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.hpp@112:6a33ea9f6fed, 2021-11-16 (annotated)

Committer:
NaotoMorita
Date:
Tue Nov 16 01:21:01 2021 +0000
Revision:
112:6a33ea9f6fed
Parent:
110:5bf69c7afdbf
Child:
113:3e47d9881529
magmod

Who changed what in which revision?

UserRevisionLine numberNew 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 109:eb255fc4462b 20 #include "Autopilot.hpp"
cocorlow 56:888379912f81 21
NaotoMorita 104:20b8caa29185 22 #define magresThreshold 0.025f
cocorlow 56:888379912f81 23 #define M_PI 3.141592f
cocorlow 56:888379912f81 24 #define ACCEL_SSF 4096.0f
NaotoMorita 70:99f974d8960e 25 #define GYRO_SSF 131.0f
cocorlow 56:888379912f81 26 #define PID_dt 0.015f
cocorlow 56:888379912f81 27 #define servoPwmMax 1800.0f
cocorlow 56:888379912f81 28 #define servoPwmMin 1200.0f
cocorlow 56:888379912f81 29 #define motorPwmMax 2000.0f
cocorlow 56:888379912f81 30 #define motorPwmMin 1100.0f
cocorlow 56:888379912f81 31
osaka 88:be349faa1976 32
cocorlow 56:888379912f81 33 struct valuePack
cocorlow 56:888379912f81 34 {
NaotoMorita 73:84ffa0166e6c 35 int16_t accData[3];
NaotoMorita 73:84ffa0166e6c 36 int16_t gyroData[3];
NaotoMorita 84:ff48e01ea76b 37 int16_t magData[3];
NaotoMorita 84:ff48e01ea76b 38 int16_t viData[3];
NaotoMorita 92:00460f6df439 39 int16_t piData[3];
NaotoMorita 84:ff48e01ea76b 40 int16_t actData[4];
NaotoMorita 76:7fd3ac1afe3e 41 int16_t commandIndex;
NaotoMorita 83:e69ab831031c 42 int16_t commandVal;
NaotoMorita 83:e69ab831031c 43 };
NaotoMorita 83:e69ab831031c 44
NaotoMorita 83:e69ab831031c 45 struct sendPack
NaotoMorita 83:e69ab831031c 46 {
NaotoMorita 83:e69ab831031c 47 float da;
NaotoMorita 83:e69ab831031c 48 float de;
NaotoMorita 83:e69ab831031c 49 float dT;
NaotoMorita 83:e69ab831031c 50 float rpy[3];
NaotoMorita 84:ff48e01ea76b 51 float vihat[3];
cocorlow 56:888379912f81 52 };
cocorlow 56:888379912f81 53
cocorlow 56:888379912f81 54 // var
cocorlow 56:888379912f81 55
cocorlow 56:888379912f81 56 // communication
osaka 88:be349faa1976 57
NaotoMorita 64:e9661430f0e3 58 extern UsaPack pc; // log - tail
NaotoMorita 76:7fd3ac1afe3e 59 extern Serial sd;
osaka 87:89bbbcdb667b 60 extern Serial twelite;
cocorlow 56:888379912f81 61
cocorlow 56:888379912f81 62 // io
cocorlow 56:888379912f81 63 extern DigitalIn userButton;
NaotoMorita 70:99f974d8960e 64 extern SBUS sbus;
osaka 88:be349faa1976 65 extern I2C i2c; // sda, scl
osaka 88:be349faa1976 66 extern LSM9DS1 lsm;
osaka 88:be349faa1976 67 extern LPS lps;
osaka 96:3645f8f9bdd3 68 extern GPSUBX_UART gps;
NaotoMorita 104:20b8caa29185 69 extern MagSphereCalibration magCalibrator;
NaotoMorita 102:1c77ff6e2a85 70 extern float magres;
cocorlow 56:888379912f81 71 // control
NaotoMorita 94:579e875a4244 72 extern Timer _t;
NaotoMorita 70:99f974d8960e 73 extern FastPWM servoRight;
NaotoMorita 70:99f974d8960e 74 extern FastPWM servoLeft;
NaotoMorita 70:99f974d8960e 75 extern FastPWM servoThrust;
NaotoMorita 70:99f974d8960e 76 extern PID pitchPID; //rad
NaotoMorita 70:99f974d8960e 77 extern PID pitchratePID;//rad/s
NaotoMorita 70:99f974d8960e 78 extern PID rollPID;
NaotoMorita 70:99f974d8960e 79 extern PID rollratePID;//rad/s
NaotoMorita 90:96c2b0ed4b96 80 extern solaESKF eskf; // EKF class
NaotoMorita 76:7fd3ac1afe3e 81 extern int obsCount;
osaka 109:eb255fc4462b 82 extern Autopilot autopilot;
osaka 109:eb255fc4462b 83 extern float roll_obj;
osaka 109:eb255fc4462b 84 extern float pitch_obj;
osaka 109:eb255fc4462b 85 extern float alt_obj;
osaka 109:eb255fc4462b 86 extern Vector3 destination;
osaka 109:eb255fc4462b 87 extern Vector3 turn_center;
osaka 109:eb255fc4462b 88 extern float turn_radius;
cocorlow 56:888379912f81 89
NaotoMorita 70:99f974d8960e 90 extern float rc[16];
cocorlow 56:888379912f81 91 extern int loop_count;
cocorlow 56:888379912f81 92 extern float att_dt;
NaotoMorita 112:6a33ea9f6fed 93 extern bool accmagSwitch;
cocorlow 56:888379912f81 94
NaotoMorita 70:99f974d8960e 95
cocorlow 56:888379912f81 96 // position
NaotoMorita 93:b827f78a717a 97 extern Matrix SensorAlignment;
cocorlow 56:888379912f81 98 extern Vector3 rpy; // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 99 extern Vector3 acc;
cocorlow 56:888379912f81 100 extern Vector3 accref;
cocorlow 56:888379912f81 101 extern Vector3 mag;
cocorlow 56:888379912f81 102 extern Vector3 magref;
cocorlow 56:888379912f81 103 extern Vector3 gyro;
NaotoMorita 82:c183c29d2427 104 extern Vector3 vi;
NaotoMorita 92:00460f6df439 105 extern Vector3 pi;
NaotoMorita 92:00460f6df439 106 extern float palt;
NaotoMorita 98:bdaa6bbfb1d9 107 extern float palt0;
NaotoMorita 106:2d854e92cebb 108 extern int itow_status;
NaotoMorita 100:7589b663d462 109 extern bool gpsUpdateFlag;
NaotoMorita 106:2d854e92cebb 110 extern bool gpsLlh0Fixed;
osaka 87:89bbbcdb667b 111
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];
cocorlow 56:888379912f81 145 // function
cocorlow 56:888379912f81 146
cocorlow 56:888379912f81 147 // main.cpp
cocorlow 56:888379912f81 148
cocorlow 56:888379912f81 149 // setup.cpp
cocorlow 56:888379912f81 150 extern void setup();
cocorlow 56:888379912f81 151 extern void calibrate();
cocorlow 56:888379912f81 152 // run.cpp
cocorlow 56:888379912f81 153 extern void run();
cocorlow 56:888379912f81 154
cocorlow 56:888379912f81 155 // imu.cpp
osaka 88:be349faa1976 156 extern void getIMUval();
cocorlow 56:888379912f81 157
osaka 96:3645f8f9bdd3 158 //gps.cpp
osaka 96:3645f8f9bdd3 159 extern void getGPSval();
osaka 97:2b3242c2dd85 160 extern void change_refpos();
osaka 96:3645f8f9bdd3 161
NaotoMorita 73:84ffa0166e6c 162 // hil.cpp
NaotoMorita 92:00460f6df439 163 extern void getHilIMUval();
NaotoMorita 92:00460f6df439 164 extern void getHilGPSval();
NaotoMorita 73:84ffa0166e6c 165 extern float randn();
NaotoMorita 73:84ffa0166e6c 166
osaka 109:eb255fc4462b 167 //autopilot.cpp
osaka 109:eb255fc4462b 168 extern void level_flight();
osaka 109:eb255fc4462b 169 extern void point_guide();
osaka 109:eb255fc4462b 170 extern void turning();
osaka 109:eb255fc4462b 171
cocorlow 56:888379912f81 172 // servo.cpp
cocorlow 56:888379912f81 173 extern void calcServoOut();
cocorlow 56:888379912f81 174
osaka 87:89bbbcdb667b 175 // transferData.cpp
osaka 87:89bbbcdb667b 176 extern void sendData2PC();
osaka 87:89bbbcdb667b 177 extern void sendTelemetry();
osaka 87:89bbbcdb667b 178 extern void writeSDcard();
cocorlow 56:888379912f81 179
cocorlow 56:888379912f81 180 // global.cpp
cocorlow 56:888379912f81 181 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
NaotoMorita 93:b827f78a717a 182 extern void setDiag(Matrix& mat, float val);
NaotoMorita 93:b827f78a717a 183 extern void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex);
cocorlow 56:888379912f81 184 #endif