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

main.cpp@35:4535af88f7bf, 2021-03-02 (annotated)

Committer:
NaotoMorita
Date:
Tue Mar 02 05:01:20 2021 +0000
Revision:
35:4535af88f7bf
Parent:
33:e79457192a4b
Child:
36:e68ce293306e
pulsewidth_us>pulsewidth

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NaotoMorita 0:6b18a09a6628 1 #include "mbed.h"
naker 20:2c3f113a8e8f 2 #include "PIDcontroller.h"
NaotoMorita 0:6b18a09a6628 3 #include "SBUS.hpp"
NaotoMorita 17:6b7a363d06d2 4 #include <MadgwickAHRS.h>
cocorlow 6:2cba569272fe 5 #include "LoopTicker.hpp"
naker 15:6abaac6e5b03 6 #include "MPU6050.h"
NaotoMorita 17:6b7a363d06d2 7 #include <I2Cdev.h>
NaotoMorita 35:4535af88f7bf 8
cocorlow 6:2cba569272fe 9
NaotoMorita 17:6b7a363d06d2 10 #define MPU6050_PWR_MGMT_1 0x6B
NaotoMorita 17:6b7a363d06d2 11 #define MPU_ADDRESS 0x68
NaotoMorita 17:6b7a363d06d2 12 #define pi 3.141562
NaotoMorita 17:6b7a363d06d2 13 #define ACCEL_FSR MPU6050_ACCEL_FS_8
NaotoMorita 17:6b7a363d06d2 14 #define ACCEL_SSF 36500.0
NaotoMorita 17:6b7a363d06d2 15 #define GYRO_FSR MPU6050_GYRO_FS_250
NaotoMorita 17:6b7a363d06d2 16 #define GYRO_SSF 131.0
NaotoMorita 17:6b7a363d06d2 17 #define MPU6050_LPF MPU6050_DLPF_BW_256
NaotoMorita 27:43bd0e444633 18
NaotoMorita 17:6b7a363d06d2 19 MPU6050 accelgyro;
NaotoMorita 17:6b7a363d06d2 20 Madgwick MadgwickFilter;
NaotoMorita 0:6b18a09a6628 21 SBUS sbus(PD_5, PD_6);
NaotoMorita 0:6b18a09a6628 22 Serial pc(USBTX, USBRX);
naker 26:62d9857eaecc 23 Serial sd(PG_14,PG_9);
cocorlow 3:79e62f9b13c8 24 DigitalOut led1(LED1);
cocorlow 3:79e62f9b13c8 25 DigitalOut led3(LED3);
NaotoMorita 27:43bd0e444633 26
NaotoMorita 17:6b7a363d06d2 27 PwmOut servoRight(PE_9);
NaotoMorita 32:c4f06cb0e1d6 28 PwmOut servoLeft(PE_11);
NaotoMorita 32:c4f06cb0e1d6 29 PwmOut servoThrust(PA_0);
NaotoMorita 32:c4f06cb0e1d6 30 const double PID_dt = 1.0/200;
NaotoMorita 31:8d02f3b9a067 31 PID pitchPID(3.0, 0,0,PID_dt); //rad
NaotoMorita 31:8d02f3b9a067 32 PID pitchratePID(0.01, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 31:8d02f3b9a067 33 PID rollPID(3.0,0.0,0.0,PID_dt);
NaotoMorita 31:8d02f3b9a067 34 PID rollratePID(0.01, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 17:6b7a363d06d2 35 Timer t;
cocorlow 3:79e62f9b13c8 36
NaotoMorita 27:43bd0e444633 37 int loop_count = 0;
naker 23:4a490fa8bf4a 38 float rc[16];
naker 25:5aca9b224226 39 float roll_ac;
naker 15:6abaac6e5b03 40 double pitch = 0.0;
naker 15:6abaac6e5b03 41 double roll = 0.0;
naker 15:6abaac6e5b03 42 double yaw = 0.0;
NaotoMorita 17:6b7a363d06d2 43 int16_t ax, ay, az;
NaotoMorita 17:6b7a363d06d2 44 int16_t gx, gy, gz;
NaotoMorita 17:6b7a363d06d2 45 double acc_x,acc_y,acc_z;
NaotoMorita 17:6b7a363d06d2 46 double gyro_x,gyro_y,gyro_z;
cocorlow 3:79e62f9b13c8 47 int out1, out2;
NaotoMorita 28:fc6c46c1db65 48 float scaledServoOut[3]= {0,0,0};
NaotoMorita 28:fc6c46c1db65 49 float scaledMotorOut[1]= {-1};
NaotoMorita 35:4535af88f7bf 50 float servoOut[3] = {0.0015,0.0015,0.0015};
NaotoMorita 35:4535af88f7bf 51 float motorOut[1] = {0.00095};
NaotoMorita 35:4535af88f7bf 52 float servoPwmMax = 0.002;
NaotoMorita 35:4535af88f7bf 53 float servoPwmMin = 0.0012;
NaotoMorita 35:4535af88f7bf 54 float motorPwmMax = 0.002;
NaotoMorita 35:4535af88f7bf 55 float motorPwmMin = 0.00095;
NaotoMorita 27:43bd0e444633 56 int offsetVal[6] = {0,0,0,0,0,0};
cocorlow 3:79e62f9b13c8 57
NaotoMorita 17:6b7a363d06d2 58 const double pitch_align = 0.0;
NaotoMorita 17:6b7a363d06d2 59 const double roll_align = -0.0;
NaotoMorita 27:43bd0e444633 60
NaotoMorita 27:43bd0e444633 61
NaotoMorita 35:4535af88f7bf 62 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
cocorlow 7:70161eb0f854 63 {
cocorlow 7:70161eb0f854 64 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
cocorlow 7:70161eb0f854 65 }
NaotoMorita 27:43bd0e444633 66
NaotoMorita 30:214ddc613a35 67 void writeSdcard()
naker 20:2c3f113a8e8f 68 {
NaotoMorita 35:4535af88f7bf 69 pc.printf("motor: %f, servo1: %f, servo2: %f \r\n",motorOut[0],servoOut[0],servoOut[1]);
naker 20:2c3f113a8e8f 70 }
NaotoMorita 27:43bd0e444633 71
naker 22:da9893b71f24 72 // 割り込まれた時点での出力(computeの結果）を返す関数
NaotoMorita 27:43bd0e444633 73 void calcServoOut(){
NaotoMorita 28:fc6c46c1db65 74 if(sbus.failSafe == false) {
NaotoMorita 28:fc6c46c1db65 75 // sbusデータの読み込み
NaotoMorita 28:fc6c46c1db65 76 for (int i =0 ; i < 16;i ++){
NaotoMorita 35:4535af88f7bf 77 rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
NaotoMorita 27:43bd0e444633 78 }
NaotoMorita 28:fc6c46c1db65 79 }
NaotoMorita 28:fc6c46c1db65 80
NaotoMorita 28:fc6c46c1db65 81 pitch = -MadgwickFilter.getPitchRadians()-pitch_align*pi/180;
NaotoMorita 28:fc6c46c1db65 82 roll = -MadgwickFilter.getRollRadians()-roll_align*pi/180;
NaotoMorita 28:fc6c46c1db65 83 pitchPID.setProcessValue(pitch);
NaotoMorita 28:fc6c46c1db65 84 pitchratePID.setProcessValue(gyro_y);
NaotoMorita 28:fc6c46c1db65 85 rollPID.setProcessValue(roll);
NaotoMorita 28:fc6c46c1db65 86 rollratePID.setProcessValue(gyro_x);
NaotoMorita 28:fc6c46c1db65 87 float de = pitchPID.compute()+pitchratePID.compute()+rc[1];
NaotoMorita 28:fc6c46c1db65 88 float da = rollPID.compute()+rollratePID.compute()+rc[0];
NaotoMorita 28:fc6c46c1db65 89 float dT = rc[2];
NaotoMorita 28:fc6c46c1db65 90
NaotoMorita 28:fc6c46c1db65 91 scaledServoOut[0]=de+da;
NaotoMorita 28:fc6c46c1db65 92 scaledServoOut[1]=de-da;
NaotoMorita 28:fc6c46c1db65 93 scaledMotorOut[0]= dT;
NaotoMorita 31:8d02f3b9a067 94
NaotoMorita 31:8d02f3b9a067 95 for(int i = 0;i<4;i++){
NaotoMorita 35:4535af88f7bf 96 servoOut[i] = float(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax));
NaotoMorita 28:fc6c46c1db65 97 if(servoOut[i]<servoPwmMin) {
NaotoMorita 28:fc6c46c1db65 98 servoOut[i] = servoPwmMin;
NaotoMorita 28:fc6c46c1db65 99 };
NaotoMorita 28:fc6c46c1db65 100 if(servoOut[i]>servoPwmMax) {
NaotoMorita 28:fc6c46c1db65 101 servoOut[i] = servoPwmMax;
NaotoMorita 28:fc6c46c1db65 102 };
NaotoMorita 28:fc6c46c1db65 103 }
NaotoMorita 28:fc6c46c1db65 104
NaotoMorita 31:8d02f3b9a067 105 for(int i = 0;i<1;i++){
NaotoMorita 35:4535af88f7bf 106 motorOut[i] = float(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax));
NaotoMorita 28:fc6c46c1db65 107 if(motorOut[i]<motorPwmMin) {
NaotoMorita 28:fc6c46c1db65 108 motorOut[i] = motorPwmMin;
NaotoMorita 28:fc6c46c1db65 109 };
NaotoMorita 28:fc6c46c1db65 110 if(motorOut[i]>motorPwmMax) {
NaotoMorita 28:fc6c46c1db65 111 motorOut[i] = motorPwmMax;
NaotoMorita 28:fc6c46c1db65 112 };
NaotoMorita 28:fc6c46c1db65 113 }
NaotoMorita 32:c4f06cb0e1d6 114
NaotoMorita 35:4535af88f7bf 115 servoRight.pulsewidth(servoOut[0]);
NaotoMorita 35:4535af88f7bf 116 servoLeft.pulsewidth(servoOut[1]);
NaotoMorita 35:4535af88f7bf 117 servoThrust.pulsewidth(motorOut[0]);
NaotoMorita 32:c4f06cb0e1d6 118
NaotoMorita 31:8d02f3b9a067 119 if(loop_count > int(1/PID_dt/10.0)){
NaotoMorita 31:8d02f3b9a067 120 writeSdcard();
naker 26:62d9857eaecc 121 loop_count = 0;
NaotoMorita 27:43bd0e444633 122 }else{
NaotoMorita 27:43bd0e444633 123 loop_count +=1;
naker 26:62d9857eaecc 124 }
naker 22:da9893b71f24 125 }
cocorlow 7:70161eb0f854 126
NaotoMorita 27:43bd0e444633 127 void updateAttitude(){
NaotoMorita 17:6b7a363d06d2 128 // gx gy gz ax ay az
NaotoMorita 17:6b7a363d06d2 129 accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
NaotoMorita 17:6b7a363d06d2 130 // 加速度値を分解能で割って加速度(G)に変換する
NaotoMorita 17:6b7a363d06d2 131 acc_x = ax / ACCEL_SSF; //FS_SEL_0 16,384 LSB / g
NaotoMorita 17:6b7a363d06d2 132 acc_y = ay / ACCEL_SSF;
NaotoMorita 17:6b7a363d06d2 133 acc_z = az / ACCEL_SSF;
NaotoMorita 17:6b7a363d06d2 134 // 角速度値を分解能で割って角速度(deg per sec)に変換する
NaotoMorita 17:6b7a363d06d2 135 gyro_x = gx / GYRO_SSF; // (deg/s)
NaotoMorita 17:6b7a363d06d2 136 gyro_y = gy / GYRO_SSF;
NaotoMorita 17:6b7a363d06d2 137 gyro_z = gz / GYRO_SSF;
naker 20:2c3f113a8e8f 138 //Madgwickフィルターを用いて、PRY（pitch, roll, yaw）を計算
NaotoMorita 17:6b7a363d06d2 139 MadgwickFilter.updateIMU(gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z);
NaotoMorita 27:43bd0e444633 140 }
NaotoMorita 27:43bd0e444633 141
NaotoMorita 33:e79457192a4b 142 void updateBetweenMeasures(){
NaotoMorita 33:e79457192a4b 143
NaotoMorita 33:e79457192a4b 144 }
NaotoMorita 33:e79457192a4b 145
NaotoMorita 27:43bd0e444633 146 int main()
NaotoMorita 27:43bd0e444633 147 {
NaotoMorita 27:43bd0e444633 148 LoopTicker PIDtick;
NaotoMorita 28:fc6c46c1db65 149 PIDtick.attach(calcServoOut,PID_dt);
NaotoMorita 32:c4f06cb0e1d6 150 //pc.baud(115200);
NaotoMorita 32:c4f06cb0e1d6 151 //sd.baud(115200);
NaotoMorita 27:43bd0e444633 152 accelgyro.initialize();
NaotoMorita 27:43bd0e444633 153 //加速度計のフルスケールレンジを設定
NaotoMorita 27:43bd0e444633 154 accelgyro.setFullScaleAccelRange(ACCEL_FSR);
NaotoMorita 27:43bd0e444633 155 //■角速度計のフルスケールレンジを設定
NaotoMorita 27:43bd0e444633 156 accelgyro.setFullScaleGyroRange(GYRO_FSR);
NaotoMorita 27:43bd0e444633 157 //MPU6050のLPFを設定
NaotoMorita 27:43bd0e444633 158 accelgyro.setDLPFMode(MPU6050_LPF);
NaotoMorita 28:fc6c46c1db65 159
NaotoMorita 28:fc6c46c1db65 160 pitchPID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 161 pitchratePID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 162 rollPID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 163 rollratePID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 164 pitchPID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 165 pitchratePID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 166 rollPID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 167 rollratePID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 168 pitchPID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 169 pitchratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 170 rollPID.setOutputLimits(-1.0,1.0);
NaotoMorita 29:34ee662f454e 171 rollratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 172 pitchPID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 173 pitchratePID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 174 rollPID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 175 rollratePID.setInputLimits(-pi,pi);
NaotoMorita 29:34ee662f454e 176
NaotoMorita 35:4535af88f7bf 177 servoRight.period(0.02f);
NaotoMorita 35:4535af88f7bf 178 servoLeft.period(0.02f);
NaotoMorita 35:4535af88f7bf 179 servoThrust.period(0.02f);
NaotoMorita 27:43bd0e444633 180 MadgwickFilter.begin(100); //サンプリング周波数Hza
NaotoMorita 27:43bd0e444633 181 t.start();
NaotoMorita 27:43bd0e444633 182 while(1) {
NaotoMorita 31:8d02f3b9a067 183 float tstart = t.read();
NaotoMorita 27:43bd0e444633 184 //姿勢角を更新
NaotoMorita 29:34ee662f454e 185 updateAttitude();
NaotoMorita 28:fc6c46c1db65 186 PIDtick.loop(); // scaled_servo に pidのcomputing結果を格納する
naker 22:da9893b71f24 187
NaotoMorita 17:6b7a363d06d2 188 float tend = t.read();
NaotoMorita 28:fc6c46c1db65 189 MadgwickFilter.begin(1.0f/(tend-tstart)); //サンプリング周波数Hz
NaotoMorita 28:fc6c46c1db65 190
naker 20:2c3f113a8e8f 191 }
NaotoMorita 0:6b18a09a6628 192 }