File content as of revision 61:c05353850017:

#include "global.hpp"

void run()
{
    pc.printf("reading calibration value\r\n");
    //キャリブレーション値を取得
    U read_calib;
    readEEPROM(eeprom_address, eeprom_pointeraddress, read_calib.c, N_EEPROM*4);
    wait(3);
    pos_tail = (int)read_calib.i[0];
    agoffset[3] = float(read_calib.i[7]);
    agoffset[4] = float(read_calib.i[8]);
    agoffset[5] = float(read_calib.i[9]);
    magbiasMin[0] = float(read_calib.i[1])/1000.0f;
    magbiasMin[1] = float(read_calib.i[2])/1000.0f;
    magbiasMin[2] = float(read_calib.i[3])/1000.0f;
    magbiasMax[0] = float(read_calib.i[4])/1000.0f;
    magbiasMax[1] = float(read_calib.i[5])/1000.0f;
    magbiasMax[2] = float(read_calib.i[6])/1000.0f;
    rpy_align.y = float(read_calib.i[10])/200000.0f;
    rpy_align.x = float(read_calib.i[11])/200000.0f;
    magCalibrator.setExtremes(magbiasMin,magbiasMax);
//    tail_address[pos_tail] = (int)read_calib.i[10];
    
    switch(pos_tail){
    case 0:
        pc.printf("This MBED is Located at Left \r\n");
        break;
    case 1:
        pc.printf("This MBED is Located at Center \r\n");
        break;
    case 2:
        pc.printf("This MBED is Located at Right \r\n");
        break;
    default:   // error situation
        pc.printf("error\r\n");
        break;
    }
    pc.printf("tail_address : %d\r\n", tail_address[pos_tail]);
    pc.printf("Alignment values are %f(pitch deg) %f(roll deg)\r\n",rpy_align.y*180.0f/M_PI,rpy_align.x*180.0f/M_PI);
    getIMUval();
    ekf.triad(acc/acc.Norm(), accref/accref.Norm(), mag/mag.Norm(), magref/magref.Norm());
    float val2_thmg = 0;
    float val2_accnorm = 0;
    float sumLPaccnorm = 0;
    for(int i = 0; i < 1000; i++){
        getIMUval();
        val_thmg += acos((mag % acc)/mag.Norm()/acc.Norm());
        val2_thmg += (acos((mag % acc)/mag.Norm()/acc.Norm()))*(acos((mag % acc)/mag.Norm()/acc.Norm()));
        sumLPaccnorm += LPacc.Norm();
        val2_accnorm += LPacc.Norm()*LPacc.Norm();
    }
    accref.z = -sumLPaccnorm / 1000;
    val_thmg /= 1000;
    sigma_thmg = sqrt(val2_thmg/1000-val_thmg*val_thmg);
    sigma_accnorm = sqrt(val2_accnorm/1000-accref.z*accref.z);
    pc.printf("sigma: %f %f \r\n",sigma_thmg,sigma_accnorm);
    for (int i = 0; i < 3; i++)
    {
        if (i == pos_tail)
        {
            break;
        }
        else
        {
            tail.Subscribe(tail_address[i], &(posValues[i]));
        }
    }
    
    LoopTicker PIDtick;
    PIDtick.attach(calcServoOut,PID_dt);
    
    Timer _t;
    _t.start();
    
    while(1)
    {
        float tstart = _t.read();
        //姿勢角を更新
        getIMUval();
        ekf.updateBetweenMeasures(gyro, att_dt);
        ekf.computeAngles(rpy, rpy_g, rpy_align);
        PIDtick.loop(); 
        
        float tend = _t.read();
        att_dt = (tend-tstart);
    }
}