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@31:8d02f3b9a067, 2021-02-16 (annotated)

Committer:
NaotoMorita
Date:
Tue Feb 16 06:22:16 2021 +0000
Revision:
31:8d02f3b9a067
Parent:
30:214ddc613a35
Child:
32:c4f06cb0e1d6
minimum implement

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"
NaotoMorita 17:6b7a363d06d2 4 #include <MadgwickAHRS.h>
cocorlow 6:2cba569272fe 5 #include "LoopTicker.hpp"
naker 15:6abaac6e5b03 6 #include "MPU6050.h"
NaotoMorita 17:6b7a363d06d2 7 #include <I2Cdev.h>
cocorlow 6:2cba569272fe 8
NaotoMorita 17:6b7a363d06d2 9 #define MPU6050_PWR_MGMT_1 0x6B
NaotoMorita 17:6b7a363d06d2 10 #define MPU_ADDRESS 0x68
NaotoMorita 17:6b7a363d06d2 11 #define pi 3.141562
NaotoMorita 17:6b7a363d06d2 12 #define ACCEL_FSR MPU6050_ACCEL_FS_8
NaotoMorita 17:6b7a363d06d2 13 #define ACCEL_SSF 36500.0
NaotoMorita 17:6b7a363d06d2 14 #define GYRO_FSR MPU6050_GYRO_FS_250
NaotoMorita 17:6b7a363d06d2 15 #define GYRO_SSF 131.0
NaotoMorita 17:6b7a363d06d2 16 #define MPU6050_LPF MPU6050_DLPF_BW_256
NaotoMorita 27:43bd0e444633 17
NaotoMorita 17:6b7a363d06d2 18 MPU6050 accelgyro;
NaotoMorita 17:6b7a363d06d2 19 Madgwick MadgwickFilter;
NaotoMorita 0:6b18a09a6628 20 SBUS sbus(PD_5, PD_6);
NaotoMorita 0:6b18a09a6628 21 Serial pc(USBTX, USBRX);
naker 26:62d9857eaecc 22 Serial sd(PG_14,PG_9);
cocorlow 3:79e62f9b13c8 23 DigitalOut led1(LED1);
cocorlow 3:79e62f9b13c8 24 DigitalOut led3(LED3);
NaotoMorita 27:43bd0e444633 25
NaotoMorita 17:6b7a363d06d2 26 PwmOut servoRight(PE_9);
NaotoMorita 31:8d02f3b9a067 27 const double PID_dt = 0.005;
NaotoMorita 31:8d02f3b9a067 28 PID pitchPID(3.0, 0,0,PID_dt); //rad
NaotoMorita 31:8d02f3b9a067 29 PID pitchratePID(0.01, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 31:8d02f3b9a067 30 PID rollPID(3.0,0.0,0.0,PID_dt);
NaotoMorita 31:8d02f3b9a067 31 PID rollratePID(0.01, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 17:6b7a363d06d2 32 Timer t;
cocorlow 3:79e62f9b13c8 33
NaotoMorita 27:43bd0e444633 34 int loop_count = 0;
naker 23:4a490fa8bf4a 35 float rc[16];
naker 25:5aca9b224226 36 float roll_ac;
naker 15:6abaac6e5b03 37 double pitch = 0.0;
naker 15:6abaac6e5b03 38 double roll = 0.0;
naker 15:6abaac6e5b03 39 double yaw = 0.0;
NaotoMorita 17:6b7a363d06d2 40 int16_t ax, ay, az;
NaotoMorita 17:6b7a363d06d2 41 int16_t gx, gy, gz;
NaotoMorita 17:6b7a363d06d2 42 double acc_x,acc_y,acc_z;
NaotoMorita 17:6b7a363d06d2 43 double gyro_x,gyro_y,gyro_z;
cocorlow 3:79e62f9b13c8 44 int out1, out2;
NaotoMorita 28:fc6c46c1db65 45 float scaledServoOut[3]= {0,0,0};
NaotoMorita 28:fc6c46c1db65 46 float scaledMotorOut[1]= {-1};
NaotoMorita 28:fc6c46c1db65 47 int servoOut[3] = {1500,1500,1500};
NaotoMorita 28:fc6c46c1db65 48 int motorOut[1] = {1000};
NaotoMorita 28:fc6c46c1db65 49 int servoPwmMax = 1800;
NaotoMorita 28:fc6c46c1db65 50 int servoPwmMin = 1200;
NaotoMorita 30:214ddc613a35 51 int motorPwmMax = 2000;
NaotoMorita 30:214ddc613a35 52 int motorPwmMin = 1000;
NaotoMorita 27:43bd0e444633 53 int offsetVal[6] = {0,0,0,0,0,0};
cocorlow 3:79e62f9b13c8 54
NaotoMorita 17:6b7a363d06d2 55 const double pitch_align = 0.0;
NaotoMorita 17:6b7a363d06d2 56 const double roll_align = -0.0;
NaotoMorita 27:43bd0e444633 57
NaotoMorita 27:43bd0e444633 58
cocorlow 7:70161eb0f854 59 long map(long x, long in_min, long in_max, long out_min, long out_max)
cocorlow 7:70161eb0f854 60 {
cocorlow 7:70161eb0f854 61 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
cocorlow 7:70161eb0f854 62 }
NaotoMorita 27:43bd0e444633 63
NaotoMorita 30:214ddc613a35 64 void writeSdcard()
naker 20:2c3f113a8e8f 65 {
naker 26:62d9857eaecc 66 sd.printf("pitch: %lf, yaw; %lf, roll: % lf\n",pitch,yaw,roll);
naker 20:2c3f113a8e8f 67 }
NaotoMorita 27:43bd0e444633 68
naker 22:da9893b71f24 69 // 割り込まれた時点での出力(computeの結果）を返す関数
NaotoMorita 27:43bd0e444633 70 void calcServoOut(){
NaotoMorita 28:fc6c46c1db65 71 if(sbus.failSafe == false) {
NaotoMorita 28:fc6c46c1db65 72 // sbusデータの読み込み
NaotoMorita 28:fc6c46c1db65 73 for (int i =0 ; i < 16;i ++){
NaotoMorita 28:fc6c46c1db65 74 rc[i] = 0.65f * float(map(int(sbus.getData(i)),368,1680,-1000,1000)) / 1000.0f + (1.0f - 0.65f) * rc[i]; // mapped input
NaotoMorita 27:43bd0e444633 75 }
NaotoMorita 28:fc6c46c1db65 76 }
NaotoMorita 28:fc6c46c1db65 77
NaotoMorita 28:fc6c46c1db65 78 pitch = -MadgwickFilter.getPitchRadians()-pitch_align*pi/180;
NaotoMorita 28:fc6c46c1db65 79 roll = -MadgwickFilter.getRollRadians()-roll_align*pi/180;
NaotoMorita 28:fc6c46c1db65 80 pitchPID.setProcessValue(pitch);
NaotoMorita 28:fc6c46c1db65 81 pitchratePID.setProcessValue(gyro_y);
NaotoMorita 28:fc6c46c1db65 82 rollPID.setProcessValue(roll);
NaotoMorita 28:fc6c46c1db65 83 rollratePID.setProcessValue(gyro_x);
NaotoMorita 28:fc6c46c1db65 84 float de = pitchPID.compute()+pitchratePID.compute()+rc[1];
NaotoMorita 28:fc6c46c1db65 85 float da = rollPID.compute()+rollratePID.compute()+rc[0];
NaotoMorita 28:fc6c46c1db65 86 float dT = rc[2];
NaotoMorita 28:fc6c46c1db65 87
NaotoMorita 28:fc6c46c1db65 88 scaledServoOut[0]=de+da;
NaotoMorita 28:fc6c46c1db65 89 scaledServoOut[1]=de-da;
NaotoMorita 28:fc6c46c1db65 90 scaledMotorOut[0]= dT;
NaotoMorita 31:8d02f3b9a067 91
NaotoMorita 31:8d02f3b9a067 92 for(int i = 0;i<4;i++){
NaotoMorita 31:8d02f3b9a067 93 servoOut[i] = int(map(scaledServoOut[i]*1000.0,-1000,1000,servoPwmMin,servoPwmMax));
NaotoMorita 28:fc6c46c1db65 94 if(servoOut[i]<servoPwmMin) {
NaotoMorita 28:fc6c46c1db65 95 servoOut[i] = servoPwmMin;
NaotoMorita 28:fc6c46c1db65 96 };
NaotoMorita 28:fc6c46c1db65 97 if(servoOut[i]>servoPwmMax) {
NaotoMorita 28:fc6c46c1db65 98 servoOut[i] = servoPwmMax;
NaotoMorita 28:fc6c46c1db65 99 };
NaotoMorita 28:fc6c46c1db65 100 }
NaotoMorita 28:fc6c46c1db65 101
NaotoMorita 31:8d02f3b9a067 102 for(int i = 0;i<1;i++){
NaotoMorita 31:8d02f3b9a067 103 motorOut[i] = int(map(scaledMotorOut[i]*1000.0,-1000,1000,motorPwmMin,motorPwmMax));
NaotoMorita 28:fc6c46c1db65 104 if(motorOut[i]<motorPwmMin) {
NaotoMorita 28:fc6c46c1db65 105 motorOut[i] = motorPwmMin;
NaotoMorita 28:fc6c46c1db65 106 };
NaotoMorita 28:fc6c46c1db65 107 if(motorOut[i]>motorPwmMax) {
NaotoMorita 28:fc6c46c1db65 108 motorOut[i] = motorPwmMax;
NaotoMorita 28:fc6c46c1db65 109 };
NaotoMorita 28:fc6c46c1db65 110 }
NaotoMorita 28:fc6c46c1db65 111 servoRight.pulsewidth_us(servoOut[0]);
NaotoMorita 28:fc6c46c1db65 112 //servoLeft.pulsewidth_us(servoOut[1]);
NaotoMorita 28:fc6c46c1db65 113
NaotoMorita 31:8d02f3b9a067 114 if(loop_count > int(1/PID_dt/10.0)){
NaotoMorita 31:8d02f3b9a067 115 writeSdcard();
naker 26:62d9857eaecc 116 loop_count = 0;
NaotoMorita 27:43bd0e444633 117 }else{
NaotoMorita 27:43bd0e444633 118 loop_count +=1;
naker 26:62d9857eaecc 119 }
naker 22:da9893b71f24 120 }
cocorlow 7:70161eb0f854 121
NaotoMorita 27:43bd0e444633 122 void updateAttitude(){
NaotoMorita 17:6b7a363d06d2 123 // gx gy gz ax ay az
NaotoMorita 17:6b7a363d06d2 124 accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
NaotoMorita 17:6b7a363d06d2 125 // 加速度値を分解能で割って加速度(G)に変換する
NaotoMorita 17:6b7a363d06d2 126 acc_x = ax / ACCEL_SSF; //FS_SEL_0 16,384 LSB / g
NaotoMorita 17:6b7a363d06d2 127 acc_y = ay / ACCEL_SSF;
NaotoMorita 17:6b7a363d06d2 128 acc_z = az / ACCEL_SSF;
NaotoMorita 17:6b7a363d06d2 129 // 角速度値を分解能で割って角速度(deg per sec)に変換する
NaotoMorita 17:6b7a363d06d2 130 gyro_x = gx / GYRO_SSF; // (deg/s)
NaotoMorita 17:6b7a363d06d2 131 gyro_y = gy / GYRO_SSF;
NaotoMorita 17:6b7a363d06d2 132 gyro_z = gz / GYRO_SSF;
naker 20:2c3f113a8e8f 133 //Madgwickフィルターを用いて、PRY（pitch, roll, yaw）を計算
NaotoMorita 17:6b7a363d06d2 134 MadgwickFilter.updateIMU(gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z);
NaotoMorita 27:43bd0e444633 135 }
NaotoMorita 27:43bd0e444633 136
NaotoMorita 27:43bd0e444633 137 int main()
NaotoMorita 27:43bd0e444633 138 {
NaotoMorita 27:43bd0e444633 139 LoopTicker PIDtick;
NaotoMorita 28:fc6c46c1db65 140 PIDtick.attach(calcServoOut,PID_dt);
NaotoMorita 27:43bd0e444633 141 pc.baud(115200);
NaotoMorita 27:43bd0e444633 142 sd.baud(115200);
NaotoMorita 27:43bd0e444633 143 accelgyro.initialize();
NaotoMorita 27:43bd0e444633 144 //加速度計のフルスケールレンジを設定
NaotoMorita 27:43bd0e444633 145 accelgyro.setFullScaleAccelRange(ACCEL_FSR);
NaotoMorita 27:43bd0e444633 146 //■角速度計のフルスケールレンジを設定
NaotoMorita 27:43bd0e444633 147 accelgyro.setFullScaleGyroRange(GYRO_FSR);
NaotoMorita 27:43bd0e444633 148 //MPU6050のLPFを設定
NaotoMorita 27:43bd0e444633 149 accelgyro.setDLPFMode(MPU6050_LPF);
NaotoMorita 28:fc6c46c1db65 150
NaotoMorita 28:fc6c46c1db65 151 pitchPID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 152 pitchratePID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 153 rollPID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 154 rollratePID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 155 pitchPID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 156 pitchratePID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 157 rollPID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 158 rollratePID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 159 pitchPID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 160 pitchratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 161 rollPID.setOutputLimits(-1.0,1.0);
NaotoMorita 29:34ee662f454e 162 rollratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 163 pitchPID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 164 pitchratePID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 165 rollPID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 166 rollratePID.setInputLimits(-pi,pi);
NaotoMorita 29:34ee662f454e 167
NaotoMorita 27:43bd0e444633 168 servoRight.period_us(20000);
NaotoMorita 27:43bd0e444633 169 MadgwickFilter.begin(100); //サンプリング周波数Hza
NaotoMorita 27:43bd0e444633 170 t.start();
NaotoMorita 27:43bd0e444633 171 while(1) {
NaotoMorita 31:8d02f3b9a067 172 float tstart = t.read();
NaotoMorita 27:43bd0e444633 173 //姿勢角を更新
NaotoMorita 29:34ee662f454e 174 updateAttitude();
NaotoMorita 28:fc6c46c1db65 175 PIDtick.loop(); // scaled_servo に pidのcomputing結果を格納する
naker 22:da9893b71f24 176
NaotoMorita 17:6b7a363d06d2 177 float tend = t.read();
NaotoMorita 28:fc6c46c1db65 178 MadgwickFilter.begin(1.0f/(tend-tstart)); //サンプリング周波数Hz
NaotoMorita 28:fc6c46c1db65 179
naker 20:2c3f113a8e8f 180 }
NaotoMorita 0:6b18a09a6628 181 }