solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
servo.cpp@137:240588882ae2, 2021-12-01 (annotated)
- Committer:
- osaka
- Date:
- Wed Dec 01 11:51:49 2021 +0000
- Revision:
- 137:240588882ae2
- Parent:
- 133:346ce20b3950
- Child:
- 139:b378528c05f2
climb
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cocorlow | 56:888379912f81 | 1 | #include "global.hpp" |
cocorlow | 56:888379912f81 | 2 | |
cocorlow | 56:888379912f81 | 3 | // 割り込まれた時点での出力(computeの結果)を返す関数 |
cocorlow | 56:888379912f81 | 4 | void calcServoOut() |
cocorlow | 56:888379912f81 | 5 | { |
NaotoMorita | 83:e69ab831031c | 6 | // sbusデータの読み込み |
NaotoMorita | 83:e69ab831031c | 7 | for (int i =0 ; i < 16;i ++){ |
NaotoMorita | 83:e69ab831031c | 8 | rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input |
NaotoMorita | 70:99f974d8960e | 9 | } |
NaotoMorita | 90:96c2b0ed4b96 | 10 | |
NaotoMorita | 73:84ffa0166e6c | 11 | |
NaotoMorita | 90:96c2b0ed4b96 | 12 | //姿勢角の所得 |
NaotoMorita | 132:896ad37b534b | 13 | euler = eskf.computeAngles(); |
NaotoMorita | 90:96c2b0ed4b96 | 14 | rpy.x = euler(1,1); |
NaotoMorita | 90:96c2b0ed4b96 | 15 | rpy.y = euler(2,1); |
NaotoMorita | 90:96c2b0ed4b96 | 16 | rpy.z = euler(3,1); |
NaotoMorita | 90:96c2b0ed4b96 | 17 | |
NaotoMorita | 90:96c2b0ed4b96 | 18 | //PIDへの状態量のセット |
NaotoMorita | 92:00460f6df439 | 19 | pitchPID.setProcessValue(rpy.y); |
NaotoMorita | 92:00460f6df439 | 20 | pitchratePID.setProcessValue(gyro.y); |
NaotoMorita | 92:00460f6df439 | 21 | rollPID.setProcessValue(rpy.x); |
NaotoMorita | 92:00460f6df439 | 22 | rollratePID.setProcessValue(gyro.x); |
NaotoMorita | 90:96c2b0ed4b96 | 23 | |
osaka | 121:2523eef96b36 | 24 | dT = rc[2]; |
osaka | 121:2523eef96b36 | 25 | |
NaotoMorita | 124:7d6b1b62483b | 26 | if (rc[4]>-0.3f && rc[6] < -0.3f) |
osaka | 109:eb255fc4462b | 27 | { |
osaka | 109:eb255fc4462b | 28 | //level_flight(); |
osaka | 109:eb255fc4462b | 29 | //point_guide(); |
osaka | 137:240588882ae2 | 30 | climb(); |
osaka | 109:eb255fc4462b | 31 | rollPID.setSetPoint(roll_obj); |
osaka | 121:2523eef96b36 | 32 | pitchPID.setSetPoint(pitch_obj); |
osaka | 121:2523eef96b36 | 33 | dT += dT_obj; |
NaotoMorita | 129:a76be8380bb2 | 34 | }else{ |
NaotoMorita | 129:a76be8380bb2 | 35 | rollPID.setSetPoint(0.0f); |
NaotoMorita | 129:a76be8380bb2 | 36 | pitchPID.setSetPoint(0.0f); |
osaka | 109:eb255fc4462b | 37 | } |
osaka | 109:eb255fc4462b | 38 | |
NaotoMorita | 90:96c2b0ed4b96 | 39 | //舵角計算 |
NaotoMorita | 92:00460f6df439 | 40 | if(rc[4]<-0.3f){ |
NaotoMorita | 92:00460f6df439 | 41 | de = (rc[0]-rc[1])/2.0f; |
NaotoMorita | 92:00460f6df439 | 42 | da = (rc[0]+rc[1])/2.0f; |
NaotoMorita | 92:00460f6df439 | 43 | }else{ |
NaotoMorita | 92:00460f6df439 | 44 | de = (pitchPID.compute()+pitchratePID.compute())+(rc[0]-rc[1])/2.0f; |
NaotoMorita | 92:00460f6df439 | 45 | da = (rollPID.compute()+rollratePID.compute())+(rc[0]+rc[1])/2.0f; |
NaotoMorita | 92:00460f6df439 | 46 | } |
NaotoMorita | 70:99f974d8960e | 47 | |
NaotoMorita | 92:00460f6df439 | 48 | scaledServoOut[0]=de+da; |
NaotoMorita | 92:00460f6df439 | 49 | scaledServoOut[1]=-de+da; |
NaotoMorita | 70:99f974d8960e | 50 | scaledMotorOut[0]= dT; |
NaotoMorita | 70:99f974d8960e | 51 | |
cocorlow | 56:888379912f81 | 52 | float LP_servo = 0.2; |
NaotoMorita | 70:99f974d8960e | 53 | float LP_motor = 0.2; |
cocorlow | 56:888379912f81 | 54 | for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++) |
cocorlow | 56:888379912f81 | 55 | { |
cocorlow | 56:888379912f81 | 56 | servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i]; |
cocorlow | 56:888379912f81 | 57 | if(servoOut[i]<servoPwmMin) |
cocorlow | 56:888379912f81 | 58 | { |
cocorlow | 56:888379912f81 | 59 | servoOut[i] = servoPwmMin; |
cocorlow | 56:888379912f81 | 60 | } |
cocorlow | 56:888379912f81 | 61 | if(servoOut[i]>servoPwmMax) |
cocorlow | 56:888379912f81 | 62 | { |
cocorlow | 56:888379912f81 | 63 | servoOut[i] = servoPwmMax; |
cocorlow | 56:888379912f81 | 64 | } |
cocorlow | 56:888379912f81 | 65 | } |
cocorlow | 56:888379912f81 | 66 | |
NaotoMorita | 70:99f974d8960e | 67 | for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){ |
NaotoMorita | 70:99f974d8960e | 68 | motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i]; |
NaotoMorita | 70:99f974d8960e | 69 | if(motorOut[i]<motorPwmMin) { |
NaotoMorita | 70:99f974d8960e | 70 | motorOut[i] = motorPwmMin; |
NaotoMorita | 70:99f974d8960e | 71 | }; |
NaotoMorita | 70:99f974d8960e | 72 | if(motorOut[i]>motorPwmMax) { |
NaotoMorita | 70:99f974d8960e | 73 | motorOut[i] = motorPwmMax; |
NaotoMorita | 70:99f974d8960e | 74 | }; |
NaotoMorita | 70:99f974d8960e | 75 | } |
NaotoMorita | 70:99f974d8960e | 76 | servoRight.pulsewidth_us(servoOut[0]); |
NaotoMorita | 70:99f974d8960e | 77 | servoLeft.pulsewidth_us(servoOut[1]); |
NaotoMorita | 70:99f974d8960e | 78 | servoThrust.pulsewidth_us(motorOut[0]); |
NaotoMorita | 68:b9f6938fab9d | 79 | |
osaka | 87:89bbbcdb667b | 80 | sendData2PC(); |
NaotoMorita | 133:346ce20b3950 | 81 | writeSDcard(); |
NaotoMorita | 133:346ce20b3950 | 82 | |
NaotoMorita | 94:579e875a4244 | 83 | if(loop_count >= 5) |
cocorlow | 56:888379912f81 | 84 | { |
osaka | 87:89bbbcdb667b | 85 | sendTelemetry(); |
cocorlow | 56:888379912f81 | 86 | loop_count = 1; |
NaotoMorita | 68:b9f6938fab9d | 87 | |
cocorlow | 56:888379912f81 | 88 | } |
cocorlow | 56:888379912f81 | 89 | else |
cocorlow | 56:888379912f81 | 90 | { |
cocorlow | 56:888379912f81 | 91 | loop_count +=1; |
cocorlow | 56:888379912f81 | 92 | } |
cocorlow | 56:888379912f81 | 93 | } |