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@141:725321fe2949, 2021-12-10 (annotated)
- Committer:
- cocorlow
- Date:
- Fri Dec 10 10:43:50 2021 +0000
- Revision:
- 141:725321fe2949
- Parent:
- 140:53dbdb207542
- Child:
- 143:53808e4e684c
Eigen completed
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cocorlow | 56:888379912f81 | 1 | #ifndef __GLOBAL_HPP__ |
cocorlow | 56:888379912f81 | 2 | #define __GLOBAL_HPP__ |
cocorlow | 56:888379912f81 | 3 | |
cocorlow | 56:888379912f81 | 4 | #include "mbed.h" |
NaotoMorita | 70:99f974d8960e | 5 | #include "SBUS.hpp" |
cocorlow | 56:888379912f81 | 6 | #include "PIDcontroller.h" |
cocorlow | 56:888379912f81 | 7 | #include "LoopTicker.hpp" |
cocorlow | 56:888379912f81 | 8 | #include "FastPWM.h" |
cocorlow | 56:888379912f81 | 9 | #include <cmath> |
cocorlow | 56:888379912f81 | 10 | #include "UsaPack.hpp" |
cocorlow | 56:888379912f81 | 11 | #include "Vector3.hpp" |
osaka | 88:be349faa1976 | 12 | #include "LSM9DS1.h" |
osaka | 88:be349faa1976 | 13 | #include "LPS.h" |
NaotoMorita | 119:a21e283730d1 | 14 | #include "CalibrateMagneto.h" |
NaotoMorita | 90:96c2b0ed4b96 | 15 | #include "solaESKF.hpp" |
NaotoMorita | 70:99f974d8960e | 16 | #include "MedianFilter.hpp" |
osaka | 96:3645f8f9bdd3 | 17 | #include "GPSUBX_UART.hpp" |
osaka | 109:eb255fc4462b | 18 | #include "Autopilot.hpp" |
cocorlow | 56:888379912f81 | 19 | |
cocorlow | 139:b378528c05f2 | 20 | // Eigen |
cocorlow | 139:b378528c05f2 | 21 | #include <Eigen/Dense.h> |
cocorlow | 141:725321fe2949 | 22 | //#include <Eigen/Core.h> |
cocorlow | 141:725321fe2949 | 23 | //#include <Eigen/LU.h> |
cocorlow | 141:725321fe2949 | 24 | //#include <Eigen/Geometry.h> |
cocorlow | 139:b378528c05f2 | 25 | //using namespace std; |
cocorlow | 139:b378528c05f2 | 26 | using namespace Eigen; |
cocorlow | 139:b378528c05f2 | 27 | |
NaotoMorita | 104:20b8caa29185 | 28 | #define magresThreshold 0.025f |
cocorlow | 56:888379912f81 | 29 | #define ACCEL_SSF 4096.0f |
NaotoMorita | 70:99f974d8960e | 30 | #define GYRO_SSF 131.0f |
cocorlow | 56:888379912f81 | 31 | #define PID_dt 0.015f |
cocorlow | 56:888379912f81 | 32 | #define servoPwmMax 1800.0f |
cocorlow | 56:888379912f81 | 33 | #define servoPwmMin 1200.0f |
cocorlow | 56:888379912f81 | 34 | #define motorPwmMax 2000.0f |
cocorlow | 56:888379912f81 | 35 | #define motorPwmMin 1100.0f |
cocorlow | 56:888379912f81 | 36 | |
cocorlow | 139:b378528c05f2 | 37 | #ifndef M_PI_F |
cocorlow | 139:b378528c05f2 | 38 | #define M_PI_F 3.141592f |
cocorlow | 139:b378528c05f2 | 39 | #endif |
osaka | 88:be349faa1976 | 40 | |
cocorlow | 56:888379912f81 | 41 | struct valuePack |
cocorlow | 56:888379912f81 | 42 | { |
NaotoMorita | 73:84ffa0166e6c | 43 | int16_t accData[3]; |
NaotoMorita | 73:84ffa0166e6c | 44 | int16_t gyroData[3]; |
NaotoMorita | 84:ff48e01ea76b | 45 | int16_t magData[3]; |
NaotoMorita | 84:ff48e01ea76b | 46 | int16_t viData[3]; |
NaotoMorita | 92:00460f6df439 | 47 | int16_t piData[3]; |
NaotoMorita | 84:ff48e01ea76b | 48 | int16_t actData[4]; |
NaotoMorita | 76:7fd3ac1afe3e | 49 | int16_t commandIndex; |
NaotoMorita | 83:e69ab831031c | 50 | int16_t commandVal; |
NaotoMorita | 83:e69ab831031c | 51 | }; |
NaotoMorita | 83:e69ab831031c | 52 | |
NaotoMorita | 83:e69ab831031c | 53 | struct sendPack |
NaotoMorita | 83:e69ab831031c | 54 | { |
NaotoMorita | 83:e69ab831031c | 55 | float da; |
NaotoMorita | 83:e69ab831031c | 56 | float de; |
NaotoMorita | 83:e69ab831031c | 57 | float dT; |
NaotoMorita | 83:e69ab831031c | 58 | float rpy[3]; |
NaotoMorita | 84:ff48e01ea76b | 59 | float vihat[3]; |
cocorlow | 56:888379912f81 | 60 | }; |
NaotoMorita | 132:896ad37b534b | 61 | struct logPack |
NaotoMorita | 132:896ad37b534b | 62 | { |
NaotoMorita | 132:896ad37b534b | 63 | float time; |
NaotoMorita | 132:896ad37b534b | 64 | float hertz; |
NaotoMorita | 135:49f8916588da | 65 | float gpsFix; |
NaotoMorita | 132:896ad37b534b | 66 | float da; |
NaotoMorita | 132:896ad37b534b | 67 | float de; |
NaotoMorita | 132:896ad37b534b | 68 | float dT; |
NaotoMorita | 132:896ad37b534b | 69 | float rpy[3]; |
NaotoMorita | 132:896ad37b534b | 70 | float pihat[3]; |
NaotoMorita | 132:896ad37b534b | 71 | float vihat[3]; |
NaotoMorita | 132:896ad37b534b | 72 | float pi[3]; |
NaotoMorita | 132:896ad37b534b | 73 | float vi[3]; |
NaotoMorita | 132:896ad37b534b | 74 | float palt; |
NaotoMorita | 132:896ad37b534b | 75 | float acc[3]; |
NaotoMorita | 132:896ad37b534b | 76 | float gyro[3]; |
NaotoMorita | 132:896ad37b534b | 77 | float mag[3]; |
NaotoMorita | 133:346ce20b3950 | 78 | float rc[16]; |
NaotoMorita | 132:896ad37b534b | 79 | }; |
cocorlow | 56:888379912f81 | 80 | |
NaotoMorita | 134:d57c6b2a706b | 81 | struct telemetryPack |
NaotoMorita | 134:d57c6b2a706b | 82 | { |
NaotoMorita | 134:d57c6b2a706b | 83 | float time; |
NaotoMorita | 134:d57c6b2a706b | 84 | float hertz; |
NaotoMorita | 134:d57c6b2a706b | 85 | float gpsFix; |
NaotoMorita | 134:d57c6b2a706b | 86 | float rpy[3]; |
NaotoMorita | 134:d57c6b2a706b | 87 | float pihat[3]; |
NaotoMorita | 134:d57c6b2a706b | 88 | float vihat[3]; |
NaotoMorita | 134:d57c6b2a706b | 89 | float dynaccNorm; |
NaotoMorita | 134:d57c6b2a706b | 90 | }; |
NaotoMorita | 134:d57c6b2a706b | 91 | |
cocorlow | 56:888379912f81 | 92 | // var |
cocorlow | 56:888379912f81 | 93 | |
cocorlow | 56:888379912f81 | 94 | // communication |
osaka | 88:be349faa1976 | 95 | |
NaotoMorita | 64:e9661430f0e3 | 96 | extern UsaPack pc; // log - tail |
NaotoMorita | 132:896ad37b534b | 97 | extern UsaPack sd; |
NaotoMorita | 133:346ce20b3950 | 98 | extern UsaPack twelite; |
cocorlow | 56:888379912f81 | 99 | |
cocorlow | 56:888379912f81 | 100 | // io |
cocorlow | 56:888379912f81 | 101 | extern DigitalIn userButton; |
NaotoMorita | 70:99f974d8960e | 102 | extern SBUS sbus; |
osaka | 88:be349faa1976 | 103 | extern I2C i2c; // sda, scl |
osaka | 88:be349faa1976 | 104 | extern LSM9DS1 lsm; |
osaka | 88:be349faa1976 | 105 | extern LPS lps; |
osaka | 96:3645f8f9bdd3 | 106 | extern GPSUBX_UART gps; |
NaotoMorita | 119:a21e283730d1 | 107 | extern CalibrateMagneto magCalibrator; |
NaotoMorita | 102:1c77ff6e2a85 | 108 | extern float magres; |
cocorlow | 56:888379912f81 | 109 | // control |
NaotoMorita | 94:579e875a4244 | 110 | extern Timer _t; |
NaotoMorita | 70:99f974d8960e | 111 | extern FastPWM servoRight; |
NaotoMorita | 70:99f974d8960e | 112 | extern FastPWM servoLeft; |
NaotoMorita | 70:99f974d8960e | 113 | extern FastPWM servoThrust; |
NaotoMorita | 70:99f974d8960e | 114 | extern PID pitchPID; //rad |
NaotoMorita | 70:99f974d8960e | 115 | extern PID pitchratePID;//rad/s |
NaotoMorita | 70:99f974d8960e | 116 | extern PID rollPID; |
NaotoMorita | 70:99f974d8960e | 117 | extern PID rollratePID;//rad/s |
cocorlow | 140:53dbdb207542 | 118 | extern solaESKF eskf; // EKF class |
NaotoMorita | 76:7fd3ac1afe3e | 119 | extern int obsCount; |
cocorlow | 140:53dbdb207542 | 120 | extern Autopilot autopilot; |
osaka | 109:eb255fc4462b | 121 | extern float roll_obj; |
osaka | 109:eb255fc4462b | 122 | extern float pitch_obj; |
osaka | 121:2523eef96b36 | 123 | extern float dT_obj; |
cocorlow | 56:888379912f81 | 124 | |
NaotoMorita | 70:99f974d8960e | 125 | extern float rc[16]; |
cocorlow | 56:888379912f81 | 126 | extern int loop_count; |
cocorlow | 56:888379912f81 | 127 | extern float att_dt; |
NaotoMorita | 112:6a33ea9f6fed | 128 | extern bool accmagSwitch; |
cocorlow | 56:888379912f81 | 129 | |
NaotoMorita | 70:99f974d8960e | 130 | |
cocorlow | 56:888379912f81 | 131 | // position |
cocorlow | 139:b378528c05f2 | 132 | extern Matrix3f SensorAlignmentAG; |
cocorlow | 139:b378528c05f2 | 133 | extern Matrix3f SensorAlignmentMAG; |
cocorlow | 139:b378528c05f2 | 134 | extern Vector3f euler; |
cocorlow | 139:b378528c05f2 | 135 | extern Vector3f rpy; // x:roll y:pitch z:yaw |
cocorlow | 139:b378528c05f2 | 136 | extern Vector3f acc; |
cocorlow | 139:b378528c05f2 | 137 | extern Vector3f accref; |
cocorlow | 139:b378528c05f2 | 138 | extern Vector3f mag; |
cocorlow | 139:b378528c05f2 | 139 | extern Vector3f magref; |
cocorlow | 139:b378528c05f2 | 140 | extern Vector3f gyro; |
cocorlow | 139:b378528c05f2 | 141 | extern Vector3f vi; |
cocorlow | 139:b378528c05f2 | 142 | extern Vector3f pi; |
NaotoMorita | 92:00460f6df439 | 143 | extern float palt; |
NaotoMorita | 98:bdaa6bbfb1d9 | 144 | extern float palt0; |
NaotoMorita | 129:a76be8380bb2 | 145 | extern float dynaccnorm2; |
NaotoMorita | 106:2d854e92cebb | 146 | extern int itow_status; |
NaotoMorita | 100:7589b663d462 | 147 | extern bool gpsUpdateFlag; |
NaotoMorita | 106:2d854e92cebb | 148 | extern bool gpsLlh0Fixed; |
NaotoMorita | 127:d73a6233ee4b | 149 | extern bool headingUpdateFlag; |
osaka | 87:89bbbcdb667b | 150 | |
NaotoMorita | 73:84ffa0166e6c | 151 | extern float de; |
NaotoMorita | 73:84ffa0166e6c | 152 | extern float da; |
NaotoMorita | 73:84ffa0166e6c | 153 | extern float dT; |
NaotoMorita | 70:99f974d8960e | 154 | extern MedianFilter accMedian; |
NaotoMorita | 70:99f974d8960e | 155 | extern MedianFilter gyroMedian; |
NaotoMorita | 70:99f974d8960e | 156 | extern MedianFilter magMedian; |
cocorlow | 56:888379912f81 | 157 | |
NaotoMorita | 64:e9661430f0e3 | 158 | extern float scaledServoOut[2]; |
NaotoMorita | 70:99f974d8960e | 159 | extern float scaledMotorOut[1]; |
NaotoMorita | 64:e9661430f0e3 | 160 | extern float servoOut[2]; |
NaotoMorita | 70:99f974d8960e | 161 | extern float motorOut[1]; |
cocorlow | 56:888379912f81 | 162 | |
NaotoMorita | 61:c05353850017 | 163 | |
cocorlow | 56:888379912f81 | 164 | extern int calibrationFlag; |
NaotoMorita | 93:b827f78a717a | 165 | extern float agoffset[6]; |
NaotoMorita | 61:c05353850017 | 166 | extern float magbiasMin[3]; |
NaotoMorita | 61:c05353850017 | 167 | extern float magbiasMax[3]; |
NaotoMorita | 76:7fd3ac1afe3e | 168 | extern float magbias[4]; |
NaotoMorita | 70:99f974d8960e | 169 | extern float accMin[3]; |
NaotoMorita | 70:99f974d8960e | 170 | extern float accMax[3]; |
cocorlow | 56:888379912f81 | 171 | |
cocorlow | 139:b378528c05f2 | 172 | extern Vector3f rpy_align; |
cocorlow | 56:888379912f81 | 173 | |
cocorlow | 56:888379912f81 | 174 | |
cocorlow | 56:888379912f81 | 175 | //// UsaPack |
NaotoMorita | 73:84ffa0166e6c | 176 | extern valuePack vp; |
NaotoMorita | 83:e69ab831031c | 177 | extern sendPack sp; |
NaotoMorita | 132:896ad37b534b | 178 | extern logPack lp; |
NaotoMorita | 134:d57c6b2a706b | 179 | extern telemetryPack tp; |
NaotoMorita | 73:84ffa0166e6c | 180 | |
NaotoMorita | 73:84ffa0166e6c | 181 | // HIL |
NaotoMorita | 73:84ffa0166e6c | 182 | extern bool hilFlag; |
NaotoMorita | 76:7fd3ac1afe3e | 183 | extern bool serialControlSource; |
NaotoMorita | 76:7fd3ac1afe3e | 184 | extern bool serialParamSource; |
NaotoMorita | 76:7fd3ac1afe3e | 185 | extern int checkParamSerial[5]; |
cocorlow | 56:888379912f81 | 186 | // function |
cocorlow | 56:888379912f81 | 187 | |
cocorlow | 56:888379912f81 | 188 | // main.cpp |
cocorlow | 56:888379912f81 | 189 | |
cocorlow | 56:888379912f81 | 190 | // setup.cpp |
cocorlow | 56:888379912f81 | 191 | extern void setup(); |
cocorlow | 56:888379912f81 | 192 | extern void calibrate(); |
cocorlow | 56:888379912f81 | 193 | // run.cpp |
cocorlow | 56:888379912f81 | 194 | extern void run(); |
cocorlow | 56:888379912f81 | 195 | |
cocorlow | 56:888379912f81 | 196 | // imu.cpp |
osaka | 88:be349faa1976 | 197 | extern void getIMUval(); |
cocorlow | 56:888379912f81 | 198 | |
osaka | 96:3645f8f9bdd3 | 199 | //gps.cpp |
osaka | 96:3645f8f9bdd3 | 200 | extern void getGPSval(); |
osaka | 97:2b3242c2dd85 | 201 | extern void change_refpos(); |
osaka | 96:3645f8f9bdd3 | 202 | |
NaotoMorita | 73:84ffa0166e6c | 203 | // hil.cpp |
NaotoMorita | 92:00460f6df439 | 204 | extern void getHilIMUval(); |
NaotoMorita | 92:00460f6df439 | 205 | extern void getHilGPSval(); |
NaotoMorita | 73:84ffa0166e6c | 206 | extern float randn(); |
NaotoMorita | 73:84ffa0166e6c | 207 | |
osaka | 109:eb255fc4462b | 208 | //autopilot.cpp |
osaka | 109:eb255fc4462b | 209 | extern void level_flight(); |
osaka | 109:eb255fc4462b | 210 | extern void point_guide(); |
osaka | 109:eb255fc4462b | 211 | extern void turning(); |
osaka | 137:240588882ae2 | 212 | extern void climb(); |
cocorlow | 139:b378528c05f2 | 213 | extern Vector3f calc_vdot(); |
osaka | 109:eb255fc4462b | 214 | |
cocorlow | 56:888379912f81 | 215 | // servo.cpp |
cocorlow | 56:888379912f81 | 216 | extern void calcServoOut(); |
cocorlow | 56:888379912f81 | 217 | |
osaka | 87:89bbbcdb667b | 218 | // transferData.cpp |
osaka | 87:89bbbcdb667b | 219 | extern void sendData2PC(); |
osaka | 87:89bbbcdb667b | 220 | extern void sendTelemetry(); |
osaka | 87:89bbbcdb667b | 221 | extern void writeSDcard(); |
cocorlow | 56:888379912f81 | 222 | |
cocorlow | 56:888379912f81 | 223 | // global.cpp |
cocorlow | 56:888379912f81 | 224 | extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max); |
cocorlow | 139:b378528c05f2 | 225 | extern void setDiag(Matrix3f& mat, float val); |
cocorlow | 141:725321fe2949 | 226 | extern void setDiag(MatrixXf& mat, float val); |
cocorlow | 141:725321fe2949 | 227 | //extern void setBlockDiag(Matrix3f& mat, float val,int startIndex, int endIndex); |
cocorlow | 56:888379912f81 | 228 | #endif |