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

run.cpp@117:f899fd694e2a, 2021-11-17 (annotated)

Committer:
NaotoMorita
Date:
Wed Nov 17 05:12:24 2021 +0000
Revision:
117:f899fd694e2a
Parent:
113:3e47d9881529
Child:
119:a21e283730d1
suh mod

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 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 77:2bf856e3eca4 8 if(hilFlag == false){
NaotoMorita 90:96c2b0ed4b96 9 eskf.setQhat(rpy_align.x,rpy_align.y,rpy_align.z);
NaotoMorita 77:2bf856e3eca4 10 }
NaotoMorita 99:98b892ca70ec 11
NaotoMorita 93:b827f78a717a 12 int n_init = 1000;
NaotoMorita 93:b827f78a717a 13 for(int i = 0;i<n_init;i++){
NaotoMorita 93:b827f78a717a 14 lsm.readAccel();
NaotoMorita 93:b827f78a717a 15 lsm.readMag();
NaotoMorita 93:b827f78a717a 16 lsm.readGyro();
NaotoMorita 93:b827f78a717a 17 agoffset[0] += lsm.ax * 9.8f;
NaotoMorita 93:b827f78a717a 18 agoffset[1] += lsm.ay * 9.8f;
NaotoMorita 93:b827f78a717a 19 agoffset[2] += lsm.az * 9.8f-9.8f;
NaotoMorita 93:b827f78a717a 20 agoffset[3] +=(lsm.gx * M_PI / 180.0f);
NaotoMorita 93:b827f78a717a 21 agoffset[4] +=(lsm.gy * M_PI / 180.0f);
NaotoMorita 93:b827f78a717a 22 agoffset[5] +=(lsm.gz * M_PI / 180.0f);
NaotoMorita 99:98b892ca70ec 23 palt0 += lps.pressureToAltitudeMeters(lps.readPressureMillibars());
NaotoMorita 103:fec71c2051c5 24 magref.x += lsm.mx;
NaotoMorita 103:fec71c2051c5 25 magref.y += lsm.my;
NaotoMorita 103:fec71c2051c5 26 magref.z += lsm.mz;
NaotoMorita 93:b827f78a717a 27 }
NaotoMorita 93:b827f78a717a 28 for(int i = 0;i<6;i++){
NaotoMorita 93:b827f78a717a 29 agoffset[i] /= float(n_init);
NaotoMorita 93:b827f78a717a 30 }
NaotoMorita 103:fec71c2051c5 31 magref.x /= float(n_init);
NaotoMorita 103:fec71c2051c5 32 magref.y /= float(n_init);
NaotoMorita 103:fec71c2051c5 33 magref.z /= float(n_init);
NaotoMorita 98:bdaa6bbfb1d9 34 palt0 /= float(n_init);
NaotoMorita 93:b827f78a717a 35 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 36 //センサ正常性チェック
osaka 87:89bbbcdb667b 37 //usaPack通信開始
NaotoMorita 77:2bf856e3eca4 38 pc.Subscribe(0000, &(vp));
NaotoMorita 77:2bf856e3eca4 39
osaka 87:89bbbcdb667b 40 //制御ループのアタッチ
NaotoMorita 77:2bf856e3eca4 41 LoopTicker PIDtick;
NaotoMorita 77:2bf856e3eca4 42 PIDtick.attach(calcServoOut,PID_dt);
NaotoMorita 77:2bf856e3eca4 43
NaotoMorita 99:98b892ca70ec 44 //ESKFの共分散設定
NaotoMorita 93:b827f78a717a 45 eskf.setGravity(0.0f,0.0f,9.8f);
NaotoMorita 93:b827f78a717a 46 eskf.setPhatPosition(0.1f);
NaotoMorita 93:b827f78a717a 47 eskf.setPhatVelocity(0.1f);
NaotoMorita 113:3e47d9881529 48 eskf.setPhatAngleError(0.5f);
NaotoMorita 94:579e875a4244 49 eskf.setPhatAccBias(0.001f);
NaotoMorita 94:579e875a4244 50 eskf.setPhatGyroBias(0.001f);
NaotoMorita 94:579e875a4244 51 eskf.setPhatGravity(0.0000001f);
NaotoMorita 93:b827f78a717a 52
NaotoMorita 93:b827f78a717a 53 eskf.setQVelocity(0.0025f);
NaotoMorita 93:b827f78a717a 54 eskf.setQAngleError(0.00025f);
NaotoMorita 94:579e875a4244 55 eskf.setQAccBias(0.0000001f);
NaotoMorita 93:b827f78a717a 56 eskf.setQGyroBias(0.000001f);
NaotoMorita 93:b827f78a717a 57
NaotoMorita 111:0fae4fbe2a80 58 Matrix Rgps(5,5);
NaotoMorita 100:7589b663d462 59 setDiag(Rgps,2.0f);
NaotoMorita 111:0fae4fbe2a80 60 //Rgps(6,6) = 100.0f;
NaotoMorita 106:2d854e92cebb 61
NaotoMorita 106:2d854e92cebb 62 Matrix Rgpspos(3,3);
NaotoMorita 106:2d854e92cebb 63 setDiag(Rgpspos,2.0f);
NaotoMorita 106:2d854e92cebb 64
NaotoMorita 106:2d854e92cebb 65 Matrix Rgpsvel(3,3);
NaotoMorita 106:2d854e92cebb 66 setDiag(Rgpsvel,2.0f);
NaotoMorita 106:2d854e92cebb 67 //Rgpsvel(3,3) = 10.0f;
NaotoMorita 99:98b892ca70ec 68
NaotoMorita 103:fec71c2051c5 69 Matrix RImuConst(5,5);
NaotoMorita 111:0fae4fbe2a80 70 setDiag(RImuConst,50.0f);
NaotoMorita 112:6a33ea9f6fed 71 RImuConst(4,4) = 0.01f;
NaotoMorita 112:6a33ea9f6fed 72 RImuConst(5,5) = 0.01f;
NaotoMorita 106:2d854e92cebb 73
NaotoMorita 113:3e47d9881529 74
NaotoMorita 113:3e47d9881529 75 Matrix Racc(3,3);
NaotoMorita 113:3e47d9881529 76 setDiag(Racc,50.0f);
NaotoMorita 113:3e47d9881529 77
NaotoMorita 106:2d854e92cebb 78 Matrix Rmag(3,3);
NaotoMorita 117:f899fd694e2a 79 Rmag(1,1) = 0.0001f;
NaotoMorita 117:f899fd694e2a 80 Rmag(2,2) = 0.0001f;
NaotoMorita 117:f899fd694e2a 81 Rmag(3,3) = 0.0001f;
NaotoMorita 113:3e47d9881529 82 //Rmag(4,4) = 0.001f;
NaotoMorita 106:2d854e92cebb 83 _t.start();
NaotoMorita 93:b827f78a717a 84 float tgps = _t.read();
NaotoMorita 77:2bf856e3eca4 85 while(1)
NaotoMorita 77:2bf856e3eca4 86 {
NaotoMorita 68:b9f6938fab9d 87 float tstart = _t.read();
osaka 87:89bbbcdb667b 88 //センサの値を取得
NaotoMorita 73:84ffa0166e6c 89 if(hilFlag == true){
NaotoMorita 92:00460f6df439 90 getHilIMUval();
NaotoMorita 93:b827f78a717a 91 }else{
NaotoMorita 92:00460f6df439 92 getIMUval();
NaotoMorita 73:84ffa0166e6c 93 }
osaka 87:89bbbcdb667b 94 //ekfの更新
NaotoMorita 90:96c2b0ed4b96 95 eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
NaotoMorita 90:96c2b0ed4b96 96 eskf.updateErrState(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
NaotoMorita 103:fec71c2051c5 97
NaotoMorita 100:7589b663d462 98 if(hilFlag == true){
NaotoMorita 100:7589b663d462 99 if(tstart-tgps>0.2f){
NaotoMorita 92:00460f6df439 100 getHilGPSval();
NaotoMorita 100:7589b663d462 101 tgps = _t.read();
NaotoMorita 100:7589b663d462 102 gpsUpdateFlag = true;
NaotoMorita 92:00460f6df439 103 }else{
NaotoMorita 100:7589b663d462 104 gpsUpdateFlag = false;
NaotoMorita 92:00460f6df439 105 }
NaotoMorita 92:00460f6df439 106 }else{
NaotoMorita 103:fec71c2051c5 107 getGPSval();
NaotoMorita 92:00460f6df439 108 }
NaotoMorita 100:7589b663d462 109 if(gpsUpdateFlag == true){
NaotoMorita 111:0fae4fbe2a80 110 eskf.updateGPS(MatrixMath::Vector2mat(pi),palt,MatrixMath::Vector2mat(vi),Rgps);
NaotoMorita 106:2d854e92cebb 111 //eskf.updateGPSPosition(MatrixMath::Vector2mat(pi),palt,Rgpspos);
NaotoMorita 106:2d854e92cebb 112 //eskf.updateGPSVelocity(MatrixMath::Vector2mat(vi),MatrixMath::Vector2mat(mag),Rgpsvel);
NaotoMorita 103:fec71c2051c5 113
NaotoMorita 104:20b8caa29185 114 }else{
NaotoMorita 113:3e47d9881529 115 //eskf.updateImuConstraints(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(mag),RImuConst);
NaotoMorita 113:3e47d9881529 116 eskf.updateMag(MatrixMath::Vector2mat(mag),Rmag);
NaotoMorita 113:3e47d9881529 117 eskf.updateAcc(MatrixMath::Vector2mat(acc),Racc);
NaotoMorita 100:7589b663d462 118 }
NaotoMorita 77:2bf856e3eca4 119 PIDtick.loop();
NaotoMorita 77:2bf856e3eca4 120
osaka 87:89bbbcdb667b 121 //制御時間を計測
NaotoMorita 68:b9f6938fab9d 122 float tend = _t.read();
NaotoMorita 68:b9f6938fab9d 123 att_dt = (tend-tstart);
cocorlow 56:888379912f81 124 }
osaka 87:89bbbcdb667b 125 }