solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
hil.cpp@111:0fae4fbe2a80, 2021-11-15 (annotated)
- Committer:
- NaotoMorita
- Date:
- Mon Nov 15 13:42:01 2021 +0000
- Revision:
- 111:0fae4fbe2a80
- Parent:
- 103:fec71c2051c5
- Child:
- 122:68efdee114fa
- Child:
- 139:b378528c05f2
magbias
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
NaotoMorita | 73:84ffa0166e6c | 1 | #include "global.hpp" |
NaotoMorita | 73:84ffa0166e6c | 2 | |
NaotoMorita | 92:00460f6df439 | 3 | void getHilIMUval() |
NaotoMorita | 73:84ffa0166e6c | 4 | { |
NaotoMorita | 76:7fd3ac1afe3e | 5 | switch(vp.commandIndex){ |
NaotoMorita | 76:7fd3ac1afe3e | 6 | case 1: |
NaotoMorita | 76:7fd3ac1afe3e | 7 | NVIC_SystemReset(); |
NaotoMorita | 76:7fd3ac1afe3e | 8 | break; |
NaotoMorita | 76:7fd3ac1afe3e | 9 | default : |
NaotoMorita | 76:7fd3ac1afe3e | 10 | break; |
NaotoMorita | 76:7fd3ac1afe3e | 11 | } |
NaotoMorita | 73:84ffa0166e6c | 12 | rpy_align.x = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 13 | rpy_align.y = 0.0f; |
NaotoMorita | 82:c183c29d2427 | 14 | accref.z = 1.0f; |
NaotoMorita | 93:b827f78a717a | 15 | |
NaotoMorita | 93:b827f78a717a | 16 | |
NaotoMorita | 93:b827f78a717a | 17 | lsm.readAccel(); |
NaotoMorita | 93:b827f78a717a | 18 | lsm.readMag(); |
NaotoMorita | 93:b827f78a717a | 19 | lsm.readGyro(); |
NaotoMorita | 93:b827f78a717a | 20 | |
NaotoMorita | 93:b827f78a717a | 21 | float accmx = lsm.ax * 9.8f - agoffset[0]; |
NaotoMorita | 93:b827f78a717a | 22 | float accmy = lsm.ay * 9.8f - agoffset[1]; |
NaotoMorita | 93:b827f78a717a | 23 | float accmz = lsm.az * 9.8f - agoffset[2]; |
NaotoMorita | 93:b827f78a717a | 24 | float gyromx = (lsm.gx * M_PI / 180.0f) - agoffset[3]; |
NaotoMorita | 93:b827f78a717a | 25 | float gyromy = (lsm.gy * M_PI / 180.0f) - agoffset[4]; |
NaotoMorita | 93:b827f78a717a | 26 | float gyromz = (lsm.gz * M_PI / 180.0f) - agoffset[5]; |
NaotoMorita | 93:b827f78a717a | 27 | |
NaotoMorita | 73:84ffa0166e6c | 28 | // gx gy gz ax ay az |
NaotoMorita | 90:96c2b0ed4b96 | 29 | // 加速度値を分解能で割って加速度(m/s^2)に変換する |
NaotoMorita | 93:b827f78a717a | 30 | acc.x = 9.8f*float(vp.accData[0]) / 4096.0f + accmx; //FS_SEL_0 16,384 LSB / g |
NaotoMorita | 93:b827f78a717a | 31 | acc.y = 9.8f*float(vp.accData[1]) / 4096.0f + accmy; |
NaotoMorita | 93:b827f78a717a | 32 | acc.z = 9.8f*float(vp.accData[2]) / 4096.0f + accmy; |
NaotoMorita | 102:1c77ff6e2a85 | 33 | |
NaotoMorita | 73:84ffa0166e6c | 34 | // 角速度値を分解能で割って角速度(rad per sec)に変換する |
NaotoMorita | 93:b827f78a717a | 35 | gyro.x = float(vp.gyroData[0]) / 131.0f * 0.0174533f + gyromx; // (rad/s) |
NaotoMorita | 93:b827f78a717a | 36 | gyro.y = float(vp.gyroData[1]) / 131.0f * 0.0174533f + gyromy; |
NaotoMorita | 93:b827f78a717a | 37 | gyro.z = float(vp.gyroData[2]) / 131.0f * 0.0174533f + gyromz; |
NaotoMorita | 90:96c2b0ed4b96 | 38 | |
NaotoMorita | 102:1c77ff6e2a85 | 39 | Matrix magraw(3,1); |
NaotoMorita | 102:1c77ff6e2a85 | 40 | magraw(1,1) = float(vp.magData[0])/1000.0f + (lsm.mx-magref.x); |
NaotoMorita | 102:1c77ff6e2a85 | 41 | magraw(2,1) = float(vp.magData[1])/1000.0f + (lsm.my-magref.y); |
NaotoMorita | 102:1c77ff6e2a85 | 42 | magraw(3,1) = float(vp.magData[2])/1000.0f + (lsm.mz-magref.z); |
NaotoMorita | 102:1c77ff6e2a85 | 43 | |
NaotoMorita | 111:0fae4fbe2a80 | 44 | //magres = magCalibrator.calcResidial(magraw); |
NaotoMorita | 111:0fae4fbe2a80 | 45 | //if(magres > magresThreshold){ |
NaotoMorita | 111:0fae4fbe2a80 | 46 | // magCalibrator.updateParams(magraw,0.001f); |
NaotoMorita | 111:0fae4fbe2a80 | 47 | //}; |
NaotoMorita | 111:0fae4fbe2a80 | 48 | Matrix magmod = magraw; |
NaotoMorita | 102:1c77ff6e2a85 | 49 | mag.x = magmod(1,1); |
NaotoMorita | 102:1c77ff6e2a85 | 50 | mag.y = magmod(2,1); |
NaotoMorita | 102:1c77ff6e2a85 | 51 | mag.z = magmod(3,1); |
NaotoMorita | 90:96c2b0ed4b96 | 52 | |
NaotoMorita | 102:1c77ff6e2a85 | 53 | palt = float(vp.piData[2])/1.0f -(lps.pressureToAltitudeMeters(lps.readPressureMillibars())-palt0);; |
NaotoMorita | 94:579e875a4244 | 54 | |
NaotoMorita | 92:00460f6df439 | 55 | if(abs(vp.accData[0])<0.0001f && abs(vp.accData[1])<0.0001f && abs(vp.accData[2])<0.0001f){ |
NaotoMorita | 102:1c77ff6e2a85 | 56 | acc.z += -9.8f; |
NaotoMorita | 111:0fae4fbe2a80 | 57 | mag.x += 0.5; |
NaotoMorita | 92:00460f6df439 | 58 | } |
NaotoMorita | 92:00460f6df439 | 59 | } |
NaotoMorita | 92:00460f6df439 | 60 | |
NaotoMorita | 92:00460f6df439 | 61 | void getHilGPSval() |
NaotoMorita | 92:00460f6df439 | 62 | { |
NaotoMorita | 93:b827f78a717a | 63 | float sigma_vi = 0.1f; |
NaotoMorita | 93:b827f78a717a | 64 | float sigma_pi = 1.0f; |
NaotoMorita | 92:00460f6df439 | 65 | |
NaotoMorita | 90:96c2b0ed4b96 | 66 | //GPSの速度情報m/s |
NaotoMorita | 84:ff48e01ea76b | 67 | vi.x = float(vp.viData[0])/1000.0f + sigma_vi*randn(); |
NaotoMorita | 84:ff48e01ea76b | 68 | vi.y = float(vp.viData[1])/1000.0f + sigma_vi*randn(); |
NaotoMorita | 84:ff48e01ea76b | 69 | vi.z = float(vp.viData[2])/1000.0f + sigma_vi*randn(); |
NaotoMorita | 82:c183c29d2427 | 70 | |
NaotoMorita | 92:00460f6df439 | 71 | //GPSの位置情報m/s |
NaotoMorita | 92:00460f6df439 | 72 | pi.x = float(vp.piData[0])/1.0f + sigma_pi*randn(); |
NaotoMorita | 92:00460f6df439 | 73 | pi.y = float(vp.piData[1])/1.0f + sigma_pi*randn(); |
NaotoMorita | 92:00460f6df439 | 74 | pi.z = float(vp.piData[2])/1.0f + sigma_pi*randn(); |
NaotoMorita | 92:00460f6df439 | 75 | |
NaotoMorita | 73:84ffa0166e6c | 76 | } |
NaotoMorita | 73:84ffa0166e6c | 77 | |
NaotoMorita | 73:84ffa0166e6c | 78 | float randn() |
NaotoMorita | 73:84ffa0166e6c | 79 | { |
NaotoMorita | 73:84ffa0166e6c | 80 | float x = (float)rand()/RAND_MAX; |
NaotoMorita | 73:84ffa0166e6c | 81 | float y = (float)rand()/RAND_MAX; |
NaotoMorita | 73:84ffa0166e6c | 82 | float z1 = sqrt(-2.0 * log(x)) * cos(2.0 * M_PI * y); |
NaotoMorita | 73:84ffa0166e6c | 83 | return z1; |
NaotoMorita | 73:84ffa0166e6c | 84 | } |