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

setup.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"
osaka 88:be349faa1976 2 using namespace std;
cocorlow 56:888379912f81 3
cocorlow 56:888379912f81 4 void setup()
cocorlow 56:888379912f81 5 {
osaka 88:be349faa1976 6 sd.baud(115200);
osaka 88:be349faa1976 7 sd.printf("\r\nFlight Start\r\n");
osaka 88:be349faa1976 8 twelite.baud(38400);
osaka 88:be349faa1976 9 twelite.printf("\r\nTelemetory Start\r\n");
osaka 88:be349faa1976 10
osaka 88:be349faa1976 11 uint16_t reg = lsm.begin(lsm.G_SCALE_245DPS, lsm.A_SCALE_8G);
osaka 88:be349faa1976 12 //printf("%x\n", reg);
osaka 88:be349faa1976 13 if (!lps.init()){
osaka 88:be349faa1976 14 twelite.printf("Failed to autodetect pressure sensor!\r\n");
osaka 88:be349faa1976 15 while (1);
osaka 88:be349faa1976 16 }
osaka 88:be349faa1976 17 lps.enableDefault();
osaka 96:3645f8f9bdd3 18 gps.Attach();
osaka 88:be349faa1976 19 wait_ms(100);
osaka 88:be349faa1976 20
NaotoMorita 113:3e47d9881529 21 SensorAlignmentAG << 1.0f << 0.0f << 0.0f
NaotoMorita 113:3e47d9881529 22 << 0.0f << 1.0f << 0.0f
NaotoMorita 113:3e47d9881529 23 << 0.0f << 0.0f << -1.0f;
NaotoMorita 117:f899fd694e2a 24 SensorAlignmentMAG << 0.0f << 1.0f << 0.0f
NaotoMorita 113:3e47d9881529 25 << -1.0f << 0.0f << 0.0f
NaotoMorita 113:3e47d9881529 26 << 0.0f << 0.0f << -1.0f;
NaotoMorita 93:b827f78a717a 27
cocorlow 56:888379912f81 28 pitchPID.setSetPoint(0.0);
cocorlow 56:888379912f81 29 pitchratePID.setSetPoint(0.0);
NaotoMorita 70:99f974d8960e 30 rollPID.setSetPoint(0.0);
NaotoMorita 70:99f974d8960e 31 rollratePID.setSetPoint(0.0);
cocorlow 56:888379912f81 32 pitchPID.setBias(0.0);
NaotoMorita 70:99f974d8960e 33 pitchratePID.setBias(0.0);
NaotoMorita 70:99f974d8960e 34 rollPID.setBias(0.0);
NaotoMorita 70:99f974d8960e 35 rollratePID.setBias(0.0);
cocorlow 56:888379912f81 36 pitchPID.setOutputLimits(-1.0,1.0);
cocorlow 56:888379912f81 37 pitchratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 70:99f974d8960e 38 rollPID.setOutputLimits(-1.0,1.0);
NaotoMorita 70:99f974d8960e 39 rollratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 70:99f974d8960e 40 pitchPID.setInputLimits(-M_PI,M_PI);
NaotoMorita 70:99f974d8960e 41 pitchratePID.setInputLimits(-M_PI,M_PI);
NaotoMorita 70:99f974d8960e 42 rollPID.setInputLimits(-M_PI,M_PI);
NaotoMorita 70:99f974d8960e 43 rollratePID.setInputLimits(-M_PI,M_PI);
cocorlow 56:888379912f81 44
NaotoMorita 70:99f974d8960e 45 servoRight.period_us(15000.0);
NaotoMorita 70:99f974d8960e 46 servoLeft.period_us(15000.0);
NaotoMorita 70:99f974d8960e 47 servoThrust.period_us(15000.0);
NaotoMorita 70:99f974d8960e 48 servoRight.pulsewidth_us(1500.0);
NaotoMorita 70:99f974d8960e 49 servoLeft.pulsewidth_us(1500.0);
NaotoMorita 70:99f974d8960e 50 servoThrust.pulsewidth_us(1100.0);
osaka 109:eb255fc4462b 51
osaka 109:eb255fc4462b 52 autopilot.set_dest(destination.x, destination.y);
osaka 109:eb255fc4462b 53 autopilot.set_turn(turn_center.x, turn_center.y, turn_radius);
cocorlow 56:888379912f81 54 }
cocorlow 56:888379912f81 55
cocorlow 56:888379912f81 56 void calibrate()
cocorlow 56:888379912f81 57 {
cocorlow 56:888379912f81 58 while(1)
cocorlow 56:888379912f81 59 {
cocorlow 56:888379912f81 60 wait(1000);
cocorlow 56:888379912f81 61 }
cocorlow 56:888379912f81 62 }