solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
global.cpp@87:89bbbcdb667b, 2021-10-20 (annotated)
- Committer:
- osaka
- Date:
- Wed Oct 20 01:50:52 2021 +0000
- Revision:
- 87:89bbbcdb667b
- Parent:
- 83:e69ab831031c
- Child:
- 88:be349faa1976
Pmod nav
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 | |
NaotoMorita | 67:41fcdfb7cc5a | 3 | |
cocorlow | 56:888379912f81 | 4 | // var |
cocorlow | 56:888379912f81 | 5 | |
cocorlow | 56:888379912f81 | 6 | // communication |
cocorlow | 56:888379912f81 | 7 | I2C i2c(PB_9,PB_8); // sda, scl |
NaotoMorita | 82:c183c29d2427 | 8 | UsaPack pc(USBTX, USBRX, 115200); // log - tail |
NaotoMorita | 76:7fd3ac1afe3e | 9 | Serial sd(PG_14,PG_9); |
osaka | 87:89bbbcdb667b | 10 | Serial twelite(PE_8,PE_7); |
cocorlow | 56:888379912f81 | 11 | |
cocorlow | 56:888379912f81 | 12 | // io |
cocorlow | 56:888379912f81 | 13 | DigitalIn userButton(USER_BUTTON); |
NaotoMorita | 70:99f974d8960e | 14 | SBUS sbus(PD_5, PD_6); |
NaotoMorita | 70:99f974d8960e | 15 | |
cocorlow | 56:888379912f81 | 16 | // control |
NaotoMorita | 70:99f974d8960e | 17 | FastPWM servoRight(PE_9); |
NaotoMorita | 70:99f974d8960e | 18 | FastPWM servoLeft(PE_11); |
NaotoMorita | 70:99f974d8960e | 19 | FastPWM servoThrust(PE_13); |
NaotoMorita | 74:f67062e7813e | 20 | PID pitchPID(10.0f,0.0f,0.0f,PID_dt); //rad |
NaotoMorita | 74:f67062e7813e | 21 | PID pitchratePID(1.0f, 0.0f, 0.0f, PID_dt);//rad/s |
NaotoMorita | 74:f67062e7813e | 22 | PID rollPID(5.0f,0.0f,0.0f,PID_dt); |
NaotoMorita | 74:f67062e7813e | 23 | PID rollratePID(0.5f, 0.0, 0.0, PID_dt);//rad/s |
NaotoMorita | 76:7fd3ac1afe3e | 24 | ScErrStateEKF ekf; // EKF class |
NaotoMorita | 76:7fd3ac1afe3e | 25 | int obsCount = 0; |
cocorlow | 56:888379912f81 | 26 | |
NaotoMorita | 70:99f974d8960e | 27 | float rc[16]; |
cocorlow | 56:888379912f81 | 28 | int loop_count = 0; |
cocorlow | 56:888379912f81 | 29 | float att_dt = 0.01f; |
cocorlow | 56:888379912f81 | 30 | |
cocorlow | 56:888379912f81 | 31 | // position |
cocorlow | 56:888379912f81 | 32 | Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw |
cocorlow | 56:888379912f81 | 33 | Vector3 acc; |
NaotoMorita | 68:b9f6938fab9d | 34 | Vector3 accref(0.0f, 0.0f, 0.98f); |
cocorlow | 56:888379912f81 | 35 | Vector3 mag; |
cocorlow | 56:888379912f81 | 36 | Vector3 magref(0.65f, 0.0f, 0.75f); |
cocorlow | 56:888379912f81 | 37 | Vector3 gyro; |
NaotoMorita | 82:c183c29d2427 | 38 | Vector3 vi; |
NaotoMorita | 77:2bf856e3eca4 | 39 | |
NaotoMorita | 73:84ffa0166e6c | 40 | float de = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 41 | float da = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 42 | float dT = 0.0f; |
NaotoMorita | 70:99f974d8960e | 43 | MedianFilter accMedian(3); |
NaotoMorita | 70:99f974d8960e | 44 | MedianFilter gyroMedian(3); |
NaotoMorita | 70:99f974d8960e | 45 | MedianFilter magMedian(3); |
NaotoMorita | 72:267e2cfddb0b | 46 | |
NaotoMorita | 70:99f974d8960e | 47 | float scaledServoOut[2]= {0.0f,0.0f}; |
NaotoMorita | 70:99f974d8960e | 48 | float scaledMotorOut[1]= {-1.0f}; |
NaotoMorita | 63:9c4973a98600 | 49 | float servoOut[2] = {1500.0f,1500.0f}; |
NaotoMorita | 70:99f974d8960e | 50 | float motorOut[1] = {1100.0f}; |
cocorlow | 56:888379912f81 | 51 | |
cocorlow | 56:888379912f81 | 52 | int calibrationFlag = 0; |
NaotoMorita | 77:2bf856e3eca4 | 53 | int agoffset[6] = {0, 0, 0, -584, -94, 37}; |
NaotoMorita | 76:7fd3ac1afe3e | 54 | |
NaotoMorita | 76:7fd3ac1afe3e | 55 | float magbias[4] = {-134.817047, 127.833481, -152.631836, 44.508556}; |
NaotoMorita | 75:a505b9896da1 | 56 | float magbiasMin[3] = {-174.831711, 93.465691, -188.617172}; |
NaotoMorita | 75:a505b9896da1 | 57 | float magbiasMax[3] = {-110.413963, 162.321548, -122.566071}; |
NaotoMorita | 75:a505b9896da1 | 58 | float accMin[3] = {-0.963692, -0.974141, -1.012899}; |
NaotoMorita | 75:a505b9896da1 | 59 | float accMax[3] = { 1.025954, 0.974748, 0.987155}; |
cocorlow | 56:888379912f81 | 60 | |
NaotoMorita | 76:7fd3ac1afe3e | 61 | Vector3 rpy_align( 8.742834f*M_PI/180.0f, -0.228718f*M_PI/180.0f, 0.0f*M_PI/180.0f); |
cocorlow | 56:888379912f81 | 62 | |
cocorlow | 56:888379912f81 | 63 | |
cocorlow | 56:888379912f81 | 64 | // UsaPack |
NaotoMorita | 73:84ffa0166e6c | 65 | valuePack vp; |
NaotoMorita | 83:e69ab831031c | 66 | sendPack sp; |
NaotoMorita | 73:84ffa0166e6c | 67 | |
NaotoMorita | 73:84ffa0166e6c | 68 | // HIL |
NaotoMorita | 82:c183c29d2427 | 69 | bool hilFlag = true; |
NaotoMorita | 76:7fd3ac1afe3e | 70 | bool serialControlSource = false; |
NaotoMorita | 76:7fd3ac1afe3e | 71 | bool serialParamSource = false; |
NaotoMorita | 76:7fd3ac1afe3e | 72 | int checkParamSerial[5] = {0,0,0,0,0}; |
cocorlow | 56:888379912f81 | 73 | |
cocorlow | 56:888379912f81 | 74 | float mapfloat(float x, float in_min, float in_max, float out_min, float out_max) |
cocorlow | 56:888379912f81 | 75 | { |
cocorlow | 56:888379912f81 | 76 | return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; |
NaotoMorita | 67:41fcdfb7cc5a | 77 | } |