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:
- 73:84ffa0166e6c
- Child:
- 74:f67062e7813e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/hil.cpp Thu Jul 15 05:26:15 2021 +0000 @@ -0,0 +1,42 @@ +#include "global.hpp" + +void getHILval() +{ + rpy_align.x = 0.0f; + rpy_align.y = 0.0f; + accref.z = 1.0f; + float sigma_acc = sqrt(0.000020f); + float sigma_gyro = sqrt(0.000005f); + float sigma_mag = sqrt(0.002f); + // gx gy gz ax ay az + // 加速度値を分解能で割って加速度(G)に変換する + acc.x = float(vp.accData[0]) / ACCEL_SSF + sigma_acc*randn(); //FS_SEL_0 16,384 LSB / g + acc.y = float(vp.accData[1]) / ACCEL_SSF + sigma_acc*randn(); + acc.z = float(vp.accData[2]) / ACCEL_SSF + sigma_acc*randn(); + acc = accMedian.Process(acc); + // 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]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn(); // (rad/s) + gyro.y = float(vp.gyroData[1]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn(); + gyro.z = float(vp.gyroData[2]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn(); + gyro = gyroMedian.Process(gyro); + mag.x = -float(vp.magData[0])/1000.0f + sigma_mag*randn(); + mag.y = -float(vp.magData[1])/1000.0f + sigma_mag*randn(); + mag.z = -float(vp.magData[2])/1000.0f + sigma_mag*randn(); + mag = magMedian.Process(mag); + if(acc.Norm()<0.01f || mag.Norm() < 0.001f){ + acc.x = 0.0f; + acc.y = 0.0f; + acc.z = 1.0f; + mag.x = 0.113657f; + mag.y = -0.278425f; + mag.z = 0.980554f; + } +} + +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