solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
main.cpp
- Committer:
- NaotoMorita
- Date:
- 2021-02-16
- Revision:
- 27:43bd0e444633
- Parent:
- 26:62d9857eaecc
- Child:
- 28:fc6c46c1db65
File content as of revision 27:43bd0e444633:
#include "mbed.h" #include "PIDcontroller.h" #include "SBUS.hpp" #include <MadgwickAHRS.h> #include "LoopTicker.hpp" #include "MPU6050.h" #include <I2Cdev.h> #define MPU6050_PWR_MGMT_1 0x6B #define MPU_ADDRESS 0x68 #define pi 3.141562 #define ACCEL_FSR MPU6050_ACCEL_FS_8 #define ACCEL_SSF 36500.0 #define GYRO_FSR MPU6050_GYRO_FS_250 #define GYRO_SSF 131.0 #define MPU6050_LPF MPU6050_DLPF_BW_256 MPU6050 accelgyro; Madgwick MadgwickFilter; SBUS sbus(PD_5, PD_6); Serial pc(USBTX, USBRX); Serial sd(PG_14,PG_9); DigitalOut led1(LED1); DigitalOut led3(LED3); PwmOut servoRight(PE_9); const double PID_dt = 0.01; PID pitchPID(1.0, 0,0,PID_dt); //rad PID pitchratePID(0.1, 0.0, 0.0, PID_dt);//rad/s PID rollPID(1.0,0.0,0.0,PID_dt); PID rollratePID(0.1, 0.0, 0.0, PID_dt);//rad/s Timer t; int loop_count = 0; float rc[16]; float roll_ac; double pitch = 0.0; double roll = 0.0; double yaw = 0.0; int16_t ax, ay, az; int16_t gx, gy, gz; double acc_x,acc_y,acc_z; double gyro_x,gyro_y,gyro_z; int out1, out2; float scaled_servo[3]; int servo_out[3] = {0,0,0}; int motor_out[1] = {0}; int offsetVal[6] = {0,0,0,0,0,0}; const double pitch_align = 0.0; const double roll_align = -0.0; float tstart; long map(long x, long in_min, long in_max, long out_min, long out_max) { return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; } void pushto_sdcard() { sd.printf("pitch: %lf, yaw; %lf, roll: % lf\n",pitch,yaw,roll); } // 割り込まれた時点での出力(computeの結果)を返す関数 void calcServoOut(){ if(sbus.failSafe == false) { // sbusデータの読み込み for (int i =0 ; i < 16;i ++){ rc[i] = 0.65f * float(map(int(sbus.getData(i)),368,1680,-1000,1000)) / 1000.0f + (1.0f - 0.65f) * rc[i]; // mapped input } } if(loop_count > 10) pushto_sdcard(); loop_count = 0; }else{ loop_count +=1; } } void updateAttitude(){ // gx gy gz ax ay az accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); // 加速度値を分解能で割って加速度(G)に変換する acc_x = ax / ACCEL_SSF; //FS_SEL_0 16,384 LSB / g acc_y = ay / ACCEL_SSF; acc_z = az / ACCEL_SSF; // 角速度値を分解能で割って角速度(deg per sec)に変換する gyro_x = gx / GYRO_SSF; // (deg/s) gyro_y = gy / GYRO_SSF; gyro_z = gz / GYRO_SSF; //Madgwickフィルターを用いて、PRY(pitch, roll, yaw)を計算 MadgwickFilter.updateIMU(gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z); } int main() { LoopTicker sdcard_loop; LoopTicker PIDtick; PIDtick.attach(PID_compute,PID_dt); pc.baud(115200); sd.baud(115200); accelgyro.initialize(); //加速度計のフルスケールレンジを設定 accelgyro.setFullScaleAccelRange(ACCEL_FSR); //■角速度計のフルスケールレンジを設定 accelgyro.setFullScaleGyroRange(GYRO_FSR); //MPU6050のLPFを設定 accelgyro.setDLPFMode(MPU6050_LPF); servoRight.period_us(20000); MadgwickFilter.begin(100); //サンプリング周波数Hza t.start(); while(1) { tstart = t.read(); //姿勢角を更新 updateAttitude() pitch = -MadgwickFilter.getPitchRadians()-pitch_align*pi/180; roll = -MadgwickFilter.getRollRadians()-roll_align*pi/180; //float LP_rc3 = 0.15f; servoOut = LP_rc*float(map(roll * 180.0 / pi,-60,60,-1000,1000))/1000.0f+(1.0f-LP_rc)*roll_ac; int pwmMax = 1800; int pwmMin = 1200; if(out1<pwmMin) { out1 = pwmMin; }; if(out1>pwmMax) { out1 = pwmMax; }; out2 = map((int)(rc[2]*1000.0f),-1000,1000,pwmMin,pwmMax); if(out2<pwmMin) { out2 = pwmMin; }; if(out2>pwmMax) { out2 = pwmMax; }; pc.printf("roll%lf ", gyro_x); //pc.printf("out1:%d\n ", out1); //pc.printf("out2:%d ", out2); wait(PID_dt - t.read() + tstart); // PIDのために、待ち時間調節(割り込みにするべき) float tend = t.read(); MadgwickFilter.begin(1.0f/(tend-tstart)); //サンプリング周波数Hza pc.printf("time%f \r\n", (tend-tstart)); test_control.setProcessValue(roll * 180.0 / pi); // 入力はこどほう PIDtick.loop(); // scaled_servo に pidのcomputing結果を格納する //sdcard_loop.loop(); printf("scaled_servo[0]: %f",scaled_servo[0]); servo_out[0] = map((int)(scaled_servo[0]*1000.0f),-1000,1000,pwmMin,pwmMax); // sbus用 for (int i = 0; i < 3 ; i ++){ servo_out[i] = max(servo_out[i],pwmMin); servo_out[i] = min(servo_out[i], pwmMax); } pc.printf("out1:%d ",servo_out[0]); servoRight.pulsewidth_us(servo_out[0]); } }