solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
run.cpp
- Committer:
- NaotoMorita
- Date:
- 2021-11-05
- Revision:
- 100:7589b663d462
- Parent:
- 99:98b892ca70ec
- Child:
- 102:1c77ff6e2a85
File content as of revision 100:7589b663d462:
#include "global.hpp" void run() { wait(0.5); //センサの初期化・ジャイロバイアス・加速度スケールの取得 if(hilFlag == false){ eskf.setQhat(rpy_align.x,rpy_align.y,rpy_align.z); } int n_init = 1000; for(int i = 0;i<n_init;i++){ lsm.readAccel(); lsm.readMag(); lsm.readGyro(); agoffset[0] += lsm.ax * 9.8f; agoffset[1] += lsm.ay * 9.8f; agoffset[2] += lsm.az * 9.8f-9.8f; agoffset[3] +=(lsm.gx * M_PI / 180.0f); agoffset[4] +=(lsm.gy * M_PI / 180.0f); agoffset[5] +=(lsm.gz * M_PI / 180.0f); palt0 += lps.pressureToAltitudeMeters(lps.readPressureMillibars()); } for(int i = 0;i<6;i++){ agoffset[i] /= float(n_init); } gps.Update(); gps.CalculateUnit(); palt0 /= float(n_init); twelite.printf("Sensor offset : %f %f %f %f %f %f\r\n",agoffset[0],agoffset[1],agoffset[2],agoffset[3],agoffset[4],agoffset[5]); //センサ正常性チェック //usaPack通信開始 pc.Subscribe(0000, &(vp)); //制御ループのアタッチ LoopTicker PIDtick; PIDtick.attach(calcServoOut,PID_dt); //ESKFの共分散設定 eskf.setGravity(0.0f,0.0f,9.8f); eskf.setPhatPosition(0.1f); eskf.setPhatVelocity(0.1f); eskf.setPhatAngleError(0.1f); eskf.setPhatAccBias(0.001f); eskf.setPhatGyroBias(0.001f); eskf.setPhatGravity(0.0000001f); eskf.setQVelocity(0.0025f); eskf.setQAngleError(0.00025f); eskf.setQAccBias(0.0000001f); eskf.setQGyroBias(0.000001f); Matrix Rgpspos(2,2); setDiag(Rgpspos,2.0f); //Rgpspos(3,3) = 5.0f; Matrix Rgpsvel(3,3); setDiag(Rgpsvel,2.0f); Matrix Rgps(5,5); setDiag(Rgps,2.0f); Matrix RaccConst(4,4); setDiag(RaccConst,50.0f); RaccConst(4,4) = 5.0f; //Matrix RgyroConst(2,2); //setDiag(RgyroConst,100); _t.start(); float tgps = _t.read(); while(1) { float tstart = _t.read(); //センサの値を取得 if(hilFlag == true){ getHilIMUval(); }else{ getIMUval(); } //ekfの更新 eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt); eskf.updateErrState(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt); if(hilFlag == true){ if(tstart-tgps>0.2f){ getHilGPSval(); tgps = _t.read(); gpsUpdateFlag = true; }else{ gpsUpdateFlag = false; } }else{ getGPSval; } if(gpsUpdateFlag == true){ //eskf.updateGPSPosition(MatrixMath::Vector2mat(pi),Rgpspos); //eskf.updateGPSVelocity(MatrixMath::Vector2mat(vi),Rgpsvel); eskf.updateGPS(MatrixMath::Vector2mat(pi),MatrixMath::Vector2mat(vi),Rgps); } eskf.updateAccConstraints(MatrixMath::Vector2mat(acc),palt,RaccConst); eskf.fuseErr2Nominal(); PIDtick.loop(); //制御時間を計測 float tend = _t.read(); att_dt = (tend-tstart); } }