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

main.cpp@40:869f3791a3e2, 2021-03-23 (annotated)

Committer:
NaotoMorita
Date:
Tue Mar 23 06:37:24 2021 +0000
Revision:
40:869f3791a3e2
Parent:
38:acc7cdcf56dd
Child:
42:24c93e42c3f4
Child:
43:f0dd73430192
obs update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NaotoMorita 0:6b18a09a6628 1 #include "mbed.h"
naker 20:2c3f113a8e8f 2 #include "PIDcontroller.h"
NaotoMorita 0:6b18a09a6628 3 #include "SBUS.hpp"
cocorlow 6:2cba569272fe 4 #include "LoopTicker.hpp"
naker 15:6abaac6e5b03 5 #include "MPU6050.h"
NaotoMorita 38:acc7cdcf56dd 6 #include "MAG3110.h"
NaotoMorita 38:acc7cdcf56dd 7 #include "I2Cdev.h"
NaotoMorita 36:e68ce293306e 8 #include "FastPWM.h"
NaotoMorita 36:e68ce293306e 9 #include "Matrix.h"
NaotoMorita 36:e68ce293306e 10 #include "MatrixMath.h"
NaotoMorita 38:acc7cdcf56dd 11 #include "math.h"
cocorlow 6:2cba569272fe 12
NaotoMorita 17:6b7a363d06d2 13 #define MPU6050_PWR_MGMT_1 0x6B
NaotoMorita 17:6b7a363d06d2 14 #define MPU_ADDRESS 0x68
NaotoMorita 17:6b7a363d06d2 15 #define pi 3.141562
NaotoMorita 17:6b7a363d06d2 16 #define ACCEL_FSR MPU6050_ACCEL_FS_8
NaotoMorita 38:acc7cdcf56dd 17 #define ACCEL_SSF 4096.0
NaotoMorita 17:6b7a363d06d2 18 #define GYRO_FSR MPU6050_GYRO_FS_250
NaotoMorita 17:6b7a363d06d2 19 #define GYRO_SSF 131.0
NaotoMorita 17:6b7a363d06d2 20 #define MPU6050_LPF MPU6050_DLPF_BW_256
NaotoMorita 38:acc7cdcf56dd 21 #define gyro_th 20.0
NaotoMorita 38:acc7cdcf56dd 22 #define PID_dt 0.015
NaotoMorita 38:acc7cdcf56dd 23 #define servoPwmMax 1800.0
NaotoMorita 38:acc7cdcf56dd 24 #define servoPwmMin 1200.0
NaotoMorita 38:acc7cdcf56dd 25 #define motorPwmMax 2000.0
NaotoMorita 38:acc7cdcf56dd 26 #define motorPwmMin 1100.0
NaotoMorita 38:acc7cdcf56dd 27 #define pitch_align 8.0*3.141562/180.0
NaotoMorita 38:acc7cdcf56dd 28 #define roll_align -2.8*3.141562/180.0
NaotoMorita 27:43bd0e444633 29
NaotoMorita 17:6b7a363d06d2 30 MPU6050 accelgyro;
NaotoMorita 38:acc7cdcf56dd 31 MAG3110 mag(PB_9,PB_8);
NaotoMorita 0:6b18a09a6628 32 SBUS sbus(PD_5, PD_6);
NaotoMorita 0:6b18a09a6628 33 Serial pc(USBTX, USBRX);
naker 26:62d9857eaecc 34 Serial sd(PG_14,PG_9);
NaotoMorita 38:acc7cdcf56dd 35 DigitalIn userButton(USER_BUTTON);
NaotoMorita 36:e68ce293306e 36 FastPWM servoRight(PE_9);
NaotoMorita 36:e68ce293306e 37 FastPWM servoLeft(PE_11);
NaotoMorita 38:acc7cdcf56dd 38 FastPWM servoThrust(PE_13);
NaotoMorita 36:e68ce293306e 39 PID pitchPID(5.0, 0,0,PID_dt); //rad
NaotoMorita 38:acc7cdcf56dd 40 PID pitchratePID(0.5, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 36:e68ce293306e 41 PID rollPID(5.0,0.0,0.0,PID_dt);
NaotoMorita 38:acc7cdcf56dd 42 PID rollratePID(0.5, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 17:6b7a363d06d2 43 Timer t;
cocorlow 3:79e62f9b13c8 44
NaotoMorita 36:e68ce293306e 45 Matrix qhat(4,1);
NaotoMorita 36:e68ce293306e 46 Matrix Phat(4,4);
NaotoMorita 37:dad55cf05e3d 47 Matrix Qgyro(3,3);
NaotoMorita 36:e68ce293306e 48 Matrix Racc(3,3);
NaotoMorita 38:acc7cdcf56dd 49 Matrix Rmag(3,3);
NaotoMorita 38:acc7cdcf56dd 50 Matrix D(3,3);
NaotoMorita 36:e68ce293306e 51
NaotoMorita 38:acc7cdcf56dd 52 int loop_count = 0;
NaotoMorita 40:869f3791a3e2 53 int obs_count = 0;
NaotoMorita 36:e68ce293306e 54 float att_dt = 0.01;
naker 23:4a490fa8bf4a 55 float rc[16];
NaotoMorita 38:acc7cdcf56dd 56 float pitch = 0.0;
NaotoMorita 38:acc7cdcf56dd 57 float roll = 0.0;
NaotoMorita 38:acc7cdcf56dd 58 float yaw = 0.0;
NaotoMorita 17:6b7a363d06d2 59 int16_t ax, ay, az;
NaotoMorita 17:6b7a363d06d2 60 int16_t gx, gy, gz;
NaotoMorita 38:acc7cdcf56dd 61 MotionSensorDataUnits mdata;
NaotoMorita 38:acc7cdcf56dd 62 float magval[3] = {1.0,0.0,0.0};
NaotoMorita 38:acc7cdcf56dd 63 float acc_x,acc_y,acc_z;
NaotoMorita 38:acc7cdcf56dd 64 float dynacc_x,dynacc_y,dynacc_z;
NaotoMorita 38:acc7cdcf56dd 65 float gyro_x,gyro_y,gyro_z;
NaotoMorita 38:acc7cdcf56dd 66 float mag_x,mag_y,mag_z;
NaotoMorita 40:869f3791a3e2 67
NaotoMorita 40:869f3791a3e2 68 float LPacc_x=0.0;
NaotoMorita 40:869f3791a3e2 69 float LPacc_y=0.0;
NaotoMorita 40:869f3791a3e2 70 float LPacc_z=0.0;
NaotoMorita 40:869f3791a3e2 71 float LPmag_x = 0.0;
NaotoMorita 40:869f3791a3e2 72 float LPmag_y = 0.0;
NaotoMorita 40:869f3791a3e2 73 float LPmag_z = 0.0;;
NaotoMorita 40:869f3791a3e2 74
cocorlow 3:79e62f9b13c8 75 int out1, out2;
NaotoMorita 36:e68ce293306e 76 float scaledServoOut[3]= {0,0};
NaotoMorita 28:fc6c46c1db65 77 float scaledMotorOut[1]= {-1};
NaotoMorita 36:e68ce293306e 78 float servoOut[3] = {1500.0,1500.0};
NaotoMorita 36:e68ce293306e 79 float motorOut[1] = {1100.0};
NaotoMorita 38:acc7cdcf56dd 80
NaotoMorita 38:acc7cdcf56dd 81 float accnorm;
NaotoMorita 38:acc7cdcf56dd 82 float magnorm;
NaotoMorita 40:869f3791a3e2 83 float LPaccnorm;
NaotoMorita 40:869f3791a3e2 84 float LPmagnorm;
NaotoMorita 38:acc7cdcf56dd 85 float accrefnorm;
NaotoMorita 38:acc7cdcf56dd 86 float magrefnorm;
NaotoMorita 38:acc7cdcf56dd 87
NaotoMorita 40:869f3791a3e2 88
NaotoMorita 38:acc7cdcf56dd 89 float val_thmg = 0.0;
NaotoMorita 40:869f3791a3e2 90 float th_mg = 0.0;
NaotoMorita 40:869f3791a3e2 91 float dynaccnorm = 0.0;
NaotoMorita 40:869f3791a3e2 92 float accnormerr = 0.0;
NaotoMorita 38:acc7cdcf56dd 93 float accref[3] = {0, 0, -0.98};
NaotoMorita 38:acc7cdcf56dd 94 float magref[3] = {0.65, 0, 0.75};
NaotoMorita 38:acc7cdcf56dd 95
NaotoMorita 38:acc7cdcf56dd 96 int agoffset[6] = {0, 0, 0, -123, -575, -1};
NaotoMorita 38:acc7cdcf56dd 97 float magbias[4] = {-143.593872, 125.311264, -161.226898, 27.998077};
cocorlow 3:79e62f9b13c8 98
NaotoMorita 38:acc7cdcf56dd 99 void writeSdcard()
NaotoMorita 38:acc7cdcf56dd 100 {
NaotoMorita 38:acc7cdcf56dd 101 //magcal.getExtremes(&magmin[0],&magmax[0]);
NaotoMorita 38:acc7cdcf56dd 102 //pc.printf("%f %f %f %f %f %f\r\n",magmin[0],magmin[1],magmin[2],magmax[0],magmax[1],magmax[2]);
NaotoMorita 38:acc7cdcf56dd 103 //pc.printf("%f %f %f %f %f %f %f %f %f %f %f %f \r\n",acc_x,acc_y,acc_z,mag_x,mag_y,mag_z,accref[0],accref[1],accref[2],magref[0],magref[1],magref[2]);
NaotoMorita 40:869f3791a3e2 104 //pc.printf("%f %d %f %f %f %f %f %f %f %f %f %f %f %f\r\n",1.0/att_dt,obs_count,acc_x,acc_y,acc_z,gyro_x,gyro_y,gyro_z,mag_x,mag_y,mag_z,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 40:869f3791a3e2 105 pc.printf("%f %f %f %f : %f %f %f\r\n",float(obs_count)/100.0,th_mg,dynaccnorm,accnormerr,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 38:acc7cdcf56dd 106 //pc.printf("%d \r\n",userButton.read());
NaotoMorita 38:acc7cdcf56dd 107 //pc.printf("%f %f %f %f %f %f\r\n",gyro_x*180.0f/pi,gyro_y*180.0f/pi,gyro_z*180.0f/pi,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 38:acc7cdcf56dd 108 //pc.printf("%f %f %f\r\n",roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 38:acc7cdcf56dd 109 //pc.printf("%f %f %f %f %f %f\r\n",dynacc_x,dynacc_y,dynacc_z,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 38:acc7cdcf56dd 110 //pc.printf("%f %f %f %f %f : %f %f %f\r\n",f,magbias[0],magbias[1],magbias[2],magbias[3],roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 38:acc7cdcf56dd 111 //pc.printf("%f %f %f %f %f : %f %f %f %f %f %f\r\n",f,magbias[0],magbias[1],magbias[2],magbias[3],magval[0],magval[1],magval[2],mdata.x,mdata.y,mdata.z);
NaotoMorita 38:acc7cdcf56dd 112 }
NaotoMorita 27:43bd0e444633 113
NaotoMorita 35:4535af88f7bf 114 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
cocorlow 7:70161eb0f854 115 {
cocorlow 7:70161eb0f854 116 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
cocorlow 7:70161eb0f854 117 }
NaotoMorita 27:43bd0e444633 118
NaotoMorita 38:acc7cdcf56dd 119 void calcMagRef(float mx, float my, float mz){
NaotoMorita 38:acc7cdcf56dd 120 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 121 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 38:acc7cdcf56dd 122 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 123 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 38:acc7cdcf56dd 124 float hx = 2.0f * (mx * (0.5f - q2*q2 - q3*q3) + my * (q1*q2 - q0*q3) + mz * (q1*q3 + q0*q2));
NaotoMorita 38:acc7cdcf56dd 125 float hy = 2.0f * (mx * (q1*q2 + q0*q3) + my * (0.5f - q1*q1 - q3*q3) + mz * (q2*q3 - q0*q1));
NaotoMorita 38:acc7cdcf56dd 126 float bx = sqrt(hx * hx + hy * hy);
NaotoMorita 38:acc7cdcf56dd 127 float bz = 2.0f * (mx * (q1*q3 - q0*q2) + my * (q2*q3 + q0*q1) + mz * (0.5f - q1*q1 - q2*q2));
NaotoMorita 38:acc7cdcf56dd 128 magref[0] = bx;
NaotoMorita 38:acc7cdcf56dd 129 magref[1] = 0.0;
NaotoMorita 38:acc7cdcf56dd 130 magref[2] = bz;
NaotoMorita 38:acc7cdcf56dd 131 }
NaotoMorita 38:acc7cdcf56dd 132
NaotoMorita 38:acc7cdcf56dd 133
NaotoMorita 38:acc7cdcf56dd 134 void getIMUval(){
NaotoMorita 38:acc7cdcf56dd 135 // gx gy gz ax ay az
NaotoMorita 38:acc7cdcf56dd 136 accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz);
NaotoMorita 38:acc7cdcf56dd 137 ax = ax - agoffset[0];
NaotoMorita 38:acc7cdcf56dd 138 ay = ay - agoffset[1];
NaotoMorita 38:acc7cdcf56dd 139 az = -az - agoffset[2];
NaotoMorita 38:acc7cdcf56dd 140 gx = gx - agoffset[3];
NaotoMorita 38:acc7cdcf56dd 141 gy = gy - agoffset[4];
NaotoMorita 38:acc7cdcf56dd 142 gz = -gz - agoffset[5];
NaotoMorita 38:acc7cdcf56dd 143 // 加速度値を分解能で割って加速度(G)に変換する
NaotoMorita 38:acc7cdcf56dd 144 acc_x = float(ax) / ACCEL_SSF; //FS_SEL_0 16,384 LSB / g
NaotoMorita 38:acc7cdcf56dd 145 acc_y = float(ay) / ACCEL_SSF;
NaotoMorita 38:acc7cdcf56dd 146 acc_z = float(az) / ACCEL_SSF;
NaotoMorita 38:acc7cdcf56dd 147 // 角速度値を分解能で割って角速度(rad per sec)に変換する
NaotoMorita 38:acc7cdcf56dd 148 gyro_x = float(gx) / GYRO_SSF * 0.0174533f; // (rad/s)
NaotoMorita 38:acc7cdcf56dd 149 gyro_y = float(gy) / GYRO_SSF * 0.0174533f;
NaotoMorita 38:acc7cdcf56dd 150 gyro_z = float(gz) / GYRO_SSF * 0.0174533f;
NaotoMorita 38:acc7cdcf56dd 151 mag.getAxis(mdata); // flush the magnetmeter
NaotoMorita 38:acc7cdcf56dd 152 magval[0] = (mdata.x - magbias[0]);
NaotoMorita 38:acc7cdcf56dd 153 magval[1] = (mdata.y - magbias[1]);
NaotoMorita 38:acc7cdcf56dd 154 magval[2] = (mdata.z - magbias[2]);
NaotoMorita 38:acc7cdcf56dd 155 mag_x = -magval[0]/magbias[3];
NaotoMorita 38:acc7cdcf56dd 156 mag_y = -magval[1]/magbias[3];
NaotoMorita 38:acc7cdcf56dd 157 mag_z = -magval[2]/magbias[3];
NaotoMorita 38:acc7cdcf56dd 158
NaotoMorita 40:869f3791a3e2 159 float lpc_acc = 0.15;
NaotoMorita 40:869f3791a3e2 160 LPacc_x = lpc_acc*acc_x+(1.0-lpc_acc)*LPacc_x;
NaotoMorita 40:869f3791a3e2 161 LPacc_y = lpc_acc*acc_y+(1.0-lpc_acc)*LPacc_y;
NaotoMorita 40:869f3791a3e2 162 LPacc_z = lpc_acc*acc_z+(1.0-lpc_acc)*LPacc_z;
NaotoMorita 40:869f3791a3e2 163
NaotoMorita 40:869f3791a3e2 164 float lpc_mag = 0.15;
NaotoMorita 40:869f3791a3e2 165 LPmag_x = lpc_mag*mag_x+(1.0-lpc_mag)*LPmag_x;
NaotoMorita 40:869f3791a3e2 166 LPmag_y = lpc_mag*mag_y+(1.0-lpc_mag)*LPmag_y;
NaotoMorita 40:869f3791a3e2 167 LPmag_z = lpc_mag*mag_z+(1.0-lpc_mag)*LPmag_z;
NaotoMorita 40:869f3791a3e2 168
NaotoMorita 38:acc7cdcf56dd 169 accnorm = sqrt(acc_x*acc_x+acc_y*acc_y+acc_z*acc_z);
NaotoMorita 38:acc7cdcf56dd 170 magnorm = sqrt(mag_x*mag_x+mag_y*mag_y+mag_z*mag_z);
NaotoMorita 40:869f3791a3e2 171 LPaccnorm = sqrt(LPacc_x*LPacc_x+LPacc_y*LPacc_y+LPacc_z*LPacc_z);
NaotoMorita 40:869f3791a3e2 172 LPmagnorm = sqrt(LPmag_x*LPmag_x+LPmag_y*LPmag_y+LPmag_z*LPmag_z);
NaotoMorita 38:acc7cdcf56dd 173 accrefnorm = sqrt(accref[0]*accref[0]+accref[1]*accref[1]+accref[2]*accref[2]);
NaotoMorita 38:acc7cdcf56dd 174 magrefnorm = sqrt(magref[0]*magref[0]+magref[1]*magref[1]+magref[2]*magref[2]);
NaotoMorita 40:869f3791a3e2 175 calcMagRef(LPmag_x/LPmagnorm, LPmag_y/LPmagnorm, LPmag_z/LPmagnorm);
NaotoMorita 40:869f3791a3e2 176
NaotoMorita 40:869f3791a3e2 177
NaotoMorita 38:acc7cdcf56dd 178 }
NaotoMorita 38:acc7cdcf56dd 179
NaotoMorita 38:acc7cdcf56dd 180 void updateBetweenMeasures(){
NaotoMorita 40:869f3791a3e2 181 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 40:869f3791a3e2 182 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 40:869f3791a3e2 183 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 40:869f3791a3e2 184 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 40:869f3791a3e2 185
NaotoMorita 40:869f3791a3e2 186 Matrix B(4,3);
NaotoMorita 40:869f3791a3e2 187 B << q1 << q2 << q3
NaotoMorita 40:869f3791a3e2 188 <<-q0 << q3 <<-q2
NaotoMorita 40:869f3791a3e2 189 <<-q3 <<-q0 << q1
NaotoMorita 40:869f3791a3e2 190 << q2 <<-q1 <<-q0;
NaotoMorita 40:869f3791a3e2 191 B *= 0.5f;
NaotoMorita 40:869f3791a3e2 192
NaotoMorita 38:acc7cdcf56dd 193 Matrix phi(4,4);
NaotoMorita 38:acc7cdcf56dd 194 phi << 1.0 << -gyro_x*0.5*att_dt <<-gyro_y*0.5*att_dt <<-gyro_z*0.5*att_dt
NaotoMorita 38:acc7cdcf56dd 195 << gyro_x*0.5*att_dt << 1.0 << gyro_z*0.5*att_dt <<-gyro_y*0.5*att_dt
NaotoMorita 38:acc7cdcf56dd 196 << gyro_y*0.5*att_dt << -gyro_z*0.5*att_dt << 1.0 << gyro_x*0.5*att_dt
NaotoMorita 38:acc7cdcf56dd 197 << gyro_z*0.5*att_dt << gyro_y*0.5*att_dt <<-gyro_x*0.5*att_dt << 1.0;
NaotoMorita 38:acc7cdcf56dd 198 qhat = phi*qhat;
NaotoMorita 38:acc7cdcf56dd 199
NaotoMorita 38:acc7cdcf56dd 200 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 38:acc7cdcf56dd 201 qhat *= (1.0f/ qnorm);
NaotoMorita 38:acc7cdcf56dd 202
NaotoMorita 38:acc7cdcf56dd 203 Phat = phi*Phat*MatrixMath::Transpose(phi)+B*Qgyro*MatrixMath::Transpose(B);
NaotoMorita 38:acc7cdcf56dd 204
NaotoMorita 40:869f3791a3e2 205 q0 = qhat.getNumber( 1, 1 );
NaotoMorita 40:869f3791a3e2 206 q1 = qhat.getNumber( 2, 1 );
NaotoMorita 40:869f3791a3e2 207 q2 = qhat.getNumber( 3, 1 );
NaotoMorita 40:869f3791a3e2 208 q3 = qhat.getNumber( 4, 1 );
NaotoMorita 40:869f3791a3e2 209
NaotoMorita 40:869f3791a3e2 210 D.add(1,1,q0*q0 + q1*q1 - q2*q2 - q3*q3);
NaotoMorita 40:869f3791a3e2 211 D.add(1,2,2*(q1*q2 + q0*q3));
NaotoMorita 40:869f3791a3e2 212 D.add(1,3,2*(q1*q3 - q0*q2));
NaotoMorita 40:869f3791a3e2 213 D.add(2,1,2*(q1*q2 - q0*q3));
NaotoMorita 40:869f3791a3e2 214 D.add(2,2,q0*q0 - q1*q1 + q2*q2 - q3*q3);
NaotoMorita 40:869f3791a3e2 215 D.add(2,3,2*(q2*q3 + q0*q1));
NaotoMorita 40:869f3791a3e2 216 D.add(3,1,2*(q1*q3 + q0*q2));
NaotoMorita 40:869f3791a3e2 217 D.add(3,2,2*(q2*q3 - q0*q1));
NaotoMorita 40:869f3791a3e2 218 D.add(3,3,q0*q0 - q1*q1 - q2*q2 + q3*q3);
NaotoMorita 38:acc7cdcf56dd 219
NaotoMorita 38:acc7cdcf56dd 220 }
NaotoMorita 38:acc7cdcf56dd 221
NaotoMorita 38:acc7cdcf56dd 222 void updateAcrossMeasures(float v1,float v2, float v3, float u1, float u2, float u3, Matrix R){
NaotoMorita 38:acc7cdcf56dd 223
NaotoMorita 38:acc7cdcf56dd 224 Matrix u(3,1);
NaotoMorita 38:acc7cdcf56dd 225 Matrix v(3,1);
NaotoMorita 38:acc7cdcf56dd 226
NaotoMorita 38:acc7cdcf56dd 227 u << u1 << u2 <<u3;
NaotoMorita 38:acc7cdcf56dd 228 v << v1 << v2 <<v3;
NaotoMorita 38:acc7cdcf56dd 229
NaotoMorita 38:acc7cdcf56dd 230 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 231 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 38:acc7cdcf56dd 232 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 233 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 38:acc7cdcf56dd 234
NaotoMorita 38:acc7cdcf56dd 235 Matrix A1(3,3);
NaotoMorita 38:acc7cdcf56dd 236 A1 << q0 << q3 << -q2
NaotoMorita 38:acc7cdcf56dd 237 <<-q3 << q0 << q1
NaotoMorita 38:acc7cdcf56dd 238 <<q2 <<-q1 <<q0;
NaotoMorita 38:acc7cdcf56dd 239 A1 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 240
NaotoMorita 38:acc7cdcf56dd 241 Matrix A2(3,3);
NaotoMorita 38:acc7cdcf56dd 242 A2 << q1 << q2 << q3
NaotoMorita 38:acc7cdcf56dd 243 << q2 <<-q1 << q0
NaotoMorita 38:acc7cdcf56dd 244 << q3 <<-q0 <<-q1;
NaotoMorita 38:acc7cdcf56dd 245 A2 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 246
NaotoMorita 38:acc7cdcf56dd 247 Matrix A3(3,3);
NaotoMorita 38:acc7cdcf56dd 248 A3 <<-q2 << q1 <<-q0
NaotoMorita 38:acc7cdcf56dd 249 << q1 << q2 << q3
NaotoMorita 38:acc7cdcf56dd 250 << q0 << q3 <<-q2;
NaotoMorita 38:acc7cdcf56dd 251 A3 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 252
NaotoMorita 38:acc7cdcf56dd 253 Matrix A4(3,3);
NaotoMorita 38:acc7cdcf56dd 254 A4 <<-q3 << q0 << q1
NaotoMorita 38:acc7cdcf56dd 255 <<-q0 <<-q3 << q2
NaotoMorita 38:acc7cdcf56dd 256 << q1 << q2 << q3;
NaotoMorita 38:acc7cdcf56dd 257 A4 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 258
NaotoMorita 38:acc7cdcf56dd 259 Matrix H(3,4);
NaotoMorita 38:acc7cdcf56dd 260
NaotoMorita 38:acc7cdcf56dd 261 Matrix ab1(A1*u);
NaotoMorita 38:acc7cdcf56dd 262 Matrix ab2(A2*u);
NaotoMorita 38:acc7cdcf56dd 263 Matrix ab3(A3*u);
NaotoMorita 38:acc7cdcf56dd 264 Matrix ab4(A4*u);
NaotoMorita 38:acc7cdcf56dd 265
NaotoMorita 38:acc7cdcf56dd 266 H << ab1.getNumber( 1, 1 ) << ab2.getNumber( 1, 1 ) << ab3.getNumber( 1, 1 ) << ab4.getNumber( 1, 1 )
NaotoMorita 38:acc7cdcf56dd 267 << ab1.getNumber( 2, 1 ) << ab2.getNumber( 2, 1 ) << ab3.getNumber( 2, 1 ) << ab4.getNumber( 2, 1 )
NaotoMorita 38:acc7cdcf56dd 268 << ab1.getNumber( 3, 1 ) << ab2.getNumber( 3, 1 ) << ab3.getNumber( 3, 1 ) << ab4.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 269
NaotoMorita 38:acc7cdcf56dd 270
NaotoMorita 38:acc7cdcf56dd 271 Matrix K(4,3);
NaotoMorita 38:acc7cdcf56dd 272 K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 38:acc7cdcf56dd 273
NaotoMorita 38:acc7cdcf56dd 274 Matrix dq(4,1);
NaotoMorita 38:acc7cdcf56dd 275 dq = K*(v-D*u);
NaotoMorita 38:acc7cdcf56dd 276 qhat = qhat+dq;
NaotoMorita 38:acc7cdcf56dd 277
NaotoMorita 38:acc7cdcf56dd 278 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 38:acc7cdcf56dd 279 qhat *= (1.0f/ qnorm);
NaotoMorita 38:acc7cdcf56dd 280
NaotoMorita 38:acc7cdcf56dd 281 Matrix eye4(4,4);
NaotoMorita 38:acc7cdcf56dd 282 eye4 << 1 << 0 << 0 << 0
NaotoMorita 38:acc7cdcf56dd 283 << 0 << 1 << 0 << 0
NaotoMorita 38:acc7cdcf56dd 284 << 0 << 0 << 1 << 0
NaotoMorita 38:acc7cdcf56dd 285 << 0 << 0 << 0 << 1;
NaotoMorita 38:acc7cdcf56dd 286 Phat = (eye4-K*H)*Phat*MatrixMath::Transpose(eye4-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 38:acc7cdcf56dd 287 }
NaotoMorita 38:acc7cdcf56dd 288
NaotoMorita 38:acc7cdcf56dd 289 void computeAngles()
naker 20:2c3f113a8e8f 290 {
NaotoMorita 38:acc7cdcf56dd 291 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 292 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 38:acc7cdcf56dd 293 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 294 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 38:acc7cdcf56dd 295 roll = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-roll_align;
NaotoMorita 38:acc7cdcf56dd 296 pitch = asinf(-2.0f * (q1*q3 - q0*q2))-pitch_align;
NaotoMorita 38:acc7cdcf56dd 297 yaw = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3);
NaotoMorita 38:acc7cdcf56dd 298 }
NaotoMorita 38:acc7cdcf56dd 299
NaotoMorita 38:acc7cdcf56dd 300 void triad(float fb1,float fb2, float fb3, float fn1, float fn2, float fn3,float mb1,float mb2, float mb3, float mn1, float mn2, float mn3){
NaotoMorita 38:acc7cdcf56dd 301 Matrix W1(3,1);
NaotoMorita 38:acc7cdcf56dd 302 W1 << fb1 << fb2<< fb3;
NaotoMorita 38:acc7cdcf56dd 303 Matrix W2(3,1);
NaotoMorita 38:acc7cdcf56dd 304 W2 << mb1 << mb2<< mb3;
NaotoMorita 38:acc7cdcf56dd 305
NaotoMorita 38:acc7cdcf56dd 306 Matrix V1(3,1);
NaotoMorita 38:acc7cdcf56dd 307 V1 << fn1 << fn2<< fn3;
NaotoMorita 38:acc7cdcf56dd 308 Matrix V2(3,1);
NaotoMorita 38:acc7cdcf56dd 309 V2 << mn1 << mn2<< mn3;
NaotoMorita 38:acc7cdcf56dd 310
NaotoMorita 38:acc7cdcf56dd 311
NaotoMorita 38:acc7cdcf56dd 312 Matrix Ou2(3,1);
NaotoMorita 38:acc7cdcf56dd 313 Ou2 << W1.getNumber( 2, 1 )*W2.getNumber( 3, 1 )-W1.getNumber( 3, 1 )*W2.getNumber( 2, 1 ) << W1.getNumber( 3, 1 )*W2.getNumber( 1, 1 )-W1.getNumber( 1, 1 )*W2.getNumber( 3, 1 ) << W1.getNumber( 1, 1 )*W2.getNumber( 2, 1 )-W1.getNumber( 2, 1 )*W2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 314 Ou2 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(Ou2),Ou2));
NaotoMorita 38:acc7cdcf56dd 315 Matrix Ou3(3,1);
NaotoMorita 38:acc7cdcf56dd 316 Ou3 << W1.getNumber( 2, 1 )*Ou2.getNumber( 3, 1 )-W1.getNumber( 3, 1 )*Ou2.getNumber( 2, 1 ) << W1.getNumber( 3, 1 )*Ou2.getNumber( 1, 1 )-W1.getNumber( 1, 1 )*Ou2.getNumber( 3, 1 ) << W1.getNumber( 1, 1 )*Ou2.getNumber( 2, 1 )-W1.getNumber( 2, 1 )*Ou2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 317 Ou3 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(Ou3),Ou3));
NaotoMorita 38:acc7cdcf56dd 318 Matrix R2(3,1);
NaotoMorita 38:acc7cdcf56dd 319 R2 << V1.getNumber( 2, 1 )*V2.getNumber( 3, 1 )-V1.getNumber( 3, 1 )*V2.getNumber( 2, 1 ) << V1.getNumber( 3, 1 )*V2.getNumber( 1, 1 )-V1.getNumber( 1, 1 )*V2.getNumber( 3, 1 ) << V1.getNumber( 1, 1 )*V2.getNumber( 2, 1 )-V1.getNumber( 2, 1 )*V2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 320 R2 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(R2),R2));
NaotoMorita 38:acc7cdcf56dd 321 Matrix R3(3,1);
NaotoMorita 38:acc7cdcf56dd 322 R3 << V1.getNumber( 2, 1 )*R2.getNumber( 3, 1 )-V1.getNumber( 3, 1 )*R2.getNumber( 2, 1 ) << V1.getNumber( 3, 1 )*R2.getNumber( 1, 1 )-V1.getNumber( 1, 1 )*R2.getNumber( 3, 1 ) << V1.getNumber( 1, 1 )*R2.getNumber( 2, 1 )-V1.getNumber( 2, 1 )*R2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 323 R3 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(R3),R3));
NaotoMorita 38:acc7cdcf56dd 324
NaotoMorita 38:acc7cdcf56dd 325 Matrix Mou(3,3);
NaotoMorita 38:acc7cdcf56dd 326 Mou << W1.getNumber( 1, 1 ) << Ou2.getNumber( 1, 1 ) << Ou3.getNumber( 1, 1 )
NaotoMorita 38:acc7cdcf56dd 327 << W1.getNumber( 2, 1 ) << Ou2.getNumber( 2, 1 ) << Ou3.getNumber( 2, 1 )
NaotoMorita 38:acc7cdcf56dd 328 << W1.getNumber( 3, 1 ) << Ou2.getNumber( 3, 1 ) << Ou3.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 329 Matrix Mr(3,3);
NaotoMorita 38:acc7cdcf56dd 330 Mr << V1.getNumber( 1, 1 ) << R2.getNumber( 1, 1 ) << R3.getNumber( 1, 1 )
NaotoMorita 38:acc7cdcf56dd 331 << V1.getNumber( 2, 1 ) << R2.getNumber( 2, 1 ) << R3.getNumber( 2, 1 )
NaotoMorita 38:acc7cdcf56dd 332 << V1.getNumber( 3, 1 ) << R2.getNumber( 3, 1 ) << R3.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 333
NaotoMorita 38:acc7cdcf56dd 334 Matrix Cbn = Mr*MatrixMath::Transpose(Mou);
NaotoMorita 38:acc7cdcf56dd 335
NaotoMorita 38:acc7cdcf56dd 336 float sqtrp1 = sqrt(1.0+Cbn.getNumber( 1, 1 )+Cbn.getNumber( 2, 2 )+Cbn.getNumber( 3, 3 ));
NaotoMorita 38:acc7cdcf56dd 337
NaotoMorita 38:acc7cdcf56dd 338 qhat.add(1,1,0.5*sqtrp1);
NaotoMorita 38:acc7cdcf56dd 339 qhat.add(2,1,-(Cbn.getNumber( 2, 3 )-Cbn.getNumber( 3, 2 ))/2.0/sqtrp1);
NaotoMorita 38:acc7cdcf56dd 340 qhat.add(3,1,-(Cbn.getNumber( 3, 1 )-Cbn.getNumber( 1, 3 ))/2.0/sqtrp1);
NaotoMorita 38:acc7cdcf56dd 341 qhat.add(4,1,-(Cbn.getNumber( 1, 2 )-Cbn.getNumber( 2, 1 ))/2.0/sqtrp1);
NaotoMorita 38:acc7cdcf56dd 342
NaotoMorita 38:acc7cdcf56dd 343 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 38:acc7cdcf56dd 344 qhat *= (1.0f/ qnorm);
NaotoMorita 38:acc7cdcf56dd 345 }
NaotoMorita 38:acc7cdcf56dd 346
NaotoMorita 38:acc7cdcf56dd 347 void calcDynAcc(){
NaotoMorita 40:869f3791a3e2 348 dynacc_x = LPacc_x-(D.getNumber( 1, 1 )*accref[0]+D.getNumber( 1, 2 )*accref[1]+D.getNumber( 1, 3 )*accref[2]);
NaotoMorita 40:869f3791a3e2 349 dynacc_y = LPacc_y-(D.getNumber( 2, 1 )*accref[0]+D.getNumber( 2, 2 )*accref[1]+D.getNumber( 2, 3 )*accref[2]);
NaotoMorita 40:869f3791a3e2 350 dynacc_z = LPacc_z-(D.getNumber( 3, 1 )*accref[0]+D.getNumber( 3, 2 )*accref[1]+D.getNumber( 3, 3 )*accref[2]);
NaotoMorita 38:acc7cdcf56dd 351 }
NaotoMorita 38:acc7cdcf56dd 352
NaotoMorita 38:acc7cdcf56dd 353 void execCalibration(){
NaotoMorita 38:acc7cdcf56dd 354 pc.printf("\r\nEnter to Calibration Mode\r\n");
NaotoMorita 38:acc7cdcf56dd 355 wait(5);
NaotoMorita 38:acc7cdcf56dd 356 pc.printf("\r\n Acc and Gyro Calibration Start\r\n");
NaotoMorita 38:acc7cdcf56dd 357 int axs = 0;
NaotoMorita 38:acc7cdcf56dd 358 int ays = 0;
NaotoMorita 38:acc7cdcf56dd 359 int azs = 0;
NaotoMorita 38:acc7cdcf56dd 360 int gxs = 0;
NaotoMorita 38:acc7cdcf56dd 361 int gys = 0;
NaotoMorita 38:acc7cdcf56dd 362 int gzs = 0;
NaotoMorita 38:acc7cdcf56dd 363 int iter_n = 5000;
NaotoMorita 38:acc7cdcf56dd 364 for(int i = 0;i<iter_n ;i++){
NaotoMorita 38:acc7cdcf56dd 365 accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz);
NaotoMorita 38:acc7cdcf56dd 366 axs += ax;
NaotoMorita 38:acc7cdcf56dd 367 ays += ay;
NaotoMorita 38:acc7cdcf56dd 368 azs -= az;
NaotoMorita 38:acc7cdcf56dd 369 gxs += gx;
NaotoMorita 38:acc7cdcf56dd 370 gys += gy;
NaotoMorita 38:acc7cdcf56dd 371 gzs -= gz;
NaotoMorita 38:acc7cdcf56dd 372 wait(0.001);
NaotoMorita 38:acc7cdcf56dd 373 }
NaotoMorita 38:acc7cdcf56dd 374 axs = axs /iter_n;
NaotoMorita 38:acc7cdcf56dd 375 ays = ays /iter_n;
NaotoMorita 38:acc7cdcf56dd 376 azs = azs /iter_n;
NaotoMorita 38:acc7cdcf56dd 377 gxs = gxs /iter_n;
NaotoMorita 38:acc7cdcf56dd 378 gys = gys /iter_n;
NaotoMorita 38:acc7cdcf56dd 379 gzs = gzs /iter_n;
NaotoMorita 38:acc7cdcf56dd 380 pc.printf("\r\nagoffset : 0, 0, 0, %d, %d, %d \r\n",gxs,gys,gzs);
NaotoMorita 38:acc7cdcf56dd 381
NaotoMorita 38:acc7cdcf56dd 382 pc.printf("\r\n Mag Calibration Start\r\n");
NaotoMorita 38:acc7cdcf56dd 383 float f = 0;
NaotoMorita 38:acc7cdcf56dd 384 while(1){
NaotoMorita 38:acc7cdcf56dd 385 mag.getAxis(mdata); // flush the magnetmeter
NaotoMorita 38:acc7cdcf56dd 386 magval[0] = (mdata.x - magbias[0]);
NaotoMorita 38:acc7cdcf56dd 387 magval[1] = (mdata.y - magbias[1]);
NaotoMorita 38:acc7cdcf56dd 388 magval[2] = (mdata.z - magbias[2]);
NaotoMorita 38:acc7cdcf56dd 389 float mag_r = magval[0]*magval[0] + magval[1]*magval[1] + magval[2]*magval[2];
NaotoMorita 38:acc7cdcf56dd 390 float lr = 0.00001f;
NaotoMorita 38:acc7cdcf56dd 391 f = mag_r - magbias[3]*magbias[3];
NaotoMorita 38:acc7cdcf56dd 392 magbias[0] = magbias[0] + 4 * lr * f * magval[0];
NaotoMorita 38:acc7cdcf56dd 393 magbias[1] = magbias[1] + 4 * lr * f * magval[1];
NaotoMorita 38:acc7cdcf56dd 394 magbias[2] = magbias[2] + 4 * lr * f * magval[2];
NaotoMorita 38:acc7cdcf56dd 395 magbias[3] = magbias[3] + 4 * lr * f * magbias[3];
NaotoMorita 38:acc7cdcf56dd 396
NaotoMorita 38:acc7cdcf56dd 397 if(userButton.read() == 1){
NaotoMorita 38:acc7cdcf56dd 398 break;
NaotoMorita 38:acc7cdcf56dd 399 }
NaotoMorita 38:acc7cdcf56dd 400 wait(0.001);
NaotoMorita 38:acc7cdcf56dd 401 }
NaotoMorita 38:acc7cdcf56dd 402 pc.printf("magbias : %f, %f, %f, %f\r\n",magbias[0],magbias[1],magbias[2],magbias[3]);
NaotoMorita 38:acc7cdcf56dd 403 pc.printf("\r\n Refvec Calibration waiting\r\n");
NaotoMorita 38:acc7cdcf56dd 404 wait(5);
NaotoMorita 38:acc7cdcf56dd 405 pc.printf("\r\n Calibration Start\r\n");
NaotoMorita 38:acc7cdcf56dd 406 float arefs[3] = {0.0,0.0,0.0};
NaotoMorita 38:acc7cdcf56dd 407 float mrefs[3] = {0.0,0.0,0.0};
NaotoMorita 38:acc7cdcf56dd 408 for(int i = 0;i<iter_n ;i++){
NaotoMorita 38:acc7cdcf56dd 409 getIMUval();
NaotoMorita 38:acc7cdcf56dd 410 arefs[0] += acc_x;
NaotoMorita 38:acc7cdcf56dd 411 arefs[1] += acc_y;
NaotoMorita 38:acc7cdcf56dd 412 arefs[2] += acc_z;
NaotoMorita 38:acc7cdcf56dd 413 mrefs[0] += mag_x;
NaotoMorita 38:acc7cdcf56dd 414 mrefs[1] += mag_y;
NaotoMorita 38:acc7cdcf56dd 415 mrefs[2] += mag_z;
NaotoMorita 38:acc7cdcf56dd 416 wait(0.001);
NaotoMorita 38:acc7cdcf56dd 417 }
NaotoMorita 38:acc7cdcf56dd 418 arefs[0] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 419 arefs[1] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 420 arefs[2] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 421 mrefs[0] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 422 mrefs[1] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 423 mrefs[2] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 424 pc.printf("\r\naccreg : %f, %f, %f\r\n",arefs[0],arefs[1],arefs[2]);
NaotoMorita 38:acc7cdcf56dd 425 pc.printf("\r\nmagreg : %f, %f, %f\r\n",mrefs[0],mrefs[1],mrefs[2]);
NaotoMorita 38:acc7cdcf56dd 426 while(1) {wait(1000);}
naker 20:2c3f113a8e8f 427 }
NaotoMorita 27:43bd0e444633 428
naker 22:da9893b71f24 429 // 割り込まれた時点での出力(computeの結果）を返す関数
NaotoMorita 27:43bd0e444633 430 void calcServoOut(){
NaotoMorita 28:fc6c46c1db65 431 if(sbus.failSafe == false) {
NaotoMorita 28:fc6c46c1db65 432 // sbusデータの読み込み
NaotoMorita 28:fc6c46c1db65 433 for (int i =0 ; i < 16;i ++){
NaotoMorita 35:4535af88f7bf 434 rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
NaotoMorita 27:43bd0e444633 435 }
NaotoMorita 28:fc6c46c1db65 436 }
NaotoMorita 28:fc6c46c1db65 437
NaotoMorita 28:fc6c46c1db65 438 pitchPID.setProcessValue(pitch);
NaotoMorita 28:fc6c46c1db65 439 pitchratePID.setProcessValue(gyro_y);
NaotoMorita 28:fc6c46c1db65 440 rollPID.setProcessValue(roll);
NaotoMorita 28:fc6c46c1db65 441 rollratePID.setProcessValue(gyro_x);
NaotoMorita 38:acc7cdcf56dd 442 float de = pitchPID.compute()+pitchratePID.compute()-rc[1]+rc[0];
NaotoMorita 36:e68ce293306e 443 float da = rollPID.compute()+rollratePID.compute()+rc[0]+rc[1];
NaotoMorita 28:fc6c46c1db65 444 float dT = rc[2];
NaotoMorita 28:fc6c46c1db65 445
NaotoMorita 28:fc6c46c1db65 446 scaledServoOut[0]=de+da;
NaotoMorita 36:e68ce293306e 447 scaledServoOut[1]=-de+da;
NaotoMorita 28:fc6c46c1db65 448 scaledMotorOut[0]= dT;
NaotoMorita 31:8d02f3b9a067 449
NaotoMorita 38:acc7cdcf56dd 450 float LP_servo = 0.2;
NaotoMorita 38:acc7cdcf56dd 451 float LP_motor = 0.2;
NaotoMorita 36:e68ce293306e 452 for(int i = 0;i<sizeof(servoOut)/sizeof(servoOut[0]);i++){
NaotoMorita 36:e68ce293306e 453 servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
NaotoMorita 28:fc6c46c1db65 454 if(servoOut[i]<servoPwmMin) {
NaotoMorita 28:fc6c46c1db65 455 servoOut[i] = servoPwmMin;
NaotoMorita 28:fc6c46c1db65 456 };
NaotoMorita 28:fc6c46c1db65 457 if(servoOut[i]>servoPwmMax) {
NaotoMorita 28:fc6c46c1db65 458 servoOut[i] = servoPwmMax;
NaotoMorita 28:fc6c46c1db65 459 };
NaotoMorita 28:fc6c46c1db65 460 }
NaotoMorita 28:fc6c46c1db65 461
NaotoMorita 36:e68ce293306e 462 for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){
NaotoMorita 36:e68ce293306e 463 motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i];
NaotoMorita 28:fc6c46c1db65 464 if(motorOut[i]<motorPwmMin) {
NaotoMorita 28:fc6c46c1db65 465 motorOut[i] = motorPwmMin;
NaotoMorita 28:fc6c46c1db65 466 };
NaotoMorita 28:fc6c46c1db65 467 if(motorOut[i]>motorPwmMax) {
NaotoMorita 28:fc6c46c1db65 468 motorOut[i] = motorPwmMax;
NaotoMorita 28:fc6c46c1db65 469 };
NaotoMorita 28:fc6c46c1db65 470 }
NaotoMorita 36:e68ce293306e 471 servoRight.pulsewidth_us(servoOut[0]);
NaotoMorita 36:e68ce293306e 472 servoLeft.pulsewidth_us(servoOut[1]);
NaotoMorita 36:e68ce293306e 473 servoThrust.pulsewidth_us(motorOut[0]);
NaotoMorita 32:c4f06cb0e1d6 474
NaotoMorita 36:e68ce293306e 475 if(loop_count > 10){
NaotoMorita 31:8d02f3b9a067 476 writeSdcard();
NaotoMorita 36:e68ce293306e 477 loop_count = 1;
NaotoMorita 40:869f3791a3e2 478 obs_count = 0;
NaotoMorita 27:43bd0e444633 479 }else{
NaotoMorita 27:43bd0e444633 480 loop_count +=1;
naker 26:62d9857eaecc 481 }
naker 22:da9893b71f24 482 }
cocorlow 7:70161eb0f854 483
NaotoMorita 27:43bd0e444633 484 int main()
NaotoMorita 36:e68ce293306e 485 {
NaotoMorita 28:fc6c46c1db65 486 pitchPID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 487 pitchratePID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 488 rollPID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 489 rollratePID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 490 pitchPID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 491 pitchratePID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 492 rollPID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 493 rollratePID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 494 pitchPID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 495 pitchratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 496 rollPID.setOutputLimits(-1.0,1.0);
NaotoMorita 29:34ee662f454e 497 rollratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 498 pitchPID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 499 pitchratePID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 500 rollPID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 501 rollratePID.setInputLimits(-pi,pi);
NaotoMorita 29:34ee662f454e 502
NaotoMorita 36:e68ce293306e 503 servoRight.period_us(15000.0);
NaotoMorita 36:e68ce293306e 504 servoLeft.period_us(15000.0);
NaotoMorita 36:e68ce293306e 505 servoThrust.period_us(15000.0);
NaotoMorita 36:e68ce293306e 506 servoRight.pulsewidth_us(1500.0);
NaotoMorita 36:e68ce293306e 507 servoLeft.pulsewidth_us(1500.0);
NaotoMorita 36:e68ce293306e 508 servoThrust.pulsewidth_us(1100.0);
NaotoMorita 36:e68ce293306e 509
NaotoMorita 38:acc7cdcf56dd 510 pc.baud(57600);
NaotoMorita 38:acc7cdcf56dd 511 sd.baud(57600);
NaotoMorita 38:acc7cdcf56dd 512 sd.printf("\r\n Program Start \r\n");
NaotoMorita 36:e68ce293306e 513 accelgyro.initialize();
NaotoMorita 36:e68ce293306e 514 //加速度計のフルスケールレンジを設定
NaotoMorita 36:e68ce293306e 515 accelgyro.setFullScaleAccelRange(ACCEL_FSR);
NaotoMorita 38:acc7cdcf56dd 516 //角速度計のフルスケールレンジを設定
NaotoMorita 36:e68ce293306e 517 accelgyro.setFullScaleGyroRange(GYRO_FSR);
NaotoMorita 36:e68ce293306e 518 //MPU6050のLPFを設定
NaotoMorita 36:e68ce293306e 519 accelgyro.setDLPFMode(MPU6050_LPF);
NaotoMorita 38:acc7cdcf56dd 520 //地磁気
NaotoMorita 38:acc7cdcf56dd 521 mag.enable();
NaotoMorita 38:acc7cdcf56dd 522
NaotoMorita 38:acc7cdcf56dd 523 if(userButton.read() == 0){
NaotoMorita 38:acc7cdcf56dd 524 qhat << 1 << 0 << 0 << 0;
NaotoMorita 38:acc7cdcf56dd 525
NaotoMorita 38:acc7cdcf56dd 526 Phat << 0.01 << 0 <<0 <<0
NaotoMorita 38:acc7cdcf56dd 527 << 0 << 0.01 <<0 <<0
NaotoMorita 38:acc7cdcf56dd 528 << 0 << 0 <<0.001 <<0
NaotoMorita 38:acc7cdcf56dd 529 << 0 << 0 << 0 << 0.001;
NaotoMorita 38:acc7cdcf56dd 530
NaotoMorita 38:acc7cdcf56dd 531 Qgyro << 5.4732e-04 << 0 <<0
NaotoMorita 38:acc7cdcf56dd 532 << 0 <<5.4732e-04 <<0
NaotoMorita 38:acc7cdcf56dd 533 << 0 << 0 <<5.4732e-04;
naker 22:da9893b71f24 534
NaotoMorita 38:acc7cdcf56dd 535 Racc.add(1,1,1.0);
NaotoMorita 38:acc7cdcf56dd 536 Racc.add(2,2,1.0);
NaotoMorita 38:acc7cdcf56dd 537 Racc.add(3,3,1.0);
NaotoMorita 38:acc7cdcf56dd 538
NaotoMorita 38:acc7cdcf56dd 539 Rmag << 1 << 0 <<0
NaotoMorita 38:acc7cdcf56dd 540 << 0 << 1 <<0
NaotoMorita 38:acc7cdcf56dd 541 << 0 << 0 <<1;
NaotoMorita 38:acc7cdcf56dd 542 getIMUval();
NaotoMorita 38:acc7cdcf56dd 543 triad(acc_x/accnorm,acc_y/accnorm,acc_z/accnorm, accref[0]/accrefnorm,accref[1]/accrefnorm,accref[2]/accrefnorm,mag_x/magnorm,mag_y/magnorm,mag_z/magnorm, magref[0]/magrefnorm,magref[1]/magrefnorm,magref[2]/magrefnorm);
NaotoMorita 38:acc7cdcf56dd 544 for(int i = 0; i<1000 ;i++){
NaotoMorita 38:acc7cdcf56dd 545 getIMUval();
NaotoMorita 38:acc7cdcf56dd 546 val_thmg += acos((mag_x*acc_x+mag_y*acc_y+mag_z*acc_z)/magnorm/accnorm);
NaotoMorita 38:acc7cdcf56dd 547 }
NaotoMorita 38:acc7cdcf56dd 548 val_thmg /= 1000;
NaotoMorita 38:acc7cdcf56dd 549 LoopTicker PIDtick;
NaotoMorita 38:acc7cdcf56dd 550 PIDtick.attach(calcServoOut,PID_dt);
NaotoMorita 38:acc7cdcf56dd 551
NaotoMorita 38:acc7cdcf56dd 552 t.start();
NaotoMorita 28:fc6c46c1db65 553
NaotoMorita 38:acc7cdcf56dd 554 while(1) {
NaotoMorita 38:acc7cdcf56dd 555 float tstart = t.read();
NaotoMorita 38:acc7cdcf56dd 556 //姿勢角を更新
NaotoMorita 38:acc7cdcf56dd 557 getIMUval();
NaotoMorita 38:acc7cdcf56dd 558 updateBetweenMeasures();
NaotoMorita 38:acc7cdcf56dd 559 calcDynAcc();
NaotoMorita 40:869f3791a3e2 560 th_mg = abs(acos((LPmag_x*LPacc_x+LPmag_y*LPacc_y+LPmag_z*LPacc_z)/LPmagnorm/LPaccnorm)-val_thmg);
NaotoMorita 40:869f3791a3e2 561 dynaccnorm = sqrt(dynacc_x*dynacc_x+dynacc_y*dynacc_y+dynacc_z*dynacc_z);
NaotoMorita 40:869f3791a3e2 562 accnormerr = abs(LPaccnorm-accrefnorm);
NaotoMorita 38:acc7cdcf56dd 563 //pc.printf("%f %f : %f \r\n",th_mg,th_mgref,abs(th_mg-th_mgref));
NaotoMorita 40:869f3791a3e2 564 int ang_th = th_mg<0.01;
NaotoMorita 40:869f3791a3e2 565 int dyn_th = dynaccnorm < 0.01;
NaotoMorita 40:869f3791a3e2 566 int norm_th = accnormerr< 0.01;
NaotoMorita 38:acc7cdcf56dd 567 //pc.printf("%d %d %d %f %f %f\r\n",ang_th,dyn_th,norm_th,abs(th_mg-val_thmg),dynaccnorm ,abs(accnorm-accrefnorm));
NaotoMorita 40:869f3791a3e2 568 if(dyn_th+ang_th+norm_th>0){
NaotoMorita 40:869f3791a3e2 569 obs_count += 1;
NaotoMorita 40:869f3791a3e2 570 updateAcrossMeasures(LPmag_x/LPmagnorm,LPmag_y/LPmagnorm,LPmag_z/LPmagnorm,magref[0]/magrefnorm,magref[1]/magrefnorm,magref[2]/magrefnorm,Rmag);
NaotoMorita 40:869f3791a3e2 571 updateAcrossMeasures(LPacc_x/LPaccnorm,LPacc_y/LPaccnorm,LPacc_z/LPaccnorm,accref[0]/accrefnorm,accref[1]/accrefnorm,accref[2]/accrefnorm,Racc);
NaotoMorita 38:acc7cdcf56dd 572 }
NaotoMorita 38:acc7cdcf56dd 573 computeAngles();
NaotoMorita 38:acc7cdcf56dd 574 PIDtick.loop();
NaotoMorita 38:acc7cdcf56dd 575
NaotoMorita 38:acc7cdcf56dd 576 float tend = t.read();
NaotoMorita 38:acc7cdcf56dd 577 att_dt = (tend-tstart);
NaotoMorita 38:acc7cdcf56dd 578 }
NaotoMorita 38:acc7cdcf56dd 579 }else{
NaotoMorita 38:acc7cdcf56dd 580 execCalibration();
naker 20:2c3f113a8e8f 581 }
NaotoMorita 0:6b18a09a6628 582 }