solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
setup.cpp@58:a7947322db87, 2021-06-01 (annotated)
- Committer:
- NaotoMorita
- Date:
- Tue Jun 01 07:45:09 2021 +0000
- Revision:
- 58:a7947322db87
- Parent:
- 56:888379912f81
- Child:
- 59:7b9b842efd5e
modify pc.baud
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 | void setup() |
cocorlow | 56:888379912f81 | 4 | { |
NaotoMorita | 58:a7947322db87 | 5 | pc.baud(57600); |
cocorlow | 56:888379912f81 | 6 | pitchPID.setSetPoint(0.0); |
cocorlow | 56:888379912f81 | 7 | pitchratePID.setSetPoint(0.0); |
cocorlow | 56:888379912f81 | 8 | pitchPID.setBias(0.0); |
cocorlow | 56:888379912f81 | 9 | pitchratePID.setBias(0.0); |
cocorlow | 56:888379912f81 | 10 | pitchPID.setOutputLimits(-1.0,1.0); |
cocorlow | 56:888379912f81 | 11 | pitchratePID.setOutputLimits(-1.0,1.0); |
cocorlow | 56:888379912f81 | 12 | pitchPID.setInputLimits(-M_PI, M_PI); |
cocorlow | 56:888379912f81 | 13 | pitchratePID.setInputLimits(-M_PI, M_PI); |
cocorlow | 56:888379912f81 | 14 | |
cocorlow | 56:888379912f81 | 15 | servo.period_us(15000.0); |
cocorlow | 56:888379912f81 | 16 | servo.pulsewidth_us(1500.0); |
cocorlow | 56:888379912f81 | 17 | |
cocorlow | 56:888379912f81 | 18 | accelgyro.initialize(); |
cocorlow | 56:888379912f81 | 19 | //加速度計のフルスケールレンジを設定 |
cocorlow | 56:888379912f81 | 20 | accelgyro.setFullScaleAccelRange(ACCEL_FSR); |
cocorlow | 56:888379912f81 | 21 | //角速度計のフルスケールレンジを設定 |
cocorlow | 56:888379912f81 | 22 | accelgyro.setFullScaleGyroRange(GYRO_FSR); |
cocorlow | 56:888379912f81 | 23 | //MPU6050のLPFを設定 |
cocorlow | 56:888379912f81 | 24 | accelgyro.setDLPFMode(MPU6050_LPF); |
cocorlow | 56:888379912f81 | 25 | //地磁気 |
cocorlow | 56:888379912f81 | 26 | mag_sensor.enable(); |
cocorlow | 56:888379912f81 | 27 | } |
cocorlow | 56:888379912f81 | 28 | |
cocorlow | 56:888379912f81 | 29 | void calibrate() |
cocorlow | 56:888379912f81 | 30 | { |
cocorlow | 56:888379912f81 | 31 | pc.printf("\r\nEnter to Calibration Mode\r\n"); |
cocorlow | 56:888379912f81 | 32 | wait(5); |
cocorlow | 56:888379912f81 | 33 | pc.printf("Acc and Gyro Calibration Start\r\n"); |
cocorlow | 56:888379912f81 | 34 | |
cocorlow | 56:888379912f81 | 35 | int gxs = 0; |
cocorlow | 56:888379912f81 | 36 | int gys = 0; |
cocorlow | 56:888379912f81 | 37 | int gzs = 0; |
cocorlow | 56:888379912f81 | 38 | int iter_n = 10000; |
cocorlow | 56:888379912f81 | 39 | |
cocorlow | 56:888379912f81 | 40 | for(int i = 0;i<iter_n ;i++) |
cocorlow | 56:888379912f81 | 41 | { |
cocorlow | 56:888379912f81 | 42 | accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz); |
cocorlow | 56:888379912f81 | 43 | gxs += gx; |
cocorlow | 56:888379912f81 | 44 | gys += gy; |
cocorlow | 56:888379912f81 | 45 | gzs -= gz; |
cocorlow | 56:888379912f81 | 46 | //wait(0.01); |
cocorlow | 56:888379912f81 | 47 | } |
cocorlow | 56:888379912f81 | 48 | gxs = gxs /iter_n; |
cocorlow | 56:888379912f81 | 49 | gys = gys /iter_n; |
cocorlow | 56:888379912f81 | 50 | gzs = gzs /iter_n; |
cocorlow | 56:888379912f81 | 51 | agoffset[3] = gxs; |
cocorlow | 56:888379912f81 | 52 | agoffset[4] = gys; |
cocorlow | 56:888379912f81 | 53 | agoffset[5] = gzs; |
cocorlow | 56:888379912f81 | 54 | pc.printf("Gyrooffset : 0, 0, 0, %d, %d, %d \r\n",gxs,gys,gzs); |
cocorlow | 56:888379912f81 | 55 | pc.printf("Mag Calibration Start\r\n"); |
cocorlow | 56:888379912f81 | 56 | |
cocorlow | 56:888379912f81 | 57 | float f = 0; |
cocorlow | 56:888379912f81 | 58 | |
cocorlow | 56:888379912f81 | 59 | while(1) |
cocorlow | 56:888379912f81 | 60 | { |
cocorlow | 56:888379912f81 | 61 | mag_sensor.getAxis(mdata); // flush the magnetmeter |
cocorlow | 56:888379912f81 | 62 | magval[0] = (mdata.x - magbias[0]); |
cocorlow | 56:888379912f81 | 63 | magval[1] = (mdata.y - magbias[1]); |
cocorlow | 56:888379912f81 | 64 | magval[2] = (mdata.z - magbias[2]); |
cocorlow | 56:888379912f81 | 65 | float mag_r = magval[0]*magval[0] + magval[1]*magval[1] + magval[2]*magval[2]; |
cocorlow | 56:888379912f81 | 66 | float lr = 0.000001f; |
cocorlow | 56:888379912f81 | 67 | f = mag_r - magbias[3]*magbias[3]; |
cocorlow | 56:888379912f81 | 68 | magbias[0] = magbias[0] + 4 * lr * f * magval[0]; |
cocorlow | 56:888379912f81 | 69 | magbias[1] = magbias[1] + 4 * lr * f * magval[1]; |
cocorlow | 56:888379912f81 | 70 | magbias[2] = magbias[2] + 4 * lr * f * magval[2]; |
cocorlow | 56:888379912f81 | 71 | magbias[3] = magbias[3] + 4 * lr * f * magbias[3]; |
cocorlow | 56:888379912f81 | 72 | if(userButton.read() == 1) |
cocorlow | 56:888379912f81 | 73 | { |
cocorlow | 56:888379912f81 | 74 | break; |
cocorlow | 56:888379912f81 | 75 | } |
cocorlow | 56:888379912f81 | 76 | wait(0.001); |
cocorlow | 56:888379912f81 | 77 | } |
cocorlow | 56:888379912f81 | 78 | pc.printf("Magbias : %f, %f, %f, %f\r\n", magbias[0], magbias[1], magbias[2], magbias[3]); |
cocorlow | 56:888379912f81 | 79 | pc.printf("Determine Position of MBED\r\n"); |
cocorlow | 56:888379912f81 | 80 | wait(1); |
cocorlow | 56:888379912f81 | 81 | pc.printf("Press the user button\r\n"); |
cocorlow | 56:888379912f81 | 82 | |
cocorlow | 56:888379912f81 | 83 | while(userButton.read() == 0) |
cocorlow | 56:888379912f81 | 84 | { |
cocorlow | 56:888379912f81 | 85 | wait(0.01); |
cocorlow | 56:888379912f81 | 86 | } |
cocorlow | 56:888379912f81 | 87 | while(1) |
cocorlow | 56:888379912f81 | 88 | { |
cocorlow | 56:888379912f81 | 89 | pc.printf("Left\r\n"); |
cocorlow | 56:888379912f81 | 90 | wait(2); |
cocorlow | 56:888379912f81 | 91 | if(userButton.read() == 0) |
cocorlow | 56:888379912f81 | 92 | { |
cocorlow | 56:888379912f81 | 93 | pos_tail = 0; |
cocorlow | 56:888379912f81 | 94 | break; |
cocorlow | 56:888379912f81 | 95 | }; |
cocorlow | 56:888379912f81 | 96 | pc.printf("Center\r\n"); |
cocorlow | 56:888379912f81 | 97 | wait(2); |
cocorlow | 56:888379912f81 | 98 | if(userButton.read() == 0) |
cocorlow | 56:888379912f81 | 99 | { |
cocorlow | 56:888379912f81 | 100 | pos_tail = 1; |
cocorlow | 56:888379912f81 | 101 | break; |
cocorlow | 56:888379912f81 | 102 | }; |
cocorlow | 56:888379912f81 | 103 | pc.printf("Right\r\n"); |
cocorlow | 56:888379912f81 | 104 | wait(2); |
cocorlow | 56:888379912f81 | 105 | if(userButton.read() == 0) |
cocorlow | 56:888379912f81 | 106 | { |
cocorlow | 56:888379912f81 | 107 | pos_tail = 2; |
cocorlow | 56:888379912f81 | 108 | break; |
cocorlow | 56:888379912f81 | 109 | }; |
cocorlow | 56:888379912f81 | 110 | }; |
cocorlow | 56:888379912f81 | 111 | pc.printf("tail_address : %d\r\n", tail_address[pos_tail]); |
cocorlow | 56:888379912f81 | 112 | switch(pos_tail) |
cocorlow | 56:888379912f81 | 113 | { |
cocorlow | 56:888379912f81 | 114 | case 0: |
cocorlow | 56:888379912f81 | 115 | pc.printf("This MBED is Located at Left \r\n"); |
cocorlow | 56:888379912f81 | 116 | break; |
cocorlow | 56:888379912f81 | 117 | case 1: |
cocorlow | 56:888379912f81 | 118 | pc.printf("This MBED is Located at Center \r\n"); |
cocorlow | 56:888379912f81 | 119 | break; |
cocorlow | 56:888379912f81 | 120 | case 2: |
cocorlow | 56:888379912f81 | 121 | pc.printf("This MBED is Located at Right \r\n"); |
cocorlow | 56:888379912f81 | 122 | break; |
cocorlow | 56:888379912f81 | 123 | default: // error situation |
cocorlow | 56:888379912f81 | 124 | pc.printf("error\r\n"); |
cocorlow | 56:888379912f81 | 125 | break; |
cocorlow | 56:888379912f81 | 126 | } |
cocorlow | 56:888379912f81 | 127 | |
cocorlow | 56:888379912f81 | 128 | //姿勢オフセットを計算 |
cocorlow | 56:888379912f81 | 129 | rpy_align.y = 0.0f*M_PI/180.0f; |
cocorlow | 56:888379912f81 | 130 | rpy_align.x = 0.0f*M_PI/180.0f; |
cocorlow | 56:888379912f81 | 131 | float ave_pitch = 0.0f; |
cocorlow | 56:888379912f81 | 132 | float ave_roll = 0.0f; |
cocorlow | 56:888379912f81 | 133 | Timer _t; |
cocorlow | 56:888379912f81 | 134 | _t.start(); |
cocorlow | 56:888379912f81 | 135 | for (int i = 0 ; i < 2200; i++) |
cocorlow | 56:888379912f81 | 136 | { |
cocorlow | 56:888379912f81 | 137 | float tstart = _t.read(); |
cocorlow | 56:888379912f81 | 138 | //姿勢角を更新 |
cocorlow | 56:888379912f81 | 139 | getIMUval(); |
cocorlow | 56:888379912f81 | 140 | ekf.updateBetweenMeasures(gyro, att_dt); |
cocorlow | 56:888379912f81 | 141 | ekf.updateAcrossMeasures(LPmag/LPmag.Norm(), magref/magref.Norm(), ekf.Rmag); |
cocorlow | 56:888379912f81 | 142 | ekf.updateAcrossMeasures(LPacc/LPacc.Norm(), accref/accref.Norm(), ekf.Racc); |
cocorlow | 56:888379912f81 | 143 | ekf.computeAngles(rpy, rpy_g, rpy_align); |
cocorlow | 56:888379912f81 | 144 | if(i>199) |
cocorlow | 56:888379912f81 | 145 | { |
cocorlow | 56:888379912f81 | 146 | ave_pitch += rpy.y; |
cocorlow | 56:888379912f81 | 147 | ave_roll += rpy.x; |
cocorlow | 56:888379912f81 | 148 | } |
cocorlow | 56:888379912f81 | 149 | wait(0.001); |
cocorlow | 56:888379912f81 | 150 | float tend = _t.read(); |
cocorlow | 56:888379912f81 | 151 | att_dt = (tend-tstart); |
cocorlow | 56:888379912f81 | 152 | } |
cocorlow | 56:888379912f81 | 153 | |
cocorlow | 56:888379912f81 | 154 | pc.printf("aliginment data : %f(pitch deg) %f(roll deg)\r\n",ave_pitch/2000.0f*180.0f/M_PI,ave_roll/2000.0f*180.0f/M_PI); |
cocorlow | 56:888379912f81 | 155 | pc.printf("Writing to EEPROM...\r\n"); |
cocorlow | 56:888379912f81 | 156 | |
cocorlow | 56:888379912f81 | 157 | U transfer_data; |
cocorlow | 56:888379912f81 | 158 | transfer_data.i[0] = pos_tail; |
cocorlow | 56:888379912f81 | 159 | for (int i = 1; i < 5; i++) |
cocorlow | 56:888379912f81 | 160 | { |
cocorlow | 56:888379912f81 | 161 | if (!isnan(magbias[i - 1])) |
cocorlow | 56:888379912f81 | 162 | transfer_data.i[i] = int(magbias[i - 1]*1000); // intに丸めた値を送る。 |
cocorlow | 56:888379912f81 | 163 | else |
cocorlow | 56:888379912f81 | 164 | { |
cocorlow | 56:888379912f81 | 165 | pc.printf("Mag bias is NOT transferred\n"); |
cocorlow | 56:888379912f81 | 166 | transfer_data.i[i] = 100; |
cocorlow | 56:888379912f81 | 167 | } |
cocorlow | 56:888379912f81 | 168 | } |
cocorlow | 56:888379912f81 | 169 | // gxs,gys,gzsを送る |
cocorlow | 56:888379912f81 | 170 | int gxyzs[3] = {gxs, gys, gzs}; |
cocorlow | 56:888379912f81 | 171 | for (int i = 5; i < 8; i++) |
cocorlow | 56:888379912f81 | 172 | { |
cocorlow | 56:888379912f81 | 173 | if (!isnan(gxyzs[i - 5])) |
cocorlow | 56:888379912f81 | 174 | transfer_data.i[i] = gxyzs[i - 5]; |
cocorlow | 56:888379912f81 | 175 | else |
cocorlow | 56:888379912f81 | 176 | { |
cocorlow | 56:888379912f81 | 177 | pc.printf("gxyzs is NOT transferred\n"); |
cocorlow | 56:888379912f81 | 178 | transfer_data.i[i] = 0; |
cocorlow | 56:888379912f81 | 179 | } |
cocorlow | 56:888379912f81 | 180 | } |
cocorlow | 56:888379912f81 | 181 | |
cocorlow | 56:888379912f81 | 182 | // ave_pitch,ave_rollを送る |
cocorlow | 56:888379912f81 | 183 | int ave_pr[2] = {ave_pitch*100, ave_roll*100}; |
cocorlow | 56:888379912f81 | 184 | for (int i = 8; i < 10; i++) |
cocorlow | 56:888379912f81 | 185 | { |
cocorlow | 56:888379912f81 | 186 | if (!isnan(ave_pr[i - 8])) |
cocorlow | 56:888379912f81 | 187 | transfer_data.i[i] = ave_pr[i - 8]; |
cocorlow | 56:888379912f81 | 188 | else |
cocorlow | 56:888379912f81 | 189 | { |
cocorlow | 56:888379912f81 | 190 | pc.printf("alignment data is NOT transferred\n"); |
cocorlow | 56:888379912f81 | 191 | transfer_data.i[i] = 0; |
cocorlow | 56:888379912f81 | 192 | } |
cocorlow | 56:888379912f81 | 193 | } |
cocorlow | 56:888379912f81 | 194 | // transfer_data.i[10] = tail_address[pos_tail]; |
cocorlow | 56:888379912f81 | 195 | for (int i = 0; i < N_EEPROM; i++) |
cocorlow | 56:888379912f81 | 196 | { |
cocorlow | 56:888379912f81 | 197 | pc.printf("transfer_data[%d]: %d\r\n", i, transfer_data.i[i]); |
cocorlow | 56:888379912f81 | 198 | } |
cocorlow | 56:888379912f81 | 199 | writeEEPROM(eeprom_address, eeprom_pointeraddress, transfer_data.c, N_EEPROM*4); |
cocorlow | 56:888379912f81 | 200 | wait(3); |
cocorlow | 56:888379912f81 | 201 | |
cocorlow | 56:888379912f81 | 202 | U read_test; |
cocorlow | 56:888379912f81 | 203 | readEEPROM(eeprom_address, eeprom_pointeraddress, read_test.c, N_EEPROM*4); |
cocorlow | 56:888379912f81 | 204 | wait(3); |
cocorlow | 56:888379912f81 | 205 | for (int i = 0 ; i < N_EEPROM; i ++) |
cocorlow | 56:888379912f81 | 206 | { |
cocorlow | 56:888379912f81 | 207 | pc.printf("transfer_data[%d]: %d\r\n",i, read_test.i[i]); |
cocorlow | 56:888379912f81 | 208 | } |
cocorlow | 56:888379912f81 | 209 | |
cocorlow | 56:888379912f81 | 210 | while(1) |
cocorlow | 56:888379912f81 | 211 | { |
cocorlow | 56:888379912f81 | 212 | wait(1000); |
cocorlow | 56:888379912f81 | 213 | } |
cocorlow | 56:888379912f81 | 214 | } |