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