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@95:43717535c354, 2021-11-01 (annotated)
- Committer:
- osaka
- Date:
- Mon Nov 01 09:15:40 2021 +0000
- Revision:
- 95:43717535c354
- Parent:
- 93:b827f78a717a
gps
Who changed what in which revision?
User | Revision | Line number | New 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 | 77:2bf856e3eca4 | 8 | if(hilFlag == false){ |
NaotoMorita | 90:96c2b0ed4b96 | 9 | eskf.setQhat(rpy_align.x,rpy_align.y,rpy_align.z); |
NaotoMorita | 77:2bf856e3eca4 | 10 | } |
NaotoMorita | 93:b827f78a717a | 11 | int n_init = 1000; |
NaotoMorita | 93:b827f78a717a | 12 | for(int i = 0;i<n_init;i++){ |
NaotoMorita | 93:b827f78a717a | 13 | lsm.readAccel(); |
NaotoMorita | 93:b827f78a717a | 14 | lsm.readMag(); |
NaotoMorita | 93:b827f78a717a | 15 | lsm.readGyro(); |
NaotoMorita | 93:b827f78a717a | 16 | agoffset[0] += lsm.ax * 9.8f; |
NaotoMorita | 93:b827f78a717a | 17 | agoffset[1] += lsm.ay * 9.8f; |
NaotoMorita | 93:b827f78a717a | 18 | agoffset[2] += lsm.az * 9.8f-9.8f; |
NaotoMorita | 93:b827f78a717a | 19 | agoffset[3] +=(lsm.gx * M_PI / 180.0f); |
NaotoMorita | 93:b827f78a717a | 20 | agoffset[4] +=(lsm.gy * M_PI / 180.0f); |
NaotoMorita | 93:b827f78a717a | 21 | agoffset[5] +=(lsm.gz * M_PI / 180.0f); |
NaotoMorita | 93:b827f78a717a | 22 | } |
NaotoMorita | 93:b827f78a717a | 23 | for(int i = 0;i<6;i++){ |
NaotoMorita | 93:b827f78a717a | 24 | agoffset[i] /= float(n_init); |
NaotoMorita | 93:b827f78a717a | 25 | } |
NaotoMorita | 93:b827f78a717a | 26 | 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 | 27 | //センサ正常性チェック |
osaka | 87:89bbbcdb667b | 28 | //usaPack通信開始 |
NaotoMorita | 77:2bf856e3eca4 | 29 | pc.Subscribe(0000, &(vp)); |
NaotoMorita | 77:2bf856e3eca4 | 30 | |
osaka | 87:89bbbcdb667b | 31 | //制御ループのアタッチ |
NaotoMorita | 77:2bf856e3eca4 | 32 | LoopTicker PIDtick; |
NaotoMorita | 77:2bf856e3eca4 | 33 | PIDtick.attach(calcServoOut,PID_dt); |
NaotoMorita | 77:2bf856e3eca4 | 34 | |
NaotoMorita | 92:00460f6df439 | 35 | Timer _t; |
NaotoMorita | 92:00460f6df439 | 36 | _t.start(); |
NaotoMorita | 92:00460f6df439 | 37 | |
NaotoMorita | 93:b827f78a717a | 38 | //EKFの共分散設定 |
NaotoMorita | 93:b827f78a717a | 39 | eskf.setGravity(0.0f,0.0f,9.8f); |
NaotoMorita | 93:b827f78a717a | 40 | eskf.setPhatPosition(0.1f); |
NaotoMorita | 93:b827f78a717a | 41 | eskf.setPhatVelocity(0.1f); |
NaotoMorita | 93:b827f78a717a | 42 | eskf.setPhatAngleError(0.1f); |
NaotoMorita | 93:b827f78a717a | 43 | eskf.setPhatAccBias(0.5f); |
NaotoMorita | 93:b827f78a717a | 44 | eskf.setPhatGyroBias(0.5f); |
NaotoMorita | 93:b827f78a717a | 45 | eskf.setPhatGravity(0.1f); |
NaotoMorita | 93:b827f78a717a | 46 | |
NaotoMorita | 93:b827f78a717a | 47 | eskf.setQVelocity(0.0025f); |
NaotoMorita | 93:b827f78a717a | 48 | eskf.setQAngleError(0.00025f); |
NaotoMorita | 93:b827f78a717a | 49 | eskf.setQAccBias(0.000001f); |
NaotoMorita | 93:b827f78a717a | 50 | eskf.setQGyroBias(0.000001f); |
NaotoMorita | 93:b827f78a717a | 51 | |
NaotoMorita | 92:00460f6df439 | 52 | Matrix Rgpspos(3,3); |
NaotoMorita | 93:b827f78a717a | 53 | setDiag(Rgpspos,0.9f); |
NaotoMorita | 92:00460f6df439 | 54 | Matrix Rgpsvel(3,3); |
NaotoMorita | 93:b827f78a717a | 55 | setDiag(Rgpsvel,0.1f); |
NaotoMorita | 93:b827f78a717a | 56 | |
NaotoMorita | 92:00460f6df439 | 57 | Matrix RaccConst(3,3); |
NaotoMorita | 93:b827f78a717a | 58 | setDiag(RaccConst,400.0f); |
NaotoMorita | 93:b827f78a717a | 59 | //Matrix RgyroConst(2,2); |
NaotoMorita | 93:b827f78a717a | 60 | //setDiag(RgyroConst,100); |
NaotoMorita | 93:b827f78a717a | 61 | |
NaotoMorita | 93:b827f78a717a | 62 | float tgps = _t.read(); |
NaotoMorita | 77:2bf856e3eca4 | 63 | while(1) |
NaotoMorita | 77:2bf856e3eca4 | 64 | { |
NaotoMorita | 68:b9f6938fab9d | 65 | float tstart = _t.read(); |
osaka | 87:89bbbcdb667b | 66 | //センサの値を取得 |
NaotoMorita | 73:84ffa0166e6c | 67 | if(hilFlag == true){ |
NaotoMorita | 92:00460f6df439 | 68 | getHilIMUval(); |
NaotoMorita | 93:b827f78a717a | 69 | }else{ |
NaotoMorita | 92:00460f6df439 | 70 | getIMUval(); |
NaotoMorita | 73:84ffa0166e6c | 71 | } |
osaka | 87:89bbbcdb667b | 72 | //ekfの更新 |
NaotoMorita | 90:96c2b0ed4b96 | 73 | eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt); |
NaotoMorita | 90:96c2b0ed4b96 | 74 | eskf.updateErrState(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt); |
NaotoMorita | 92:00460f6df439 | 75 | if(tstart-tgps>0.2f){ |
NaotoMorita | 92:00460f6df439 | 76 | if(hilFlag == true){ |
NaotoMorita | 92:00460f6df439 | 77 | getHilGPSval(); |
NaotoMorita | 92:00460f6df439 | 78 | }else{ |
osaka | 95:43717535c354 | 79 | getGPSval(); |
NaotoMorita | 92:00460f6df439 | 80 | } |
NaotoMorita | 92:00460f6df439 | 81 | eskf.updateGPSPosition(MatrixMath::Vector2mat(pi),Rgpspos); |
NaotoMorita | 92:00460f6df439 | 82 | eskf.updateGPSVelocity(MatrixMath::Vector2mat(vi),Rgpsvel); |
NaotoMorita | 92:00460f6df439 | 83 | tgps = _t.read(); |
NaotoMorita | 92:00460f6df439 | 84 | }else{ |
NaotoMorita | 93:b827f78a717a | 85 | eskf.updateAccConstraints(MatrixMath::Vector2mat(acc),RaccConst); |
NaotoMorita | 92:00460f6df439 | 86 | //eskf.updateGyroConstraints(MatrixMath::Vector2mat(gyro),RgyroConst); |
NaotoMorita | 92:00460f6df439 | 87 | } |
NaotoMorita | 90:96c2b0ed4b96 | 88 | eskf.fuseErr2Nominal(); |
osaka | 87:89bbbcdb667b | 89 | |
NaotoMorita | 77:2bf856e3eca4 | 90 | PIDtick.loop(); |
NaotoMorita | 77:2bf856e3eca4 | 91 | |
osaka | 87:89bbbcdb667b | 92 | //制御時間を計測 |
NaotoMorita | 68:b9f6938fab9d | 93 | float tend = _t.read(); |
NaotoMorita | 68:b9f6938fab9d | 94 | att_dt = (tend-tstart); |
cocorlow | 56:888379912f81 | 95 | } |
osaka | 87:89bbbcdb667b | 96 | } |