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@76:7fd3ac1afe3e, 2021-08-07 (annotated)
- Committer:
- NaotoMorita
- Date:
- Sat Aug 07 06:54:58 2021 +0000
- Revision:
- 76:7fd3ac1afe3e
- Parent:
- 75:a505b9896da1
- Child:
- 77:2bf856e3eca4
async update
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 | 73:84ffa0166e6c | 3 | void getHILval() |
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 | 73:84ffa0166e6c | 14 | accref.z = 1.0f; |
NaotoMorita | 73:84ffa0166e6c | 15 | float sigma_acc = sqrt(0.000020f); |
NaotoMorita | 73:84ffa0166e6c | 16 | float sigma_gyro = sqrt(0.000005f); |
NaotoMorita | 75:a505b9896da1 | 17 | float sigma_mag = sqrt(0.00001f); |
NaotoMorita | 73:84ffa0166e6c | 18 | // gx gy gz ax ay az |
NaotoMorita | 73:84ffa0166e6c | 19 | // 加速度値を分解能で割って加速度(G)に変換する |
NaotoMorita | 73:84ffa0166e6c | 20 | acc.x = float(vp.accData[0]) / ACCEL_SSF + sigma_acc*randn(); //FS_SEL_0 16,384 LSB / g |
NaotoMorita | 73:84ffa0166e6c | 21 | acc.y = float(vp.accData[1]) / ACCEL_SSF + sigma_acc*randn(); |
NaotoMorita | 73:84ffa0166e6c | 22 | acc.z = float(vp.accData[2]) / ACCEL_SSF + sigma_acc*randn(); |
NaotoMorita | 73:84ffa0166e6c | 23 | acc = accMedian.Process(acc); |
NaotoMorita | 73:84ffa0166e6c | 24 | // 角速度値を分解能で割って角速度(rad per sec)に変換する |
NaotoMorita | 73:84ffa0166e6c | 25 | gyro.x = float(vp.gyroData[0]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn(); // (rad/s) |
NaotoMorita | 73:84ffa0166e6c | 26 | gyro.y = float(vp.gyroData[1]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn(); |
NaotoMorita | 73:84ffa0166e6c | 27 | gyro.z = float(vp.gyroData[2]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn(); |
NaotoMorita | 73:84ffa0166e6c | 28 | gyro = gyroMedian.Process(gyro); |
NaotoMorita | 75:a505b9896da1 | 29 | mag.x = -float(vp.magData[1])/1000.0f + sigma_mag*randn(); |
NaotoMorita | 75:a505b9896da1 | 30 | mag.y = -float(vp.magData[0])/1000.0f + sigma_mag*randn(); |
NaotoMorita | 74:f67062e7813e | 31 | mag.z = float(vp.magData[2])/1000.0f + sigma_mag*randn(); |
NaotoMorita | 73:84ffa0166e6c | 32 | mag = magMedian.Process(mag); |
NaotoMorita | 73:84ffa0166e6c | 33 | if(acc.Norm()<0.01f || mag.Norm() < 0.001f){ |
NaotoMorita | 73:84ffa0166e6c | 34 | acc.x = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 35 | acc.y = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 36 | acc.z = 1.0f; |
NaotoMorita | 73:84ffa0166e6c | 37 | mag.x = 0.113657f; |
NaotoMorita | 73:84ffa0166e6c | 38 | mag.y = -0.278425f; |
NaotoMorita | 73:84ffa0166e6c | 39 | mag.z = 0.980554f; |
NaotoMorita | 73:84ffa0166e6c | 40 | } |
NaotoMorita | 73:84ffa0166e6c | 41 | } |
NaotoMorita | 73:84ffa0166e6c | 42 | |
NaotoMorita | 73:84ffa0166e6c | 43 | float randn() |
NaotoMorita | 73:84ffa0166e6c | 44 | { |
NaotoMorita | 73:84ffa0166e6c | 45 | float x = (float)rand()/RAND_MAX; |
NaotoMorita | 73:84ffa0166e6c | 46 | float y = (float)rand()/RAND_MAX; |
NaotoMorita | 73:84ffa0166e6c | 47 | float z1 = sqrt(-2.0 * log(x)) * cos(2.0 * M_PI * y); |
NaotoMorita | 73:84ffa0166e6c | 48 | return z1; |
NaotoMorita | 73:84ffa0166e6c | 49 | } |