HAPSRG / Mbed 2 deprecated hexaTest_Eigen

solaESKF_EIGEN

Dependencies:   mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM

run.cpp@126:03da3a8c8870, 2021-11-21 (annotated)

Committer:
NaotoMorita
Date:
Sun Nov 21 08:24:51 2021 +0000
Revision:
126:03da3a8c8870
Parent:
125:5b5a91004b48
Child:
127:d73a6233ee4b
heading fuse

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 {
NaotoMorita 68:b9f6938fab9d 5 wait(0.5);
NaotoMorita 77:2bf856e3eca4 6
osaka 87:89bbbcdb667b 7 //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
NaotoMorita 93:b827f78a717a 8 int n_init = 1000;
NaotoMorita 93:b827f78a717a 9 for(int i = 0;i<n_init;i++){
NaotoMorita 93:b827f78a717a 10 lsm.readAccel();
NaotoMorita 93:b827f78a717a 11 lsm.readMag();
NaotoMorita 93:b827f78a717a 12 lsm.readGyro();
NaotoMorita 93:b827f78a717a 13 agoffset[0] += lsm.ax * 9.8f;
NaotoMorita 93:b827f78a717a 14 agoffset[1] += lsm.ay * 9.8f;
NaotoMorita 93:b827f78a717a 15 agoffset[2] += lsm.az * 9.8f-9.8f;
NaotoMorita 93:b827f78a717a 16 agoffset[3] +=(lsm.gx * M_PI / 180.0f);
NaotoMorita 93:b827f78a717a 17 agoffset[4] +=(lsm.gy * M_PI / 180.0f);
NaotoMorita 93:b827f78a717a 18 agoffset[5] +=(lsm.gz * M_PI / 180.0f);
NaotoMorita 99:98b892ca70ec 19 palt0 += lps.pressureToAltitudeMeters(lps.readPressureMillibars());
NaotoMorita 103:fec71c2051c5 20 magref.x += lsm.mx;
NaotoMorita 103:fec71c2051c5 21 magref.y += lsm.my;
NaotoMorita 103:fec71c2051c5 22 magref.z += lsm.mz;
NaotoMorita 93:b827f78a717a 23 }
NaotoMorita 93:b827f78a717a 24 for(int i = 0;i<6;i++){
NaotoMorita 93:b827f78a717a 25 agoffset[i] /= float(n_init);
NaotoMorita 93:b827f78a717a 26 }
NaotoMorita 103:fec71c2051c5 27 magref.x /= float(n_init);
NaotoMorita 103:fec71c2051c5 28 magref.y /= float(n_init);
NaotoMorita 103:fec71c2051c5 29 magref.z /= float(n_init);
NaotoMorita 98:bdaa6bbfb1d9 30 palt0 /= float(n_init);
NaotoMorita 93:b827f78a717a 31 twelite.printf("Sensor offset : %f %f %f %f %f %f\r\n",agoffset[0],agoffset[1],agoffset[2],agoffset[3],agoffset[4],agoffset[5]);
osaka 87:89bbbcdb667b 32 //センサ正常性チェック
osaka 87:89bbbcdb667b 33 //usaPack通信開始
NaotoMorita 77:2bf856e3eca4 34 pc.Subscribe(0000, &(vp));
NaotoMorita 126:03da3a8c8870 35
osaka 87:89bbbcdb667b 36 //制御ループのアタッチ
NaotoMorita 77:2bf856e3eca4 37 LoopTicker PIDtick;
NaotoMorita 77:2bf856e3eca4 38 PIDtick.attach(calcServoOut,PID_dt);
NaotoMorita 77:2bf856e3eca4 39
NaotoMorita 99:98b892ca70ec 40 //ESKFの共分散設定
NaotoMorita 93:b827f78a717a 41 eskf.setGravity(0.0f,0.0f,9.8f);
NaotoMorita 93:b827f78a717a 42 eskf.setPhatPosition(0.1f);
NaotoMorita 93:b827f78a717a 43 eskf.setPhatVelocity(0.1f);
NaotoMorita 113:3e47d9881529 44 eskf.setPhatAngleError(0.5f);
NaotoMorita 94:579e875a4244 45 eskf.setPhatAccBias(0.001f);
NaotoMorita 94:579e875a4244 46 eskf.setPhatGyroBias(0.001f);
NaotoMorita 94:579e875a4244 47 eskf.setPhatGravity(0.0000001f);
NaotoMorita 93:b827f78a717a 48
NaotoMorita 93:b827f78a717a 49 eskf.setQVelocity(0.0025f);
NaotoMorita 93:b827f78a717a 50 eskf.setQAngleError(0.00025f);
NaotoMorita 94:579e875a4244 51 eskf.setQAccBias(0.0000001f);
NaotoMorita 93:b827f78a717a 52 eskf.setQGyroBias(0.000001f);
NaotoMorita 93:b827f78a717a 53
NaotoMorita 111:0fae4fbe2a80 54 Matrix Rgps(5,5);
NaotoMorita 100:7589b663d462 55 setDiag(Rgps,2.0f);
NaotoMorita 111:0fae4fbe2a80 56 //Rgps(6,6) = 100.0f;
NaotoMorita 106:2d854e92cebb 57
NaotoMorita 106:2d854e92cebb 58 Matrix Rgpspos(3,3);
NaotoMorita 106:2d854e92cebb 59 setDiag(Rgpspos,2.0f);
NaotoMorita 106:2d854e92cebb 60
NaotoMorita 106:2d854e92cebb 61 Matrix Rgpsvel(3,3);
NaotoMorita 106:2d854e92cebb 62 setDiag(Rgpsvel,2.0f);
NaotoMorita 106:2d854e92cebb 63 //Rgpsvel(3,3) = 10.0f;
NaotoMorita 99:98b892ca70ec 64
NaotoMorita 103:fec71c2051c5 65 Matrix RImuConst(5,5);
NaotoMorita 111:0fae4fbe2a80 66 setDiag(RImuConst,50.0f);
NaotoMorita 120:a0da2ce20a8e 67 RImuConst(4,4) = 0.001f;
NaotoMorita 120:a0da2ce20a8e 68 RImuConst(5,5) = 0.001f;
NaotoMorita 106:2d854e92cebb 69
NaotoMorita 119:a21e283730d1 70 Matrix RotherConst(2,2);
NaotoMorita 119:a21e283730d1 71 setDiag(RotherConst,0.1f);
NaotoMorita 113:3e47d9881529 72
NaotoMorita 113:3e47d9881529 73 Matrix Racc(3,3);
NaotoMorita 113:3e47d9881529 74 setDiag(Racc,50.0f);
NaotoMorita 113:3e47d9881529 75
NaotoMorita 126:03da3a8c8870 76 Matrix Rheading(1,1);
NaotoMorita 126:03da3a8c8870 77 Rheading(1,1) = 0.1f;
NaotoMorita 126:03da3a8c8870 78 _t.start();
NaotoMorita 93:b827f78a717a 79 float tgps = _t.read();
NaotoMorita 77:2bf856e3eca4 80 while(1)
NaotoMorita 77:2bf856e3eca4 81 {
NaotoMorita 68:b9f6938fab9d 82 float tstart = _t.read();
osaka 87:89bbbcdb667b 83 //センサの値を取得
NaotoMorita 73:84ffa0166e6c 84 if(hilFlag == true){
NaotoMorita 92:00460f6df439 85 getHilIMUval();
NaotoMorita 93:b827f78a717a 86 }else{
NaotoMorita 92:00460f6df439 87 getIMUval();
NaotoMorita 73:84ffa0166e6c 88 }
osaka 87:89bbbcdb667b 89 //ekfの更新
NaotoMorita 90:96c2b0ed4b96 90 eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
NaotoMorita 90:96c2b0ed4b96 91 eskf.updateErrState(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
NaotoMorita 103:fec71c2051c5 92
NaotoMorita 100:7589b663d462 93 if(hilFlag == true){
NaotoMorita 100:7589b663d462 94 if(tstart-tgps>0.2f){
NaotoMorita 92:00460f6df439 95 getHilGPSval();
NaotoMorita 100:7589b663d462 96 tgps = _t.read();
NaotoMorita 100:7589b663d462 97 gpsUpdateFlag = true;
NaotoMorita 92:00460f6df439 98 }else{
NaotoMorita 100:7589b663d462 99 gpsUpdateFlag = false;
NaotoMorita 92:00460f6df439 100 }
NaotoMorita 92:00460f6df439 101 }else{
NaotoMorita 103:fec71c2051c5 102 getGPSval();
NaotoMorita 92:00460f6df439 103 }
NaotoMorita 100:7589b663d462 104 if(gpsUpdateFlag == true){
NaotoMorita 111:0fae4fbe2a80 105 eskf.updateGPS(MatrixMath::Vector2mat(pi),palt,MatrixMath::Vector2mat(vi),Rgps);
NaotoMorita 106:2d854e92cebb 106 //eskf.updateGPSPosition(MatrixMath::Vector2mat(pi),palt,Rgpspos);
NaotoMorita 106:2d854e92cebb 107 //eskf.updateGPSVelocity(MatrixMath::Vector2mat(vi),MatrixMath::Vector2mat(mag),Rgpsvel);
NaotoMorita 103:fec71c2051c5 108
NaotoMorita 104:20b8caa29185 109 }else{
NaotoMorita 126:03da3a8c8870 110 eskf.updateHeading(-0.1f,Rheading);
NaotoMorita 124:7d6b1b62483b 111 eskf.updateAcc(MatrixMath::Vector2mat(acc),Racc);
NaotoMorita 100:7589b663d462 112 }
NaotoMorita 77:2bf856e3eca4 113 PIDtick.loop();
NaotoMorita 77:2bf856e3eca4 114
osaka 87:89bbbcdb667b 115 //制御時間を計測
NaotoMorita 68:b9f6938fab9d 116 float tend = _t.read();
NaotoMorita 68:b9f6938fab9d 117 att_dt = (tend-tstart);
cocorlow 56:888379912f81 118 }
osaka 87:89bbbcdb667b 119 }