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@93:b827f78a717a, 2021-10-29 (annotated)

Committer:
NaotoMorita
Date:
Fri Oct 29 13:30:24 2021 +0000
Revision:
93:b827f78a717a
Parent:
92:00460f6df439
Child:
94:579e875a4244
Child:
95:43717535c354
almost usable

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 90:96c2b0ed4b96 16 #include "solaESKF.hpp"
NaotoMorita 70:99f974d8960e 17 #include "MedianFilter.hpp"
cocorlow 56:888379912f81 18
cocorlow 56:888379912f81 19 #define M_PI 3.141592f
cocorlow 56:888379912f81 20 #define ACCEL_SSF 4096.0f
NaotoMorita 70:99f974d8960e 21 #define GYRO_SSF 131.0f
cocorlow 56:888379912f81 22 #define PID_dt 0.015f
cocorlow 56:888379912f81 23 #define servoPwmMax 1800.0f
cocorlow 56:888379912f81 24 #define servoPwmMin 1200.0f
cocorlow 56:888379912f81 25 #define motorPwmMax 2000.0f
cocorlow 56:888379912f81 26 #define motorPwmMin 1100.0f
cocorlow 56:888379912f81 27
osaka 88:be349faa1976 28
cocorlow 56:888379912f81 29 struct valuePack
cocorlow 56:888379912f81 30 {
NaotoMorita 73:84ffa0166e6c 31 int16_t accData[3];
NaotoMorita 73:84ffa0166e6c 32 int16_t gyroData[3];
NaotoMorita 84:ff48e01ea76b 33 int16_t magData[3];
NaotoMorita 84:ff48e01ea76b 34 int16_t viData[3];
NaotoMorita 92:00460f6df439 35 int16_t piData[3];
NaotoMorita 84:ff48e01ea76b 36 int16_t actData[4];
NaotoMorita 76:7fd3ac1afe3e 37 int16_t commandIndex;
NaotoMorita 83:e69ab831031c 38 int16_t commandVal;
NaotoMorita 83:e69ab831031c 39 };
NaotoMorita 83:e69ab831031c 40
NaotoMorita 83:e69ab831031c 41 struct sendPack
NaotoMorita 83:e69ab831031c 42 {
NaotoMorita 83:e69ab831031c 43 float da;
NaotoMorita 83:e69ab831031c 44 float de;
NaotoMorita 83:e69ab831031c 45 float dT;
NaotoMorita 83:e69ab831031c 46 float rpy[3];
NaotoMorita 84:ff48e01ea76b 47 float vihat[3];
cocorlow 56:888379912f81 48 };
cocorlow 56:888379912f81 49
cocorlow 56:888379912f81 50 // var
cocorlow 56:888379912f81 51
cocorlow 56:888379912f81 52 // communication
osaka 88:be349faa1976 53
NaotoMorita 64:e9661430f0e3 54 extern UsaPack pc; // log - tail
NaotoMorita 76:7fd3ac1afe3e 55 extern Serial sd;
osaka 87:89bbbcdb667b 56 extern Serial twelite;
cocorlow 56:888379912f81 57
cocorlow 56:888379912f81 58 // io
cocorlow 56:888379912f81 59 extern DigitalIn userButton;
NaotoMorita 70:99f974d8960e 60 extern SBUS sbus;
osaka 88:be349faa1976 61 extern I2C i2c; // sda, scl
osaka 88:be349faa1976 62 extern LSM9DS1 lsm;
osaka 88:be349faa1976 63 extern LPS lps;
cocorlow 56:888379912f81 64
cocorlow 56:888379912f81 65 // control
NaotoMorita 70:99f974d8960e 66 extern FastPWM servoRight;
NaotoMorita 70:99f974d8960e 67 extern FastPWM servoLeft;
NaotoMorita 70:99f974d8960e 68 extern FastPWM servoThrust;
NaotoMorita 70:99f974d8960e 69 extern PID pitchPID; //rad
NaotoMorita 70:99f974d8960e 70 extern PID pitchratePID;//rad/s
NaotoMorita 70:99f974d8960e 71 extern PID rollPID;
NaotoMorita 70:99f974d8960e 72 extern PID rollratePID;//rad/s
NaotoMorita 90:96c2b0ed4b96 73 extern solaESKF eskf; // EKF class
NaotoMorita 76:7fd3ac1afe3e 74 extern int obsCount;
cocorlow 56:888379912f81 75
NaotoMorita 70:99f974d8960e 76 extern float rc[16];
cocorlow 56:888379912f81 77 extern int loop_count;
cocorlow 56:888379912f81 78 extern float att_dt;
cocorlow 56:888379912f81 79
NaotoMorita 70:99f974d8960e 80
cocorlow 56:888379912f81 81 // position
NaotoMorita 93:b827f78a717a 82 extern Matrix SensorAlignment;
cocorlow 56:888379912f81 83 extern Vector3 rpy; // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 84 extern Vector3 acc;
cocorlow 56:888379912f81 85 extern Vector3 accref;
cocorlow 56:888379912f81 86 extern Vector3 mag;
cocorlow 56:888379912f81 87 extern Vector3 magref;
cocorlow 56:888379912f81 88 extern Vector3 gyro;
NaotoMorita 82:c183c29d2427 89 extern Vector3 vi;
NaotoMorita 92:00460f6df439 90 extern Vector3 pi;
NaotoMorita 92:00460f6df439 91 extern float palt;
osaka 87:89bbbcdb667b 92
NaotoMorita 73:84ffa0166e6c 93 extern float de;
NaotoMorita 73:84ffa0166e6c 94 extern float da;
NaotoMorita 73:84ffa0166e6c 95 extern float dT;
NaotoMorita 70:99f974d8960e 96 extern MedianFilter accMedian;
NaotoMorita 70:99f974d8960e 97 extern MedianFilter gyroMedian;
NaotoMorita 70:99f974d8960e 98 extern MedianFilter magMedian;
cocorlow 56:888379912f81 99
NaotoMorita 64:e9661430f0e3 100 extern float scaledServoOut[2];
NaotoMorita 70:99f974d8960e 101 extern float scaledMotorOut[1];
NaotoMorita 64:e9661430f0e3 102 extern float servoOut[2];
NaotoMorita 70:99f974d8960e 103 extern float motorOut[1];
cocorlow 56:888379912f81 104
NaotoMorita 61:c05353850017 105
cocorlow 56:888379912f81 106 extern int calibrationFlag;
NaotoMorita 93:b827f78a717a 107 extern float agoffset[6];
NaotoMorita 61:c05353850017 108 extern float magbiasMin[3];
NaotoMorita 61:c05353850017 109 extern float magbiasMax[3];
NaotoMorita 76:7fd3ac1afe3e 110 extern float magbias[4];
NaotoMorita 70:99f974d8960e 111 extern float accMin[3];
NaotoMorita 70:99f974d8960e 112 extern float accMax[3];
cocorlow 56:888379912f81 113
cocorlow 56:888379912f81 114 extern Vector3 rpy_align;
cocorlow 56:888379912f81 115
cocorlow 56:888379912f81 116
cocorlow 56:888379912f81 117 //// UsaPack
NaotoMorita 73:84ffa0166e6c 118 extern valuePack vp;
NaotoMorita 83:e69ab831031c 119 extern sendPack sp;
NaotoMorita 73:84ffa0166e6c 120
NaotoMorita 73:84ffa0166e6c 121 // HIL
NaotoMorita 73:84ffa0166e6c 122 extern bool hilFlag;
NaotoMorita 76:7fd3ac1afe3e 123 extern bool serialControlSource;
NaotoMorita 76:7fd3ac1afe3e 124 extern bool serialParamSource;
NaotoMorita 76:7fd3ac1afe3e 125 extern int checkParamSerial[5];
cocorlow 56:888379912f81 126 // function
cocorlow 56:888379912f81 127
cocorlow 56:888379912f81 128 // main.cpp
cocorlow 56:888379912f81 129
cocorlow 56:888379912f81 130 // setup.cpp
cocorlow 56:888379912f81 131 extern void setup();
cocorlow 56:888379912f81 132 extern void calibrate();
cocorlow 56:888379912f81 133 // run.cpp
cocorlow 56:888379912f81 134 extern void run();
cocorlow 56:888379912f81 135
cocorlow 56:888379912f81 136 // imu.cpp
osaka 88:be349faa1976 137 extern void getIMUval();
cocorlow 56:888379912f81 138
NaotoMorita 73:84ffa0166e6c 139 // hil.cpp
NaotoMorita 92:00460f6df439 140 extern void getHilIMUval();
NaotoMorita 92:00460f6df439 141 extern void getHilGPSval();
NaotoMorita 73:84ffa0166e6c 142 extern float randn();
NaotoMorita 73:84ffa0166e6c 143
cocorlow 56:888379912f81 144 // servo.cpp
cocorlow 56:888379912f81 145 extern void calcServoOut();
cocorlow 56:888379912f81 146
osaka 87:89bbbcdb667b 147 // transferData.cpp
osaka 87:89bbbcdb667b 148 extern void sendData2PC();
osaka 87:89bbbcdb667b 149 extern void sendTelemetry();
osaka 87:89bbbcdb667b 150 extern void writeSDcard();
cocorlow 56:888379912f81 151
cocorlow 56:888379912f81 152 // global.cpp
cocorlow 56:888379912f81 153 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
NaotoMorita 93:b827f78a717a 154 extern void setDiag(Matrix& mat, float val);
NaotoMorita 93:b827f78a717a 155 extern void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex);
cocorlow 56:888379912f81 156 #endif