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:
- 2021-09-07
- Revision:
- 77:2bf856e3eca4
- Parent:
- 76:7fd3ac1afe3e
- Child:
- 82:c183c29d2427
File content as of revision 77:2bf856e3eca4:
#include "global.hpp" void getHILval() { switch(vp.commandIndex){ case 1: NVIC_SystemReset(); break; default : break; } rpy_align.x = 0.0f; rpy_align.y = 0.0f; //accref.z = 1.0f; ax = accelgyro.getAccelerationX() - agoffset[0]; ay = accelgyro.getAccelerationY() - agoffset[1]; az = accelgyro.getAccelerationZ() - agoffset[2]; gx = accelgyro.getRotationX() - agoffset[3]; gy = accelgyro.getRotationY() - agoffset[4]; gz = accelgyro.getRotationZ() - agoffset[5]; float sigma_acc = sqrt(0.000020f); float sigma_gyro = sqrt(0.000005f); float sigma_mag = sqrt(0.00001f); // 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 + mapfloat(float(ax) / ACCEL_SSF,accMin[0],accMax[0],-1.0f,1.0f); //FS_SEL_0 16,384 LSB / g acc.y = float(vp.accData[1]) / ACCEL_SSF + mapfloat(float(ay) / ACCEL_SSF,accMin[1],accMax[1],-1.0f,1.0f); acc.z = float(vp.accData[2]) / ACCEL_SSF + mapfloat(float(az) / ACCEL_SSF,accMin[2],accMax[2],-1.0f,1.0f)-accref.z; 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 + float(gx) / GYRO_SSF * 0.0174533f; // (rad/s) gyro.y = float(vp.gyroData[1]) / GYRO_SSF * 0.0174533f + float(gy) / GYRO_SSF * 0.0174533f; gyro.z = float(vp.gyroData[2]) / GYRO_SSF * 0.0174533f + float(gz) / GYRO_SSF * 0.0174533f; gyro = gyroMedian.Process(gyro); mag.x = -float(vp.magData[1])/1000.0f + sigma_mag*randn(); mag.y = -float(vp.magData[0])/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; gyro.x = 0.0f; gyro.y = 0.0f; gyro.z = 0.0f; 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; }