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@132:896ad37b534b, 2021-11-30 (annotated)

Committer:
NaotoMorita
Date:
Tue Nov 30 07:11:16 2021 +0000
Revision:
132:896ad37b534b
Parent:
129:a76be8380bb2
Child:
133:346ce20b3950
log usapack

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 119:a21e283730d1 16 #include "CalibrateMagneto.h"
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 };
NaotoMorita 132:896ad37b534b 53 struct logPack
NaotoMorita 132:896ad37b534b 54 {
NaotoMorita 132:896ad37b534b 55 float time;
NaotoMorita 132:896ad37b534b 56 float hertz;
NaotoMorita 132:896ad37b534b 57 float da;
NaotoMorita 132:896ad37b534b 58 float de;
NaotoMorita 132:896ad37b534b 59 float dT;
NaotoMorita 132:896ad37b534b 60 float rc[16];
NaotoMorita 132:896ad37b534b 61 float rpy[3];
NaotoMorita 132:896ad37b534b 62 float pihat[3];
NaotoMorita 132:896ad37b534b 63 float vihat[3];
NaotoMorita 132:896ad37b534b 64 float pi[3];
NaotoMorita 132:896ad37b534b 65 float vi[3];
NaotoMorita 132:896ad37b534b 66 float palt;
NaotoMorita 132:896ad37b534b 67 float acc[3];
NaotoMorita 132:896ad37b534b 68 float gyro[3];
NaotoMorita 132:896ad37b534b 69 float mag[3];
NaotoMorita 132:896ad37b534b 70 };
cocorlow 56:888379912f81 71
cocorlow 56:888379912f81 72 // var
cocorlow 56:888379912f81 73
cocorlow 56:888379912f81 74 // communication
osaka 88:be349faa1976 75
NaotoMorita 64:e9661430f0e3 76 extern UsaPack pc; // log - tail
NaotoMorita 132:896ad37b534b 77 extern UsaPack sd;
osaka 87:89bbbcdb667b 78 extern Serial twelite;
cocorlow 56:888379912f81 79
cocorlow 56:888379912f81 80 // io
cocorlow 56:888379912f81 81 extern DigitalIn userButton;
NaotoMorita 70:99f974d8960e 82 extern SBUS sbus;
osaka 88:be349faa1976 83 extern I2C i2c; // sda, scl
osaka 88:be349faa1976 84 extern LSM9DS1 lsm;
osaka 88:be349faa1976 85 extern LPS lps;
osaka 96:3645f8f9bdd3 86 extern GPSUBX_UART gps;
NaotoMorita 119:a21e283730d1 87 extern CalibrateMagneto magCalibrator;
NaotoMorita 102:1c77ff6e2a85 88 extern float magres;
cocorlow 56:888379912f81 89 // control
NaotoMorita 94:579e875a4244 90 extern Timer _t;
NaotoMorita 70:99f974d8960e 91 extern FastPWM servoRight;
NaotoMorita 70:99f974d8960e 92 extern FastPWM servoLeft;
NaotoMorita 70:99f974d8960e 93 extern FastPWM servoThrust;
NaotoMorita 70:99f974d8960e 94 extern PID pitchPID; //rad
NaotoMorita 70:99f974d8960e 95 extern PID pitchratePID;//rad/s
NaotoMorita 70:99f974d8960e 96 extern PID rollPID;
NaotoMorita 70:99f974d8960e 97 extern PID rollratePID;//rad/s
NaotoMorita 90:96c2b0ed4b96 98 extern solaESKF eskf; // EKF class
NaotoMorita 76:7fd3ac1afe3e 99 extern int obsCount;
osaka 109:eb255fc4462b 100 extern Autopilot autopilot;
osaka 109:eb255fc4462b 101 extern float roll_obj;
osaka 109:eb255fc4462b 102 extern float pitch_obj;
osaka 121:2523eef96b36 103 extern float dT_obj;
cocorlow 56:888379912f81 104
NaotoMorita 70:99f974d8960e 105 extern float rc[16];
cocorlow 56:888379912f81 106 extern int loop_count;
cocorlow 56:888379912f81 107 extern float att_dt;
NaotoMorita 112:6a33ea9f6fed 108 extern bool accmagSwitch;
cocorlow 56:888379912f81 109
NaotoMorita 70:99f974d8960e 110
cocorlow 56:888379912f81 111 // position
NaotoMorita 113:3e47d9881529 112 extern Matrix SensorAlignmentAG;
NaotoMorita 113:3e47d9881529 113 extern Matrix SensorAlignmentMAG;
NaotoMorita 132:896ad37b534b 114 extern Matrix euler;
cocorlow 56:888379912f81 115 extern Vector3 rpy; // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 116 extern Vector3 acc;
cocorlow 56:888379912f81 117 extern Vector3 accref;
cocorlow 56:888379912f81 118 extern Vector3 mag;
cocorlow 56:888379912f81 119 extern Vector3 magref;
cocorlow 56:888379912f81 120 extern Vector3 gyro;
NaotoMorita 82:c183c29d2427 121 extern Vector3 vi;
NaotoMorita 92:00460f6df439 122 extern Vector3 pi;
NaotoMorita 92:00460f6df439 123 extern float palt;
NaotoMorita 98:bdaa6bbfb1d9 124 extern float palt0;
NaotoMorita 129:a76be8380bb2 125 extern float dynaccnorm2;
NaotoMorita 106:2d854e92cebb 126 extern int itow_status;
NaotoMorita 100:7589b663d462 127 extern bool gpsUpdateFlag;
NaotoMorita 106:2d854e92cebb 128 extern bool gpsLlh0Fixed;
NaotoMorita 127:d73a6233ee4b 129 extern bool headingUpdateFlag;
osaka 87:89bbbcdb667b 130
NaotoMorita 73:84ffa0166e6c 131 extern float de;
NaotoMorita 73:84ffa0166e6c 132 extern float da;
NaotoMorita 73:84ffa0166e6c 133 extern float dT;
NaotoMorita 70:99f974d8960e 134 extern MedianFilter accMedian;
NaotoMorita 70:99f974d8960e 135 extern MedianFilter gyroMedian;
NaotoMorita 70:99f974d8960e 136 extern MedianFilter magMedian;
cocorlow 56:888379912f81 137
NaotoMorita 64:e9661430f0e3 138 extern float scaledServoOut[2];
NaotoMorita 70:99f974d8960e 139 extern float scaledMotorOut[1];
NaotoMorita 64:e9661430f0e3 140 extern float servoOut[2];
NaotoMorita 70:99f974d8960e 141 extern float motorOut[1];
cocorlow 56:888379912f81 142
NaotoMorita 61:c05353850017 143
cocorlow 56:888379912f81 144 extern int calibrationFlag;
NaotoMorita 93:b827f78a717a 145 extern float agoffset[6];
NaotoMorita 61:c05353850017 146 extern float magbiasMin[3];
NaotoMorita 61:c05353850017 147 extern float magbiasMax[3];
NaotoMorita 76:7fd3ac1afe3e 148 extern float magbias[4];
NaotoMorita 70:99f974d8960e 149 extern float accMin[3];
NaotoMorita 70:99f974d8960e 150 extern float accMax[3];
cocorlow 56:888379912f81 151
cocorlow 56:888379912f81 152 extern Vector3 rpy_align;
cocorlow 56:888379912f81 153
cocorlow 56:888379912f81 154
cocorlow 56:888379912f81 155 //// UsaPack
NaotoMorita 73:84ffa0166e6c 156 extern valuePack vp;
NaotoMorita 83:e69ab831031c 157 extern sendPack sp;
NaotoMorita 132:896ad37b534b 158 extern logPack lp;
NaotoMorita 73:84ffa0166e6c 159
NaotoMorita 73:84ffa0166e6c 160 // HIL
NaotoMorita 73:84ffa0166e6c 161 extern bool hilFlag;
NaotoMorita 76:7fd3ac1afe3e 162 extern bool serialControlSource;
NaotoMorita 76:7fd3ac1afe3e 163 extern bool serialParamSource;
NaotoMorita 76:7fd3ac1afe3e 164 extern int checkParamSerial[5];
cocorlow 56:888379912f81 165 // function
cocorlow 56:888379912f81 166
cocorlow 56:888379912f81 167 // main.cpp
cocorlow 56:888379912f81 168
cocorlow 56:888379912f81 169 // setup.cpp
cocorlow 56:888379912f81 170 extern void setup();
cocorlow 56:888379912f81 171 extern void calibrate();
cocorlow 56:888379912f81 172 // run.cpp
cocorlow 56:888379912f81 173 extern void run();
cocorlow 56:888379912f81 174
cocorlow 56:888379912f81 175 // imu.cpp
osaka 88:be349faa1976 176 extern void getIMUval();
cocorlow 56:888379912f81 177
osaka 96:3645f8f9bdd3 178 //gps.cpp
osaka 96:3645f8f9bdd3 179 extern void getGPSval();
osaka 97:2b3242c2dd85 180 extern void change_refpos();
osaka 96:3645f8f9bdd3 181
NaotoMorita 73:84ffa0166e6c 182 // hil.cpp
NaotoMorita 92:00460f6df439 183 extern void getHilIMUval();
NaotoMorita 92:00460f6df439 184 extern void getHilGPSval();
NaotoMorita 73:84ffa0166e6c 185 extern float randn();
NaotoMorita 73:84ffa0166e6c 186
osaka 109:eb255fc4462b 187 //autopilot.cpp
osaka 109:eb255fc4462b 188 extern void level_flight();
osaka 109:eb255fc4462b 189 extern void point_guide();
osaka 109:eb255fc4462b 190 extern void turning();
osaka 109:eb255fc4462b 191
cocorlow 56:888379912f81 192 // servo.cpp
cocorlow 56:888379912f81 193 extern void calcServoOut();
cocorlow 56:888379912f81 194
osaka 87:89bbbcdb667b 195 // transferData.cpp
osaka 87:89bbbcdb667b 196 extern void sendData2PC();
osaka 87:89bbbcdb667b 197 extern void sendTelemetry();
osaka 87:89bbbcdb667b 198 extern void writeSDcard();
cocorlow 56:888379912f81 199
cocorlow 56:888379912f81 200 // global.cpp
cocorlow 56:888379912f81 201 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
NaotoMorita 93:b827f78a717a 202 extern void setDiag(Matrix& mat, float val);
NaotoMorita 93:b827f78a717a 203 extern void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex);
cocorlow 56:888379912f81 204 #endif