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

servo.cpp@61:c05353850017, 2021-06-03 (annotated)

Committer:
NaotoMorita
Date:
Thu Jun 03 11:28:13 2021 +0000
Revision:
61:c05353850017
Parent:
57:923e3df16159
Child:
62:ef10fd919f7b
modify calibrate magneto

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 56:888379912f81 1 #include "global.hpp"
cocorlow 56:888379912f81 2
cocorlow 56:888379912f81 3 // 割り込まれた時点での出力(computeの結果）を返す関数
cocorlow 56:888379912f81 4 void calcServoOut()
cocorlow 56:888379912f81 5 {
cocorlow 56:888379912f81 6 if(sbus.failSafe == false)
cocorlow 56:888379912f81 7 {
cocorlow 56:888379912f81 8 // sbusデータの読み込み
cocorlow 56:888379912f81 9 for (int i = 0; i < 16;i ++)
cocorlow 56:888379912f81 10 {
cocorlow 56:888379912f81 11 rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
cocorlow 56:888379912f81 12 }
cocorlow 56:888379912f81 13 }
NaotoMorita 57:923e3df16159 14
NaotoMorita 57:923e3df16159 15 // 自身の位置に応じてエレベータ舵角を決定する
NaotoMorita 57:923e3df16159 16 float deobj = 0.0f;
NaotoMorita 57:923e3df16159 17 switch(pos_tail)
NaotoMorita 57:923e3df16159 18 {
NaotoMorita 57:923e3df16159 19 case 0: //left
NaotoMorita 57:923e3df16159 20 deobj = -rc[1];
NaotoMorita 57:923e3df16159 21 break;
NaotoMorita 57:923e3df16159 22 case 1: //center
NaotoMorita 57:923e3df16159 23 deobj = -rc[1];
NaotoMorita 57:923e3df16159 24 break;
NaotoMorita 57:923e3df16159 25 case 2: //right
NaotoMorita 57:923e3df16159 26 deobj = -rc[1];
NaotoMorita 57:923e3df16159 27 break;
NaotoMorita 57:923e3df16159 28 default: // error situation
NaotoMorita 57:923e3df16159 29 deobj = 0.0f;
NaotoMorita 57:923e3df16159 30 break;
NaotoMorita 57:923e3df16159 31 }
NaotoMorita 57:923e3df16159 32 //指令角の最大最小値をrc7で変更
NaotoMorita 57:923e3df16159 33 float objgain = ((rc[6]+1.0f)/2*10.0f+1.0f)*M_PI/180.0f;
NaotoMorita 57:923e3df16159 34 float pitchobj = objgain * deobj;
NaotoMorita 57:923e3df16159 35
NaotoMorita 57:923e3df16159 36 //ゲインの係数をrc8で変更
NaotoMorita 57:923e3df16159 37 float gaincoef = ((rc[7]+1.0f)/2*0.9)+0.1;
NaotoMorita 57:923e3df16159 38 pitchPID.setGain(6.36*gaincoef, 10.6*gaincoef,0.0);
NaotoMorita 57:923e3df16159 39 pitchratePID.setGain(0.9540*gaincoef,0.0,0.0);
cocorlow 56:888379912f81 40 pitchPID.setProcessValue(rpy.y);
cocorlow 56:888379912f81 41 pitchratePID.setProcessValue(gyro.y);
NaotoMorita 57:923e3df16159 42 //目標値のセット
NaotoMorita 57:923e3df16159 43 pitchPID.setSetPoint(pitchobj); //目標の設定
NaotoMorita 57:923e3df16159 44 float de = pitchPID.compute()+pitchratePID.compute();
cocorlow 56:888379912f81 45
cocorlow 56:888379912f81 46 scaledServoOut[0]=de;
cocorlow 56:888379912f81 47
cocorlow 56:888379912f81 48 float LP_servo = 0.2;
cocorlow 56:888379912f81 49 for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++)
cocorlow 56:888379912f81 50 {
cocorlow 56:888379912f81 51 servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
cocorlow 56:888379912f81 52 if(servoOut[i]<servoPwmMin)
cocorlow 56:888379912f81 53 {
cocorlow 56:888379912f81 54 servoOut[i] = servoPwmMin;
cocorlow 56:888379912f81 55 }
cocorlow 56:888379912f81 56 if(servoOut[i]>servoPwmMax)
cocorlow 56:888379912f81 57 {
cocorlow 56:888379912f81 58 servoOut[i] = servoPwmMax;
cocorlow 56:888379912f81 59 }
cocorlow 56:888379912f81 60 }
cocorlow 56:888379912f81 61
cocorlow 56:888379912f81 62 servo.pulsewidth_us(servoOut[0]);
cocorlow 56:888379912f81 63
cocorlow 56:888379912f81 64 //観測アップデート
cocorlow 56:888379912f81 65 dynacc = ekf.calcDynAcc(LPacc, accref);
cocorlow 56:888379912f81 66 th_mg = abs(acos(LPmag/LPmag.Norm() % LPacc/LPacc.Norm())-val_thmg);
cocorlow 56:888379912f81 67
cocorlow 56:888379912f81 68 accnormerr = abs(LPacc.Norm()-accref.Norm());
cocorlow 56:888379912f81 69 //静止時100個の平均　0.01877522 0.00514146 0.00477393
cocorlow 56:888379912f81 70
cocorlow 56:888379912f81 71 //int ang_th = th_mg < 0.01877522;
cocorlow 56:888379912f81 72 //int dyn_th = dynaccnorm < 0.00514146;
cocorlow 56:888379912f81 73 //int norm_th = accnormerr< 0.00477393;
NaotoMorita 61:c05353850017 74 int ang_th = th_mg < sigma_thmg/200.0;
NaotoMorita 61:c05353850017 75 int dyn_th = dynacc.Norm() < sigma_accnorm/50.0;
NaotoMorita 61:c05353850017 76 int norm_th = accnormerr< sigma_accnorm/50.0;
cocorlow 56:888379912f81 77 if(dyn_th+ang_th+norm_th>0)
cocorlow 56:888379912f81 78 {
cocorlow 56:888379912f81 79 //if(dyn_th+ang_th+norm_th>-1){
cocorlow 56:888379912f81 80 obs_count += 1;
cocorlow 56:888379912f81 81 ekf.updateAcrossMeasures(LPmag/LPmag.Norm(), magref/magref.Norm(), ekf.Rmag);
cocorlow 56:888379912f81 82 ekf.updateAcrossMeasures(LPacc/LPacc.Norm(), accref/accref.Norm(), ekf.Racc);
cocorlow 56:888379912f81 83 }
cocorlow 56:888379912f81 84
cocorlow 56:888379912f81 85 if(loop_count >= 10)
cocorlow 56:888379912f81 86 {
cocorlow 56:888379912f81 87 writeSdcard();
cocorlow 56:888379912f81 88 loop_count = 1;
cocorlow 56:888379912f81 89 obs_count = 0;
cocorlow 56:888379912f81 90 }
cocorlow 56:888379912f81 91 else
cocorlow 56:888379912f81 92 {
cocorlow 56:888379912f81 93 loop_count +=1;
cocorlow 56:888379912f81 94 }
cocorlow 56:888379912f81 95 }