Diff: hil.cpp

Revision:

139:b378528c05f2

Parent:

111:0fae4fbe2a80

Child:

141:725321fe2949

--- a/hil.cpp	Wed Dec 01 19:17:36 2021 +0000
+++ b/hil.cpp	Mon Dec 06 08:26:16 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.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