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@62:ef10fd919f7b, 2021-06-09 (annotated)

Committer:
NaotoMorita
Date:
Wed Jun 09 07:50:18 2021 +0000
Revision:
62:ef10fd919f7b
Parent:
61:c05353850017
Child:
63:9c4973a98600
modify observing

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 // var
cocorlow 56:888379912f81 4
cocorlow 56:888379912f81 5 // communication
NaotoMorita 58:a7947322db87 6 Serial pc(USBTX, USBRX);
cocorlow 56:888379912f81 7 I2C i2c(PB_9,PB_8); // sda, scl
cocorlow 56:888379912f81 8 UsaPack tail(PG_14, PG_9, 57600); // log - tail
cocorlow 56:888379912f81 9 SBUS sbus(PD_5, PD_6);
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);
cocorlow 56:888379912f81 18 DigitalIn locdef1(PG_2);
cocorlow 56:888379912f81 19 DigitalIn locdef2(PG_3);
cocorlow 56:888379912f81 20
cocorlow 56:888379912f81 21 // control
NaotoMorita 62:ef10fd919f7b 22 FastPWM servo(PE_11);
cocorlow 56:888379912f81 23 PID pitchPID(5.0, 0,0, PID_dt); // rad
cocorlow 56:888379912f81 24 PID pitchratePID(0.5, 0.0, 0.0, PID_dt); // rad/s
cocorlow 56:888379912f81 25 HAPS_EKF ekf; // EKF class
cocorlow 56:888379912f81 26
cocorlow 56:888379912f81 27 int loop_count = 0;
cocorlow 56:888379912f81 28 int obs_count = 0;
cocorlow 56:888379912f81 29 float att_dt = 0.01f;
cocorlow 56:888379912f81 30 float rc[16];
cocorlow 56:888379912f81 31
cocorlow 56:888379912f81 32 int16_t ax, ay, az;
cocorlow 56:888379912f81 33 int16_t gx, gy, gz;
cocorlow 56:888379912f81 34 MotionSensorDataUnits mdata;
cocorlow 56:888379912f81 35 float magval[3] = {1.0f, 0.0f, 0.0f};
cocorlow 56:888379912f81 36
cocorlow 56:888379912f81 37 // position
cocorlow 56:888379912f81 38 Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 39 Vector3 rpy_g(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 40 Vector3 acc;
cocorlow 56:888379912f81 41 Vector3 accref(0.0f, 0.0f, -0.98f);
cocorlow 56:888379912f81 42 Vector3 mag;
cocorlow 56:888379912f81 43 Vector3 magref(0.65f, 0.0f, 0.75f);
cocorlow 56:888379912f81 44 Vector3 dynacc;
cocorlow 56:888379912f81 45 Vector3 gyro;
cocorlow 56:888379912f81 46
cocorlow 56:888379912f81 47 Vector3 LPacc(0.0f, 0.0f, 0.0f);
cocorlow 56:888379912f81 48 Vector3 LPmag(0.0f, 0.0f, 0.0f);
cocorlow 56:888379912f81 49
cocorlow 56:888379912f81 50 int out1, out2;
cocorlow 56:888379912f81 51 float scaledServoOut[1] = {0.0f};
cocorlow 56:888379912f81 52 float servoOut[1] = {1500.0f};
cocorlow 56:888379912f81 53
cocorlow 56:888379912f81 54 float val_thmg = 0.0f;
NaotoMorita 61:c05353850017 55 float sigma_thmg = 0.0f;
cocorlow 56:888379912f81 56 float th_mg = 0.0f;
cocorlow 56:888379912f81 57 float accnormerr = 0.0f;
NaotoMorita 61:c05353850017 58 float sigma_accnorm = 0.0f;
cocorlow 56:888379912f81 59
cocorlow 56:888379912f81 60 int calibrationFlag = 0;
cocorlow 56:888379912f81 61 int pos_tail = 0; // 0:left 1:center 2:right
cocorlow 56:888379912f81 62 int agoffset[6] = {0, 0, 0, 386, -450, 48};
NaotoMorita 61:c05353850017 63 float magbiasMin[3] = {0.0f, 0.0f, 0.0f};
NaotoMorita 61:c05353850017 64 float magbiasMax[3] = {0.0f, 0.0f, 0.0f};
cocorlow 56:888379912f81 65
cocorlow 56:888379912f81 66 Vector3 rpy_align(0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f, 0.0f);
cocorlow 56:888379912f81 67
cocorlow 56:888379912f81 68 // eepromのread writeのためのunionを定義
cocorlow 56:888379912f81 69 const int eeprom_address = 0xAE; // EEPROMの3つの入力が全て+より
cocorlow 56:888379912f81 70 const int eeprom_pointeraddress = 0;
cocorlow 56:888379912f81 71
cocorlow 56:888379912f81 72 // UsaPack
cocorlow 56:888379912f81 73 const int tail_address[3] = {1111, 2222, 3333};
cocorlow 56:888379912f81 74 valuePack posValues[3];
cocorlow 56:888379912f81 75
cocorlow 56:888379912f81 76 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
cocorlow 56:888379912f81 77 {
cocorlow 56:888379912f81 78 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
cocorlow 56:888379912f81 79 }