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

run.cpp@100:7589b663d462, 2021-11-05 (annotated)

Committer:
NaotoMorita
Date:
Fri Nov 05 13:48:22 2021 +0000
Revision:
100:7589b663d462
Parent:
99:98b892ca70ec
Child:
102:1c77ff6e2a85
gps pos vel simultaneous update

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 void run()
cocorlow 56:888379912f81 4 {
NaotoMorita 68:b9f6938fab9d 5 wait(0.5);
NaotoMorita 77:2bf856e3eca4 6
osaka 87:89bbbcdb667b 7 //センサの初期化・ジャイロバイアス・加速度スケールの取得
NaotoMorita 77:2bf856e3eca4 8 if(hilFlag == false){
NaotoMorita 90:96c2b0ed4b96 9 eskf.setQhat(rpy_align.x,rpy_align.y,rpy_align.z);
NaotoMorita 77:2bf856e3eca4 10 }
NaotoMorita 99:98b892ca70ec 11
NaotoMorita 93:b827f78a717a 12 int n_init = 1000;
NaotoMorita 93:b827f78a717a 13 for(int i = 0;i<n_init;i++){
NaotoMorita 93:b827f78a717a 14 lsm.readAccel();
NaotoMorita 93:b827f78a717a 15 lsm.readMag();
NaotoMorita 93:b827f78a717a 16 lsm.readGyro();
NaotoMorita 93:b827f78a717a 17 agoffset[0] += lsm.ax * 9.8f;
NaotoMorita 93:b827f78a717a 18 agoffset[1] += lsm.ay * 9.8f;
NaotoMorita 93:b827f78a717a 19 agoffset[2] += lsm.az * 9.8f-9.8f;
NaotoMorita 93:b827f78a717a 20 agoffset[3] +=(lsm.gx * M_PI / 180.0f);
NaotoMorita 93:b827f78a717a 21 agoffset[4] +=(lsm.gy * M_PI / 180.0f);
NaotoMorita 93:b827f78a717a 22 agoffset[5] +=(lsm.gz * M_PI / 180.0f);
NaotoMorita 99:98b892ca70ec 23 palt0 += lps.pressureToAltitudeMeters(lps.readPressureMillibars());
NaotoMorita 93:b827f78a717a 24 }
NaotoMorita 93:b827f78a717a 25 for(int i = 0;i<6;i++){
NaotoMorita 93:b827f78a717a 26 agoffset[i] /= float(n_init);
NaotoMorita 93:b827f78a717a 27 }
NaotoMorita 99:98b892ca70ec 28 gps.Update();
NaotoMorita 99:98b892ca70ec 29 gps.CalculateUnit();
NaotoMorita 98:bdaa6bbfb1d9 30 palt0 /= float(n_init);
NaotoMorita 93:b827f78a717a 31 twelite.printf("Sensor offset : %f %f %f %f %f %f\r\n",agoffset[0],agoffset[1],agoffset[2],agoffset[3],agoffset[4],agoffset[5]);
osaka 87:89bbbcdb667b 32 //センサ正常性チェック
osaka 87:89bbbcdb667b 33 //usaPack通信開始
NaotoMorita 77:2bf856e3eca4 34 pc.Subscribe(0000, &(vp));
NaotoMorita 77:2bf856e3eca4 35
osaka 87:89bbbcdb667b 36 //制御ループのアタッチ
NaotoMorita 77:2bf856e3eca4 37 LoopTicker PIDtick;
NaotoMorita 77:2bf856e3eca4 38 PIDtick.attach(calcServoOut,PID_dt);
NaotoMorita 77:2bf856e3eca4 39
NaotoMorita 99:98b892ca70ec 40 //ESKFの共分散設定
NaotoMorita 93:b827f78a717a 41 eskf.setGravity(0.0f,0.0f,9.8f);
NaotoMorita 93:b827f78a717a 42 eskf.setPhatPosition(0.1f);
NaotoMorita 93:b827f78a717a 43 eskf.setPhatVelocity(0.1f);
NaotoMorita 100:7589b663d462 44 eskf.setPhatAngleError(0.1f);
NaotoMorita 94:579e875a4244 45 eskf.setPhatAccBias(0.001f);
NaotoMorita 94:579e875a4244 46 eskf.setPhatGyroBias(0.001f);
NaotoMorita 94:579e875a4244 47 eskf.setPhatGravity(0.0000001f);
NaotoMorita 93:b827f78a717a 48
NaotoMorita 93:b827f78a717a 49 eskf.setQVelocity(0.0025f);
NaotoMorita 93:b827f78a717a 50 eskf.setQAngleError(0.00025f);
NaotoMorita 94:579e875a4244 51 eskf.setQAccBias(0.0000001f);
NaotoMorita 93:b827f78a717a 52 eskf.setQGyroBias(0.000001f);
NaotoMorita 93:b827f78a717a 53
NaotoMorita 99:98b892ca70ec 54 Matrix Rgpspos(2,2);
NaotoMorita 99:98b892ca70ec 55 setDiag(Rgpspos,2.0f);
NaotoMorita 99:98b892ca70ec 56 //Rgpspos(3,3) = 5.0f;
NaotoMorita 92:00460f6df439 57 Matrix Rgpsvel(3,3);
NaotoMorita 99:98b892ca70ec 58 setDiag(Rgpsvel,2.0f);
NaotoMorita 100:7589b663d462 59 Matrix Rgps(5,5);
NaotoMorita 100:7589b663d462 60 setDiag(Rgps,2.0f);
NaotoMorita 99:98b892ca70ec 61
NaotoMorita 93:b827f78a717a 62
NaotoMorita 94:579e875a4244 63 Matrix RaccConst(4,4);
NaotoMorita 94:579e875a4244 64 setDiag(RaccConst,50.0f);
NaotoMorita 99:98b892ca70ec 65 RaccConst(4,4) = 5.0f;
NaotoMorita 93:b827f78a717a 66 //Matrix RgyroConst(2,2);
NaotoMorita 93:b827f78a717a 67 //setDiag(RgyroConst,100);
NaotoMorita 94:579e875a4244 68 _t.start();
NaotoMorita 93:b827f78a717a 69 float tgps = _t.read();
NaotoMorita 77:2bf856e3eca4 70 while(1)
NaotoMorita 77:2bf856e3eca4 71 {
NaotoMorita 68:b9f6938fab9d 72 float tstart = _t.read();
osaka 87:89bbbcdb667b 73 //センサの値を取得
NaotoMorita 73:84ffa0166e6c 74 if(hilFlag == true){
NaotoMorita 92:00460f6df439 75 getHilIMUval();
NaotoMorita 93:b827f78a717a 76 }else{
NaotoMorita 92:00460f6df439 77 getIMUval();
NaotoMorita 73:84ffa0166e6c 78 }
osaka 87:89bbbcdb667b 79 //ekfの更新
NaotoMorita 90:96c2b0ed4b96 80 eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
NaotoMorita 90:96c2b0ed4b96 81 eskf.updateErrState(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
NaotoMorita 100:7589b663d462 82 if(hilFlag == true){
NaotoMorita 100:7589b663d462 83 if(tstart-tgps>0.2f){
NaotoMorita 92:00460f6df439 84 getHilGPSval();
NaotoMorita 100:7589b663d462 85 tgps = _t.read();
NaotoMorita 100:7589b663d462 86 gpsUpdateFlag = true;
NaotoMorita 92:00460f6df439 87 }else{
NaotoMorita 100:7589b663d462 88 gpsUpdateFlag = false;
NaotoMorita 92:00460f6df439 89 }
NaotoMorita 92:00460f6df439 90 }else{
NaotoMorita 100:7589b663d462 91 getGPSval;
NaotoMorita 92:00460f6df439 92 }
NaotoMorita 100:7589b663d462 93 if(gpsUpdateFlag == true){
NaotoMorita 100:7589b663d462 94 //eskf.updateGPSPosition(MatrixMath::Vector2mat(pi),Rgpspos);
NaotoMorita 100:7589b663d462 95 //eskf.updateGPSVelocity(MatrixMath::Vector2mat(vi),Rgpsvel);
NaotoMorita 100:7589b663d462 96 eskf.updateGPS(MatrixMath::Vector2mat(pi),MatrixMath::Vector2mat(vi),Rgps);
NaotoMorita 100:7589b663d462 97 }
NaotoMorita 100:7589b663d462 98 eskf.updateAccConstraints(MatrixMath::Vector2mat(acc),palt,RaccConst);
NaotoMorita 90:96c2b0ed4b96 99 eskf.fuseErr2Nominal();
osaka 87:89bbbcdb667b 100
NaotoMorita 77:2bf856e3eca4 101 PIDtick.loop();
NaotoMorita 77:2bf856e3eca4 102
osaka 87:89bbbcdb667b 103 //制御時間を計測
NaotoMorita 68:b9f6938fab9d 104 float tend = _t.read();
NaotoMorita 68:b9f6938fab9d 105 att_dt = (tend-tstart);
cocorlow 56:888379912f81 106 }
osaka 87:89bbbcdb667b 107 }