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.cpp@68:b9f6938fab9d, 2021-06-28 (annotated)

Committer:
NaotoMorita
Date:
Mon Jun 28 01:40:26 2021 +0000
Revision:
68:b9f6938fab9d
Parent:
67:41fcdfb7cc5a
Child:
70:99f974d8960e
commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 56:888379912f81 1 #include "global.hpp"
cocorlow 56:888379912f81 2
NaotoMorita 67:41fcdfb7cc5a 3
cocorlow 56:888379912f81 4 // var
cocorlow 56:888379912f81 5
cocorlow 56:888379912f81 6 // communication
cocorlow 56:888379912f81 7 I2C i2c(PB_9,PB_8); // sda, scl
NaotoMorita 67:41fcdfb7cc5a 8 UsaPack pc(USBTX, USBRX, 57600); // log - tail
cocorlow 56:888379912f81 9
cocorlow 56:888379912f81 10 // sensor
cocorlow 56:888379912f81 11 MPU6050 accelgyro;
cocorlow 56:888379912f81 12 MAG3110 mag_sensor(PB_9,PB_8);
NaotoMorita 61:c05353850017 13 CalibrateMagneto magCalibrator;
cocorlow 56:888379912f81 14
cocorlow 56:888379912f81 15 // io
cocorlow 56:888379912f81 16 DigitalIn userButton(USER_BUTTON);
NaotoMorita 63:9c4973a98600 17 CalibrateMagneto joyCalibrator;
cocorlow 56:888379912f81 18 // control
NaotoMorita 63:9c4973a98600 19 FastPWM elevServo(PE_11);
NaotoMorita 63:9c4973a98600 20 FastPWM rudServo(PE_13);
cocorlow 56:888379912f81 21 PID pitchPID(5.0, 0,0, PID_dt); // rad
cocorlow 56:888379912f81 22 PID pitchratePID(0.5, 0.0, 0.0, PID_dt); // rad/s
NaotoMorita 67:41fcdfb7cc5a 23 errStateEKF ekf; // EKF class
cocorlow 56:888379912f81 24
cocorlow 56:888379912f81 25 int loop_count = 0;
cocorlow 56:888379912f81 26 float att_dt = 0.01f;
cocorlow 56:888379912f81 27
cocorlow 56:888379912f81 28 int16_t ax, ay, az;
cocorlow 56:888379912f81 29 int16_t gx, gy, gz;
cocorlow 56:888379912f81 30 MotionSensorDataUnits mdata;
cocorlow 56:888379912f81 31 float magval[3] = {1.0f, 0.0f, 0.0f};
cocorlow 56:888379912f81 32
cocorlow 56:888379912f81 33 // position
cocorlow 56:888379912f81 34 Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 35 Vector3 acc;
NaotoMorita 68:b9f6938fab9d 36 Vector3 accref(0.0f, 0.0f, 0.98f);
NaotoMorita 68:b9f6938fab9d 37 Vector3 dynacc;
cocorlow 56:888379912f81 38 Vector3 mag;
cocorlow 56:888379912f81 39 Vector3 magref(0.65f, 0.0f, 0.75f);
cocorlow 56:888379912f81 40 Vector3 gyro;
cocorlow 56:888379912f81 41
NaotoMorita 63:9c4973a98600 42 float scaledServoOut[2] = {0.0f,0.0f};
NaotoMorita 63:9c4973a98600 43 float servoOut[2] = {1500.0f,1500.0f};
cocorlow 56:888379912f81 44
cocorlow 56:888379912f81 45 int calibrationFlag = 0;
NaotoMorita 68:b9f6938fab9d 46 int agoffset[6] = {0, 0, 0, -121, -12, 24};
NaotoMorita 68:b9f6938fab9d 47 float magbiasMin[3] = {-45.639572, -0.059049, -208.120300};
NaotoMorita 68:b9f6938fab9d 48 float magbiasMax[3] = {28.209938, 65.421822, -131.388748};
cocorlow 56:888379912f81 49
NaotoMorita 68:b9f6938fab9d 50 Vector3 rpy_align(-1.192014f*M_PI/180.0f, -2.639991f*M_PI/180.0f, 0.0f*M_PI/180.0f);
cocorlow 56:888379912f81 51
cocorlow 56:888379912f81 52
cocorlow 56:888379912f81 53 // UsaPack
NaotoMorita 63:9c4973a98600 54 valuePack posValues;
cocorlow 56:888379912f81 55
cocorlow 56:888379912f81 56 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
cocorlow 56:888379912f81 57 {
cocorlow 56:888379912f81 58 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
NaotoMorita 67:41fcdfb7cc5a 59 }