solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
run.cpp@127:d73a6233ee4b, 2021-11-22 (annotated)
- Committer:
- NaotoMorita
- Date:
- Mon Nov 22 09:51:51 2021 +0000
- Revision:
- 127:d73a6233ee4b
- Parent:
- 126:03da3a8c8870
- Child:
- 129:a76be8380bb2
MAG Fuse OK
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cocorlow | 56:888379912f81 | 1 | #include "global.hpp" |
cocorlow | 56:888379912f81 | 2 | |
cocorlow | 56:888379912f81 | 3 | void run() |
cocorlow | 56:888379912f81 | 4 | { |
NaotoMorita | 68:b9f6938fab9d | 5 | wait(0.5); |
NaotoMorita | 77:2bf856e3eca4 | 6 | |
osaka | 87:89bbbcdb667b | 7 | //センサの初期化・ジャイロバイアス・加速度スケールの取得 |
NaotoMorita | 93:b827f78a717a | 8 | int n_init = 1000; |
NaotoMorita | 93:b827f78a717a | 9 | for(int i = 0;i<n_init;i++){ |
NaotoMorita | 93:b827f78a717a | 10 | lsm.readAccel(); |
NaotoMorita | 93:b827f78a717a | 11 | lsm.readMag(); |
NaotoMorita | 93:b827f78a717a | 12 | lsm.readGyro(); |
NaotoMorita | 93:b827f78a717a | 13 | agoffset[0] += lsm.ax * 9.8f; |
NaotoMorita | 93:b827f78a717a | 14 | agoffset[1] += lsm.ay * 9.8f; |
NaotoMorita | 93:b827f78a717a | 15 | agoffset[2] += lsm.az * 9.8f-9.8f; |
NaotoMorita | 93:b827f78a717a | 16 | agoffset[3] +=(lsm.gx * M_PI / 180.0f); |
NaotoMorita | 93:b827f78a717a | 17 | agoffset[4] +=(lsm.gy * M_PI / 180.0f); |
NaotoMorita | 93:b827f78a717a | 18 | agoffset[5] +=(lsm.gz * M_PI / 180.0f); |
NaotoMorita | 99:98b892ca70ec | 19 | palt0 += lps.pressureToAltitudeMeters(lps.readPressureMillibars()); |
NaotoMorita | 103:fec71c2051c5 | 20 | magref.x += lsm.mx; |
NaotoMorita | 103:fec71c2051c5 | 21 | magref.y += lsm.my; |
NaotoMorita | 103:fec71c2051c5 | 22 | magref.z += lsm.mz; |
NaotoMorita | 93:b827f78a717a | 23 | } |
NaotoMorita | 93:b827f78a717a | 24 | for(int i = 0;i<6;i++){ |
NaotoMorita | 93:b827f78a717a | 25 | agoffset[i] /= float(n_init); |
NaotoMorita | 93:b827f78a717a | 26 | } |
NaotoMorita | 103:fec71c2051c5 | 27 | magref.x /= float(n_init); |
NaotoMorita | 103:fec71c2051c5 | 28 | magref.y /= float(n_init); |
NaotoMorita | 103:fec71c2051c5 | 29 | magref.z /= float(n_init); |
NaotoMorita | 98:bdaa6bbfb1d9 | 30 | palt0 /= float(n_init); |
NaotoMorita | 93:b827f78a717a | 31 | twelite.printf("Sensor offset : %f %f %f %f %f %f\r\n",agoffset[0],agoffset[1],agoffset[2],agoffset[3],agoffset[4],agoffset[5]); |
osaka | 87:89bbbcdb667b | 32 | //センサ正常性チェック |
osaka | 87:89bbbcdb667b | 33 | //usaPack通信開始 |
NaotoMorita | 77:2bf856e3eca4 | 34 | pc.Subscribe(0000, &(vp)); |
NaotoMorita | 126:03da3a8c8870 | 35 | |
osaka | 87:89bbbcdb667b | 36 | //制御ループのアタッチ |
NaotoMorita | 77:2bf856e3eca4 | 37 | LoopTicker PIDtick; |
NaotoMorita | 77:2bf856e3eca4 | 38 | PIDtick.attach(calcServoOut,PID_dt); |
NaotoMorita | 77:2bf856e3eca4 | 39 | |
NaotoMorita | 99:98b892ca70ec | 40 | //ESKFの共分散設定 |
NaotoMorita | 93:b827f78a717a | 41 | eskf.setGravity(0.0f,0.0f,9.8f); |
NaotoMorita | 93:b827f78a717a | 42 | eskf.setPhatPosition(0.1f); |
NaotoMorita | 93:b827f78a717a | 43 | eskf.setPhatVelocity(0.1f); |
NaotoMorita | 113:3e47d9881529 | 44 | eskf.setPhatAngleError(0.5f); |
NaotoMorita | 94:579e875a4244 | 45 | eskf.setPhatAccBias(0.001f); |
NaotoMorita | 94:579e875a4244 | 46 | eskf.setPhatGyroBias(0.001f); |
NaotoMorita | 94:579e875a4244 | 47 | eskf.setPhatGravity(0.0000001f); |
NaotoMorita | 93:b827f78a717a | 48 | |
NaotoMorita | 127:d73a6233ee4b | 49 | eskf.setQVelocity(0.000025f); |
NaotoMorita | 93:b827f78a717a | 50 | eskf.setQAngleError(0.00025f); |
NaotoMorita | 94:579e875a4244 | 51 | eskf.setQAccBias(0.0000001f); |
NaotoMorita | 93:b827f78a717a | 52 | eskf.setQGyroBias(0.000001f); |
NaotoMorita | 93:b827f78a717a | 53 | |
NaotoMorita | 127:d73a6233ee4b | 54 | Matrix Rgps(6,6); |
NaotoMorita | 127:d73a6233ee4b | 55 | setDiag(Rgps,1.0f); |
NaotoMorita | 127:d73a6233ee4b | 56 | //Rgps(4,4) = 0.1f; |
NaotoMorita | 127:d73a6233ee4b | 57 | //Rgps(5,5) = 0.1f; |
NaotoMorita | 113:3e47d9881529 | 58 | |
NaotoMorita | 113:3e47d9881529 | 59 | Matrix Racc(3,3); |
NaotoMorita | 113:3e47d9881529 | 60 | setDiag(Racc,50.0f); |
NaotoMorita | 127:d73a6233ee4b | 61 | |
NaotoMorita | 126:03da3a8c8870 | 62 | Matrix Rheading(1,1); |
NaotoMorita | 127:d73a6233ee4b | 63 | Rheading(1,1) = 0.01f; |
NaotoMorita | 126:03da3a8c8870 | 64 | _t.start(); |
NaotoMorita | 93:b827f78a717a | 65 | float tgps = _t.read(); |
NaotoMorita | 127:d73a6233ee4b | 66 | float theading = _t.read(); |
NaotoMorita | 77:2bf856e3eca4 | 67 | while(1) |
NaotoMorita | 77:2bf856e3eca4 | 68 | { |
NaotoMorita | 68:b9f6938fab9d | 69 | float tstart = _t.read(); |
osaka | 87:89bbbcdb667b | 70 | //センサの値を取得 |
NaotoMorita | 73:84ffa0166e6c | 71 | if(hilFlag == true){ |
NaotoMorita | 92:00460f6df439 | 72 | getHilIMUval(); |
NaotoMorita | 93:b827f78a717a | 73 | }else{ |
NaotoMorita | 92:00460f6df439 | 74 | getIMUval(); |
NaotoMorita | 73:84ffa0166e6c | 75 | } |
osaka | 87:89bbbcdb667b | 76 | //ekfの更新 |
NaotoMorita | 90:96c2b0ed4b96 | 77 | eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt); |
NaotoMorita | 90:96c2b0ed4b96 | 78 | eskf.updateErrState(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt); |
NaotoMorita | 103:fec71c2051c5 | 79 | |
NaotoMorita | 100:7589b663d462 | 80 | if(hilFlag == true){ |
NaotoMorita | 100:7589b663d462 | 81 | if(tstart-tgps>0.2f){ |
NaotoMorita | 92:00460f6df439 | 82 | getHilGPSval(); |
NaotoMorita | 100:7589b663d462 | 83 | tgps = _t.read(); |
NaotoMorita | 100:7589b663d462 | 84 | gpsUpdateFlag = true; |
NaotoMorita | 92:00460f6df439 | 85 | }else{ |
NaotoMorita | 100:7589b663d462 | 86 | gpsUpdateFlag = false; |
NaotoMorita | 92:00460f6df439 | 87 | } |
NaotoMorita | 92:00460f6df439 | 88 | }else{ |
NaotoMorita | 103:fec71c2051c5 | 89 | getGPSval(); |
NaotoMorita | 92:00460f6df439 | 90 | } |
NaotoMorita | 127:d73a6233ee4b | 91 | |
NaotoMorita | 127:d73a6233ee4b | 92 | headingUpdateFlag = false; |
NaotoMorita | 127:d73a6233ee4b | 93 | if(tstart-theading>0.05f){ |
NaotoMorita | 127:d73a6233ee4b | 94 | Matrix euler = eskf.computeAngles(); |
NaotoMorita | 127:d73a6233ee4b | 95 | if(fabsf(euler(2,1))<30.0f*M_PI/180.0f){ |
NaotoMorita | 127:d73a6233ee4b | 96 | headingUpdateFlag = true; |
NaotoMorita | 127:d73a6233ee4b | 97 | theading = _t.read(); |
NaotoMorita | 127:d73a6233ee4b | 98 | } |
NaotoMorita | 127:d73a6233ee4b | 99 | } |
NaotoMorita | 127:d73a6233ee4b | 100 | |
NaotoMorita | 100:7589b663d462 | 101 | if(gpsUpdateFlag == true){ |
NaotoMorita | 111:0fae4fbe2a80 | 102 | eskf.updateGPS(MatrixMath::Vector2mat(pi),palt,MatrixMath::Vector2mat(vi),Rgps); |
NaotoMorita | 127:d73a6233ee4b | 103 | //eskf.updateGPSPosition(MatrixMath::Vector2mat(pi),palt,Rgps); |
NaotoMorita | 127:d73a6233ee4b | 104 | }else if(headingUpdateFlag == true){ |
NaotoMorita | 127:d73a6233ee4b | 105 | float heading = atan2f(-mag.y,mag.x); |
NaotoMorita | 127:d73a6233ee4b | 106 | eskf.updateHeading(heading,Rheading); |
NaotoMorita | 104:20b8caa29185 | 107 | }else{ |
NaotoMorita | 124:7d6b1b62483b | 108 | eskf.updateAcc(MatrixMath::Vector2mat(acc),Racc); |
NaotoMorita | 100:7589b663d462 | 109 | } |
NaotoMorita | 77:2bf856e3eca4 | 110 | PIDtick.loop(); |
NaotoMorita | 77:2bf856e3eca4 | 111 | |
osaka | 87:89bbbcdb667b | 112 | //制御時間を計測 |
NaotoMorita | 68:b9f6938fab9d | 113 | float tend = _t.read(); |
NaotoMorita | 68:b9f6938fab9d | 114 | att_dt = (tend-tstart); |
cocorlow | 56:888379912f81 | 115 | } |
osaka | 87:89bbbcdb667b | 116 | } |