solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
servo.cpp@144:b3a713b4f1c4, 22 months ago (annotated)
- Committer:
- NaotoMorita
- Date:
- Wed Jun 29 07:57:10 2022 +0000
- Revision:
- 144:b3a713b4f1c4
- Parent:
- 143:53808e4e684c
can fly
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cocorlow | 140:53dbdb207542 | 1 | #include "global.hpp" |
cocorlow | 140:53dbdb207542 | 2 | |
cocorlow | 140:53dbdb207542 | 3 | // 割り込まれた時点での出力(computeの結果)を返す関数 |
cocorlow | 140:53dbdb207542 | 4 | void calcServoOut() |
cocorlow | 140:53dbdb207542 | 5 | { |
cocorlow | 140:53dbdb207542 | 6 | // sbusデータの読み込み |
cocorlow | 140:53dbdb207542 | 7 | for (int i =0 ; i < 16;i ++){ |
cocorlow | 141:725321fe2949 | 8 | rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368.0f,1680.0f,-1.0f,1.0f) + (1.0f - 0.65f) * rc[i]; // mapped input |
cocorlow | 140:53dbdb207542 | 9 | } |
cocorlow | 140:53dbdb207542 | 10 | |
cocorlow | 140:53dbdb207542 | 11 | //姿勢角の所得 |
cocorlow | 140:53dbdb207542 | 12 | euler = eskf.computeAngles(); |
NaotoMorita | 144:b3a713b4f1c4 | 13 | euler(1) -= 3.0f*M_PI_F/180.0f; |
NaotoMorita | 143:53808e4e684c | 14 | Vector3f gyroBias = eskf.getGyroBias(); |
cocorlow | 140:53dbdb207542 | 15 | //PIDへの状態量のセット |
NaotoMorita | 143:53808e4e684c | 16 | pitchPID.setProcessValue(euler(1)); |
NaotoMorita | 143:53808e4e684c | 17 | pitchratePID.setProcessValue(gyro(1)-gyroBias(1)); |
NaotoMorita | 143:53808e4e684c | 18 | rollPID.setProcessValue(euler(0)); |
NaotoMorita | 143:53808e4e684c | 19 | rollratePID.setProcessValue(gyro(0)-gyroBias(0)); |
NaotoMorita | 143:53808e4e684c | 20 | yawratePID.setProcessValue(gyro(2)-gyroBias(2)); |
NaotoMorita | 144:b3a713b4f1c4 | 21 | |
NaotoMorita | 144:b3a713b4f1c4 | 22 | vxPID.setGain(0.005f,0.0f,0.0f); |
NaotoMorita | 144:b3a713b4f1c4 | 23 | vyPID.setGain(0.005f,0.0f,0.0f); |
NaotoMorita | 144:b3a713b4f1c4 | 24 | |
NaotoMorita | 144:b3a713b4f1c4 | 25 | |
NaotoMorita | 144:b3a713b4f1c4 | 26 | pitchPID.setGain(20.0f,0.0f,0.0f); |
NaotoMorita | 144:b3a713b4f1c4 | 27 | pitchratePID.setGain(0.18f,0.0f,0.0f); |
NaotoMorita | 144:b3a713b4f1c4 | 28 | rollPID.setGain(20.0f,0.0f,0.0f); |
NaotoMorita | 144:b3a713b4f1c4 | 29 | rollratePID.setGain(0.18f,0.0f,0.0f); |
cocorlow | 140:53dbdb207542 | 30 | |
NaotoMorita | 144:b3a713b4f1c4 | 31 | Vector3f Vb = eskf.calcVb(); |
NaotoMorita | 144:b3a713b4f1c4 | 32 | Vector3f dynAcc = eskf.calcDynAcc(acc); |
NaotoMorita | 144:b3a713b4f1c4 | 33 | vxPID.setProcessValue(dynAcc(0)); |
NaotoMorita | 144:b3a713b4f1c4 | 34 | vxPID.setSetPoint(0.0f); |
NaotoMorita | 144:b3a713b4f1c4 | 35 | vyPID.setProcessValue(dynAcc(1)); |
NaotoMorita | 144:b3a713b4f1c4 | 36 | vyPID.setSetPoint(0.0f); |
NaotoMorita | 144:b3a713b4f1c4 | 37 | vzPID.setProcessValue(Vb(2)); |
NaotoMorita | 144:b3a713b4f1c4 | 38 | vzPID.setSetPoint(0.0f); |
NaotoMorita | 144:b3a713b4f1c4 | 39 | |
NaotoMorita | 144:b3a713b4f1c4 | 40 | //dT = -vzPID.compute()+rc[2]; |
NaotoMorita | 144:b3a713b4f1c4 | 41 | dT = +rc[2]; |
cocorlow | 140:53dbdb207542 | 42 | |
NaotoMorita | 144:b3a713b4f1c4 | 43 | float pitchobj = rc[1]* 30.0f*M_PI_F/180.0f; |
NaotoMorita | 144:b3a713b4f1c4 | 44 | float rollobj = rc[0] * 30.0f*M_PI_F/180.0f; |
NaotoMorita | 144:b3a713b4f1c4 | 45 | yawratePID.setSetPoint(0.0f); |
NaotoMorita | 144:b3a713b4f1c4 | 46 | rollPID.setSetPoint(rollobj); |
NaotoMorita | 144:b3a713b4f1c4 | 47 | pitchPID.setSetPoint(pitchobj); |
NaotoMorita | 144:b3a713b4f1c4 | 48 | |
NaotoMorita | 144:b3a713b4f1c4 | 49 | float pitchrateobj = pitchPID.compute()* 30.0f*M_PI_F/180.0f; |
NaotoMorita | 144:b3a713b4f1c4 | 50 | float rollrateobj = rollPID.compute()* 30.0f*M_PI_F/180.0f; |
NaotoMorita | 144:b3a713b4f1c4 | 51 | pitchratePID.setSetPoint(pitchrateobj); |
NaotoMorita | 144:b3a713b4f1c4 | 52 | rollratePID.setSetPoint(rollrateobj); |
NaotoMorita | 144:b3a713b4f1c4 | 53 | |
NaotoMorita | 144:b3a713b4f1c4 | 54 | de = pitchratePID.compute(); |
NaotoMorita | 144:b3a713b4f1c4 | 55 | da = rollratePID.compute(); |
NaotoMorita | 144:b3a713b4f1c4 | 56 | dr = -0.1f*rc[3]+yawratePID.compute(); |
NaotoMorita | 144:b3a713b4f1c4 | 57 | |
NaotoMorita | 144:b3a713b4f1c4 | 58 | scaledMotorOut[0]= dT+de-dr; |
NaotoMorita | 144:b3a713b4f1c4 | 59 | scaledMotorOut[1]= dT+0.866f*de-0.866f*da+dr; |
NaotoMorita | 144:b3a713b4f1c4 | 60 | scaledMotorOut[2]= dT-0.866f*de-0.866f*da-dr; |
NaotoMorita | 144:b3a713b4f1c4 | 61 | scaledMotorOut[3]= dT-de+dr; |
NaotoMorita | 144:b3a713b4f1c4 | 62 | scaledMotorOut[4]= dT-0.866f*de+0.866f*da-dr; |
NaotoMorita | 144:b3a713b4f1c4 | 63 | scaledMotorOut[5]= dT+0.866f*de+0.866f*da+dr; |
NaotoMorita | 144:b3a713b4f1c4 | 64 | |
NaotoMorita | 144:b3a713b4f1c4 | 65 | float minArmThrottle = 0.25f; |
NaotoMorita | 144:b3a713b4f1c4 | 66 | for(int i = 0;i<sizeof(scaledMotorOut)/sizeof(scaledMotorOut[0]) ;i++){ |
NaotoMorita | 144:b3a713b4f1c4 | 67 | if(scaledMotorOut[i]<-1.0f+minArmThrottle) { |
NaotoMorita | 144:b3a713b4f1c4 | 68 | scaledMotorOut[i] = -1.0f+minArmThrottle; |
NaotoMorita | 144:b3a713b4f1c4 | 69 | } |
NaotoMorita | 143:53808e4e684c | 70 | } |
NaotoMorita | 143:53808e4e684c | 71 | |
NaotoMorita | 144:b3a713b4f1c4 | 72 | //pc.serial.printf("%f %f %f %f\r\n",dT,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI); |
cocorlow | 140:53dbdb207542 | 73 | |
NaotoMorita | 144:b3a713b4f1c4 | 74 | float LP_motor = 1.0f; |
NaotoMorita | 144:b3a713b4f1c4 | 75 | for(int i = 0;i<6 ;i++){ |
NaotoMorita | 144:b3a713b4f1c4 | 76 | motorOut[i] = (mapfloat(scaledMotorOut[i],-1.0f,1.0f,motorPwmMin,motorPwmMax)); |
cocorlow | 140:53dbdb207542 | 77 | if(motorOut[i]<motorPwmMin) { |
cocorlow | 140:53dbdb207542 | 78 | motorOut[i] = motorPwmMin; |
cocorlow | 140:53dbdb207542 | 79 | }; |
cocorlow | 140:53dbdb207542 | 80 | if(motorOut[i]>motorPwmMax) { |
cocorlow | 140:53dbdb207542 | 81 | motorOut[i] = motorPwmMax; |
cocorlow | 140:53dbdb207542 | 82 | }; |
cocorlow | 140:53dbdb207542 | 83 | } |
NaotoMorita | 144:b3a713b4f1c4 | 84 | |
NaotoMorita | 144:b3a713b4f1c4 | 85 | if(rc[7]>0.3f){ |
NaotoMorita | 144:b3a713b4f1c4 | 86 | motor1.pulsewidth_us(motorOut[0]); |
NaotoMorita | 144:b3a713b4f1c4 | 87 | motor2.pulsewidth_us(motorOut[1]); |
NaotoMorita | 144:b3a713b4f1c4 | 88 | motor3.pulsewidth_us(motorOut[2]); |
NaotoMorita | 144:b3a713b4f1c4 | 89 | motor4.pulsewidth_us(motorOut[3]); |
NaotoMorita | 144:b3a713b4f1c4 | 90 | motor5.pulsewidth_us(motorOut[4]); |
NaotoMorita | 144:b3a713b4f1c4 | 91 | motor6.pulsewidth_us(motorOut[5]); |
NaotoMorita | 144:b3a713b4f1c4 | 92 | }else{ |
NaotoMorita | 144:b3a713b4f1c4 | 93 | motor1.pulsewidth_us(motorPwmMin); |
NaotoMorita | 144:b3a713b4f1c4 | 94 | motor2.pulsewidth_us(motorPwmMin); |
NaotoMorita | 144:b3a713b4f1c4 | 95 | motor3.pulsewidth_us(motorPwmMin); |
NaotoMorita | 144:b3a713b4f1c4 | 96 | motor4.pulsewidth_us(motorPwmMin); |
NaotoMorita | 144:b3a713b4f1c4 | 97 | motor5.pulsewidth_us(motorPwmMin); |
NaotoMorita | 144:b3a713b4f1c4 | 98 | motor6.pulsewidth_us(motorPwmMin); |
NaotoMorita | 144:b3a713b4f1c4 | 99 | } |
cocorlow | 140:53dbdb207542 | 100 | sendData2PC(); |
cocorlow | 140:53dbdb207542 | 101 | writeSDcard(); |
cocorlow | 140:53dbdb207542 | 102 | |
cocorlow | 140:53dbdb207542 | 103 | if(loop_count >= 5) |
cocorlow | 140:53dbdb207542 | 104 | { |
cocorlow | 140:53dbdb207542 | 105 | sendTelemetry(); |
cocorlow | 140:53dbdb207542 | 106 | loop_count = 1; |
cocorlow | 140:53dbdb207542 | 107 | |
cocorlow | 140:53dbdb207542 | 108 | } |
cocorlow | 140:53dbdb207542 | 109 | else |
cocorlow | 140:53dbdb207542 | 110 | { |
cocorlow | 140:53dbdb207542 | 111 | loop_count +=1; |
cocorlow | 140:53dbdb207542 | 112 | } |
cocorlow | 140:53dbdb207542 | 113 | } |