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@131:45542fcc886f, 2021-11-29 (annotated)

Committer:
osaka
Date:
Mon Nov 29 13:13:34 2021 +0000
Revision:
131:45542fcc886f
Parent:
129:a76be8380bb2
Child:
133:346ce20b3950
Autopilot 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 // io
cocorlow 56:888379912f81 11 DigitalIn userButton(USER_BUTTON);
NaotoMorita 70:99f974d8960e 12 SBUS sbus(PD_5, PD_6);
osaka 88:be349faa1976 13 I2C i2c(PB_9, PB_8);
osaka 88:be349faa1976 14 LSM9DS1 lsm(i2c);
osaka 88:be349faa1976 15 LPS lps(i2c);
NaotoMorita 99:98b892ca70ec 16 GPSUBX_UART gps(PF_7, PE_7);
NaotoMorita 119:a21e283730d1 17 CalibrateMagneto magCalibrator;
NaotoMorita 102:1c77ff6e2a85 18 float magres = 0.0f;
cocorlow 56:888379912f81 19 // control
NaotoMorita 94:579e875a4244 20 Timer _t;
NaotoMorita 70:99f974d8960e 21 FastPWM servoRight(PE_9);
NaotoMorita 70:99f974d8960e 22 FastPWM servoLeft(PE_11);
NaotoMorita 70:99f974d8960e 23 FastPWM servoThrust(PE_13);
NaotoMorita 74:f67062e7813e 24 PID pitchPID(10.0f,0.0f,0.0f,PID_dt); //rad
NaotoMorita 74:f67062e7813e 25 PID pitchratePID(1.0f, 0.0f, 0.0f, PID_dt);//rad/s
NaotoMorita 74:f67062e7813e 26 PID rollPID(5.0f,0.0f,0.0f,PID_dt);
NaotoMorita 94:579e875a4244 27 PID rollratePID(0.05f, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 90:96c2b0ed4b96 28 solaESKF eskf; // ESKF class
NaotoMorita 76:7fd3ac1afe3e 29 int obsCount = 0;
osaka 109:eb255fc4462b 30 Autopilot autopilot;
osaka 109:eb255fc4462b 31 float roll_obj;
osaka 109:eb255fc4462b 32 float pitch_obj;
osaka 121:2523eef96b36 33 float dT_obj;
cocorlow 56:888379912f81 34
NaotoMorita 70:99f974d8960e 35 float rc[16];
cocorlow 56:888379912f81 36 int loop_count = 0;
cocorlow 56:888379912f81 37 float att_dt = 0.01f;
cocorlow 56:888379912f81 38 // position
NaotoMorita 113:3e47d9881529 39 Matrix SensorAlignmentAG(3,3);
NaotoMorita 113:3e47d9881529 40 Matrix SensorAlignmentMAG(3,3);
cocorlow 56:888379912f81 41 Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 42 Vector3 acc;
NaotoMorita 102:1c77ff6e2a85 43 Vector3 accref(0.0f, 0.0f, 9.8f);
cocorlow 56:888379912f81 44 Vector3 mag;
NaotoMorita 102:1c77ff6e2a85 45 Vector3 magref(0.0f, 0.0f, 0.0f);
cocorlow 56:888379912f81 46 Vector3 gyro;
NaotoMorita 82:c183c29d2427 47 Vector3 vi;
NaotoMorita 92:00460f6df439 48 Vector3 pi;
NaotoMorita 92:00460f6df439 49 float palt;
NaotoMorita 98:bdaa6bbfb1d9 50 float palt0;
NaotoMorita 129:a76be8380bb2 51 float dynaccnorm2;
NaotoMorita 106:2d854e92cebb 52 int itow_status = 0;
NaotoMorita 100:7589b663d462 53 bool gpsUpdateFlag = false;
NaotoMorita 106:2d854e92cebb 54 bool gpsLlh0Fixed = false;
NaotoMorita 127:d73a6233ee4b 55 bool headingUpdateFlag = false;
NaotoMorita 77:2bf856e3eca4 56
NaotoMorita 73:84ffa0166e6c 57 float de = 0.0f;
NaotoMorita 73:84ffa0166e6c 58 float da = 0.0f;
NaotoMorita 73:84ffa0166e6c 59 float dT = 0.0f;
NaotoMorita 70:99f974d8960e 60 MedianFilter accMedian(3);
NaotoMorita 70:99f974d8960e 61 MedianFilter gyroMedian(3);
NaotoMorita 70:99f974d8960e 62 MedianFilter magMedian(3);
NaotoMorita 72:267e2cfddb0b 63
NaotoMorita 70:99f974d8960e 64 float scaledServoOut[2]= {0.0f,0.0f};
NaotoMorita 70:99f974d8960e 65 float scaledMotorOut[1]= {-1.0f};
NaotoMorita 63:9c4973a98600 66 float servoOut[2] = {1500.0f,1500.0f};
NaotoMorita 70:99f974d8960e 67 float motorOut[1] = {1100.0f};
cocorlow 56:888379912f81 68
cocorlow 56:888379912f81 69 int calibrationFlag = 0;
NaotoMorita 93:b827f78a717a 70 float agoffset[6] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
NaotoMorita 76:7fd3ac1afe3e 71
NaotoMorita 76:7fd3ac1afe3e 72 float magbias[4] = {-134.817047, 127.833481, -152.631836, 44.508556};
NaotoMorita 75:a505b9896da1 73 float magbiasMin[3] = {-174.831711, 93.465691, -188.617172};
NaotoMorita 75:a505b9896da1 74 float magbiasMax[3] = {-110.413963, 162.321548, -122.566071};
NaotoMorita 75:a505b9896da1 75 float accMin[3] = {-0.963692, -0.974141, -1.012899};
NaotoMorita 75:a505b9896da1 76 float accMax[3] = { 1.025954, 0.974748, 0.987155};
cocorlow 56:888379912f81 77
NaotoMorita 126:03da3a8c8870 78 Vector3 rpy_align( 0.0f*M_PI/180.0f, 5.0f*M_PI/180.0f, 0.0f*M_PI/180.0f);
cocorlow 56:888379912f81 79
cocorlow 56:888379912f81 80
cocorlow 56:888379912f81 81 // UsaPack
NaotoMorita 73:84ffa0166e6c 82 valuePack vp;
NaotoMorita 83:e69ab831031c 83 sendPack sp;
NaotoMorita 73:84ffa0166e6c 84
NaotoMorita 73:84ffa0166e6c 85 // HIL
osaka 131:45542fcc886f 86 bool hilFlag = true;
NaotoMorita 76:7fd3ac1afe3e 87 bool serialControlSource = false;
NaotoMorita 76:7fd3ac1afe3e 88 bool serialParamSource = false;
NaotoMorita 76:7fd3ac1afe3e 89 int checkParamSerial[5] = {0,0,0,0,0};
cocorlow 56:888379912f81 90
cocorlow 56:888379912f81 91 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
cocorlow 56:888379912f81 92 {
cocorlow 56:888379912f81 93 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
NaotoMorita 67:41fcdfb7cc5a 94 }
NaotoMorita 93:b827f78a717a 95
NaotoMorita 93:b827f78a717a 96 void setDiag(Matrix& mat, float val){
NaotoMorita 93:b827f78a717a 97 for (int i = 1; i < mat.getCols()+1; i++){
NaotoMorita 93:b827f78a717a 98 mat(i,i) = val;
NaotoMorita 93:b827f78a717a 99 }
NaotoMorita 93:b827f78a717a 100 }
NaotoMorita 93:b827f78a717a 101
NaotoMorita 93:b827f78a717a 102 void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex){
NaotoMorita 93:b827f78a717a 103 for (int i = startIndex; i < endIndex+1; i++){
NaotoMorita 93:b827f78a717a 104 mat(i,i) = val;
NaotoMorita 93:b827f78a717a 105 }
NaotoMorita 93:b827f78a717a 106 }