solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
hil.cpp
- Committer:
- NaotoMorita
- Date:
- 2021-11-08
- Revision:
- 102:1c77ff6e2a85
- Parent:
- 94:579e875a4244
- Child:
- 103:fec71c2051c5
File content as of revision 102:1c77ff6e2a85:
#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 = SensorAlignment*magCalibrator.outCalibratedMag(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 += 0.2f; } } 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; }