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

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

Committer:
osaka
Date:
Fri Nov 12 09:04:59 2021 +0000
Revision:
107:46e039e12182
Parent:
96:3645f8f9bdd3 
added autopilot

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 56:888379912f81 1 #include "global.hpp"
osaka 88:be349faa1976 2 using namespace std;
cocorlow 56:888379912f81 3
cocorlow 56:888379912f81 4 void setup()
cocorlow 56:888379912f81 5 {
osaka 88:be349faa1976 6 sd.baud(115200);
osaka 88:be349faa1976 7 sd.printf("\r\nFlight Start\r\n");
osaka 88:be349faa1976 8 twelite.baud(38400);
osaka 88:be349faa1976 9 twelite.printf("\r\nTelemetory Start\r\n");
osaka 88:be349faa1976 10
osaka 88:be349faa1976 11 uint16_t reg = lsm.begin(lsm.G_SCALE_245DPS, lsm.A_SCALE_8G);
osaka 88:be349faa1976 12 //printf("%x\n", reg);
osaka 88:be349faa1976 13 if (!lps.init()){
osaka 88:be349faa1976 14 twelite.printf("Failed to autodetect pressure sensor!\r\n");
osaka 88:be349faa1976 15 while (1);
osaka 88:be349faa1976 16 }
osaka 88:be349faa1976 17 lps.enableDefault();
osaka 96:3645f8f9bdd3 18 gps.Attach();
osaka 88:be349faa1976 19 wait_ms(100);
osaka 88:be349faa1976 20
NaotoMorita 93:b827f78a717a 21 SensorAlignment << 1.0f << 0.0f << 0.0f
NaotoMorita 93:b827f78a717a 22 << 0.0f << 1.0f << 0.0f
NaotoMorita 93:b827f78a717a 23 << 0.0f << 0.0f << -1.0f;
NaotoMorita 93:b827f78a717a 24
cocorlow 56:888379912f81 25 pitchPID.setSetPoint(0.0);
cocorlow 56:888379912f81 26 pitchratePID.setSetPoint(0.0);
NaotoMorita 70:99f974d8960e 27 rollPID.setSetPoint(0.0);
NaotoMorita 70:99f974d8960e 28 rollratePID.setSetPoint(0.0);
cocorlow 56:888379912f81 29 pitchPID.setBias(0.0);
NaotoMorita 70:99f974d8960e 30 pitchratePID.setBias(0.0);
NaotoMorita 70:99f974d8960e 31 rollPID.setBias(0.0);
NaotoMorita 70:99f974d8960e 32 rollratePID.setBias(0.0);
cocorlow 56:888379912f81 33 pitchPID.setOutputLimits(-1.0,1.0);
cocorlow 56:888379912f81 34 pitchratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 70:99f974d8960e 35 rollPID.setOutputLimits(-1.0,1.0);
NaotoMorita 70:99f974d8960e 36 rollratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 70:99f974d8960e 37 pitchPID.setInputLimits(-M_PI,M_PI);
NaotoMorita 70:99f974d8960e 38 pitchratePID.setInputLimits(-M_PI,M_PI);
NaotoMorita 70:99f974d8960e 39 rollPID.setInputLimits(-M_PI,M_PI);
NaotoMorita 70:99f974d8960e 40 rollratePID.setInputLimits(-M_PI,M_PI);
cocorlow 56:888379912f81 41
osaka 107:46e039e12182 42 autopilot.set_dest(destination.x, destination.y);
osaka 107:46e039e12182 43 autopilot.set_turn(turn_center.x, turn_center.y, turn_radius);
osaka 107:46e039e12182 44
NaotoMorita 70:99f974d8960e 45 servoRight.period_us(15000.0);
NaotoMorita 70:99f974d8960e 46 servoLeft.period_us(15000.0);
NaotoMorita 70:99f974d8960e 47 servoThrust.period_us(15000.0);
NaotoMorita 70:99f974d8960e 48 servoRight.pulsewidth_us(1500.0);
NaotoMorita 70:99f974d8960e 49 servoLeft.pulsewidth_us(1500.0);
NaotoMorita 70:99f974d8960e 50 servoThrust.pulsewidth_us(1100.0);
cocorlow 56:888379912f81 51 }
cocorlow 56:888379912f81 52
cocorlow 56:888379912f81 53 void calibrate()
cocorlow 56:888379912f81 54 {
cocorlow 56:888379912f81 55 while(1)
cocorlow 56:888379912f81 56 {
cocorlow 56:888379912f81 57 wait(1000);
cocorlow 56:888379912f81 58 }
cocorlow 56:888379912f81 59 }