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@77:2bf856e3eca4, 2021-09-07 (annotated)
- Committer:
- NaotoMorita
- Date:
- Tue Sep 07 08:13:45 2021 +0000
- Revision:
- 77:2bf856e3eca4
- Parent:
- 76:7fd3ac1afe3e
- Child:
- 82:c183c29d2427
update0907
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 | 73:84ffa0166e6c | 3 | void getHILval() |
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 | 77:2bf856e3eca4 | 14 | //accref.z = 1.0f; |
NaotoMorita | 77:2bf856e3eca4 | 15 | |
NaotoMorita | 77:2bf856e3eca4 | 16 | ax = accelgyro.getAccelerationX() - agoffset[0]; |
NaotoMorita | 77:2bf856e3eca4 | 17 | ay = accelgyro.getAccelerationY() - agoffset[1]; |
NaotoMorita | 77:2bf856e3eca4 | 18 | az = accelgyro.getAccelerationZ() - agoffset[2]; |
NaotoMorita | 77:2bf856e3eca4 | 19 | gx = accelgyro.getRotationX() - agoffset[3]; |
NaotoMorita | 77:2bf856e3eca4 | 20 | gy = accelgyro.getRotationY() - agoffset[4]; |
NaotoMorita | 77:2bf856e3eca4 | 21 | gz = accelgyro.getRotationZ() - agoffset[5]; |
NaotoMorita | 77:2bf856e3eca4 | 22 | |
NaotoMorita | 73:84ffa0166e6c | 23 | float sigma_acc = sqrt(0.000020f); |
NaotoMorita | 73:84ffa0166e6c | 24 | float sigma_gyro = sqrt(0.000005f); |
NaotoMorita | 75:a505b9896da1 | 25 | float sigma_mag = sqrt(0.00001f); |
NaotoMorita | 73:84ffa0166e6c | 26 | // gx gy gz ax ay az |
NaotoMorita | 73:84ffa0166e6c | 27 | // 加速度値を分解能で割って加速度(G)に変換する |
NaotoMorita | 77:2bf856e3eca4 | 28 | acc.x = float(vp.accData[0]) / ACCEL_SSF + mapfloat(float(ax) / ACCEL_SSF,accMin[0],accMax[0],-1.0f,1.0f); //FS_SEL_0 16,384 LSB / g |
NaotoMorita | 77:2bf856e3eca4 | 29 | acc.y = float(vp.accData[1]) / ACCEL_SSF + mapfloat(float(ay) / ACCEL_SSF,accMin[1],accMax[1],-1.0f,1.0f); |
NaotoMorita | 77:2bf856e3eca4 | 30 | acc.z = float(vp.accData[2]) / ACCEL_SSF + mapfloat(float(az) / ACCEL_SSF,accMin[2],accMax[2],-1.0f,1.0f)-accref.z; |
NaotoMorita | 73:84ffa0166e6c | 31 | acc = accMedian.Process(acc); |
NaotoMorita | 73:84ffa0166e6c | 32 | // 角速度値を分解能で割って角速度(rad per sec)に変換する |
NaotoMorita | 77:2bf856e3eca4 | 33 | gyro.x = float(vp.gyroData[0]) / GYRO_SSF * 0.0174533f + float(gx) / GYRO_SSF * 0.0174533f; // (rad/s) |
NaotoMorita | 77:2bf856e3eca4 | 34 | gyro.y = float(vp.gyroData[1]) / GYRO_SSF * 0.0174533f + float(gy) / GYRO_SSF * 0.0174533f; |
NaotoMorita | 77:2bf856e3eca4 | 35 | gyro.z = float(vp.gyroData[2]) / GYRO_SSF * 0.0174533f + float(gz) / GYRO_SSF * 0.0174533f; |
NaotoMorita | 73:84ffa0166e6c | 36 | gyro = gyroMedian.Process(gyro); |
NaotoMorita | 75:a505b9896da1 | 37 | mag.x = -float(vp.magData[1])/1000.0f + sigma_mag*randn(); |
NaotoMorita | 75:a505b9896da1 | 38 | mag.y = -float(vp.magData[0])/1000.0f + sigma_mag*randn(); |
NaotoMorita | 74:f67062e7813e | 39 | mag.z = float(vp.magData[2])/1000.0f + sigma_mag*randn(); |
NaotoMorita | 73:84ffa0166e6c | 40 | mag = magMedian.Process(mag); |
NaotoMorita | 73:84ffa0166e6c | 41 | if(acc.Norm()<0.01f || mag.Norm() < 0.001f){ |
NaotoMorita | 73:84ffa0166e6c | 42 | acc.x = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 43 | acc.y = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 44 | acc.z = 1.0f; |
NaotoMorita | 77:2bf856e3eca4 | 45 | gyro.x = 0.0f; |
NaotoMorita | 77:2bf856e3eca4 | 46 | gyro.y = 0.0f; |
NaotoMorita | 77:2bf856e3eca4 | 47 | gyro.z = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 48 | mag.x = 0.113657f; |
NaotoMorita | 73:84ffa0166e6c | 49 | mag.y = -0.278425f; |
NaotoMorita | 73:84ffa0166e6c | 50 | mag.z = 0.980554f; |
NaotoMorita | 73:84ffa0166e6c | 51 | } |
NaotoMorita | 73:84ffa0166e6c | 52 | } |
NaotoMorita | 73:84ffa0166e6c | 53 | |
NaotoMorita | 73:84ffa0166e6c | 54 | float randn() |
NaotoMorita | 73:84ffa0166e6c | 55 | { |
NaotoMorita | 73:84ffa0166e6c | 56 | float x = (float)rand()/RAND_MAX; |
NaotoMorita | 73:84ffa0166e6c | 57 | float y = (float)rand()/RAND_MAX; |
NaotoMorita | 73:84ffa0166e6c | 58 | float z1 = sqrt(-2.0 * log(x)) * cos(2.0 * M_PI * y); |
NaotoMorita | 73:84ffa0166e6c | 59 | return z1; |
NaotoMorita | 73:84ffa0166e6c | 60 | } |