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@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?
User | Revision | Line number | New contents of line |
---|---|---|---|
cocorlow | 140:53dbdb207542 | 1 | #include "global.hpp" |
cocorlow | 140:53dbdb207542 | 2 | |
cocorlow | 140:53dbdb207542 | 3 | // 割り込まれた時点での出力(computeの結果)を返す関数 |
cocorlow | 140:53dbdb207542 | 4 | void calcServoOut() |
cocorlow | 140:53dbdb207542 | 5 | { |
cocorlow | 140:53dbdb207542 | 6 | // sbusデータの読み込み |
cocorlow | 140:53dbdb207542 | 7 | for (int i =0 ; i < 16;i ++){ |
cocorlow | 141:725321fe2949 | 8 | rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368.0f,1680.0f,-1.0f,1.0f) + (1.0f - 0.65f) * rc[i]; // mapped input |
cocorlow | 140:53dbdb207542 | 9 | } |
cocorlow | 140:53dbdb207542 | 10 | |
cocorlow | 140:53dbdb207542 | 11 | |
cocorlow | 140:53dbdb207542 | 12 | //姿勢角の所得 |
cocorlow | 140:53dbdb207542 | 13 | euler = eskf.computeAngles(); |
cocorlow | 140:53dbdb207542 | 14 | rpy = euler; |
cocorlow | 140:53dbdb207542 | 15 | |
cocorlow | 140:53dbdb207542 | 16 | //PIDへの状態量のセット |
cocorlow | 140:53dbdb207542 | 17 | pitchPID.setProcessValue(rpy(1)); |
cocorlow | 140:53dbdb207542 | 18 | pitchratePID.setProcessValue(gyro(1)); |
cocorlow | 140:53dbdb207542 | 19 | rollPID.setProcessValue(rpy(0)); |
cocorlow | 140:53dbdb207542 | 20 | rollratePID.setProcessValue(gyro(0)); |
cocorlow | 140:53dbdb207542 | 21 | |
cocorlow | 140:53dbdb207542 | 22 | dT = rc[2]; |
cocorlow | 140:53dbdb207542 | 23 | |
cocorlow | 140:53dbdb207542 | 24 | if (rc[4]>-0.3f && rc[6] < -0.3f) |
cocorlow | 140:53dbdb207542 | 25 | { |
cocorlow | 140:53dbdb207542 | 26 | //level_flight(); |
cocorlow | 140:53dbdb207542 | 27 | //point_guide(); |
cocorlow | 140:53dbdb207542 | 28 | climb(); |
cocorlow | 140:53dbdb207542 | 29 | rollPID.setSetPoint(roll_obj); |
cocorlow | 140:53dbdb207542 | 30 | pitchPID.setSetPoint(pitch_obj); |
cocorlow | 140:53dbdb207542 | 31 | dT += dT_obj; |
cocorlow | 140:53dbdb207542 | 32 | }else{ |
cocorlow | 140:53dbdb207542 | 33 | rollPID.setSetPoint(0.0f); |
cocorlow | 140:53dbdb207542 | 34 | pitchPID.setSetPoint(0.0f); |
cocorlow | 140:53dbdb207542 | 35 | } |
cocorlow | 140:53dbdb207542 | 36 | |
cocorlow | 140:53dbdb207542 | 37 | //舵角計算 |
cocorlow | 140:53dbdb207542 | 38 | if(rc[4]<-0.3f){ |
cocorlow | 140:53dbdb207542 | 39 | de = (rc[0]-rc[1])/2.0f; |
cocorlow | 140:53dbdb207542 | 40 | da = (rc[0]+rc[1])/2.0f; |
cocorlow | 140:53dbdb207542 | 41 | }else{ |
cocorlow | 140:53dbdb207542 | 42 | de = (pitchPID.compute()+pitchratePID.compute())+(rc[0]-rc[1])/2.0f; |
cocorlow | 140:53dbdb207542 | 43 | da = (rollPID.compute()+rollratePID.compute())+(rc[0]+rc[1])/2.0f; |
cocorlow | 140:53dbdb207542 | 44 | } |
cocorlow | 140:53dbdb207542 | 45 | |
cocorlow | 140:53dbdb207542 | 46 | scaledServoOut[0]=de+da; |
cocorlow | 140:53dbdb207542 | 47 | scaledServoOut[1]=-de+da; |
cocorlow | 140:53dbdb207542 | 48 | scaledMotorOut[0]= dT; |
cocorlow | 140:53dbdb207542 | 49 | |
cocorlow | 140:53dbdb207542 | 50 | float LP_servo = 0.2; |
cocorlow | 140:53dbdb207542 | 51 | float LP_motor = 0.2; |
cocorlow | 140:53dbdb207542 | 52 | for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++) |
cocorlow | 140:53dbdb207542 | 53 | { |
cocorlow | 140:53dbdb207542 | 54 | servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1.0f,1.0f,servoPwmMin,servoPwmMax))+(1.0f-LP_servo)*servoOut[i]; |
cocorlow | 140:53dbdb207542 | 55 | if(servoOut[i]<servoPwmMin) |
cocorlow | 140:53dbdb207542 | 56 | { |
cocorlow | 140:53dbdb207542 | 57 | servoOut[i] = servoPwmMin; |
cocorlow | 140:53dbdb207542 | 58 | } |
cocorlow | 140:53dbdb207542 | 59 | if(servoOut[i]>servoPwmMax) |
cocorlow | 140:53dbdb207542 | 60 | { |
cocorlow | 140:53dbdb207542 | 61 | servoOut[i] = servoPwmMax; |
cocorlow | 140:53dbdb207542 | 62 | } |
cocorlow | 140:53dbdb207542 | 63 | } |
cocorlow | 140:53dbdb207542 | 64 | |
cocorlow | 140:53dbdb207542 | 65 | for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){ |
cocorlow | 140:53dbdb207542 | 66 | motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1.0f,1.0f,motorPwmMin,motorPwmMax))+(1.0f-LP_motor)*motorOut[i]; |
cocorlow | 140:53dbdb207542 | 67 | if(motorOut[i]<motorPwmMin) { |
cocorlow | 140:53dbdb207542 | 68 | motorOut[i] = motorPwmMin; |
cocorlow | 140:53dbdb207542 | 69 | }; |
cocorlow | 140:53dbdb207542 | 70 | if(motorOut[i]>motorPwmMax) { |
cocorlow | 140:53dbdb207542 | 71 | motorOut[i] = motorPwmMax; |
cocorlow | 140:53dbdb207542 | 72 | }; |
cocorlow | 140:53dbdb207542 | 73 | } |
cocorlow | 140:53dbdb207542 | 74 | servoRight.pulsewidth_us(servoOut[0]); |
cocorlow | 140:53dbdb207542 | 75 | servoLeft.pulsewidth_us(servoOut[1]); |
cocorlow | 140:53dbdb207542 | 76 | servoThrust.pulsewidth_us(motorOut[0]); |
cocorlow | 140:53dbdb207542 | 77 | |
cocorlow | 140:53dbdb207542 | 78 | sendData2PC(); |
cocorlow | 140:53dbdb207542 | 79 | writeSDcard(); |
cocorlow | 140:53dbdb207542 | 80 | |
cocorlow | 140:53dbdb207542 | 81 | if(loop_count >= 5) |
cocorlow | 140:53dbdb207542 | 82 | { |
cocorlow | 140:53dbdb207542 | 83 | sendTelemetry(); |
cocorlow | 140:53dbdb207542 | 84 | loop_count = 1; |
cocorlow | 140:53dbdb207542 | 85 | |
cocorlow | 140:53dbdb207542 | 86 | } |
cocorlow | 140:53dbdb207542 | 87 | else |
cocorlow | 140:53dbdb207542 | 88 | { |
cocorlow | 140:53dbdb207542 | 89 | loop_count +=1; |
cocorlow | 140:53dbdb207542 | 90 | } |
cocorlow | 140:53dbdb207542 | 91 | } |