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@113:3e47d9881529, 2021-11-16 (annotated)

Committer:
NaotoMorita
Date:
Tue Nov 16 13:57:32 2021 +0000
Revision:
113:3e47d9881529
Parent:
112:6a33ea9f6fed
Child:
119:a21e283730d1
axis modified

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
NaotoMorita 82:c183c29d2427 7 UsaPack pc(USBTX, USBRX, 115200); // log - tail
NaotoMorita 76:7fd3ac1afe3e 8 Serial sd(PG_14,PG_9);
osaka 88:be349faa1976 9 Serial twelite(PD_1,PD_0);
cocorlow 56:888379912f81 10
cocorlow 56:888379912f81 11 // io
cocorlow 56:888379912f81 12 DigitalIn userButton(USER_BUTTON);
NaotoMorita 70:99f974d8960e 13 SBUS sbus(PD_5, PD_6);
osaka 88:be349faa1976 14 I2C i2c(PB_9, PB_8);
osaka 88:be349faa1976 15 LSM9DS1 lsm(i2c);
osaka 88:be349faa1976 16 LPS lps(i2c);
NaotoMorita 99:98b892ca70ec 17 GPSUBX_UART gps(PF_7, PE_7);
NaotoMorita 104:20b8caa29185 18 MagSphereCalibration magCalibrator;
NaotoMorita 102:1c77ff6e2a85 19 float magres = 0.0f;
cocorlow 56:888379912f81 20 // control
NaotoMorita 94:579e875a4244 21 Timer _t;
NaotoMorita 70:99f974d8960e 22 FastPWM servoRight(PE_9);
NaotoMorita 70:99f974d8960e 23 FastPWM servoLeft(PE_11);
NaotoMorita 70:99f974d8960e 24 FastPWM servoThrust(PE_13);
NaotoMorita 74:f67062e7813e 25 PID pitchPID(10.0f,0.0f,0.0f,PID_dt); //rad
NaotoMorita 74:f67062e7813e 26 PID pitchratePID(1.0f, 0.0f, 0.0f, PID_dt);//rad/s
NaotoMorita 74:f67062e7813e 27 PID rollPID(5.0f,0.0f,0.0f,PID_dt);
NaotoMorita 94:579e875a4244 28 PID rollratePID(0.05f, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 90:96c2b0ed4b96 29 solaESKF eskf; // ESKF class
NaotoMorita 76:7fd3ac1afe3e 30 int obsCount = 0;
osaka 109:eb255fc4462b 31 Autopilot autopilot;
osaka 109:eb255fc4462b 32 float roll_obj;
osaka 109:eb255fc4462b 33 float pitch_obj;
osaka 109:eb255fc4462b 34 float alt_obj;
osaka 109:eb255fc4462b 35 Vector3 destination(100.0f, 100.0f, 0.0f);
osaka 109:eb255fc4462b 36 Vector3 turn_center(100.0f, 100.0f, 0.0f);
osaka 109:eb255fc4462b 37 float turn_radius = 50.0f;
cocorlow 56:888379912f81 38
NaotoMorita 70:99f974d8960e 39 float rc[16];
cocorlow 56:888379912f81 40 int loop_count = 0;
cocorlow 56:888379912f81 41 float att_dt = 0.01f;
NaotoMorita 112:6a33ea9f6fed 42 bool accmagSwitch = true;
cocorlow 56:888379912f81 43 // position
NaotoMorita 113:3e47d9881529 44 Matrix SensorAlignmentAG(3,3);
NaotoMorita 113:3e47d9881529 45 Matrix SensorAlignmentMAG(3,3);
cocorlow 56:888379912f81 46 Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 47 Vector3 acc;
NaotoMorita 102:1c77ff6e2a85 48 Vector3 accref(0.0f, 0.0f, 9.8f);
cocorlow 56:888379912f81 49 Vector3 mag;
NaotoMorita 102:1c77ff6e2a85 50 Vector3 magref(0.0f, 0.0f, 0.0f);
cocorlow 56:888379912f81 51 Vector3 gyro;
NaotoMorita 82:c183c29d2427 52 Vector3 vi;
NaotoMorita 92:00460f6df439 53 Vector3 pi;
NaotoMorita 92:00460f6df439 54 float palt;
NaotoMorita 98:bdaa6bbfb1d9 55 float palt0;
NaotoMorita 106:2d854e92cebb 56 int itow_status = 0;
NaotoMorita 100:7589b663d462 57 bool gpsUpdateFlag = false;
NaotoMorita 106:2d854e92cebb 58 bool gpsLlh0Fixed = false;
NaotoMorita 77:2bf856e3eca4 59
NaotoMorita 73:84ffa0166e6c 60 float de = 0.0f;
NaotoMorita 73:84ffa0166e6c 61 float da = 0.0f;
NaotoMorita 73:84ffa0166e6c 62 float dT = 0.0f;
NaotoMorita 70:99f974d8960e 63 MedianFilter accMedian(3);
NaotoMorita 70:99f974d8960e 64 MedianFilter gyroMedian(3);
NaotoMorita 70:99f974d8960e 65 MedianFilter magMedian(3);
NaotoMorita 72:267e2cfddb0b 66
NaotoMorita 70:99f974d8960e 67 float scaledServoOut[2]= {0.0f,0.0f};
NaotoMorita 70:99f974d8960e 68 float scaledMotorOut[1]= {-1.0f};
NaotoMorita 63:9c4973a98600 69 float servoOut[2] = {1500.0f,1500.0f};
NaotoMorita 70:99f974d8960e 70 float motorOut[1] = {1100.0f};
cocorlow 56:888379912f81 71
cocorlow 56:888379912f81 72 int calibrationFlag = 0;
NaotoMorita 93:b827f78a717a 73 float agoffset[6] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
NaotoMorita 76:7fd3ac1afe3e 74
NaotoMorita 76:7fd3ac1afe3e 75 float magbias[4] = {-134.817047, 127.833481, -152.631836, 44.508556};
NaotoMorita 75:a505b9896da1 76 float magbiasMin[3] = {-174.831711, 93.465691, -188.617172};
NaotoMorita 75:a505b9896da1 77 float magbiasMax[3] = {-110.413963, 162.321548, -122.566071};
NaotoMorita 75:a505b9896da1 78 float accMin[3] = {-0.963692, -0.974141, -1.012899};
NaotoMorita 75:a505b9896da1 79 float accMax[3] = { 1.025954, 0.974748, 0.987155};
cocorlow 56:888379912f81 80
NaotoMorita 94:579e875a4244 81 Vector3 rpy_align( 0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f);
cocorlow 56:888379912f81 82
cocorlow 56:888379912f81 83
cocorlow 56:888379912f81 84 // UsaPack
NaotoMorita 73:84ffa0166e6c 85 valuePack vp;
NaotoMorita 83:e69ab831031c 86 sendPack sp;
NaotoMorita 73:84ffa0166e6c 87
NaotoMorita 73:84ffa0166e6c 88 // HIL
NaotoMorita 111:0fae4fbe2a80 89 bool hilFlag = false;
NaotoMorita 76:7fd3ac1afe3e 90 bool serialControlSource = false;
NaotoMorita 76:7fd3ac1afe3e 91 bool serialParamSource = false;
NaotoMorita 76:7fd3ac1afe3e 92 int checkParamSerial[5] = {0,0,0,0,0};
cocorlow 56:888379912f81 93
cocorlow 56:888379912f81 94 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
cocorlow 56:888379912f81 95 {
cocorlow 56:888379912f81 96 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
NaotoMorita 67:41fcdfb7cc5a 97 }
NaotoMorita 93:b827f78a717a 98
NaotoMorita 93:b827f78a717a 99 void setDiag(Matrix& mat, float val){
NaotoMorita 93:b827f78a717a 100 for (int i = 1; i < mat.getCols()+1; i++){
NaotoMorita 93:b827f78a717a 101 mat(i,i) = val;
NaotoMorita 93:b827f78a717a 102 }
NaotoMorita 93:b827f78a717a 103 }
NaotoMorita 93:b827f78a717a 104
NaotoMorita 93:b827f78a717a 105 void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex){
NaotoMorita 93:b827f78a717a 106 for (int i = startIndex; i < endIndex+1; i++){
NaotoMorita 93:b827f78a717a 107 mat(i,i) = val;
NaotoMorita 93:b827f78a717a 108 }
NaotoMorita 93:b827f78a717a 109 }