData[0])/1.0f + sigma_pi*randn(); |
NaotoMorita | 92:00460f6df439 | 60 | pi.y = float(vp.piData[1])/1.0f + sigma_pi*randn(); |
NaotoMorita | 92:00460f6df439 | 61 | pi.z = float(vp.piData[2])/1.0f + sigma_pi*randn(); |
NaotoMorita | 92:00460f6df439 | 62 | |
NaotoMorita | 73:84ffa0166e6c | 63 | } |
NaotoMorita | 73:84ffa0166e6c | 64 | |
NaotoMorita | 73:84ffa0166e6c | 65 | float randn() |
NaotoMorita | 73:84ffa0166e6c | 66 | { |
NaotoMorita | 73:84ffa0166e6c | 67 | float x = (float)rand()/RAND_MAX; |
NaotoMorita | 73:84ffa0166e6c | 68 | float y = (float)rand()/RAND_MAX; |
NaotoMorita | 73:84ffa0166e6c | 69 | float z1 = sqrt(-2.0 * log(x)) * cos(2.0 * M_PI * y); |
NaotoMorita | 73:84ffa0166e6c | 70 | return z1; |
NaotoMorita | 73:84ffa0166e6c | 71 | } |