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@141:725321fe2949, 2021-12-10 (annotated)

Committer:
cocorlow
Date:
Fri Dec 10 10:43:50 2021 +0000
Revision:
141:725321fe2949
Parent:
140:53dbdb207542
Child:
143:53808e4e684c
Eigen completed

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 88:be349faa1976 12 #include "LSM9DS1.h"
osaka 88:be349faa1976 13 #include "LPS.h"
NaotoMorita 119:a21e283730d1 14 #include "CalibrateMagneto.h"
NaotoMorita 90:96c2b0ed4b96 15 #include "solaESKF.hpp"
NaotoMorita 70:99f974d8960e 16 #include "MedianFilter.hpp"
osaka 96:3645f8f9bdd3 17 #include "GPSUBX_UART.hpp"
osaka 109:eb255fc4462b 18 #include "Autopilot.hpp"
cocorlow 56:888379912f81 19
cocorlow 139:b378528c05f2 20 // Eigen
cocorlow 139:b378528c05f2 21 #include <Eigen/Dense.h>
cocorlow 141:725321fe2949 22 //#include <Eigen/Core.h>
cocorlow 141:725321fe2949 23 //#include <Eigen/LU.h>
cocorlow 141:725321fe2949 24 //#include <Eigen/Geometry.h>
cocorlow 139:b378528c05f2 25 //using namespace std;
cocorlow 139:b378528c05f2 26 using namespace Eigen;
cocorlow 139:b378528c05f2 27
NaotoMorita 104:20b8caa29185 28 #define magresThreshold 0.025f
cocorlow 56:888379912f81 29 #define ACCEL_SSF 4096.0f
NaotoMorita 70:99f974d8960e 30 #define GYRO_SSF 131.0f
cocorlow 56:888379912f81 31 #define PID_dt 0.015f
cocorlow 56:888379912f81 32 #define servoPwmMax 1800.0f
cocorlow 56:888379912f81 33 #define servoPwmMin 1200.0f
cocorlow 56:888379912f81 34 #define motorPwmMax 2000.0f
cocorlow 56:888379912f81 35 #define motorPwmMin 1100.0f
cocorlow 56:888379912f81 36
cocorlow 139:b378528c05f2 37 #ifndef M_PI_F
cocorlow 139:b378528c05f2 38 #define M_PI_F 3.141592f
cocorlow 139:b378528c05f2 39 #endif
osaka 88:be349faa1976 40
cocorlow 56:888379912f81 41 struct valuePack
cocorlow 56:888379912f81 42 {
NaotoMorita 73:84ffa0166e6c 43 int16_t accData[3];
NaotoMorita 73:84ffa0166e6c 44 int16_t gyroData[3];
NaotoMorita 84:ff48e01ea76b 45 int16_t magData[3];
NaotoMorita 84:ff48e01ea76b 46 int16_t viData[3];
NaotoMorita 92:00460f6df439 47 int16_t piData[3];
NaotoMorita 84:ff48e01ea76b 48 int16_t actData[4];
NaotoMorita 76:7fd3ac1afe3e 49 int16_t commandIndex;
NaotoMorita 83:e69ab831031c 50 int16_t commandVal;
NaotoMorita 83:e69ab831031c 51 };
NaotoMorita 83:e69ab831031c 52
NaotoMorita 83:e69ab831031c 53 struct sendPack
NaotoMorita 83:e69ab831031c 54 {
NaotoMorita 83:e69ab831031c 55 float da;
NaotoMorita 83:e69ab831031c 56 float de;
NaotoMorita 83:e69ab831031c 57 float dT;
NaotoMorita 83:e69ab831031c 58 float rpy[3];
NaotoMorita 84:ff48e01ea76b 59 float vihat[3];
cocorlow 56:888379912f81 60 };
NaotoMorita 132:896ad37b534b 61 struct logPack
NaotoMorita 132:896ad37b534b 62 {
NaotoMorita 132:896ad37b534b 63 float time;
NaotoMorita 132:896ad37b534b 64 float hertz;
NaotoMorita 135:49f8916588da 65 float gpsFix;
NaotoMorita 132:896ad37b534b 66 float da;
NaotoMorita 132:896ad37b534b 67 float de;
NaotoMorita 132:896ad37b534b 68 float dT;
NaotoMorita 132:896ad37b534b 69 float rpy[3];
NaotoMorita 132:896ad37b534b 70 float pihat[3];
NaotoMorita 132:896ad37b534b 71 float vihat[3];
NaotoMorita 132:896ad37b534b 72 float pi[3];
NaotoMorita 132:896ad37b534b 73 float vi[3];
NaotoMorita 132:896ad37b534b 74 float palt;
NaotoMorita 132:896ad37b534b 75 float acc[3];
NaotoMorita 132:896ad37b534b 76 float gyro[3];
NaotoMorita 132:896ad37b534b 77 float mag[3];
NaotoMorita 133:346ce20b3950 78 float rc[16];
NaotoMorita 132:896ad37b534b 79 };
cocorlow 56:888379912f81 80
NaotoMorita 134:d57c6b2a706b 81 struct telemetryPack
NaotoMorita 134:d57c6b2a706b 82 {
NaotoMorita 134:d57c6b2a706b 83 float time;
NaotoMorita 134:d57c6b2a706b 84 float hertz;
NaotoMorita 134:d57c6b2a706b 85 float gpsFix;
NaotoMorita 134:d57c6b2a706b 86 float rpy[3];
NaotoMorita 134:d57c6b2a706b 87 float pihat[3];
NaotoMorita 134:d57c6b2a706b 88 float vihat[3];
NaotoMorita 134:d57c6b2a706b 89 float dynaccNorm;
NaotoMorita 134:d57c6b2a706b 90 };
NaotoMorita 134:d57c6b2a706b 91
cocorlow 56:888379912f81 92 // var
cocorlow 56:888379912f81 93
cocorlow 56:888379912f81 94 // communication
osaka 88:be349faa1976 95
NaotoMorita 64:e9661430f0e3 96 extern UsaPack pc; // log - tail
NaotoMorita 132:896ad37b534b 97 extern UsaPack sd;
NaotoMorita 133:346ce20b3950 98 extern UsaPack twelite;
cocorlow 56:888379912f81 99
cocorlow 56:888379912f81 100 // io
cocorlow 56:888379912f81 101 extern DigitalIn userButton;
NaotoMorita 70:99f974d8960e 102 extern SBUS sbus;
osaka 88:be349faa1976 103 extern I2C i2c; // sda, scl
osaka 88:be349faa1976 104 extern LSM9DS1 lsm;
osaka 88:be349faa1976 105 extern LPS lps;
osaka 96:3645f8f9bdd3 106 extern GPSUBX_UART gps;
NaotoMorita 119:a21e283730d1 107 extern CalibrateMagneto magCalibrator;
NaotoMorita 102:1c77ff6e2a85 108 extern float magres;
cocorlow 56:888379912f81 109 // control
NaotoMorita 94:579e875a4244 110 extern Timer _t;
NaotoMorita 70:99f974d8960e 111 extern FastPWM servoRight;
NaotoMorita 70:99f974d8960e 112 extern FastPWM servoLeft;
NaotoMorita 70:99f974d8960e 113 extern FastPWM servoThrust;
NaotoMorita 70:99f974d8960e 114 extern PID pitchPID; //rad
NaotoMorita 70:99f974d8960e 115 extern PID pitchratePID;//rad/s
NaotoMorita 70:99f974d8960e 116 extern PID rollPID;
NaotoMorita 70:99f974d8960e 117 extern PID rollratePID;//rad/s
cocorlow 140:53dbdb207542 118 extern solaESKF eskf; // EKF class
NaotoMorita 76:7fd3ac1afe3e 119 extern int obsCount;
cocorlow 140:53dbdb207542 120 extern Autopilot autopilot;
osaka 109:eb255fc4462b 121 extern float roll_obj;
osaka 109:eb255fc4462b 122 extern float pitch_obj;
osaka 121:2523eef96b36 123 extern float dT_obj;
cocorlow 56:888379912f81 124
NaotoMorita 70:99f974d8960e 125 extern float rc[16];
cocorlow 56:888379912f81 126 extern int loop_count;
cocorlow 56:888379912f81 127 extern float att_dt;
NaotoMorita 112:6a33ea9f6fed 128 extern bool accmagSwitch;
cocorlow 56:888379912f81 129
NaotoMorita 70:99f974d8960e 130
cocorlow 56:888379912f81 131 // position
cocorlow 139:b378528c05f2 132 extern Matrix3f SensorAlignmentAG;
cocorlow 139:b378528c05f2 133 extern Matrix3f SensorAlignmentMAG;
cocorlow 139:b378528c05f2 134 extern Vector3f euler;
cocorlow 139:b378528c05f2 135 extern Vector3f rpy; // x:roll y:pitch z:yaw
cocorlow 139:b378528c05f2 136 extern Vector3f acc;
cocorlow 139:b378528c05f2 137 extern Vector3f accref;
cocorlow 139:b378528c05f2 138 extern Vector3f mag;
cocorlow 139:b378528c05f2 139 extern Vector3f magref;
cocorlow 139:b378528c05f2 140 extern Vector3f gyro;
cocorlow 139:b378528c05f2 141 extern Vector3f vi;
cocorlow 139:b378528c05f2 142 extern Vector3f pi;
NaotoMorita 92:00460f6df439 143 extern float palt;
NaotoMorita 98:bdaa6bbfb1d9 144 extern float palt0;
NaotoMorita 129:a76be8380bb2 145 extern float dynaccnorm2;
NaotoMorita 106:2d854e92cebb 146 extern int itow_status;
NaotoMorita 100:7589b663d462 147 extern bool gpsUpdateFlag;
NaotoMorita 106:2d854e92cebb 148 extern bool gpsLlh0Fixed;
NaotoMorita 127:d73a6233ee4b 149 extern bool headingUpdateFlag;
osaka 87:89bbbcdb667b 150
NaotoMorita 73:84ffa0166e6c 151 extern float de;
NaotoMorita 73:84ffa0166e6c 152 extern float da;
NaotoMorita 73:84ffa0166e6c 153 extern float dT;
NaotoMorita 70:99f974d8960e 154 extern MedianFilter accMedian;
NaotoMorita 70:99f974d8960e 155 extern MedianFilter gyroMedian;
NaotoMorita 70:99f974d8960e 156 extern MedianFilter magMedian;
cocorlow 56:888379912f81 157
NaotoMorita 64:e9661430f0e3 158 extern float scaledServoOut[2];
NaotoMorita 70:99f974d8960e 159 extern float scaledMotorOut[1];
NaotoMorita 64:e9661430f0e3 160 extern float servoOut[2];
NaotoMorita 70:99f974d8960e 161 extern float motorOut[1];
cocorlow 56:888379912f81 162
NaotoMorita 61:c05353850017 163
cocorlow 56:888379912f81 164 extern int calibrationFlag;
NaotoMorita 93:b827f78a717a 165 extern float agoffset[6];
NaotoMorita 61:c05353850017 166 extern float magbiasMin[3];
NaotoMorita 61:c05353850017 167 extern float magbiasMax[3];
NaotoMorita 76:7fd3ac1afe3e 168 extern float magbias[4];
NaotoMorita 70:99f974d8960e 169 extern float accMin[3];
NaotoMorita 70:99f974d8960e 170 extern float accMax[3];
cocorlow 56:888379912f81 171
cocorlow 139:b378528c05f2 172 extern Vector3f rpy_align;
cocorlow 56:888379912f81 173
cocorlow 56:888379912f81 174
cocorlow 56:888379912f81 175 //// UsaPack
NaotoMorita 73:84ffa0166e6c 176 extern valuePack vp;
NaotoMorita 83:e69ab831031c 177 extern sendPack sp;
NaotoMorita 132:896ad37b534b 178 extern logPack lp;
NaotoMorita 134:d57c6b2a706b 179 extern telemetryPack tp;
NaotoMorita 73:84ffa0166e6c 180
NaotoMorita 73:84ffa0166e6c 181 // HIL
NaotoMorita 73:84ffa0166e6c 182 extern bool hilFlag;
NaotoMorita 76:7fd3ac1afe3e 183 extern bool serialControlSource;
NaotoMorita 76:7fd3ac1afe3e 184 extern bool serialParamSource;
NaotoMorita 76:7fd3ac1afe3e 185 extern int checkParamSerial[5];
cocorlow 56:888379912f81 186 // function
cocorlow 56:888379912f81 187
cocorlow 56:888379912f81 188 // main.cpp
cocorlow 56:888379912f81 189
cocorlow 56:888379912f81 190 // setup.cpp
cocorlow 56:888379912f81 191 extern void setup();
cocorlow 56:888379912f81 192 extern void calibrate();
cocorlow 56:888379912f81 193 // run.cpp
cocorlow 56:888379912f81 194 extern void run();
cocorlow 56:888379912f81 195
cocorlow 56:888379912f81 196 // imu.cpp
osaka 88:be349faa1976 197 extern void getIMUval();
cocorlow 56:888379912f81 198
osaka 96:3645f8f9bdd3 199 //gps.cpp
osaka 96:3645f8f9bdd3 200 extern void getGPSval();
osaka 97:2b3242c2dd85 201 extern void change_refpos();
osaka 96:3645f8f9bdd3 202
NaotoMorita 73:84ffa0166e6c 203 // hil.cpp
NaotoMorita 92:00460f6df439 204 extern void getHilIMUval();
NaotoMorita 92:00460f6df439 205 extern void getHilGPSval();
NaotoMorita 73:84ffa0166e6c 206 extern float randn();
NaotoMorita 73:84ffa0166e6c 207
osaka 109:eb255fc4462b 208 //autopilot.cpp
osaka 109:eb255fc4462b 209 extern void level_flight();
osaka 109:eb255fc4462b 210 extern void point_guide();
osaka 109:eb255fc4462b 211 extern void turning();
osaka 137:240588882ae2 212 extern void climb();
cocorlow 139:b378528c05f2 213 extern Vector3f calc_vdot();
osaka 109:eb255fc4462b 214
cocorlow 56:888379912f81 215 // servo.cpp
cocorlow 56:888379912f81 216 extern void calcServoOut();
cocorlow 56:888379912f81 217
osaka 87:89bbbcdb667b 218 // transferData.cpp
osaka 87:89bbbcdb667b 219 extern void sendData2PC();
osaka 87:89bbbcdb667b 220 extern void sendTelemetry();
osaka 87:89bbbcdb667b 221 extern void writeSDcard();
cocorlow 56:888379912f81 222
cocorlow 56:888379912f81 223 // global.cpp
cocorlow 56:888379912f81 224 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
cocorlow 139:b378528c05f2 225 extern void setDiag(Matrix3f& mat, float val);
cocorlow 141:725321fe2949 226 extern void setDiag(MatrixXf& mat, float val);
cocorlow 141:725321fe2949 227 //extern void setBlockDiag(Matrix3f& mat, float val,int startIndex, int endIndex);
cocorlow 56:888379912f81 228 #endif