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:
- naker
- Date:
- 2021-02-15
- Revision:
- 23:4a490fa8bf4a
- Parent:
- 22:da9893b71f24
- Child:
- 24:6ab61527855d
File content as of revision 23:4a490fa8bf4a:
#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 //加速度 Full-Scale Range //#define ACCEL_FSR MPU6050_ACCEL_FS_2 //#define ACCEL_FSR MPU6050_ACCEL_FS_4 #define ACCEL_FSR MPU6050_ACCEL_FS_8 //#define ACCEL_FSR MPU6050_ACCEL_FS_16 //加速度 Sensitivity Scale Factor #define ACCEL_SSF 36500.0 //角速度 Full-Scale Range #define GYRO_FSR MPU6050_GYRO_FS_250 //#define GYRO_FSR MPU6050_GYRO_FS_500 //#define GYRO_FSR MPU6050_GYRO_FS_1000 //#define GYRO_FSR MPU6050_GYRO_FS_2000 //角速度 Sensitivity Scale Factor #define GYRO_SSF 131.0 //#define GYRO_SSF 65.5 //#define GYRO_SSF 32.8 //#define GYRO_SSF 16.4 #define MPU6050_LPF MPU6050_DLPF_BW_256 //#define MPU6050_LPF MPU6050_DLPF_BW_188 //#define MPU6050_LPF MPU6050_DLPF_BW_98 //#define MPU6050_LPF MPU6050_DLPF_BW_42 //#define MPU6050_LPF MPU6050_DLPF_BW_20 //#define MPU6050_LPF MPU6050_DLPF_BW_10 //#define MPU6050_LPF MPU6050_DLPF_BW_5 MPU6050 accelgyro; Madgwick MadgwickFilter; SBUS sbus(PD_5, PD_6); Serial pc(USBTX, USBRX); // Serial sd(PE_8,PE_7); DigitalOut led1(LED1); DigitalOut led3(LED3); PwmOut servoRight(PE_9); //PwmOut co(PE_9); // サーボのoutput //Servo servoRight(PE_); //右のサーボ //Servo servoLeft(PB_5); //左のサーボ //Servo thrServo(PB_6); //スロットルサーボ // のセットアップ // (float Kp, float Ki, float Kd, float tSample); const double PID_dt = 0.01; PID test_control(1.2, 0.0, 0.0, PID_dt); 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 ch1, ch2; float rc[16]; //float rc1, rc2; // rc[16]の1,2要素めにそれぞれ移行ずみ 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; 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("tstart: %f \n",tstart); } // 割り込まれた時点での出力(computeの結果)を返す関数 /* float PID_compute(){ } */ int main() { //LoopTicker sdcard_loop; LoopTicker PIDtick; //PIDtick.attach(test_control,RATE); //sdcard_loop.attach(pushto_sdcard,0.01); pc.baud(115200); //sd.baud(115200); accelgyro.initialize(); uint8_t offsetVal[6] = {0,0,0,0,0,0}; accelgyro.setXAccelOffset(offsetVal[0]); accelgyro.setYAccelOffset(offsetVal[1]); accelgyro.setZAccelOffset(offsetVal[2]); accelgyro.setXGyroOffset(offsetVal[3]); accelgyro.setYGyroOffset(offsetVal[4]); accelgyro.setZGyroOffset(offsetVal[5]); //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 // のセットアップ test_control.setInputLimits(-60.0,60.0); // 60°が限界 test_control.setOutputLimits(-1,1); t.start(); float LP_rc = 0.65f; while(1) { tstart = t.read(); //sdcard_loop.loop(); if(sbus.failSafe == false) { // sbusデータの読み込み for (int i =0 ; i < 16;i ++){ int data; float mapped_data; rc[i] = LP_rc * float(map(int(sbus.getData(i)),368,1680,-1000,1000)) / 1000.0f + (1.0f - LP_rc) * rc[i]; // mapped input } pc.printf("data: %d",rc[1]); } // 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 //pc.printf("accx:%f accy:%f accz:%f \r\n", acc_x,acc_y,acc_z); MadgwickFilter.updateIMU(gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z); pitch = -MadgwickFilter.getPitchRadians()-pitch_align*pi/180; roll = -MadgwickFilter.getRollRadians()-roll_align*pi/180; //float LP_rc3 = 0.15f; //rc1 = LP_rc*float(map(roll * 180.0 / pi,-60,60,-1000,1000))/1000.0f+(1.0f-LP_rc)*rc1; //rc1 = LP_rc * float(map(ch1,368,1680,-1000,1000)) / 1000.0f + (1.0f - LP_rc) * rc1; // mapped input //rc2 = LP_rc*float(map(ch2,368,1680,-1000,1000))/1000.0f+(1.0f-LP_rc)*rc2; int pwmMax = 1800; int pwmMin = 1200; out1 = map((int)(rc[1]*1000.0f),-1000,1000,pwmMin,pwmMax); 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; }; //test_control.setSetPoint(rc[1]); test_control.setSetPoint(0.0); // 仮(実際にはsbusの読み込みなど) pc.printf("roll%f ", roll*180.0/pi); //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 //out1 = test_control.compute(); pc.printf("out1:%d ",out1); servoRight.pulsewidth_us(out1); } }