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

global.cpp@72:267e2cfddb0b, 2021-06-30 (annotated)

Committer:
NaotoMorita
Date:
Wed Jun 30 01:16:21 2021 +0000
Revision:
72:267e2cfddb0b
Parent:
70:99f974d8960e
Child:
73:84ffa0166e6c
commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 56:888379912f81 1 #include "global.hpp"
cocorlow 56:888379912f81 2
NaotoMorita 67:41fcdfb7cc5a 3
cocorlow 56:888379912f81 4 // var
cocorlow 56:888379912f81 5
cocorlow 56:888379912f81 6 // communication
cocorlow 56:888379912f81 7 I2C i2c(PB_9,PB_8); // sda, scl
NaotoMorita 67:41fcdfb7cc5a 8 UsaPack pc(USBTX, USBRX, 57600); // log - tail
cocorlow 56:888379912f81 9
cocorlow 56:888379912f81 10 // sensor
cocorlow 56:888379912f81 11 MPU6050 accelgyro;
cocorlow 56:888379912f81 12 MAG3110 mag_sensor(PB_9,PB_8);
NaotoMorita 61:c05353850017 13 CalibrateMagneto magCalibrator;
cocorlow 56:888379912f81 14
cocorlow 56:888379912f81 15 // io
cocorlow 56:888379912f81 16 DigitalIn userButton(USER_BUTTON);
NaotoMorita 70:99f974d8960e 17 SBUS sbus(PD_5, PD_6);
NaotoMorita 70:99f974d8960e 18
cocorlow 56:888379912f81 19 // control
NaotoMorita 70:99f974d8960e 20 FastPWM servoRight(PE_9);
NaotoMorita 70:99f974d8960e 21 FastPWM servoLeft(PE_11);
NaotoMorita 70:99f974d8960e 22 FastPWM servoThrust(PE_13);
NaotoMorita 70:99f974d8960e 23 PID pitchPID(5.0, 0,0,PID_dt); //rad
NaotoMorita 70:99f974d8960e 24 PID pitchratePID(0.5, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 70:99f974d8960e 25 PID rollPID(5.0,0.0,0.0,PID_dt);
NaotoMorita 70:99f974d8960e 26 PID rollratePID(5, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 67:41fcdfb7cc5a 27 errStateEKF ekf; // EKF class
cocorlow 56:888379912f81 28
NaotoMorita 70:99f974d8960e 29 float rc[16];
cocorlow 56:888379912f81 30 int loop_count = 0;
cocorlow 56:888379912f81 31 float att_dt = 0.01f;
cocorlow 56:888379912f81 32 int16_t ax, ay, az;
cocorlow 56:888379912f81 33 int16_t gx, gy, gz;
cocorlow 56:888379912f81 34 MotionSensorDataUnits mdata;
cocorlow 56:888379912f81 35 float magval[3] = {1.0f, 0.0f, 0.0f};
cocorlow 56:888379912f81 36
cocorlow 56:888379912f81 37 // position
cocorlow 56:888379912f81 38 Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 39 Vector3 acc;
NaotoMorita 68:b9f6938fab9d 40 Vector3 accref(0.0f, 0.0f, 0.98f);
NaotoMorita 68:b9f6938fab9d 41 Vector3 dynacc;
cocorlow 56:888379912f81 42 Vector3 mag;
cocorlow 56:888379912f81 43 Vector3 magref(0.65f, 0.0f, 0.75f);
cocorlow 56:888379912f81 44 Vector3 gyro;
NaotoMorita 70:99f974d8960e 45 MedianFilter accMedian(3);
NaotoMorita 70:99f974d8960e 46 MedianFilter gyroMedian(3);
NaotoMorita 70:99f974d8960e 47 MedianFilter magMedian(3);
NaotoMorita 72:267e2cfddb0b 48
NaotoMorita 70:99f974d8960e 49 float scaledServoOut[2]= {0.0f,0.0f};
NaotoMorita 70:99f974d8960e 50 float scaledMotorOut[1]= {-1.0f};
NaotoMorita 63:9c4973a98600 51 float servoOut[2] = {1500.0f,1500.0f};
NaotoMorita 70:99f974d8960e 52 float motorOut[1] = {1100.0f};
cocorlow 56:888379912f81 53
cocorlow 56:888379912f81 54 int calibrationFlag = 0;
NaotoMorita 70:99f974d8960e 55 int agoffset[6] = {0, 0, 0, -585, -83, 38 };
NaotoMorita 70:99f974d8960e 56 float magbiasMin[3] = {-177.574768, 90.129456, -199.611603};
NaotoMorita 70:99f974d8960e 57 float magbiasMax[3] = {-108.064606, 160.956711, -125.601234};
NaotoMorita 70:99f974d8960e 58 float accMin[3] = {-0.958801, -1.016878, -1.054199};
NaotoMorita 70:99f974d8960e 59 float accMax[3] = { 1.050249, 0.965697, 0.946194};
cocorlow 56:888379912f81 60
NaotoMorita 70:99f974d8960e 61 Vector3 rpy_align(8.798061f*M_PI/180.0f, 0.953862f*M_PI/180.0f, 0.0f*M_PI/180.0f
NaotoMorita 70:99f974d8960e 62 );
cocorlow 56:888379912f81 63
cocorlow 56:888379912f81 64
cocorlow 56:888379912f81 65 // UsaPack
NaotoMorita 63:9c4973a98600 66 valuePack posValues;
cocorlow 56:888379912f81 67
cocorlow 56:888379912f81 68 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
cocorlow 56:888379912f81 69 {
cocorlow 56:888379912f81 70 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
NaotoMorita 67:41fcdfb7cc5a 71 }