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@62:ef10fd919f7b, 2021-06-09 (annotated)
- Committer:
- NaotoMorita
- Date:
- Wed Jun 09 07:50:18 2021 +0000
- Revision:
- 62:ef10fd919f7b
- Parent:
- 61:c05353850017
- Child:
- 66:e5afad70fdd8
modify observing
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 | // 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 | 62:ef10fd919f7b | 14 | //pc.printf("rc:%f\r\n",rc[1]); |
NaotoMorita | 57:923e3df16159 | 15 | |
NaotoMorita | 57:923e3df16159 | 16 | // 自身の位置に応じてエレベータ舵角を決定する |
NaotoMorita | 57:923e3df16159 | 17 | float deobj = 0.0f; |
NaotoMorita | 57:923e3df16159 | 18 | switch(pos_tail) |
NaotoMorita | 57:923e3df16159 | 19 | { |
NaotoMorita | 57:923e3df16159 | 20 | case 0: //left |
NaotoMorita | 57:923e3df16159 | 21 | deobj = -rc[1]; |
NaotoMorita | 57:923e3df16159 | 22 | break; |
NaotoMorita | 57:923e3df16159 | 23 | case 1: //center |
NaotoMorita | 57:923e3df16159 | 24 | deobj = -rc[1]; |
NaotoMorita | 57:923e3df16159 | 25 | break; |
NaotoMorita | 57:923e3df16159 | 26 | case 2: //right |
NaotoMorita | 57:923e3df16159 | 27 | deobj = -rc[1]; |
NaotoMorita | 57:923e3df16159 | 28 | break; |
NaotoMorita | 57:923e3df16159 | 29 | default: // error situation |
NaotoMorita | 57:923e3df16159 | 30 | deobj = 0.0f; |
NaotoMorita | 57:923e3df16159 | 31 | break; |
NaotoMorita | 57:923e3df16159 | 32 | } |
NaotoMorita | 57:923e3df16159 | 33 | //指令角の最大最小値をrc7で変更 |
NaotoMorita | 57:923e3df16159 | 34 | float objgain = ((rc[6]+1.0f)/2*10.0f+1.0f)*M_PI/180.0f; |
NaotoMorita | 57:923e3df16159 | 35 | float pitchobj = objgain * deobj; |
NaotoMorita | 57:923e3df16159 | 36 | |
NaotoMorita | 57:923e3df16159 | 37 | //ゲインの係数をrc8で変更 |
NaotoMorita | 62:ef10fd919f7b | 38 | float gaincoef = 1.0; |
NaotoMorita | 62:ef10fd919f7b | 39 | pitchPID.setGain(6.36*gaincoef, 10.6*gaincoef*0.0f,0.0); |
NaotoMorita | 57:923e3df16159 | 40 | pitchratePID.setGain(0.9540*gaincoef,0.0,0.0); |
cocorlow | 56:888379912f81 | 41 | pitchPID.setProcessValue(rpy.y); |
cocorlow | 56:888379912f81 | 42 | pitchratePID.setProcessValue(gyro.y); |
NaotoMorita | 57:923e3df16159 | 43 | //目標値のセット |
NaotoMorita | 57:923e3df16159 | 44 | pitchPID.setSetPoint(pitchobj); //目標の設定 |
NaotoMorita | 57:923e3df16159 | 45 | float de = pitchPID.compute()+pitchratePID.compute(); |
cocorlow | 56:888379912f81 | 46 | |
cocorlow | 56:888379912f81 | 47 | scaledServoOut[0]=de; |
cocorlow | 56:888379912f81 | 48 | |
cocorlow | 56:888379912f81 | 49 | float LP_servo = 0.2; |
cocorlow | 56:888379912f81 | 50 | for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++) |
cocorlow | 56:888379912f81 | 51 | { |
cocorlow | 56:888379912f81 | 52 | servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i]; |
cocorlow | 56:888379912f81 | 53 | if(servoOut[i]<servoPwmMin) |
cocorlow | 56:888379912f81 | 54 | { |
cocorlow | 56:888379912f81 | 55 | servoOut[i] = servoPwmMin; |
cocorlow | 56:888379912f81 | 56 | } |
cocorlow | 56:888379912f81 | 57 | if(servoOut[i]>servoPwmMax) |
cocorlow | 56:888379912f81 | 58 | { |
cocorlow | 56:888379912f81 | 59 | servoOut[i] = servoPwmMax; |
cocorlow | 56:888379912f81 | 60 | } |
cocorlow | 56:888379912f81 | 61 | } |
cocorlow | 56:888379912f81 | 62 | |
cocorlow | 56:888379912f81 | 63 | servo.pulsewidth_us(servoOut[0]); |
cocorlow | 56:888379912f81 | 64 | |
cocorlow | 56:888379912f81 | 65 | //観測アップデート |
cocorlow | 56:888379912f81 | 66 | dynacc = ekf.calcDynAcc(LPacc, accref); |
cocorlow | 56:888379912f81 | 67 | th_mg = abs(acos(LPmag/LPmag.Norm() % LPacc/LPacc.Norm())-val_thmg); |
cocorlow | 56:888379912f81 | 68 | |
cocorlow | 56:888379912f81 | 69 | accnormerr = abs(LPacc.Norm()-accref.Norm()); |
cocorlow | 56:888379912f81 | 70 | //静止時100個の平均 0.01877522 0.00514146 0.00477393 |
cocorlow | 56:888379912f81 | 71 | |
cocorlow | 56:888379912f81 | 72 | //int ang_th = th_mg < 0.01877522; |
cocorlow | 56:888379912f81 | 73 | //int dyn_th = dynaccnorm < 0.00514146; |
cocorlow | 56:888379912f81 | 74 | //int norm_th = accnormerr< 0.00477393; |
NaotoMorita | 61:c05353850017 | 75 | int ang_th = th_mg < sigma_thmg/200.0; |
NaotoMorita | 61:c05353850017 | 76 | int dyn_th = dynacc.Norm() < sigma_accnorm/50.0; |
NaotoMorita | 61:c05353850017 | 77 | int norm_th = accnormerr< sigma_accnorm/50.0; |
cocorlow | 56:888379912f81 | 78 | if(dyn_th+ang_th+norm_th>0) |
cocorlow | 56:888379912f81 | 79 | { |
cocorlow | 56:888379912f81 | 80 | //if(dyn_th+ang_th+norm_th>-1){ |
cocorlow | 56:888379912f81 | 81 | obs_count += 1; |
cocorlow | 56:888379912f81 | 82 | ekf.updateAcrossMeasures(LPmag/LPmag.Norm(), magref/magref.Norm(), ekf.Rmag); |
cocorlow | 56:888379912f81 | 83 | ekf.updateAcrossMeasures(LPacc/LPacc.Norm(), accref/accref.Norm(), ekf.Racc); |
cocorlow | 56:888379912f81 | 84 | } |
cocorlow | 56:888379912f81 | 85 | |
cocorlow | 56:888379912f81 | 86 | if(loop_count >= 10) |
cocorlow | 56:888379912f81 | 87 | { |
cocorlow | 56:888379912f81 | 88 | writeSdcard(); |
cocorlow | 56:888379912f81 | 89 | loop_count = 1; |
cocorlow | 56:888379912f81 | 90 | obs_count = 0; |
cocorlow | 56:888379912f81 | 91 | } |
cocorlow | 56:888379912f81 | 92 | else |
cocorlow | 56:888379912f81 | 93 | { |
cocorlow | 56:888379912f81 | 94 | loop_count +=1; |
cocorlow | 56:888379912f81 | 95 | } |
cocorlow | 56:888379912f81 | 96 | } |