solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
Diff: hil.cpp
- Revision:
- 141:725321fe2949
- Parent:
- 139:b378528c05f2
- Child:
- 143:53808e4e684c
--- a/hil.cpp Mon Dec 06 11:37:55 2021 +0000 +++ b/hil.cpp Fri Dec 10 10:43:50 2021 +0000 @@ -1,84 +1,84 @@ -//#include "global.hpp" -// -//void getHilIMUval() -//{ -// switch(vp.commandIndex){ -// case 1: -// NVIC_SystemReset(); -// break; -// default : -// break; -// } -// rpy_align.x = 0.0f; -// rpy_align.y = 0.0f; -// accref.z = 1.0f; -// -// -// lsm.readAccel(); -// lsm.readMag(); -// lsm.readGyro(); -// -// float accmx = lsm.ax * 9.8f - agoffset[0]; -// float accmy = lsm.ay * 9.8f - agoffset[1]; -// float accmz = lsm.az * 9.8f - agoffset[2]; -// float gyromx = (lsm.gx * M_PI / 180.0f) - agoffset[3]; -// float gyromy = (lsm.gy * M_PI / 180.0f) - agoffset[4]; -// float gyromz = (lsm.gz * M_PI / 180.0f) - agoffset[5]; -// -// // gx gy gz ax ay az -// // 加速度値を分解能で割って加速度(m/s^2)に変換する -// acc.x = 9.8f*float(vp.accData[0]) / 4096.0f + accmx; //FS_SEL_0 16,384 LSB / g -// acc.y = 9.8f*float(vp.accData[1]) / 4096.0f + accmy; -// acc.z = 9.8f*float(vp.accData[2]) / 4096.0f + accmy; -// -// // 角速度値を分解能で割って角速度(rad per sec)に変換する -// gyro.x = float(vp.gyroData[0]) / 131.0f * 0.0174533f + gyromx; // (rad/s) -// gyro.y = float(vp.gyroData[1]) / 131.0f * 0.0174533f + gyromy; -// gyro.z = float(vp.gyroData[2]) / 131.0f * 0.0174533f + gyromz; -// -// Matrix magraw(3,1); -// magraw(1,1) = float(vp.magData[0])/1000.0f + (lsm.mx-magref.x); -// magraw(2,1) = float(vp.magData[1])/1000.0f + (lsm.my-magref.y); -// magraw(3,1) = float(vp.magData[2])/1000.0f + (lsm.mz-magref.z); -// -// //magres = magCalibrator.calcResidial(magraw); -// //if(magres > magresThreshold){ -// // magCalibrator.updateParams(magraw,0.001f); -// //}; -// Matrix magmod = magraw; -// mag.x = magmod(1,1); -// mag.y = magmod(2,1); -// mag.z = magmod(3,1); -// -// palt = float(vp.piData[2])/1.0f -(lps.pressureToAltitudeMeters(lps.readPressureMillibars())-palt0);; -// -// if(abs(vp.accData[0])<0.0001f && abs(vp.accData[1])<0.0001f && abs(vp.accData[2])<0.0001f){ -// acc.z += -9.8f; -// mag.x += 0.5; -// } -//} -// -//void getHilGPSval() -//{ -// float sigma_vi = 0.1f; -// float sigma_pi = 1.0f; -// -// //GPSの速度情報m/s -// vi.x = float(vp.viData[0])/1000.0f + sigma_vi*randn(); -// vi.y = float(vp.viData[1])/1000.0f + sigma_vi*randn(); -// vi.z = float(vp.viData[2])/1000.0f + sigma_vi*randn(); -// -// //GPSの位置情報m/s -// pi.x = float(vp.piData[0])/1.0f + sigma_pi*randn(); -// pi.y = float(vp.piData[1])/1.0f + sigma_pi*randn(); -// pi.z = float(vp.piData[2])/1.0f + sigma_pi*randn(); -// -//} -// -//float randn() -//{ -// float x = (float)rand()/RAND_MAX; -// float y = (float)rand()/RAND_MAX; -// float z1 = sqrt(-2.0 * log(x)) * cos(2.0 * M_PI * y); -// return z1; -//} \ No newline at end of file +#include "global.hpp" + +void getHilIMUval() +{ + switch(vp.commandIndex){ + case 1: + NVIC_SystemReset(); + break; + default : + break; + } + rpy_align(0) = 0.0f; + rpy_align(1) = 0.0f; + accref(2) = 1.0f; + + + lsm.readAccel(); + lsm.readMag(); + lsm.readGyro(); + + float accmx = lsm.ax * 9.8f - agoffset[0]; + float accmy = lsm.ay * 9.8f - agoffset[1]; + float accmz = lsm.az * 9.8f - agoffset[2]; + float gyromx = (lsm.gx * M_PI_F / 180.0f) - agoffset[3]; + float gyromy = (lsm.gy * M_PI_F / 180.0f) - agoffset[4]; + float gyromz = (lsm.gz * M_PI_F / 180.0f) - agoffset[5]; + + // gx gy gz ax ay az + // 加速度値を分解能で割って加速度(m/s^2)に変換する + acc(0) = 9.8f*float(vp.accData[0]) / 4096.0f + accmx; //FS_SEL_0 16,384 LSB / g + acc(1) = 9.8f*float(vp.accData[1]) / 4096.0f + accmy; + acc(2) = 9.8f*float(vp.accData[2]) / 4096.0f + accmy; + + // 角速度値を分解能で割って角速度(rad per sec)に変換する + gyro(0) = float(vp.gyroData[0]) / 131.0f * 0.0174533f + gyromx; // (rad/s) + gyro(1) = float(vp.gyroData[1]) / 131.0f * 0.0174533f + gyromy; + gyro(2) = float(vp.gyroData[2]) / 131.0f * 0.0174533f + gyromz; + + Vector3f magraw; + magraw(0) = float(vp.magData[0])/1000.0f + (lsm.mx-magref(0)); + magraw(1) = float(vp.magData[1])/1000.0f + (lsm.my-magref(1)); + magraw(2) = float(vp.magData[2])/1000.0f + (lsm.mz-magref(2)); + + //magres = magCalibrator.calcResidial(magraw); + //if(magres > magresThreshold){ + // magCalibrator.updateParams(magraw,0.001f); + //}; + Vector3f magmod = magraw; + mag(0) = magmod(0); + mag(1) = magmod(1); + mag(2) = magmod(2); + + palt = float(vp.piData[2])/1.0f -(lps.pressureToAltitudeMeters(lps.readPressureMillibars())-palt0);; + + if(abs(vp.accData[0])<0.0001f && abs(vp.accData[1])<0.0001f && abs(vp.accData[2])<0.0001f){ + acc(2) += -9.8f; + mag(0) += 0.5; + } +} + +void getHilGPSval() +{ + float sigma_vi = 0.1f; + float sigma_pi = 1.0f; + + //GPSの速度情報m/s + vi(0) = float(vp.viData[0])/1000.0f + sigma_vi*randn(); + vi(1) = float(vp.viData[1])/1000.0f + sigma_vi*randn(); + vi(2) = float(vp.viData[2])/1000.0f + sigma_vi*randn(); + + //GPSの位置情報m/s + pi(0) = float(vp.piData[0])/1.0f + sigma_pi*randn(); + pi(1) = float(vp.piData[1])/1.0f + sigma_pi*randn(); + pi(2) = float(vp.piData[2])/1.0f + sigma_pi*randn(); + +} + +float randn() +{ + float x = (float)rand()/RAND_MAX; + float y = (float)rand()/RAND_MAX; + float z1 = std::sqrt(-2.0 * std::log(x)) * std::cos(2.0 * M_PI_F * y); + return z1; +} \ No newline at end of file