solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
main.cpp@25:5aca9b224226, 2021-02-15 (annotated)
- Committer:
- naker
- Date:
- Mon Feb 15 08:30:16 2021 +0000
- Revision:
- 25:5aca9b224226
- Parent:
- 24:6ab61527855d
- Child:
- 26:62d9857eaecc
use interrupt function to implement PID loop;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
NaotoMorita | 0:6b18a09a6628 | 1 | #include "mbed.h" |
naker | 20:2c3f113a8e8f | 2 | #include "PIDcontroller.h" |
NaotoMorita | 0:6b18a09a6628 | 3 | #include "SBUS.hpp" |
NaotoMorita | 17:6b7a363d06d2 | 4 | #include <MadgwickAHRS.h> |
cocorlow | 6:2cba569272fe | 5 | #include "LoopTicker.hpp" |
naker | 15:6abaac6e5b03 | 6 | #include "MPU6050.h" |
NaotoMorita | 17:6b7a363d06d2 | 7 | #include <I2Cdev.h> |
cocorlow | 6:2cba569272fe | 8 | |
NaotoMorita | 17:6b7a363d06d2 | 9 | #define MPU6050_PWR_MGMT_1 0x6B |
NaotoMorita | 17:6b7a363d06d2 | 10 | #define MPU_ADDRESS 0x68 |
NaotoMorita | 17:6b7a363d06d2 | 11 | #define pi 3.141562 |
NaotoMorita | 17:6b7a363d06d2 | 12 | |
NaotoMorita | 17:6b7a363d06d2 | 13 | //加速度 Full-Scale Range |
NaotoMorita | 17:6b7a363d06d2 | 14 | //#define ACCEL_FSR MPU6050_ACCEL_FS_2 |
NaotoMorita | 17:6b7a363d06d2 | 15 | //#define ACCEL_FSR MPU6050_ACCEL_FS_4 |
NaotoMorita | 17:6b7a363d06d2 | 16 | #define ACCEL_FSR MPU6050_ACCEL_FS_8 |
NaotoMorita | 17:6b7a363d06d2 | 17 | //#define ACCEL_FSR MPU6050_ACCEL_FS_16 |
NaotoMorita | 17:6b7a363d06d2 | 18 | //加速度 Sensitivity Scale Factor |
NaotoMorita | 17:6b7a363d06d2 | 19 | #define ACCEL_SSF 36500.0 |
NaotoMorita | 17:6b7a363d06d2 | 20 | //角速度 Full-Scale Range |
NaotoMorita | 17:6b7a363d06d2 | 21 | #define GYRO_FSR MPU6050_GYRO_FS_250 |
NaotoMorita | 17:6b7a363d06d2 | 22 | //#define GYRO_FSR MPU6050_GYRO_FS_500 |
NaotoMorita | 17:6b7a363d06d2 | 23 | //#define GYRO_FSR MPU6050_GYRO_FS_1000 |
NaotoMorita | 17:6b7a363d06d2 | 24 | //#define GYRO_FSR MPU6050_GYRO_FS_2000 |
NaotoMorita | 17:6b7a363d06d2 | 25 | //角速度 Sensitivity Scale Factor |
NaotoMorita | 17:6b7a363d06d2 | 26 | #define GYRO_SSF 131.0 |
NaotoMorita | 17:6b7a363d06d2 | 27 | //#define GYRO_SSF 65.5 |
NaotoMorita | 17:6b7a363d06d2 | 28 | //#define GYRO_SSF 32.8 |
NaotoMorita | 17:6b7a363d06d2 | 29 | //#define GYRO_SSF 16.4 |
NaotoMorita | 17:6b7a363d06d2 | 30 | #define MPU6050_LPF MPU6050_DLPF_BW_256 |
NaotoMorita | 17:6b7a363d06d2 | 31 | //#define MPU6050_LPF MPU6050_DLPF_BW_188 |
naker | 20:2c3f113a8e8f | 32 | //#define MPU6050_LPF MPU6050_DLPF_BW_98 |
naker | 20:2c3f113a8e8f | 33 | //#define MPU6050_LPF MPU6050_DLPF_BW_42 |
naker | 20:2c3f113a8e8f | 34 | //#define MPU6050_LPF MPU6050_DLPF_BW_20 |
naker | 20:2c3f113a8e8f | 35 | //#define MPU6050_LPF MPU6050_DLPF_BW_10 |
naker | 20:2c3f113a8e8f | 36 | //#define MPU6050_LPF MPU6050_DLPF_BW_5 |
NaotoMorita | 17:6b7a363d06d2 | 37 | MPU6050 accelgyro; |
NaotoMorita | 17:6b7a363d06d2 | 38 | Madgwick MadgwickFilter; |
NaotoMorita | 0:6b18a09a6628 | 39 | SBUS sbus(PD_5, PD_6); |
NaotoMorita | 0:6b18a09a6628 | 40 | Serial pc(USBTX, USBRX); |
naker | 25:5aca9b224226 | 41 | Serial sd(PE_8,PE_7); |
cocorlow | 3:79e62f9b13c8 | 42 | DigitalOut led1(LED1); |
cocorlow | 3:79e62f9b13c8 | 43 | DigitalOut led3(LED3); |
NaotoMorita | 17:6b7a363d06d2 | 44 | PwmOut servoRight(PE_9); |
naker | 20:2c3f113a8e8f | 45 | //PwmOut co(PE_9); // サーボのoutput |
naker | 20:2c3f113a8e8f | 46 | //Servo servoRight(PE_); //右のサーボ |
NaotoMorita | 17:6b7a363d06d2 | 47 | //Servo servoLeft(PB_5); //左のサーボ |
NaotoMorita | 17:6b7a363d06d2 | 48 | //Servo thrServo(PB_6); //スロットルサーボ |
NaotoMorita | 17:6b7a363d06d2 | 49 | |
naker | 20:2c3f113a8e8f | 50 | // のセットアップ |
naker | 20:2c3f113a8e8f | 51 | // (float Kp, float Ki, float Kd, float tSample); |
naker | 20:2c3f113a8e8f | 52 | const double PID_dt = 0.01; |
naker | 21:df4e4e857a3e | 53 | PID test_control(1.2, 0.0, 0.0, PID_dt); |
naker | 22:da9893b71f24 | 54 | PID pitchPID(1.0, 0,0,PID_dt); //rad |
naker | 22:da9893b71f24 | 55 | PID pitchratePID(0.1, 0.0, 0.0, PID_dt);//rad/s |
naker | 22:da9893b71f24 | 56 | PID rollPID(1.0,0.0,0.0,PID_dt); |
naker | 22:da9893b71f24 | 57 | PID rollratePID(0.1, 0.0, 0.0, PID_dt);//rad/s |
NaotoMorita | 17:6b7a363d06d2 | 58 | Timer t; |
cocorlow | 3:79e62f9b13c8 | 59 | |
NaotoMorita | 5:9cad4ce807b9 | 60 | int ch1, ch2; |
naker | 23:4a490fa8bf4a | 61 | float rc[16]; |
naker | 23:4a490fa8bf4a | 62 | //float rc1, rc2; // rc[16]の1,2要素めにそれぞれ移行ずみ |
naker | 25:5aca9b224226 | 63 | float roll_ac; |
naker | 15:6abaac6e5b03 | 64 | double pitch = 0.0; |
naker | 15:6abaac6e5b03 | 65 | double roll = 0.0; |
naker | 15:6abaac6e5b03 | 66 | double yaw = 0.0; |
NaotoMorita | 17:6b7a363d06d2 | 67 | int16_t ax, ay, az; |
NaotoMorita | 17:6b7a363d06d2 | 68 | int16_t gx, gy, gz; |
NaotoMorita | 17:6b7a363d06d2 | 69 | double acc_x,acc_y,acc_z; |
NaotoMorita | 17:6b7a363d06d2 | 70 | double gyro_x,gyro_y,gyro_z; |
cocorlow | 3:79e62f9b13c8 | 71 | int out1, out2; |
naker | 25:5aca9b224226 | 72 | float scaled_servo[3]; |
naker | 24:6ab61527855d | 73 | int servo_out[3]; |
cocorlow | 3:79e62f9b13c8 | 74 | |
NaotoMorita | 17:6b7a363d06d2 | 75 | const double pitch_align = 0.0; |
NaotoMorita | 17:6b7a363d06d2 | 76 | const double roll_align = -0.0; |
naker | 20:2c3f113a8e8f | 77 | float tstart; |
cocorlow | 7:70161eb0f854 | 78 | long map(long x, long in_min, long in_max, long out_min, long out_max) |
cocorlow | 7:70161eb0f854 | 79 | { |
cocorlow | 7:70161eb0f854 | 80 | return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; |
cocorlow | 7:70161eb0f854 | 81 | } |
naker | 20:2c3f113a8e8f | 82 | void pushto_sdcard() |
naker | 20:2c3f113a8e8f | 83 | { |
naker | 25:5aca9b224226 | 84 | sd.printf("tstart: %f \n",tstart); |
naker | 20:2c3f113a8e8f | 85 | } |
naker | 22:da9893b71f24 | 86 | // 割り込まれた時点での出力(computeの結果)を返す関数 |
naker | 25:5aca9b224226 | 87 | |
naker | 25:5aca9b224226 | 88 | void PID_compute(){ |
naker | 25:5aca9b224226 | 89 | scaled_servo[0] = test_control.compute(); |
naker | 22:da9893b71f24 | 90 | } |
cocorlow | 7:70161eb0f854 | 91 | |
NaotoMorita | 0:6b18a09a6628 | 92 | int main() |
NaotoMorita | 0:6b18a09a6628 | 93 | { |
naker | 25:5aca9b224226 | 94 | LoopTicker sdcard_loop; |
naker | 22:da9893b71f24 | 95 | LoopTicker PIDtick; |
naker | 25:5aca9b224226 | 96 | PIDtick.attach(PID_compute,PID_dt); |
naker | 25:5aca9b224226 | 97 | sdcard_loop.attach(pushto_sdcard,1.0); |
NaotoMorita | 17:6b7a363d06d2 | 98 | pc.baud(115200); |
naker | 25:5aca9b224226 | 99 | sd.baud(115200); |
NaotoMorita | 17:6b7a363d06d2 | 100 | accelgyro.initialize(); |
NaotoMorita | 17:6b7a363d06d2 | 101 | uint8_t offsetVal[6] = {0,0,0,0,0,0}; |
NaotoMorita | 17:6b7a363d06d2 | 102 | accelgyro.setXAccelOffset(offsetVal[0]); |
NaotoMorita | 17:6b7a363d06d2 | 103 | accelgyro.setYAccelOffset(offsetVal[1]); |
NaotoMorita | 17:6b7a363d06d2 | 104 | accelgyro.setZAccelOffset(offsetVal[2]); |
NaotoMorita | 17:6b7a363d06d2 | 105 | accelgyro.setXGyroOffset(offsetVal[3]); |
NaotoMorita | 17:6b7a363d06d2 | 106 | accelgyro.setYGyroOffset(offsetVal[4]); |
NaotoMorita | 17:6b7a363d06d2 | 107 | accelgyro.setZGyroOffset(offsetVal[5]); |
NaotoMorita | 17:6b7a363d06d2 | 108 | //加速度計のフルスケールレンジを設定 |
NaotoMorita | 17:6b7a363d06d2 | 109 | accelgyro.setFullScaleAccelRange(ACCEL_FSR); |
NaotoMorita | 17:6b7a363d06d2 | 110 | //■角速度計のフルスケールレンジを設定 |
NaotoMorita | 17:6b7a363d06d2 | 111 | accelgyro.setFullScaleGyroRange(GYRO_FSR); |
NaotoMorita | 17:6b7a363d06d2 | 112 | //MPU6050のLPFを設定 |
NaotoMorita | 17:6b7a363d06d2 | 113 | accelgyro.setDLPFMode(MPU6050_LPF); |
naker | 20:2c3f113a8e8f | 114 | |
NaotoMorita | 17:6b7a363d06d2 | 115 | servoRight.period_us(20000); |
naker | 20:2c3f113a8e8f | 116 | |
NaotoMorita | 17:6b7a363d06d2 | 117 | MadgwickFilter.begin(100); //サンプリング周波数Hza |
naker | 20:2c3f113a8e8f | 118 | // のセットアップ |
naker | 20:2c3f113a8e8f | 119 | test_control.setInputLimits(-60.0,60.0); // 60°が限界 |
naker | 25:5aca9b224226 | 120 | test_control.setOutputLimits(-1, 1); |
naker | 25:5aca9b224226 | 121 | test_control.setBias(0.0); |
NaotoMorita | 17:6b7a363d06d2 | 122 | t.start(); |
naker | 22:da9893b71f24 | 123 | float LP_rc = 0.65f; |
NaotoMorita | 0:6b18a09a6628 | 124 | while(1) { |
naker | 20:2c3f113a8e8f | 125 | tstart = t.read(); |
naker | 25:5aca9b224226 | 126 | sdcard_loop.loop(); |
naker | 20:2c3f113a8e8f | 127 | if(sbus.failSafe == false) { |
naker | 22:da9893b71f24 | 128 | // sbusデータの読み込み |
naker | 22:da9893b71f24 | 129 | for (int i =0 ; i < 16;i ++){ |
naker | 23:4a490fa8bf4a | 130 | rc[i] = LP_rc * float(map(int(sbus.getData(i)),368,1680,-1000,1000)) / 1000.0f + (1.0f - LP_rc) * rc[i]; // mapped input |
naker | 22:da9893b71f24 | 131 | } |
naker | 25:5aca9b224226 | 132 | float rc_setpoint = map((int)(rc[1]*1000.0f),-1000,1000,-30,30); // sbus用 |
naker | 25:5aca9b224226 | 133 | pc.printf("data: %f",rc_setpoint); |
naker | 25:5aca9b224226 | 134 | test_control.setSetPoint(rc_setpoint); |
NaotoMorita | 17:6b7a363d06d2 | 135 | } |
naker | 25:5aca9b224226 | 136 | else test_control.setSetPoint(0.0); |
naker | 20:2c3f113a8e8f | 137 | |
NaotoMorita | 17:6b7a363d06d2 | 138 | // gx gy gz ax ay az |
NaotoMorita | 17:6b7a363d06d2 | 139 | accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); |
NaotoMorita | 17:6b7a363d06d2 | 140 | // 加速度値を分解能で割って加速度(G)に変換する |
NaotoMorita | 17:6b7a363d06d2 | 141 | acc_x = ax / ACCEL_SSF; //FS_SEL_0 16,384 LSB / g |
NaotoMorita | 17:6b7a363d06d2 | 142 | acc_y = ay / ACCEL_SSF; |
NaotoMorita | 17:6b7a363d06d2 | 143 | acc_z = az / ACCEL_SSF; |
NaotoMorita | 17:6b7a363d06d2 | 144 | // 角速度値を分解能で割って角速度(deg per sec)に変換する |
NaotoMorita | 17:6b7a363d06d2 | 145 | gyro_x = gx / GYRO_SSF; // (deg/s) |
NaotoMorita | 17:6b7a363d06d2 | 146 | gyro_y = gy / GYRO_SSF; |
NaotoMorita | 17:6b7a363d06d2 | 147 | gyro_z = gz / GYRO_SSF; |
naker | 20:2c3f113a8e8f | 148 | //Madgwickフィルターを用いて、PRY(pitch, roll, yaw)を計算 |
NaotoMorita | 17:6b7a363d06d2 | 149 | //pc.printf("accx:%f accy:%f accz:%f \r\n", acc_x,acc_y,acc_z); |
NaotoMorita | 17:6b7a363d06d2 | 150 | MadgwickFilter.updateIMU(gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z); |
NaotoMorita | 17:6b7a363d06d2 | 151 | |
NaotoMorita | 17:6b7a363d06d2 | 152 | pitch = -MadgwickFilter.getPitchRadians()-pitch_align*pi/180; |
NaotoMorita | 17:6b7a363d06d2 | 153 | roll = -MadgwickFilter.getRollRadians()-roll_align*pi/180; |
naker | 22:da9893b71f24 | 154 | |
naker | 20:2c3f113a8e8f | 155 | //float LP_rc3 = 0.15f; |
naker | 24:6ab61527855d | 156 | roll_ac = LP_rc*float(map(roll * 180.0 / pi,-60,60,-1000,1000))/1000.0f+(1.0f-LP_rc)*roll_ac; |
naker | 20:2c3f113a8e8f | 157 | int pwmMax = 1800; |
naker | 20:2c3f113a8e8f | 158 | int pwmMin = 1200; |
naker | 25:5aca9b224226 | 159 | //out1 = map((int)(rc[1]*1000.0f),-1000,1000,pwmMin,pwmMax); // sbus用 |
naker | 20:2c3f113a8e8f | 160 | if(out1<pwmMin) { |
naker | 20:2c3f113a8e8f | 161 | out1 = pwmMin; |
naker | 20:2c3f113a8e8f | 162 | }; |
naker | 20:2c3f113a8e8f | 163 | if(out1>pwmMax) { |
naker | 20:2c3f113a8e8f | 164 | out1 = pwmMax; |
naker | 20:2c3f113a8e8f | 165 | }; |
naker | 23:4a490fa8bf4a | 166 | out2 = map((int)(rc[2]*1000.0f),-1000,1000,pwmMin,pwmMax); |
naker | 20:2c3f113a8e8f | 167 | if(out2<pwmMin) { |
naker | 20:2c3f113a8e8f | 168 | out2 = pwmMin; |
naker | 20:2c3f113a8e8f | 169 | }; |
naker | 20:2c3f113a8e8f | 170 | if(out2>pwmMax) { |
naker | 20:2c3f113a8e8f | 171 | out2 = pwmMax; |
naker | 20:2c3f113a8e8f | 172 | }; |
naker | 25:5aca9b224226 | 173 | //test_control.setSetPoint(0.0); // 仮(実際にはsbusの読み込みなど) |
naker | 20:2c3f113a8e8f | 174 | pc.printf("roll%f ", roll*180.0/pi); |
naker | 22:da9893b71f24 | 175 | //pc.printf("out1:%d\n ", out1); |
NaotoMorita | 17:6b7a363d06d2 | 176 | //pc.printf("out2:%d ", out2); |
naker | 20:2c3f113a8e8f | 177 | wait(PID_dt - t.read() + tstart); // PIDのために、待ち時間調節(割り込みにするべき) |
NaotoMorita | 17:6b7a363d06d2 | 178 | float tend = t.read(); |
NaotoMorita | 17:6b7a363d06d2 | 179 | MadgwickFilter.begin(1.0f/(tend-tstart)); //サンプリング周波数Hza |
NaotoMorita | 17:6b7a363d06d2 | 180 | pc.printf("time%f \r\n", (tend-tstart)); |
naker | 20:2c3f113a8e8f | 181 | test_control.setProcessValue(roll * 180.0 / pi); // 入力はこどほう |
naker | 25:5aca9b224226 | 182 | PIDtick.loop(); // scaled_servo に pidのcomputing結果を格納する |
naker | 25:5aca9b224226 | 183 | printf("scaled_servo[0]: %f",scaled_servo[0]); |
naker | 25:5aca9b224226 | 184 | servo_out[0] = map((int)(scaled_servo[0]*1000.0f),-1000,1000,pwmMin,pwmMax); // sbus用 |
naker | 24:6ab61527855d | 185 | for (int i = 0; i < 3 ; i ++){ |
naker | 25:5aca9b224226 | 186 | servo_out[i] = max(servo_out[i],pwmMin); |
naker | 24:6ab61527855d | 187 | servo_out[i] = min(servo_out[i], pwmMax); |
naker | 24:6ab61527855d | 188 | } |
naker | 25:5aca9b224226 | 189 | pc.printf("out1:%d ",servo_out[0]); |
naker | 25:5aca9b224226 | 190 | servoRight.pulsewidth_us(servo_out[0]); |
naker | 20:2c3f113a8e8f | 191 | } |
NaotoMorita | 0:6b18a09a6628 | 192 | } |