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@139:b378528c05f2, 2021-12-06 (annotated)

Committer:
cocorlow
Date:
Mon Dec 06 08:26:16 2021 +0000
Revision:
139:b378528c05f2
Parent:
137:240588882ae2
Child:
140:53dbdb207542
Eigen

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 88:be349faa1976 12 #include "LSM9DS1.h"
osaka 88:be349faa1976 13 #include "LPS.h"
NaotoMorita 119:a21e283730d1 14 #include "CalibrateMagneto.h"
NaotoMorita 90:96c2b0ed4b96 15 #include "solaESKF.hpp"
NaotoMorita 70:99f974d8960e 16 #include "MedianFilter.hpp"
osaka 96:3645f8f9bdd3 17 #include "GPSUBX_UART.hpp"
osaka 109:eb255fc4462b 18 #include "Autopilot.hpp"
cocorlow 56:888379912f81 19
cocorlow 139:b378528c05f2 20 // Eigen
cocorlow 139:b378528c05f2 21 #include <Eigen/Dense.h>
cocorlow 139:b378528c05f2 22 //using namespace std;
cocorlow 139:b378528c05f2 23 using namespace Eigen;
cocorlow 139:b378528c05f2 24
NaotoMorita 104:20b8caa29185 25 #define magresThreshold 0.025f
cocorlow 56:888379912f81 26 #define ACCEL_SSF 4096.0f
NaotoMorita 70:99f974d8960e 27 #define GYRO_SSF 131.0f
cocorlow 56:888379912f81 28 #define PID_dt 0.015f
cocorlow 56:888379912f81 29 #define servoPwmMax 1800.0f
cocorlow 56:888379912f81 30 #define servoPwmMin 1200.0f
cocorlow 56:888379912f81 31 #define motorPwmMax 2000.0f
cocorlow 56:888379912f81 32 #define motorPwmMin 1100.0f
cocorlow 56:888379912f81 33
cocorlow 139:b378528c05f2 34 #ifndef M_PI_F
cocorlow 139:b378528c05f2 35 #define M_PI_F 3.141592f
cocorlow 139:b378528c05f2 36 #endif
osaka 88:be349faa1976 37
cocorlow 56:888379912f81 38 struct valuePack
cocorlow 56:888379912f81 39 {
NaotoMorita 73:84ffa0166e6c 40 int16_t accData[3];
NaotoMorita 73:84ffa0166e6c 41 int16_t gyroData[3];
NaotoMorita 84:ff48e01ea76b 42 int16_t magData[3];
NaotoMorita 84:ff48e01ea76b 43 int16_t viData[3];
NaotoMorita 92:00460f6df439 44 int16_t piData[3];
NaotoMorita 84:ff48e01ea76b 45 int16_t actData[4];
NaotoMorita 76:7fd3ac1afe3e 46 int16_t commandIndex;
NaotoMorita 83:e69ab831031c 47 int16_t commandVal;
NaotoMorita 83:e69ab831031c 48 };
NaotoMorita 83:e69ab831031c 49
NaotoMorita 83:e69ab831031c 50 struct sendPack
NaotoMorita 83:e69ab831031c 51 {
NaotoMorita 83:e69ab831031c 52 float da;
NaotoMorita 83:e69ab831031c 53 float de;
NaotoMorita 83:e69ab831031c 54 float dT;
NaotoMorita 83:e69ab831031c 55 float rpy[3];
NaotoMorita 84:ff48e01ea76b 56 float vihat[3];
cocorlow 56:888379912f81 57 };
NaotoMorita 132:896ad37b534b 58 struct logPack
NaotoMorita 132:896ad37b534b 59 {
NaotoMorita 132:896ad37b534b 60 float time;
NaotoMorita 132:896ad37b534b 61 float hertz;
NaotoMorita 135:49f8916588da 62 float gpsFix;
NaotoMorita 132:896ad37b534b 63 float da;
NaotoMorita 132:896ad37b534b 64 float de;
NaotoMorita 132:896ad37b534b 65 float dT;
NaotoMorita 132:896ad37b534b 66 float rpy[3];
NaotoMorita 132:896ad37b534b 67 float pihat[3];
NaotoMorita 132:896ad37b534b 68 float vihat[3];
NaotoMorita 132:896ad37b534b 69 float pi[3];
NaotoMorita 132:896ad37b534b 70 float vi[3];
NaotoMorita 132:896ad37b534b 71 float palt;
NaotoMorita 132:896ad37b534b 72 float acc[3];
NaotoMorita 132:896ad37b534b 73 float gyro[3];
NaotoMorita 132:896ad37b534b 74 float mag[3];
NaotoMorita 133:346ce20b3950 75 float rc[16];
NaotoMorita 132:896ad37b534b 76 };
cocorlow 56:888379912f81 77
NaotoMorita 134:d57c6b2a706b 78 struct telemetryPack
NaotoMorita 134:d57c6b2a706b 79 {
NaotoMorita 134:d57c6b2a706b 80 float time;
NaotoMorita 134:d57c6b2a706b 81 float hertz;
NaotoMorita 134:d57c6b2a706b 82 float gpsFix;
NaotoMorita 134:d57c6b2a706b 83 float rpy[3];
NaotoMorita 134:d57c6b2a706b 84 float pihat[3];
NaotoMorita 134:d57c6b2a706b 85 float vihat[3];
NaotoMorita 134:d57c6b2a706b 86 float dynaccNorm;
NaotoMorita 134:d57c6b2a706b 87 };
NaotoMorita 134:d57c6b2a706b 88
cocorlow 56:888379912f81 89 // var
cocorlow 56:888379912f81 90
cocorlow 56:888379912f81 91 // communication
osaka 88:be349faa1976 92
NaotoMorita 64:e9661430f0e3 93 extern UsaPack pc; // log - tail
NaotoMorita 132:896ad37b534b 94 extern UsaPack sd;
NaotoMorita 133:346ce20b3950 95 extern UsaPack twelite;
cocorlow 56:888379912f81 96
cocorlow 56:888379912f81 97 // io
cocorlow 56:888379912f81 98 extern DigitalIn userButton;
NaotoMorita 70:99f974d8960e 99 extern SBUS sbus;
osaka 88:be349faa1976 100 extern I2C i2c; // sda, scl
osaka 88:be349faa1976 101 extern LSM9DS1 lsm;
osaka 88:be349faa1976 102 extern LPS lps;
osaka 96:3645f8f9bdd3 103 extern GPSUBX_UART gps;
NaotoMorita 119:a21e283730d1 104 extern CalibrateMagneto magCalibrator;
NaotoMorita 102:1c77ff6e2a85 105 extern float magres;
cocorlow 56:888379912f81 106 // control
NaotoMorita 94:579e875a4244 107 extern Timer _t;
NaotoMorita 70:99f974d8960e 108 extern FastPWM servoRight;
NaotoMorita 70:99f974d8960e 109 extern FastPWM servoLeft;
NaotoMorita 70:99f974d8960e 110 extern FastPWM servoThrust;
NaotoMorita 70:99f974d8960e 111 extern PID pitchPID; //rad
NaotoMorita 70:99f974d8960e 112 extern PID pitchratePID;//rad/s
NaotoMorita 70:99f974d8960e 113 extern PID rollPID;
NaotoMorita 70:99f974d8960e 114 extern PID rollratePID;//rad/s
cocorlow 139:b378528c05f2 115 //extern solaESKF eskf; // EKF class
NaotoMorita 76:7fd3ac1afe3e 116 extern int obsCount;
cocorlow 139:b378528c05f2 117 //extern Autopilot autopilot;
osaka 109:eb255fc4462b 118 extern float roll_obj;
osaka 109:eb255fc4462b 119 extern float pitch_obj;
osaka 121:2523eef96b36 120 extern float dT_obj;
cocorlow 56:888379912f81 121
NaotoMorita 70:99f974d8960e 122 extern float rc[16];
cocorlow 56:888379912f81 123 extern int loop_count;
cocorlow 56:888379912f81 124 extern float att_dt;
NaotoMorita 112:6a33ea9f6fed 125 extern bool accmagSwitch;
cocorlow 56:888379912f81 126
NaotoMorita 70:99f974d8960e 127
cocorlow 56:888379912f81 128 // position
cocorlow 139:b378528c05f2 129 extern Matrix3f SensorAlignmentAG;
cocorlow 139:b378528c05f2 130 extern Matrix3f SensorAlignmentMAG;
cocorlow 139:b378528c05f2 131 extern Vector3f euler;
cocorlow 139:b378528c05f2 132 extern Vector3f rpy; // x:roll y:pitch z:yaw
cocorlow 139:b378528c05f2 133 extern Vector3f acc;
cocorlow 139:b378528c05f2 134 extern Vector3f accref;
cocorlow 139:b378528c05f2 135 extern Vector3f mag;
cocorlow 139:b378528c05f2 136 extern Vector3f magref;
cocorlow 139:b378528c05f2 137 extern Vector3f gyro;
cocorlow 139:b378528c05f2 138 extern Vector3f vi;
cocorlow 139:b378528c05f2 139 extern Vector3f pi;
NaotoMorita 92:00460f6df439 140 extern float palt;
NaotoMorita 98:bdaa6bbfb1d9 141 extern float palt0;
NaotoMorita 129:a76be8380bb2 142 extern float dynaccnorm2;
NaotoMorita 106:2d854e92cebb 143 extern int itow_status;
NaotoMorita 100:7589b663d462 144 extern bool gpsUpdateFlag;
NaotoMorita 106:2d854e92cebb 145 extern bool gpsLlh0Fixed;
NaotoMorita 127:d73a6233ee4b 146 extern bool headingUpdateFlag;
osaka 87:89bbbcdb667b 147
NaotoMorita 73:84ffa0166e6c 148 extern float de;
NaotoMorita 73:84ffa0166e6c 149 extern float da;
NaotoMorita 73:84ffa0166e6c 150 extern float dT;
NaotoMorita 70:99f974d8960e 151 extern MedianFilter accMedian;
NaotoMorita 70:99f974d8960e 152 extern MedianFilter gyroMedian;
NaotoMorita 70:99f974d8960e 153 extern MedianFilter magMedian;
cocorlow 56:888379912f81 154
NaotoMorita 64:e9661430f0e3 155 extern float scaledServoOut[2];
NaotoMorita 70:99f974d8960e 156 extern float scaledMotorOut[1];
NaotoMorita 64:e9661430f0e3 157 extern float servoOut[2];
NaotoMorita 70:99f974d8960e 158 extern float motorOut[1];
cocorlow 56:888379912f81 159
NaotoMorita 61:c05353850017 160
cocorlow 56:888379912f81 161 extern int calibrationFlag;
NaotoMorita 93:b827f78a717a 162 extern float agoffset[6];
NaotoMorita 61:c05353850017 163 extern float magbiasMin[3];
NaotoMorita 61:c05353850017 164 extern float magbiasMax[3];
NaotoMorita 76:7fd3ac1afe3e 165 extern float magbias[4];
NaotoMorita 70:99f974d8960e 166 extern float accMin[3];
NaotoMorita 70:99f974d8960e 167 extern float accMax[3];
cocorlow 56:888379912f81 168
cocorlow 139:b378528c05f2 169 extern Vector3f rpy_align;
cocorlow 56:888379912f81 170
cocorlow 56:888379912f81 171
cocorlow 56:888379912f81 172 //// UsaPack
NaotoMorita 73:84ffa0166e6c 173 extern valuePack vp;
NaotoMorita 83:e69ab831031c 174 extern sendPack sp;
NaotoMorita 132:896ad37b534b 175 extern logPack lp;
NaotoMorita 134:d57c6b2a706b 176 extern telemetryPack tp;
NaotoMorita 73:84ffa0166e6c 177
NaotoMorita 73:84ffa0166e6c 178 // HIL
NaotoMorita 73:84ffa0166e6c 179 extern bool hilFlag;
NaotoMorita 76:7fd3ac1afe3e 180 extern bool serialControlSource;
NaotoMorita 76:7fd3ac1afe3e 181 extern bool serialParamSource;
NaotoMorita 76:7fd3ac1afe3e 182 extern int checkParamSerial[5];
cocorlow 56:888379912f81 183 // function
cocorlow 56:888379912f81 184
cocorlow 56:888379912f81 185 // main.cpp
cocorlow 56:888379912f81 186
cocorlow 56:888379912f81 187 // setup.cpp
cocorlow 56:888379912f81 188 extern void setup();
cocorlow 56:888379912f81 189 extern void calibrate();
cocorlow 56:888379912f81 190 // run.cpp
cocorlow 56:888379912f81 191 extern void run();
cocorlow 56:888379912f81 192
cocorlow 56:888379912f81 193 // imu.cpp
osaka 88:be349faa1976 194 extern void getIMUval();
cocorlow 56:888379912f81 195
osaka 96:3645f8f9bdd3 196 //gps.cpp
osaka 96:3645f8f9bdd3 197 extern void getGPSval();
osaka 97:2b3242c2dd85 198 extern void change_refpos();
osaka 96:3645f8f9bdd3 199
NaotoMorita 73:84ffa0166e6c 200 // hil.cpp
NaotoMorita 92:00460f6df439 201 extern void getHilIMUval();
NaotoMorita 92:00460f6df439 202 extern void getHilGPSval();
NaotoMorita 73:84ffa0166e6c 203 extern float randn();
NaotoMorita 73:84ffa0166e6c 204
osaka 109:eb255fc4462b 205 //autopilot.cpp
osaka 109:eb255fc4462b 206 extern void level_flight();
osaka 109:eb255fc4462b 207 extern void point_guide();
osaka 109:eb255fc4462b 208 extern void turning();
osaka 137:240588882ae2 209 extern void climb();
cocorlow 139:b378528c05f2 210 extern Vector3f calc_vdot();
osaka 109:eb255fc4462b 211
cocorlow 56:888379912f81 212 // servo.cpp
cocorlow 56:888379912f81 213 extern void calcServoOut();
cocorlow 56:888379912f81 214
osaka 87:89bbbcdb667b 215 // transferData.cpp
osaka 87:89bbbcdb667b 216 extern void sendData2PC();
osaka 87:89bbbcdb667b 217 extern void sendTelemetry();
osaka 87:89bbbcdb667b 218 extern void writeSDcard();
cocorlow 56:888379912f81 219
cocorlow 56:888379912f81 220 // global.cpp
cocorlow 56:888379912f81 221 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
cocorlow 139:b378528c05f2 222 extern void setDiag(Matrix3f& mat, float val);
cocorlow 139:b378528c05f2 223 extern void setBlockDiag(Matrix3f& mat, float val,int startIndex, int endIndex);
cocorlow 56:888379912f81 224 #endif