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

main.cpp@21:df4e4e857a3e, 2021-02-09 (annotated)

Committer:
naker
Date:
Tue Feb 09 09:03:00 2021 +0000
Revision:
21:df4e4e857a3e
Parent:
20:2c3f113a8e8f
Child:
22:da9893b71f24
setbias to specify the stable point

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NaotoMorita 0:6b18a09a6628 1 #include "mbed.h"
naker 20:2c3f113a8e8f 2 #include "PIDcontroller.h"
NaotoMorita 0:6b18a09a6628 3 #include "SBUS.hpp"
NaotoMorita 17:6b7a363d06d2 4 #include <MadgwickAHRS.h>
cocorlow 6:2cba569272fe 5 #include "LoopTicker.hpp"
naker 15:6abaac6e5b03 6 #include "MPU6050.h"
NaotoMorita 17:6b7a363d06d2 7 #include <I2Cdev.h>
cocorlow 6:2cba569272fe 8
NaotoMorita 17:6b7a363d06d2 9 #define MPU6050_PWR_MGMT_1 0x6B
NaotoMorita 17:6b7a363d06d2 10 #define MPU_ADDRESS 0x68
NaotoMorita 17:6b7a363d06d2 11 #define pi 3.141562
naker 20:2c3f113a8e8f 12 #define RATE 0.1 // for
NaotoMorita 17:6b7a363d06d2 13
NaotoMorita 17:6b7a363d06d2 14 //加速度 Full-Scale Range
NaotoMorita 17:6b7a363d06d2 15 //#define ACCEL_FSR MPU6050_ACCEL_FS_2
NaotoMorita 17:6b7a363d06d2 16 //#define ACCEL_FSR MPU6050_ACCEL_FS_4
NaotoMorita 17:6b7a363d06d2 17 #define ACCEL_FSR MPU6050_ACCEL_FS_8
NaotoMorita 17:6b7a363d06d2 18 //#define ACCEL_FSR MPU6050_ACCEL_FS_16
NaotoMorita 17:6b7a363d06d2 19 //加速度 Sensitivity Scale Factor
NaotoMorita 17:6b7a363d06d2 20 #define ACCEL_SSF 36500.0
NaotoMorita 17:6b7a363d06d2 21 //角速度 Full-Scale Range
NaotoMorita 17:6b7a363d06d2 22 #define GYRO_FSR MPU6050_GYRO_FS_250
NaotoMorita 17:6b7a363d06d2 23 //#define GYRO_FSR MPU6050_GYRO_FS_500
NaotoMorita 17:6b7a363d06d2 24 //#define GYRO_FSR MPU6050_GYRO_FS_1000
NaotoMorita 17:6b7a363d06d2 25 //#define GYRO_FSR MPU6050_GYRO_FS_2000
NaotoMorita 17:6b7a363d06d2 26 //角速度 Sensitivity Scale Factor
NaotoMorita 17:6b7a363d06d2 27 #define GYRO_SSF 131.0
NaotoMorita 17:6b7a363d06d2 28 //#define GYRO_SSF 65.5
NaotoMorita 17:6b7a363d06d2 29 //#define GYRO_SSF 32.8
NaotoMorita 17:6b7a363d06d2 30 //#define GYRO_SSF 16.4
NaotoMorita 17:6b7a363d06d2 31 #define MPU6050_LPF MPU6050_DLPF_BW_256
NaotoMorita 17:6b7a363d06d2 32 //#define MPU6050_LPF MPU6050_DLPF_BW_188
naker 20:2c3f113a8e8f 33 //#define MPU6050_LPF MPU6050_DLPF_BW_98
naker 20:2c3f113a8e8f 34 //#define MPU6050_LPF MPU6050_DLPF_BW_42
naker 20:2c3f113a8e8f 35 //#define MPU6050_LPF MPU6050_DLPF_BW_20
naker 20:2c3f113a8e8f 36 //#define MPU6050_LPF MPU6050_DLPF_BW_10
naker 20:2c3f113a8e8f 37 //#define MPU6050_LPF MPU6050_DLPF_BW_5
NaotoMorita 17:6b7a363d06d2 38 MPU6050 accelgyro;
NaotoMorita 17:6b7a363d06d2 39 Madgwick MadgwickFilter;
NaotoMorita 0:6b18a09a6628 40 SBUS sbus(PD_5, PD_6);
NaotoMorita 0:6b18a09a6628 41 Serial pc(USBTX, USBRX);
naker 20:2c3f113a8e8f 42 // Serial sd(PE_8,PE_7);
cocorlow 3:79e62f9b13c8 43 DigitalOut led1(LED1);
cocorlow 3:79e62f9b13c8 44 DigitalOut led3(LED3);
NaotoMorita 17:6b7a363d06d2 45 PwmOut servoRight(PE_9);
naker 20:2c3f113a8e8f 46 //PwmOut co(PE_9); // サーボのoutput
naker 20:2c3f113a8e8f 47 //Servo servoRight(PE_); //右のサーボ
NaotoMorita 17:6b7a363d06d2 48 //Servo servoLeft(PB_5); //左のサーボ
NaotoMorita 17:6b7a363d06d2 49 //Servo thrServo(PB_6); //スロットルサーボ
NaotoMorita 17:6b7a363d06d2 50
naker 20:2c3f113a8e8f 51 // のセットアップ
naker 20:2c3f113a8e8f 52 // (float Kp, float Ki, float Kd, float tSample);
naker 20:2c3f113a8e8f 53 const double PID_dt = 0.01;
naker 21:df4e4e857a3e 54 PID test_control(1.2, 0.0, 0.0, PID_dt);
NaotoMorita 17:6b7a363d06d2 55 Timer t;
cocorlow 3:79e62f9b13c8 56
NaotoMorita 5:9cad4ce807b9 57 int ch1, ch2;
cocorlow 3:79e62f9b13c8 58 float rc1, rc2;
naker 15:6abaac6e5b03 59 double pitch = 0.0;
naker 15:6abaac6e5b03 60 double roll = 0.0;
naker 15:6abaac6e5b03 61 double yaw = 0.0;
NaotoMorita 17:6b7a363d06d2 62 int16_t ax, ay, az;
NaotoMorita 17:6b7a363d06d2 63 int16_t gx, gy, gz;
NaotoMorita 17:6b7a363d06d2 64 double acc_x,acc_y,acc_z;
NaotoMorita 17:6b7a363d06d2 65 double gyro_x,gyro_y,gyro_z;
cocorlow 3:79e62f9b13c8 66 int out1, out2;
cocorlow 3:79e62f9b13c8 67
NaotoMorita 17:6b7a363d06d2 68 const double pitch_align = 0.0;
NaotoMorita 17:6b7a363d06d2 69 const double roll_align = -0.0;
naker 20:2c3f113a8e8f 70 float tstart;
cocorlow 7:70161eb0f854 71 long map(long x, long in_min, long in_max, long out_min, long out_max)
cocorlow 7:70161eb0f854 72 {
cocorlow 7:70161eb0f854 73 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
cocorlow 7:70161eb0f854 74 }
naker 20:2c3f113a8e8f 75 void pushto_sdcard()
naker 20:2c3f113a8e8f 76 {
naker 20:2c3f113a8e8f 77 // sd.printf("tstart: %f \n",tstart);
naker 20:2c3f113a8e8f 78 }
cocorlow 7:70161eb0f854 79
NaotoMorita 0:6b18a09a6628 80 int main()
NaotoMorita 0:6b18a09a6628 81 {
naker 20:2c3f113a8e8f 82 //LoopTicker sdcard_loop;
naker 20:2c3f113a8e8f 83 //sdcard_loop.attach(pushto_sdcard,0.01);
NaotoMorita 17:6b7a363d06d2 84 pc.baud(115200);
naker 20:2c3f113a8e8f 85 //sd.baud(115200);
NaotoMorita 17:6b7a363d06d2 86 accelgyro.initialize();
NaotoMorita 17:6b7a363d06d2 87 uint8_t offsetVal[6] = {0,0,0,0,0,0};
NaotoMorita 17:6b7a363d06d2 88 accelgyro.setXAccelOffset(offsetVal[0]);
NaotoMorita 17:6b7a363d06d2 89 accelgyro.setYAccelOffset(offsetVal[1]);
NaotoMorita 17:6b7a363d06d2 90 accelgyro.setZAccelOffset(offsetVal[2]);
NaotoMorita 17:6b7a363d06d2 91 accelgyro.setXGyroOffset(offsetVal[3]);
NaotoMorita 17:6b7a363d06d2 92 accelgyro.setYGyroOffset(offsetVal[4]);
NaotoMorita 17:6b7a363d06d2 93 accelgyro.setZGyroOffset(offsetVal[5]);
NaotoMorita 17:6b7a363d06d2 94 //加速度計のフルスケールレンジを設定
NaotoMorita 17:6b7a363d06d2 95 accelgyro.setFullScaleAccelRange(ACCEL_FSR);
NaotoMorita 17:6b7a363d06d2 96 //■角速度計のフルスケールレンジを設定
NaotoMorita 17:6b7a363d06d2 97 accelgyro.setFullScaleGyroRange(GYRO_FSR);
NaotoMorita 17:6b7a363d06d2 98 //MPU6050のLPFを設定
NaotoMorita 17:6b7a363d06d2 99 accelgyro.setDLPFMode(MPU6050_LPF);
naker 20:2c3f113a8e8f 100
NaotoMorita 17:6b7a363d06d2 101 servoRight.period_us(20000);
naker 20:2c3f113a8e8f 102
NaotoMorita 17:6b7a363d06d2 103 MadgwickFilter.begin(100); //サンプリング周波数Hza
naker 20:2c3f113a8e8f 104 // のセットアップ
naker 20:2c3f113a8e8f 105 test_control.setInputLimits(-60.0,60.0); // 60°が限界
naker 20:2c3f113a8e8f 106 test_control.setOutputLimits(1200, 1800);
naker 21:df4e4e857a3e 107 test_control.setSetPoint(0.0); // 仮（実際にはsbusの読み込みなど）
naker 21:df4e4e857a3e 108 test_control.setBias((1200+1800)/2); // out range の真ん中に設定する（out rangeの中央が安定点のため）
NaotoMorita 17:6b7a363d06d2 109 t.start();
NaotoMorita 0:6b18a09a6628 110 while(1) {
naker 20:2c3f113a8e8f 111 tstart = t.read();
naker 20:2c3f113a8e8f 112 //sdcard_loop.loop();
naker 20:2c3f113a8e8f 113 if(sbus.failSafe == false) {
NaotoMorita 17:6b7a363d06d2 114 ch1 = int(sbus.getData(1));
NaotoMorita 17:6b7a363d06d2 115 ch2 = int(sbus.getData(2));
naker 20:2c3f113a8e8f 116 pc.printf("ch1 :%d ", ch1);
naker 20:2c3f113a8e8f 117
NaotoMorita 17:6b7a363d06d2 118 //pc.printf("ch2 :%d ", ch2);
NaotoMorita 17:6b7a363d06d2 119 }
naker 20:2c3f113a8e8f 120
NaotoMorita 17:6b7a363d06d2 121 // gx gy gz ax ay az
NaotoMorita 17:6b7a363d06d2 122 accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
NaotoMorita 17:6b7a363d06d2 123 // 加速度値を分解能で割って加速度(G)に変換する
NaotoMorita 17:6b7a363d06d2 124 acc_x = ax / ACCEL_SSF; //FS_SEL_0 16,384 LSB / g
NaotoMorita 17:6b7a363d06d2 125 acc_y = ay / ACCEL_SSF;
NaotoMorita 17:6b7a363d06d2 126 acc_z = az / ACCEL_SSF;
NaotoMorita 17:6b7a363d06d2 127 // 角速度値を分解能で割って角速度(deg per sec)に変換する
NaotoMorita 17:6b7a363d06d2 128 gyro_x = gx / GYRO_SSF; // (deg/s)
NaotoMorita 17:6b7a363d06d2 129 gyro_y = gy / GYRO_SSF;
NaotoMorita 17:6b7a363d06d2 130 gyro_z = gz / GYRO_SSF;
naker 20:2c3f113a8e8f 131 //Madgwickフィルターを用いて、PRY（pitch, roll, yaw）を計算
NaotoMorita 17:6b7a363d06d2 132 //pc.printf("accx:%f accy:%f accz:%f \r\n", acc_x,acc_y,acc_z);
NaotoMorita 17:6b7a363d06d2 133 MadgwickFilter.updateIMU(gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z);
NaotoMorita 17:6b7a363d06d2 134
NaotoMorita 17:6b7a363d06d2 135 pitch = -MadgwickFilter.getPitchRadians()-pitch_align*pi/180;
NaotoMorita 17:6b7a363d06d2 136 roll = -MadgwickFilter.getRollRadians()-roll_align*pi/180;
naker 20:2c3f113a8e8f 137 /*
naker 20:2c3f113a8e8f 138 float LP_rc = 0.65f;
naker 20:2c3f113a8e8f 139 //float LP_rc3 = 0.15f;
naker 20:2c3f113a8e8f 140 rc1 = LP_rc*float(map(roll * 180.0 / pi,-60,60,-1000,1000))/1000.0f+(1.0f-LP_rc)*rc1;
naker 20:2c3f113a8e8f 141 rc2 = LP_rc*float(map(ch2,368,1680,-1000,1000))/1000.0f+(1.0f-LP_rc)*rc2;
naker 20:2c3f113a8e8f 142 int pwmMax = 1800;
naker 20:2c3f113a8e8f 143 int pwmMin = 1200;
naker 20:2c3f113a8e8f 144 out1 = map((int)(rc1*1000.0f),-1000,1000,pwmMin,pwmMax);
naker 20:2c3f113a8e8f 145 if(out1<pwmMin) {
naker 20:2c3f113a8e8f 146 out1 = pwmMin;
naker 20:2c3f113a8e8f 147 };
naker 20:2c3f113a8e8f 148 if(out1>pwmMax) {
naker 20:2c3f113a8e8f 149 out1 = pwmMax;
naker 20:2c3f113a8e8f 150 };
naker 20:2c3f113a8e8f 151 out2 = map((int)(rc2*1000.0f),-1000,1000,pwmMin,pwmMax);
naker 20:2c3f113a8e8f 152 if(out2<pwmMin) {
naker 20:2c3f113a8e8f 153 out2 = pwmMin;
naker 20:2c3f113a8e8f 154 };
naker 20:2c3f113a8e8f 155 if(out2>pwmMax) {
naker 20:2c3f113a8e8f 156 out2 = pwmMax;
naker 20:2c3f113a8e8f 157 };
naker 20:2c3f113a8e8f 158 */
NaotoMorita 17:6b7a363d06d2 159
naker 20:2c3f113a8e8f 160 pc.printf("roll%f ", roll*180.0/pi);
NaotoMorita 17:6b7a363d06d2 161 //pc.printf("out1:%d ", out1);
NaotoMorita 17:6b7a363d06d2 162 //pc.printf("out2:%d ", out2);
naker 20:2c3f113a8e8f 163 // pc.printf("%f",PID_dt - t.read() + tstart);
naker 20:2c3f113a8e8f 164 wait(PID_dt - t.read() + tstart); // PIDのために、待ち時間調節（割り込みにするべき）
NaotoMorita 17:6b7a363d06d2 165 float tend = t.read();
NaotoMorita 17:6b7a363d06d2 166 MadgwickFilter.begin(1.0f/(tend-tstart)); //サンプリング周波数Hza
NaotoMorita 17:6b7a363d06d2 167 pc.printf("time%f \r\n", (tend-tstart));
naker 20:2c3f113a8e8f 168 test_control.setProcessValue(roll * 180.0 / pi); // 入力はこどほう
naker 20:2c3f113a8e8f 169 out1 = test_control.compute();
naker 20:2c3f113a8e8f 170 pc.printf("co:%d ",out1);
naker 20:2c3f113a8e8f 171 servoRight.pulsewidth_us(out1);
naker 20:2c3f113a8e8f 172 }
NaotoMorita 0:6b18a09a6628 173 }