solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
global.hpp@107:46e039e12182, 2021-11-12 (annotated)
- Committer:
- osaka
- Date:
- Fri Nov 12 09:04:59 2021 +0000
- Revision:
- 107:46e039e12182
- Parent:
- 104:20b8caa29185
added autopilot
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cocorlow | 56:888379912f81 | 1 | #ifndef __GLOBAL_HPP__ |
cocorlow | 56:888379912f81 | 2 | #define __GLOBAL_HPP__ |
cocorlow | 56:888379912f81 | 3 | |
cocorlow | 56:888379912f81 | 4 | #include "mbed.h" |
NaotoMorita | 70:99f974d8960e | 5 | #include "SBUS.hpp" |
cocorlow | 56:888379912f81 | 6 | #include "PIDcontroller.h" |
cocorlow | 56:888379912f81 | 7 | #include "LoopTicker.hpp" |
cocorlow | 56:888379912f81 | 8 | #include "FastPWM.h" |
cocorlow | 56:888379912f81 | 9 | #include <cmath> |
cocorlow | 56:888379912f81 | 10 | #include "UsaPack.hpp" |
cocorlow | 56:888379912f81 | 11 | #include "Vector3.hpp" |
osaka | 87:89bbbcdb667b | 12 | #include "Matrix.h" |
osaka | 87:89bbbcdb667b | 13 | #include "MatrixMath.h" |
osaka | 88:be349faa1976 | 14 | #include "LSM9DS1.h" |
osaka | 88:be349faa1976 | 15 | #include "LPS.h" |
NaotoMorita | 104:20b8caa29185 | 16 | #include "MagSphereCalibration.hpp" |
NaotoMorita | 90:96c2b0ed4b96 | 17 | #include "solaESKF.hpp" |
NaotoMorita | 70:99f974d8960e | 18 | #include "MedianFilter.hpp" |
osaka | 96:3645f8f9bdd3 | 19 | #include "GPSUBX_UART.hpp" |
osaka | 107:46e039e12182 | 20 | #include "Autopilot.hpp" |
osaka | 107:46e039e12182 | 21 | #include <vector> |
cocorlow | 56:888379912f81 | 22 | |
NaotoMorita | 104:20b8caa29185 | 23 | #define magresThreshold 0.025f |
cocorlow | 56:888379912f81 | 24 | #define M_PI 3.141592f |
cocorlow | 56:888379912f81 | 25 | #define ACCEL_SSF 4096.0f |
NaotoMorita | 70:99f974d8960e | 26 | #define GYRO_SSF 131.0f |
cocorlow | 56:888379912f81 | 27 | #define PID_dt 0.015f |
cocorlow | 56:888379912f81 | 28 | #define servoPwmMax 1800.0f |
cocorlow | 56:888379912f81 | 29 | #define servoPwmMin 1200.0f |
cocorlow | 56:888379912f81 | 30 | #define motorPwmMax 2000.0f |
cocorlow | 56:888379912f81 | 31 | #define motorPwmMin 1100.0f |
cocorlow | 56:888379912f81 | 32 | |
osaka | 88:be349faa1976 | 33 | |
cocorlow | 56:888379912f81 | 34 | struct valuePack |
cocorlow | 56:888379912f81 | 35 | { |
NaotoMorita | 73:84ffa0166e6c | 36 | int16_t accData[3]; |
NaotoMorita | 73:84ffa0166e6c | 37 | int16_t gyroData[3]; |
NaotoMorita | 84:ff48e01ea76b | 38 | int16_t magData[3]; |
NaotoMorita | 84:ff48e01ea76b | 39 | int16_t viData[3]; |
NaotoMorita | 92:00460f6df439 | 40 | int16_t piData[3]; |
NaotoMorita | 84:ff48e01ea76b | 41 | int16_t actData[4]; |
NaotoMorita | 76:7fd3ac1afe3e | 42 | int16_t commandIndex; |
NaotoMorita | 83:e69ab831031c | 43 | int16_t commandVal; |
NaotoMorita | 83:e69ab831031c | 44 | }; |
NaotoMorita | 83:e69ab831031c | 45 | |
NaotoMorita | 83:e69ab831031c | 46 | struct sendPack |
NaotoMorita | 83:e69ab831031c | 47 | { |
NaotoMorita | 83:e69ab831031c | 48 | float da; |
NaotoMorita | 83:e69ab831031c | 49 | float de; |
NaotoMorita | 83:e69ab831031c | 50 | float dT; |
NaotoMorita | 83:e69ab831031c | 51 | float rpy[3]; |
NaotoMorita | 84:ff48e01ea76b | 52 | float vihat[3]; |
cocorlow | 56:888379912f81 | 53 | }; |
cocorlow | 56:888379912f81 | 54 | |
cocorlow | 56:888379912f81 | 55 | // var |
cocorlow | 56:888379912f81 | 56 | |
cocorlow | 56:888379912f81 | 57 | // communication |
osaka | 88:be349faa1976 | 58 | |
NaotoMorita | 64:e9661430f0e3 | 59 | extern UsaPack pc; // log - tail |
NaotoMorita | 76:7fd3ac1afe3e | 60 | extern Serial sd; |
osaka | 87:89bbbcdb667b | 61 | extern Serial twelite; |
cocorlow | 56:888379912f81 | 62 | |
cocorlow | 56:888379912f81 | 63 | // io |
cocorlow | 56:888379912f81 | 64 | extern DigitalIn userButton; |
NaotoMorita | 70:99f974d8960e | 65 | extern SBUS sbus; |
osaka | 88:be349faa1976 | 66 | extern I2C i2c; // sda, scl |
osaka | 88:be349faa1976 | 67 | extern LSM9DS1 lsm; |
osaka | 88:be349faa1976 | 68 | extern LPS lps; |
osaka | 96:3645f8f9bdd3 | 69 | extern GPSUBX_UART gps; |
NaotoMorita | 104:20b8caa29185 | 70 | extern MagSphereCalibration magCalibrator; |
NaotoMorita | 102:1c77ff6e2a85 | 71 | extern float magres; |
cocorlow | 56:888379912f81 | 72 | // control |
NaotoMorita | 94:579e875a4244 | 73 | extern Timer _t; |
NaotoMorita | 70:99f974d8960e | 74 | extern FastPWM servoRight; |
NaotoMorita | 70:99f974d8960e | 75 | extern FastPWM servoLeft; |
NaotoMorita | 70:99f974d8960e | 76 | extern FastPWM servoThrust; |
NaotoMorita | 70:99f974d8960e | 77 | extern PID pitchPID; //rad |
NaotoMorita | 70:99f974d8960e | 78 | extern PID pitchratePID;//rad/s |
NaotoMorita | 70:99f974d8960e | 79 | extern PID rollPID; |
NaotoMorita | 70:99f974d8960e | 80 | extern PID rollratePID;//rad/s |
NaotoMorita | 90:96c2b0ed4b96 | 81 | extern solaESKF eskf; // EKF class |
NaotoMorita | 76:7fd3ac1afe3e | 82 | extern int obsCount; |
cocorlow | 56:888379912f81 | 83 | |
NaotoMorita | 70:99f974d8960e | 84 | extern float rc[16]; |
cocorlow | 56:888379912f81 | 85 | extern int loop_count; |
cocorlow | 56:888379912f81 | 86 | extern float att_dt; |
cocorlow | 56:888379912f81 | 87 | |
NaotoMorita | 70:99f974d8960e | 88 | |
cocorlow | 56:888379912f81 | 89 | // position |
NaotoMorita | 93:b827f78a717a | 90 | extern Matrix SensorAlignment; |
cocorlow | 56:888379912f81 | 91 | extern Vector3 rpy; // x:roll y:pitch z:yaw |
cocorlow | 56:888379912f81 | 92 | extern Vector3 acc; |
cocorlow | 56:888379912f81 | 93 | extern Vector3 accref; |
cocorlow | 56:888379912f81 | 94 | extern Vector3 mag; |
cocorlow | 56:888379912f81 | 95 | extern Vector3 magref; |
cocorlow | 56:888379912f81 | 96 | extern Vector3 gyro; |
NaotoMorita | 82:c183c29d2427 | 97 | extern Vector3 vi; |
NaotoMorita | 92:00460f6df439 | 98 | extern Vector3 pi; |
NaotoMorita | 92:00460f6df439 | 99 | extern float palt; |
NaotoMorita | 98:bdaa6bbfb1d9 | 100 | extern float palt0; |
osaka | 97:2b3242c2dd85 | 101 | extern int itow_velned; |
osaka | 97:2b3242c2dd85 | 102 | extern int itow_posllh; |
NaotoMorita | 100:7589b663d462 | 103 | extern bool gpsUpdateFlag; |
osaka | 87:89bbbcdb667b | 104 | |
osaka | 107:46e039e12182 | 105 | extern float roll_obj; |
osaka | 107:46e039e12182 | 106 | extern float pitch_obj; |
osaka | 107:46e039e12182 | 107 | extern float alt_obj; |
osaka | 107:46e039e12182 | 108 | extern std::vector<float> obj; |
osaka | 107:46e039e12182 | 109 | extern Vector3 destination; |
osaka | 107:46e039e12182 | 110 | extern Vector3 turn_center; |
osaka | 107:46e039e12182 | 111 | extern float turn_radius; |
NaotoMorita | 73:84ffa0166e6c | 112 | extern float de; |
NaotoMorita | 73:84ffa0166e6c | 113 | extern float da; |
NaotoMorita | 73:84ffa0166e6c | 114 | extern float dT; |
NaotoMorita | 70:99f974d8960e | 115 | extern MedianFilter accMedian; |
NaotoMorita | 70:99f974d8960e | 116 | extern MedianFilter gyroMedian; |
NaotoMorita | 70:99f974d8960e | 117 | extern MedianFilter magMedian; |
cocorlow | 56:888379912f81 | 118 | |
NaotoMorita | 64:e9661430f0e3 | 119 | extern float scaledServoOut[2]; |
NaotoMorita | 70:99f974d8960e | 120 | extern float scaledMotorOut[1]; |
NaotoMorita | 64:e9661430f0e3 | 121 | extern float servoOut[2]; |
NaotoMorita | 70:99f974d8960e | 122 | extern float motorOut[1]; |
cocorlow | 56:888379912f81 | 123 | |
NaotoMorita | 61:c05353850017 | 124 | |
cocorlow | 56:888379912f81 | 125 | extern int calibrationFlag; |
NaotoMorita | 93:b827f78a717a | 126 | extern float agoffset[6]; |
NaotoMorita | 61:c05353850017 | 127 | extern float magbiasMin[3]; |
NaotoMorita | 61:c05353850017 | 128 | extern float magbiasMax[3]; |
NaotoMorita | 76:7fd3ac1afe3e | 129 | extern float magbias[4]; |
NaotoMorita | 70:99f974d8960e | 130 | extern float accMin[3]; |
NaotoMorita | 70:99f974d8960e | 131 | extern float accMax[3]; |
cocorlow | 56:888379912f81 | 132 | |
cocorlow | 56:888379912f81 | 133 | extern Vector3 rpy_align; |
cocorlow | 56:888379912f81 | 134 | |
cocorlow | 56:888379912f81 | 135 | |
cocorlow | 56:888379912f81 | 136 | //// UsaPack |
NaotoMorita | 73:84ffa0166e6c | 137 | extern valuePack vp; |
NaotoMorita | 83:e69ab831031c | 138 | extern sendPack sp; |
NaotoMorita | 73:84ffa0166e6c | 139 | |
NaotoMorita | 73:84ffa0166e6c | 140 | // HIL |
NaotoMorita | 73:84ffa0166e6c | 141 | extern bool hilFlag; |
NaotoMorita | 76:7fd3ac1afe3e | 142 | extern bool serialControlSource; |
NaotoMorita | 76:7fd3ac1afe3e | 143 | extern bool serialParamSource; |
NaotoMorita | 76:7fd3ac1afe3e | 144 | extern int checkParamSerial[5]; |
osaka | 107:46e039e12182 | 145 | |
osaka | 107:46e039e12182 | 146 | //Autopilot |
osaka | 107:46e039e12182 | 147 | extern Autopilot autopilot; |
osaka | 107:46e039e12182 | 148 | |
cocorlow | 56:888379912f81 | 149 | // function |
cocorlow | 56:888379912f81 | 150 | |
cocorlow | 56:888379912f81 | 151 | // main.cpp |
cocorlow | 56:888379912f81 | 152 | |
cocorlow | 56:888379912f81 | 153 | // setup.cpp |
cocorlow | 56:888379912f81 | 154 | extern void setup(); |
cocorlow | 56:888379912f81 | 155 | extern void calibrate(); |
cocorlow | 56:888379912f81 | 156 | // run.cpp |
cocorlow | 56:888379912f81 | 157 | extern void run(); |
cocorlow | 56:888379912f81 | 158 | |
cocorlow | 56:888379912f81 | 159 | // imu.cpp |
osaka | 88:be349faa1976 | 160 | extern void getIMUval(); |
cocorlow | 56:888379912f81 | 161 | |
osaka | 96:3645f8f9bdd3 | 162 | //gps.cpp |
osaka | 96:3645f8f9bdd3 | 163 | extern void getGPSval(); |
osaka | 97:2b3242c2dd85 | 164 | extern void change_refpos(); |
osaka | 96:3645f8f9bdd3 | 165 | |
NaotoMorita | 73:84ffa0166e6c | 166 | // hil.cpp |
NaotoMorita | 92:00460f6df439 | 167 | extern void getHilIMUval(); |
NaotoMorita | 92:00460f6df439 | 168 | extern void getHilGPSval(); |
NaotoMorita | 73:84ffa0166e6c | 169 | extern float randn(); |
NaotoMorita | 73:84ffa0166e6c | 170 | |
osaka | 107:46e039e12182 | 171 | //autopilot.cpp |
osaka | 107:46e039e12182 | 172 | extern void level_flight(); |
osaka | 107:46e039e12182 | 173 | extern void point_guide(); |
osaka | 107:46e039e12182 | 174 | extern void turning(); |
osaka | 107:46e039e12182 | 175 | |
cocorlow | 56:888379912f81 | 176 | // servo.cpp |
cocorlow | 56:888379912f81 | 177 | extern void calcServoOut(); |
cocorlow | 56:888379912f81 | 178 | |
osaka | 87:89bbbcdb667b | 179 | // transferData.cpp |
osaka | 87:89bbbcdb667b | 180 | extern void sendData2PC(); |
osaka | 87:89bbbcdb667b | 181 | extern void sendTelemetry(); |
osaka | 87:89bbbcdb667b | 182 | extern void writeSDcard(); |
cocorlow | 56:888379912f81 | 183 | |
cocorlow | 56:888379912f81 | 184 | // global.cpp |
cocorlow | 56:888379912f81 | 185 | extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max); |
NaotoMorita | 93:b827f78a717a | 186 | extern void setDiag(Matrix& mat, float val); |
NaotoMorita | 93:b827f78a717a | 187 | extern void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex); |
cocorlow | 56:888379912f81 | 188 | #endif |