solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
global.hpp
- Committer:
- osaka
- Date:
- 2021-10-20
- Revision:
- 87:89bbbcdb667b
- Parent:
- 86:456f00d52974
- Child:
- 88:be349faa1976
File content as of revision 87:89bbbcdb667b:
#ifndef __GLOBAL_HPP__ #define __GLOBAL_HPP__ #include "mbed.h" #include "SBUS.hpp" #include "PIDcontroller.h" #include "LoopTicker.hpp" #include "FastPWM.h" #include <cmath> #include "UsaPack.hpp" #include "Vector3.hpp" #include "Matrix.h" #include "MatrixMath.h" #include "ScErrStateEKF.hpp" #include "MedianFilter.hpp" #define MPU6050_PWR_MGMT_1 0x6B #define MPU_ADDRESS 0x68 #define M_PI 3.141592f #define ACCEL_FSR MPU6050_ACCEL_FS_8 #define ACCEL_SSF 4096.0f #define GYRO_FSR MPU6050_GYRO_FS_250 #define GYRO_SSF 131.0f #define MPU6050_LPF MPU6050_DLPF_BW_42 #define MPU6050_SAMPLERATE 0 #define PID_dt 0.015f #define servoPwmMax 1800.0f #define servoPwmMin 1200.0f #define motorPwmMax 2000.0f #define motorPwmMin 1100.0f struct valuePack { int16_t accData[3]; int16_t gyroData[3]; int16_t magData[3]; int16_t viData[3]; int16_t actData[4]; int16_t commandIndex; int16_t commandVal; }; struct sendPack { float da; float de; float dT; float rpy[3]; float vi[3]; float vihat[3]; float accBias[3]; }; // var // communication extern I2C i2c; // sda, scl extern UsaPack pc; // log - tail extern Serial sd; extern Serial twelite; // io extern DigitalIn userButton; extern SBUS sbus; // control extern FastPWM servoRight; extern FastPWM servoLeft; extern FastPWM servoThrust; extern PID pitchPID; //rad extern PID pitchratePID;//rad/s extern PID rollPID; extern PID rollratePID;//rad/s extern ScErrStateEKF ekf; // EKF class extern int obsCount; extern float rc[16]; extern int loop_count; extern float att_dt; // position extern Vector3 rpy; // x:roll y:pitch z:yaw extern Vector3 acc; extern Vector3 accref; extern Vector3 mag; extern Vector3 magref; extern Vector3 gyro; extern Vector3 vi; extern float de; extern float da; extern float dT; extern MedianFilter accMedian; extern MedianFilter gyroMedian; extern MedianFilter magMedian; extern float scaledServoOut[2]; extern float scaledMotorOut[1]; extern float servoOut[2]; extern float motorOut[1]; extern int calibrationFlag; extern int agoffset[6]; extern float magbiasMin[3]; extern float magbiasMax[3]; extern float magbias[4]; extern float accMin[3]; extern float accMax[3]; extern Vector3 rpy_align; //// UsaPack extern valuePack vp; extern sendPack sp; // HIL extern bool hilFlag; extern bool serialControlSource; extern bool serialParamSource; extern int checkParamSerial[5]; // function // main.cpp // setup.cpp extern void setup(); extern void calibrate(); // run.cpp extern void run(); // imu.cpp //extern void getIMUval(); // hil.cpp extern void getHILval(); extern float randn(); // servo.cpp extern void calcServoOut(); // transferData.cpp extern void sendData2PC(); extern void sendTelemetry(); extern void writeSDcard(); // global.cpp extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max); #endif