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@82:c183c29d2427, 2021-09-16 (annotated)

Committer:
NaotoMorita
Date:
Thu Sep 16 09:30:21 2021 +0000
Revision:
82:c183c29d2427
Parent:
77:2bf856e3eca4
Child:
83:e69ab831031c
velocity fuse

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 82:c183c29d2427 8 UsaPack pc(USBTX, USBRX, 115200); // log - tail
NaotoMorita 76:7fd3ac1afe3e 9 Serial sd(PG_14,PG_9);
cocorlow 56:888379912f81 10
cocorlow 56:888379912f81 11 // sensor
cocorlow 56:888379912f81 12 MPU6050 accelgyro;
cocorlow 56:888379912f81 13 MAG3110 mag_sensor(PB_9,PB_8);
NaotoMorita 61:c05353850017 14 CalibrateMagneto magCalibrator;
cocorlow 56:888379912f81 15
cocorlow 56:888379912f81 16 // io
cocorlow 56:888379912f81 17 DigitalIn userButton(USER_BUTTON);
NaotoMorita 70:99f974d8960e 18 SBUS sbus(PD_5, PD_6);
NaotoMorita 73:84ffa0166e6c 19 Joystick joystick(PC_3,PF_3,PF_5);
NaotoMorita 70:99f974d8960e 20
cocorlow 56:888379912f81 21 // control
NaotoMorita 70:99f974d8960e 22 FastPWM servoRight(PE_9);
NaotoMorita 70:99f974d8960e 23 FastPWM servoLeft(PE_11);
NaotoMorita 70:99f974d8960e 24 FastPWM servoThrust(PE_13);
NaotoMorita 74:f67062e7813e 25 PID pitchPID(10.0f,0.0f,0.0f,PID_dt); //rad
NaotoMorita 74:f67062e7813e 26 PID pitchratePID(1.0f, 0.0f, 0.0f, PID_dt);//rad/s
NaotoMorita 74:f67062e7813e 27 PID rollPID(5.0f,0.0f,0.0f,PID_dt);
NaotoMorita 74:f67062e7813e 28 PID rollratePID(0.5f, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 76:7fd3ac1afe3e 29 ScErrStateEKF ekf; // EKF class
NaotoMorita 76:7fd3ac1afe3e 30 int obsCount = 0;
cocorlow 56:888379912f81 31
NaotoMorita 70:99f974d8960e 32 float rc[16];
cocorlow 56:888379912f81 33 int loop_count = 0;
cocorlow 56:888379912f81 34 float att_dt = 0.01f;
cocorlow 56:888379912f81 35 int16_t ax, ay, az;
cocorlow 56:888379912f81 36 int16_t gx, gy, gz;
cocorlow 56:888379912f81 37 MotionSensorDataUnits mdata;
cocorlow 56:888379912f81 38
cocorlow 56:888379912f81 39 // position
cocorlow 56:888379912f81 40 Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 41 Vector3 acc;
NaotoMorita 68:b9f6938fab9d 42 Vector3 accref(0.0f, 0.0f, 0.98f);
NaotoMorita 68:b9f6938fab9d 43 Vector3 dynacc;
cocorlow 56:888379912f81 44 Vector3 mag;
cocorlow 56:888379912f81 45 Vector3 magref(0.65f, 0.0f, 0.75f);
cocorlow 56:888379912f81 46 Vector3 gyro;
NaotoMorita 77:2bf856e3eca4 47 Vector3 vb;
NaotoMorita 82:c183c29d2427 48 Vector3 vi;
NaotoMorita 77:2bf856e3eca4 49
NaotoMorita 73:84ffa0166e6c 50 float de = 0.0f;
NaotoMorita 73:84ffa0166e6c 51 float da = 0.0f;
NaotoMorita 73:84ffa0166e6c 52 float dT = 0.0f;
NaotoMorita 70:99f974d8960e 53 MedianFilter accMedian(3);
NaotoMorita 70:99f974d8960e 54 MedianFilter gyroMedian(3);
NaotoMorita 70:99f974d8960e 55 MedianFilter magMedian(3);
NaotoMorita 72:267e2cfddb0b 56
NaotoMorita 70:99f974d8960e 57 float scaledServoOut[2]= {0.0f,0.0f};
NaotoMorita 70:99f974d8960e 58 float scaledMotorOut[1]= {-1.0f};
NaotoMorita 63:9c4973a98600 59 float servoOut[2] = {1500.0f,1500.0f};
NaotoMorita 70:99f974d8960e 60 float motorOut[1] = {1100.0f};
cocorlow 56:888379912f81 61
cocorlow 56:888379912f81 62 int calibrationFlag = 0;
NaotoMorita 77:2bf856e3eca4 63 int agoffset[6] = {0, 0, 0, -584, -94, 37};
NaotoMorita 76:7fd3ac1afe3e 64
NaotoMorita 76:7fd3ac1afe3e 65 float magbias[4] = {-134.817047, 127.833481, -152.631836, 44.508556};
NaotoMorita 75:a505b9896da1 66 float magbiasMin[3] = {-174.831711, 93.465691, -188.617172};
NaotoMorita 75:a505b9896da1 67 float magbiasMax[3] = {-110.413963, 162.321548, -122.566071};
NaotoMorita 75:a505b9896da1 68 float accMin[3] = {-0.963692, -0.974141, -1.012899};
NaotoMorita 75:a505b9896da1 69 float accMax[3] = { 1.025954, 0.974748, 0.987155};
cocorlow 56:888379912f81 70
NaotoMorita 76:7fd3ac1afe3e 71 Vector3 rpy_align( 8.742834f*M_PI/180.0f, -0.228718f*M_PI/180.0f, 0.0f*M_PI/180.0f);
cocorlow 56:888379912f81 72
cocorlow 56:888379912f81 73
cocorlow 56:888379912f81 74 // UsaPack
NaotoMorita 73:84ffa0166e6c 75 valuePack vp;
NaotoMorita 73:84ffa0166e6c 76
NaotoMorita 73:84ffa0166e6c 77 // HIL
NaotoMorita 82:c183c29d2427 78 bool hilFlag = true;
NaotoMorita 76:7fd3ac1afe3e 79 bool serialControlSource = false;
NaotoMorita 76:7fd3ac1afe3e 80 bool serialParamSource = false;
NaotoMorita 76:7fd3ac1afe3e 81 int checkParamSerial[5] = {0,0,0,0,0};
cocorlow 56:888379912f81 82
cocorlow 56:888379912f81 83 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
cocorlow 56:888379912f81 84 {
cocorlow 56:888379912f81 85 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
NaotoMorita 67:41fcdfb7cc5a 86 }