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

servo.cpp@107:46e039e12182, 2021-11-12 (annotated)

Committer:
osaka
Date:
Fri Nov 12 09:04:59 2021 +0000
Revision:
107:46e039e12182
Parent:
94:579e875a4244
Child:
121:2523eef96b36
Child:
123:b63d3524ffbc
added autopilot

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 56:888379912f81 1 #include "global.hpp"
cocorlow 56:888379912f81 2
cocorlow 56:888379912f81 3 // 割り込まれた時点での出力(computeの結果）を返す関数
cocorlow 56:888379912f81 4 void calcServoOut()
cocorlow 56:888379912f81 5 {
NaotoMorita 83:e69ab831031c 6 // sbusデータの読み込み
NaotoMorita 83:e69ab831031c 7 for (int i =0 ; i < 16;i ++){
NaotoMorita 83:e69ab831031c 8 rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
NaotoMorita 70:99f974d8960e 9 }
NaotoMorita 90:96c2b0ed4b96 10
NaotoMorita 73:84ffa0166e6c 11
NaotoMorita 90:96c2b0ed4b96 12 //姿勢角の所得
NaotoMorita 90:96c2b0ed4b96 13 Matrix euler = eskf.computeAngles();
NaotoMorita 90:96c2b0ed4b96 14 rpy.x = euler(1,1);
NaotoMorita 90:96c2b0ed4b96 15 rpy.y = euler(2,1);
NaotoMorita 90:96c2b0ed4b96 16 rpy.z = euler(3,1);
NaotoMorita 90:96c2b0ed4b96 17
NaotoMorita 90:96c2b0ed4b96 18 //PIDへの状態量のセット
NaotoMorita 92:00460f6df439 19 pitchPID.setProcessValue(rpy.y);
NaotoMorita 92:00460f6df439 20 pitchratePID.setProcessValue(gyro.y);
NaotoMorita 92:00460f6df439 21 rollPID.setProcessValue(rpy.x);
NaotoMorita 92:00460f6df439 22 rollratePID.setProcessValue(gyro.x);
NaotoMorita 90:96c2b0ed4b96 23
osaka 107:46e039e12182 24 if (true)
osaka 107:46e039e12182 25 {
osaka 107:46e039e12182 26 //level_flight();
osaka 107:46e039e12182 27 //point_guide();
osaka 107:46e039e12182 28 turning();
osaka 107:46e039e12182 29 rollPID.setSetPoint(roll_obj);
osaka 107:46e039e12182 30 }
osaka 107:46e039e12182 31
NaotoMorita 90:96c2b0ed4b96 32 //舵角計算
NaotoMorita 92:00460f6df439 33 if(rc[4]<-0.3f){
NaotoMorita 92:00460f6df439 34 de = (rc[0]-rc[1])/2.0f;
NaotoMorita 92:00460f6df439 35 da = (rc[0]+rc[1])/2.0f;
NaotoMorita 92:00460f6df439 36 }else{
NaotoMorita 92:00460f6df439 37 de = (pitchPID.compute()+pitchratePID.compute())+(rc[0]-rc[1])/2.0f;
NaotoMorita 92:00460f6df439 38 da = (rollPID.compute()+rollratePID.compute())+(rc[0]+rc[1])/2.0f;
NaotoMorita 92:00460f6df439 39 }
NaotoMorita 90:96c2b0ed4b96 40
NaotoMorita 73:84ffa0166e6c 41 dT = rc[2];
NaotoMorita 70:99f974d8960e 42
NaotoMorita 92:00460f6df439 43 scaledServoOut[0]=de+da;
NaotoMorita 92:00460f6df439 44 scaledServoOut[1]=-de+da;
NaotoMorita 70:99f974d8960e 45 scaledMotorOut[0]= dT;
NaotoMorita 70:99f974d8960e 46
cocorlow 56:888379912f81 47 float LP_servo = 0.2;
NaotoMorita 70:99f974d8960e 48 float LP_motor = 0.2;
cocorlow 56:888379912f81 49 for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++)
cocorlow 56:888379912f81 50 {
cocorlow 56:888379912f81 51 servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
cocorlow 56:888379912f81 52 if(servoOut[i]<servoPwmMin)
cocorlow 56:888379912f81 53 {
cocorlow 56:888379912f81 54 servoOut[i] = servoPwmMin;
cocorlow 56:888379912f81 55 }
cocorlow 56:888379912f81 56 if(servoOut[i]>servoPwmMax)
cocorlow 56:888379912f81 57 {
cocorlow 56:888379912f81 58 servoOut[i] = servoPwmMax;
cocorlow 56:888379912f81 59 }
cocorlow 56:888379912f81 60 }
cocorlow 56:888379912f81 61
NaotoMorita 70:99f974d8960e 62 for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){
NaotoMorita 70:99f974d8960e 63 motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i];
NaotoMorita 70:99f974d8960e 64 if(motorOut[i]<motorPwmMin) {
NaotoMorita 70:99f974d8960e 65 motorOut[i] = motorPwmMin;
NaotoMorita 70:99f974d8960e 66 };
NaotoMorita 70:99f974d8960e 67 if(motorOut[i]>motorPwmMax) {
NaotoMorita 70:99f974d8960e 68 motorOut[i] = motorPwmMax;
NaotoMorita 70:99f974d8960e 69 };
NaotoMorita 70:99f974d8960e 70 }
NaotoMorita 70:99f974d8960e 71 servoRight.pulsewidth_us(servoOut[0]);
NaotoMorita 70:99f974d8960e 72 servoLeft.pulsewidth_us(servoOut[1]);
NaotoMorita 70:99f974d8960e 73 servoThrust.pulsewidth_us(motorOut[0]);
NaotoMorita 68:b9f6938fab9d 74
osaka 87:89bbbcdb667b 75 sendData2PC();
NaotoMorita 94:579e875a4244 76
NaotoMorita 94:579e875a4244 77 if(loop_count >= 5)
cocorlow 56:888379912f81 78 {
NaotoMorita 94:579e875a4244 79 writeSDcard();
osaka 87:89bbbcdb667b 80 sendTelemetry();
cocorlow 56:888379912f81 81 loop_count = 1;
NaotoMorita 68:b9f6938fab9d 82
cocorlow 56:888379912f81 83 }
cocorlow 56:888379912f81 84 else
cocorlow 56:888379912f81 85 {
cocorlow 56:888379912f81 86 loop_count +=1;
cocorlow 56:888379912f81 87 }
cocorlow 56:888379912f81 88 }