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@45:b439a135c24b, 2021-05-19 (annotated)
- Committer:
- NaotoMorita
- Date:
- Wed May 19 05:10:41 2021 +0000
- Revision:
- 45:b439a135c24b
- Parent:
- 44:f571273d3223
- Child:
- 48:1065506191f2
testflight
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" |
cocorlow | 6:2cba569272fe | 4 | #include "LoopTicker.hpp" |
naker | 15:6abaac6e5b03 | 5 | #include "MPU6050.h" |
NaotoMorita | 38:acc7cdcf56dd | 6 | #include "MAG3110.h" |
NaotoMorita | 38:acc7cdcf56dd | 7 | #include "I2Cdev.h" |
NaotoMorita | 36:e68ce293306e | 8 | #include "FastPWM.h" |
NaotoMorita | 36:e68ce293306e | 9 | #include "Matrix.h" |
NaotoMorita | 36:e68ce293306e | 10 | #include "MatrixMath.h" |
NaotoMorita | 38:acc7cdcf56dd | 11 | #include "math.h" |
cocorlow | 6:2cba569272fe | 12 | |
NaotoMorita | 17:6b7a363d06d2 | 13 | #define MPU6050_PWR_MGMT_1 0x6B |
NaotoMorita | 17:6b7a363d06d2 | 14 | #define MPU_ADDRESS 0x68 |
NaotoMorita | 17:6b7a363d06d2 | 15 | #define pi 3.141562 |
NaotoMorita | 17:6b7a363d06d2 | 16 | #define ACCEL_FSR MPU6050_ACCEL_FS_8 |
NaotoMorita | 38:acc7cdcf56dd | 17 | #define ACCEL_SSF 4096.0 |
NaotoMorita | 17:6b7a363d06d2 | 18 | #define GYRO_FSR MPU6050_GYRO_FS_250 |
NaotoMorita | 17:6b7a363d06d2 | 19 | #define GYRO_SSF 131.0 |
NaotoMorita | 17:6b7a363d06d2 | 20 | #define MPU6050_LPF MPU6050_DLPF_BW_256 |
NaotoMorita | 38:acc7cdcf56dd | 21 | #define gyro_th 20.0 |
NaotoMorita | 38:acc7cdcf56dd | 22 | #define PID_dt 0.015 |
NaotoMorita | 38:acc7cdcf56dd | 23 | #define servoPwmMax 1800.0 |
NaotoMorita | 38:acc7cdcf56dd | 24 | #define servoPwmMin 1200.0 |
NaotoMorita | 38:acc7cdcf56dd | 25 | #define motorPwmMax 2000.0 |
NaotoMorita | 38:acc7cdcf56dd | 26 | #define motorPwmMin 1100.0 |
NaotoMorita | 38:acc7cdcf56dd | 27 | #define pitch_align 8.0*3.141562/180.0 |
NaotoMorita | 38:acc7cdcf56dd | 28 | #define roll_align -2.8*3.141562/180.0 |
NaotoMorita | 27:43bd0e444633 | 29 | |
NaotoMorita | 17:6b7a363d06d2 | 30 | MPU6050 accelgyro; |
NaotoMorita | 38:acc7cdcf56dd | 31 | MAG3110 mag(PB_9,PB_8); |
NaotoMorita | 0:6b18a09a6628 | 32 | SBUS sbus(PD_5, PD_6); |
NaotoMorita | 0:6b18a09a6628 | 33 | Serial pc(USBTX, USBRX); |
naker | 26:62d9857eaecc | 34 | Serial sd(PG_14,PG_9); |
NaotoMorita | 38:acc7cdcf56dd | 35 | DigitalIn userButton(USER_BUTTON); |
NaotoMorita | 36:e68ce293306e | 36 | FastPWM servoRight(PE_9); |
NaotoMorita | 36:e68ce293306e | 37 | FastPWM servoLeft(PE_11); |
NaotoMorita | 38:acc7cdcf56dd | 38 | FastPWM servoThrust(PE_13); |
NaotoMorita | 36:e68ce293306e | 39 | PID pitchPID(5.0, 0,0,PID_dt); //rad |
NaotoMorita | 38:acc7cdcf56dd | 40 | PID pitchratePID(0.5, 0.0, 0.0, PID_dt);//rad/s |
NaotoMorita | 36:e68ce293306e | 41 | PID rollPID(5.0,0.0,0.0,PID_dt); |
NaotoMorita | 38:acc7cdcf56dd | 42 | PID rollratePID(0.5, 0.0, 0.0, PID_dt);//rad/s |
NaotoMorita | 17:6b7a363d06d2 | 43 | Timer t; |
cocorlow | 3:79e62f9b13c8 | 44 | |
NaotoMorita | 36:e68ce293306e | 45 | Matrix qhat(4,1); |
NaotoMorita | 44:f571273d3223 | 46 | Matrix qhat_gyro(4,1); |
NaotoMorita | 36:e68ce293306e | 47 | Matrix Phat(4,4); |
NaotoMorita | 37:dad55cf05e3d | 48 | Matrix Qgyro(3,3); |
NaotoMorita | 36:e68ce293306e | 49 | Matrix Racc(3,3); |
NaotoMorita | 38:acc7cdcf56dd | 50 | Matrix Rmag(3,3); |
NaotoMorita | 38:acc7cdcf56dd | 51 | Matrix D(3,3); |
NaotoMorita | 36:e68ce293306e | 52 | |
NaotoMorita | 38:acc7cdcf56dd | 53 | int loop_count = 0; |
NaotoMorita | 40:869f3791a3e2 | 54 | int obs_count = 0; |
NaotoMorita | 36:e68ce293306e | 55 | float att_dt = 0.01; |
naker | 23:4a490fa8bf4a | 56 | float rc[16]; |
NaotoMorita | 38:acc7cdcf56dd | 57 | float pitch = 0.0; |
NaotoMorita | 38:acc7cdcf56dd | 58 | float roll = 0.0; |
NaotoMorita | 38:acc7cdcf56dd | 59 | float yaw = 0.0; |
NaotoMorita | 44:f571273d3223 | 60 | |
NaotoMorita | 44:f571273d3223 | 61 | float pitch_g = 0.0; |
NaotoMorita | 44:f571273d3223 | 62 | float roll_g = 0.0; |
NaotoMorita | 44:f571273d3223 | 63 | float yaw_g = 0.0; |
NaotoMorita | 44:f571273d3223 | 64 | |
NaotoMorita | 17:6b7a363d06d2 | 65 | int16_t ax, ay, az; |
NaotoMorita | 17:6b7a363d06d2 | 66 | int16_t gx, gy, gz; |
NaotoMorita | 38:acc7cdcf56dd | 67 | MotionSensorDataUnits mdata; |
NaotoMorita | 38:acc7cdcf56dd | 68 | float magval[3] = {1.0,0.0,0.0}; |
NaotoMorita | 38:acc7cdcf56dd | 69 | float acc_x,acc_y,acc_z; |
NaotoMorita | 38:acc7cdcf56dd | 70 | float dynacc_x,dynacc_y,dynacc_z; |
NaotoMorita | 38:acc7cdcf56dd | 71 | float gyro_x,gyro_y,gyro_z; |
NaotoMorita | 38:acc7cdcf56dd | 72 | float mag_x,mag_y,mag_z; |
NaotoMorita | 40:869f3791a3e2 | 73 | |
NaotoMorita | 40:869f3791a3e2 | 74 | float LPacc_x=0.0; |
NaotoMorita | 40:869f3791a3e2 | 75 | float LPacc_y=0.0; |
NaotoMorita | 40:869f3791a3e2 | 76 | float LPacc_z=0.0; |
NaotoMorita | 40:869f3791a3e2 | 77 | float LPmag_x = 0.0; |
NaotoMorita | 40:869f3791a3e2 | 78 | float LPmag_y = 0.0; |
NaotoMorita | 40:869f3791a3e2 | 79 | float LPmag_z = 0.0;; |
NaotoMorita | 40:869f3791a3e2 | 80 | |
cocorlow | 3:79e62f9b13c8 | 81 | int out1, out2; |
NaotoMorita | 36:e68ce293306e | 82 | float scaledServoOut[3]= {0,0}; |
NaotoMorita | 28:fc6c46c1db65 | 83 | float scaledMotorOut[1]= {-1}; |
NaotoMorita | 36:e68ce293306e | 84 | float servoOut[3] = {1500.0,1500.0}; |
NaotoMorita | 36:e68ce293306e | 85 | float motorOut[1] = {1100.0}; |
NaotoMorita | 38:acc7cdcf56dd | 86 | |
NaotoMorita | 38:acc7cdcf56dd | 87 | float accnorm; |
NaotoMorita | 38:acc7cdcf56dd | 88 | float magnorm; |
NaotoMorita | 40:869f3791a3e2 | 89 | float LPaccnorm; |
NaotoMorita | 40:869f3791a3e2 | 90 | float LPmagnorm; |
NaotoMorita | 38:acc7cdcf56dd | 91 | float accrefnorm; |
NaotoMorita | 38:acc7cdcf56dd | 92 | float magrefnorm; |
NaotoMorita | 38:acc7cdcf56dd | 93 | |
NaotoMorita | 40:869f3791a3e2 | 94 | |
NaotoMorita | 38:acc7cdcf56dd | 95 | float val_thmg = 0.0; |
NaotoMorita | 40:869f3791a3e2 | 96 | float th_mg = 0.0; |
NaotoMorita | 40:869f3791a3e2 | 97 | float dynaccnorm = 0.0; |
NaotoMorita | 40:869f3791a3e2 | 98 | float accnormerr = 0.0; |
NaotoMorita | 38:acc7cdcf56dd | 99 | float accref[3] = {0, 0, -0.98}; |
NaotoMorita | 38:acc7cdcf56dd | 100 | float magref[3] = {0.65, 0, 0.75}; |
NaotoMorita | 38:acc7cdcf56dd | 101 | |
NaotoMorita | 44:f571273d3223 | 102 | int agoffset[6] = {0, 0, 0, -117, -563, 2 }; |
NaotoMorita | 44:f571273d3223 | 103 | float magbias[4] = {-140.868240, 121.863251, -162.735092, 37.112610}; |
cocorlow | 3:79e62f9b13c8 | 104 | |
NaotoMorita | 38:acc7cdcf56dd | 105 | void writeSdcard() |
NaotoMorita | 38:acc7cdcf56dd | 106 | { |
NaotoMorita | 38:acc7cdcf56dd | 107 | //magcal.getExtremes(&magmin[0],&magmax[0]); |
NaotoMorita | 38:acc7cdcf56dd | 108 | //pc.printf("%f %f %f %f %f %f\r\n",magmin[0],magmin[1],magmin[2],magmax[0],magmax[1],magmax[2]); |
NaotoMorita | 38:acc7cdcf56dd | 109 | //pc.printf("%f %f %f %f %f %f %f %f %f %f %f %f \r\n",acc_x,acc_y,acc_z,mag_x,mag_y,mag_z,accref[0],accref[1],accref[2],magref[0],magref[1],magref[2]); |
NaotoMorita | 44:f571273d3223 | 110 | sd.printf("%f %d %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\r\n",1.0/att_dt,obs_count,acc_x,acc_y,acc_z,gyro_x,gyro_y,gyro_z,mag_x,mag_y,mag_z,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi,roll_g*180.0f/pi,pitch_g*180.0f/pi,yaw_g*180.0f/pi); |
NaotoMorita | 44:f571273d3223 | 111 | //pc.printf("%f %f %f %f %f %f\r\n",roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi,roll_g*180.0f/pi,pitch_g*180.0f/pi,yaw_g*180.0f/pi); |
NaotoMorita | 44:f571273d3223 | 112 | //pc.printf("%f %f %f %f : %f %f %f\r\n",float(obs_count)/100.0,th_mg,dynaccnorm,accnormerr,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi); |
NaotoMorita | 38:acc7cdcf56dd | 113 | //pc.printf("%d \r\n",userButton.read()); |
NaotoMorita | 38:acc7cdcf56dd | 114 | //pc.printf("%f %f %f %f %f %f\r\n",gyro_x*180.0f/pi,gyro_y*180.0f/pi,gyro_z*180.0f/pi,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi); |
NaotoMorita | 38:acc7cdcf56dd | 115 | //pc.printf("%f %f %f\r\n",roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi); |
NaotoMorita | 38:acc7cdcf56dd | 116 | //pc.printf("%f %f %f %f %f %f\r\n",dynacc_x,dynacc_y,dynacc_z,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi); |
NaotoMorita | 44:f571273d3223 | 117 | //pc.printf("%f %f %f : %f %f %f\r\n",magref[0],magref[1],magref[2],mag_x,mag_y,mag_z); |
NaotoMorita | 38:acc7cdcf56dd | 118 | //pc.printf("%f %f %f %f %f : %f %f %f %f %f %f\r\n",f,magbias[0],magbias[1],magbias[2],magbias[3],magval[0],magval[1],magval[2],mdata.x,mdata.y,mdata.z); |
NaotoMorita | 38:acc7cdcf56dd | 119 | } |
NaotoMorita | 27:43bd0e444633 | 120 | |
NaotoMorita | 35:4535af88f7bf | 121 | float mapfloat(float x, float in_min, float in_max, float out_min, float out_max) |
cocorlow | 7:70161eb0f854 | 122 | { |
cocorlow | 7:70161eb0f854 | 123 | return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; |
cocorlow | 7:70161eb0f854 | 124 | } |
NaotoMorita | 27:43bd0e444633 | 125 | |
NaotoMorita | 38:acc7cdcf56dd | 126 | void calcMagRef(float mx, float my, float mz){ |
NaotoMorita | 44:f571273d3223 | 127 | |
NaotoMorita | 44:f571273d3223 | 128 | Matrix magvec(3,1); |
NaotoMorita | 44:f571273d3223 | 129 | magvec << mx << my << mz; |
NaotoMorita | 44:f571273d3223 | 130 | Matrix magnedvec = MatrixMath::Transpose(D)*magvec; |
NaotoMorita | 44:f571273d3223 | 131 | magref[0] = sqrt(magnedvec(1,1)*magnedvec(1,1)+magnedvec(2,1)*magnedvec(2,1)); |
NaotoMorita | 38:acc7cdcf56dd | 132 | magref[1] = 0.0; |
NaotoMorita | 44:f571273d3223 | 133 | magref[2] = magnedvec(3,1); |
NaotoMorita | 38:acc7cdcf56dd | 134 | } |
NaotoMorita | 38:acc7cdcf56dd | 135 | |
NaotoMorita | 38:acc7cdcf56dd | 136 | |
NaotoMorita | 38:acc7cdcf56dd | 137 | void getIMUval(){ |
NaotoMorita | 38:acc7cdcf56dd | 138 | // gx gy gz ax ay az |
NaotoMorita | 38:acc7cdcf56dd | 139 | accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz); |
NaotoMorita | 38:acc7cdcf56dd | 140 | ax = ax - agoffset[0]; |
NaotoMorita | 38:acc7cdcf56dd | 141 | ay = ay - agoffset[1]; |
NaotoMorita | 38:acc7cdcf56dd | 142 | az = -az - agoffset[2]; |
NaotoMorita | 38:acc7cdcf56dd | 143 | gx = gx - agoffset[3]; |
NaotoMorita | 38:acc7cdcf56dd | 144 | gy = gy - agoffset[4]; |
NaotoMorita | 38:acc7cdcf56dd | 145 | gz = -gz - agoffset[5]; |
NaotoMorita | 38:acc7cdcf56dd | 146 | // 加速度値を分解能で割って加速度(G)に変換する |
NaotoMorita | 38:acc7cdcf56dd | 147 | acc_x = float(ax) / ACCEL_SSF; //FS_SEL_0 16,384 LSB / g |
NaotoMorita | 38:acc7cdcf56dd | 148 | acc_y = float(ay) / ACCEL_SSF; |
NaotoMorita | 38:acc7cdcf56dd | 149 | acc_z = float(az) / ACCEL_SSF; |
NaotoMorita | 38:acc7cdcf56dd | 150 | // 角速度値を分解能で割って角速度(rad per sec)に変換する |
NaotoMorita | 38:acc7cdcf56dd | 151 | gyro_x = float(gx) / GYRO_SSF * 0.0174533f; // (rad/s) |
NaotoMorita | 38:acc7cdcf56dd | 152 | gyro_y = float(gy) / GYRO_SSF * 0.0174533f; |
NaotoMorita | 38:acc7cdcf56dd | 153 | gyro_z = float(gz) / GYRO_SSF * 0.0174533f; |
NaotoMorita | 38:acc7cdcf56dd | 154 | mag.getAxis(mdata); // flush the magnetmeter |
NaotoMorita | 38:acc7cdcf56dd | 155 | magval[0] = (mdata.x - magbias[0]); |
NaotoMorita | 38:acc7cdcf56dd | 156 | magval[1] = (mdata.y - magbias[1]); |
NaotoMorita | 38:acc7cdcf56dd | 157 | magval[2] = (mdata.z - magbias[2]); |
NaotoMorita | 38:acc7cdcf56dd | 158 | mag_x = -magval[0]/magbias[3]; |
NaotoMorita | 38:acc7cdcf56dd | 159 | mag_y = -magval[1]/magbias[3]; |
NaotoMorita | 38:acc7cdcf56dd | 160 | mag_z = -magval[2]/magbias[3]; |
NaotoMorita | 38:acc7cdcf56dd | 161 | |
NaotoMorita | 40:869f3791a3e2 | 162 | float lpc_acc = 0.15; |
NaotoMorita | 40:869f3791a3e2 | 163 | LPacc_x = lpc_acc*acc_x+(1.0-lpc_acc)*LPacc_x; |
NaotoMorita | 40:869f3791a3e2 | 164 | LPacc_y = lpc_acc*acc_y+(1.0-lpc_acc)*LPacc_y; |
NaotoMorita | 40:869f3791a3e2 | 165 | LPacc_z = lpc_acc*acc_z+(1.0-lpc_acc)*LPacc_z; |
NaotoMorita | 40:869f3791a3e2 | 166 | |
NaotoMorita | 40:869f3791a3e2 | 167 | float lpc_mag = 0.15; |
NaotoMorita | 40:869f3791a3e2 | 168 | LPmag_x = lpc_mag*mag_x+(1.0-lpc_mag)*LPmag_x; |
NaotoMorita | 40:869f3791a3e2 | 169 | LPmag_y = lpc_mag*mag_y+(1.0-lpc_mag)*LPmag_y; |
NaotoMorita | 40:869f3791a3e2 | 170 | LPmag_z = lpc_mag*mag_z+(1.0-lpc_mag)*LPmag_z; |
NaotoMorita | 40:869f3791a3e2 | 171 | |
NaotoMorita | 38:acc7cdcf56dd | 172 | accnorm = sqrt(acc_x*acc_x+acc_y*acc_y+acc_z*acc_z); |
NaotoMorita | 38:acc7cdcf56dd | 173 | magnorm = sqrt(mag_x*mag_x+mag_y*mag_y+mag_z*mag_z); |
NaotoMorita | 40:869f3791a3e2 | 174 | LPaccnorm = sqrt(LPacc_x*LPacc_x+LPacc_y*LPacc_y+LPacc_z*LPacc_z); |
NaotoMorita | 40:869f3791a3e2 | 175 | LPmagnorm = sqrt(LPmag_x*LPmag_x+LPmag_y*LPmag_y+LPmag_z*LPmag_z); |
NaotoMorita | 38:acc7cdcf56dd | 176 | accrefnorm = sqrt(accref[0]*accref[0]+accref[1]*accref[1]+accref[2]*accref[2]); |
NaotoMorita | 38:acc7cdcf56dd | 177 | magrefnorm = sqrt(magref[0]*magref[0]+magref[1]*magref[1]+magref[2]*magref[2]); |
NaotoMorita | 40:869f3791a3e2 | 178 | calcMagRef(LPmag_x/LPmagnorm, LPmag_y/LPmagnorm, LPmag_z/LPmagnorm); |
NaotoMorita | 40:869f3791a3e2 | 179 | |
NaotoMorita | 40:869f3791a3e2 | 180 | |
NaotoMorita | 38:acc7cdcf56dd | 181 | } |
NaotoMorita | 38:acc7cdcf56dd | 182 | |
NaotoMorita | 38:acc7cdcf56dd | 183 | void updateBetweenMeasures(){ |
NaotoMorita | 40:869f3791a3e2 | 184 | float q0 = qhat.getNumber( 1, 1 ); |
NaotoMorita | 40:869f3791a3e2 | 185 | float q1 = qhat.getNumber( 2, 1 ); |
NaotoMorita | 40:869f3791a3e2 | 186 | float q2 = qhat.getNumber( 3, 1 ); |
NaotoMorita | 40:869f3791a3e2 | 187 | float q3 = qhat.getNumber( 4, 1 ); |
NaotoMorita | 40:869f3791a3e2 | 188 | |
NaotoMorita | 40:869f3791a3e2 | 189 | Matrix B(4,3); |
NaotoMorita | 40:869f3791a3e2 | 190 | B << q1 << q2 << q3 |
NaotoMorita | 40:869f3791a3e2 | 191 | <<-q0 << q3 <<-q2 |
NaotoMorita | 40:869f3791a3e2 | 192 | <<-q3 <<-q0 << q1 |
NaotoMorita | 40:869f3791a3e2 | 193 | << q2 <<-q1 <<-q0; |
NaotoMorita | 40:869f3791a3e2 | 194 | B *= 0.5f; |
NaotoMorita | 40:869f3791a3e2 | 195 | |
NaotoMorita | 38:acc7cdcf56dd | 196 | Matrix phi(4,4); |
NaotoMorita | 38:acc7cdcf56dd | 197 | phi << 1.0 << -gyro_x*0.5*att_dt <<-gyro_y*0.5*att_dt <<-gyro_z*0.5*att_dt |
NaotoMorita | 38:acc7cdcf56dd | 198 | << gyro_x*0.5*att_dt << 1.0 << gyro_z*0.5*att_dt <<-gyro_y*0.5*att_dt |
NaotoMorita | 38:acc7cdcf56dd | 199 | << gyro_y*0.5*att_dt << -gyro_z*0.5*att_dt << 1.0 << gyro_x*0.5*att_dt |
NaotoMorita | 38:acc7cdcf56dd | 200 | << gyro_z*0.5*att_dt << gyro_y*0.5*att_dt <<-gyro_x*0.5*att_dt << 1.0; |
NaotoMorita | 44:f571273d3223 | 201 | |
NaotoMorita | 38:acc7cdcf56dd | 202 | qhat = phi*qhat; |
NaotoMorita | 38:acc7cdcf56dd | 203 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 38:acc7cdcf56dd | 204 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 38:acc7cdcf56dd | 205 | |
NaotoMorita | 44:f571273d3223 | 206 | qhat_gyro = phi*qhat_gyro; |
NaotoMorita | 44:f571273d3223 | 207 | qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat_gyro),qhat_gyro)); |
NaotoMorita | 44:f571273d3223 | 208 | qhat_gyro *= (1.0f/ qnorm); |
NaotoMorita | 44:f571273d3223 | 209 | |
NaotoMorita | 38:acc7cdcf56dd | 210 | Phat = phi*Phat*MatrixMath::Transpose(phi)+B*Qgyro*MatrixMath::Transpose(B); |
NaotoMorita | 38:acc7cdcf56dd | 211 | |
NaotoMorita | 40:869f3791a3e2 | 212 | q0 = qhat.getNumber( 1, 1 ); |
NaotoMorita | 40:869f3791a3e2 | 213 | q1 = qhat.getNumber( 2, 1 ); |
NaotoMorita | 40:869f3791a3e2 | 214 | q2 = qhat.getNumber( 3, 1 ); |
NaotoMorita | 40:869f3791a3e2 | 215 | q3 = qhat.getNumber( 4, 1 ); |
NaotoMorita | 40:869f3791a3e2 | 216 | |
NaotoMorita | 40:869f3791a3e2 | 217 | D.add(1,1,q0*q0 + q1*q1 - q2*q2 - q3*q3); |
NaotoMorita | 40:869f3791a3e2 | 218 | D.add(1,2,2*(q1*q2 + q0*q3)); |
NaotoMorita | 40:869f3791a3e2 | 219 | D.add(1,3,2*(q1*q3 - q0*q2)); |
NaotoMorita | 40:869f3791a3e2 | 220 | D.add(2,1,2*(q1*q2 - q0*q3)); |
NaotoMorita | 40:869f3791a3e2 | 221 | D.add(2,2,q0*q0 - q1*q1 + q2*q2 - q3*q3); |
NaotoMorita | 40:869f3791a3e2 | 222 | D.add(2,3,2*(q2*q3 + q0*q1)); |
NaotoMorita | 40:869f3791a3e2 | 223 | D.add(3,1,2*(q1*q3 + q0*q2)); |
NaotoMorita | 40:869f3791a3e2 | 224 | D.add(3,2,2*(q2*q3 - q0*q1)); |
NaotoMorita | 40:869f3791a3e2 | 225 | D.add(3,3,q0*q0 - q1*q1 - q2*q2 + q3*q3); |
NaotoMorita | 38:acc7cdcf56dd | 226 | |
NaotoMorita | 38:acc7cdcf56dd | 227 | } |
NaotoMorita | 38:acc7cdcf56dd | 228 | |
NaotoMorita | 38:acc7cdcf56dd | 229 | void updateAcrossMeasures(float v1,float v2, float v3, float u1, float u2, float u3, Matrix R){ |
NaotoMorita | 38:acc7cdcf56dd | 230 | |
NaotoMorita | 38:acc7cdcf56dd | 231 | Matrix u(3,1); |
NaotoMorita | 38:acc7cdcf56dd | 232 | Matrix v(3,1); |
NaotoMorita | 38:acc7cdcf56dd | 233 | |
NaotoMorita | 38:acc7cdcf56dd | 234 | u << u1 << u2 <<u3; |
NaotoMorita | 38:acc7cdcf56dd | 235 | v << v1 << v2 <<v3; |
NaotoMorita | 38:acc7cdcf56dd | 236 | |
NaotoMorita | 38:acc7cdcf56dd | 237 | float q0 = qhat.getNumber( 1, 1 ); |
NaotoMorita | 38:acc7cdcf56dd | 238 | float q1 = qhat.getNumber( 2, 1 ); |
NaotoMorita | 38:acc7cdcf56dd | 239 | float q2 = qhat.getNumber( 3, 1 ); |
NaotoMorita | 38:acc7cdcf56dd | 240 | float q3 = qhat.getNumber( 4, 1 ); |
NaotoMorita | 38:acc7cdcf56dd | 241 | |
NaotoMorita | 38:acc7cdcf56dd | 242 | Matrix A1(3,3); |
NaotoMorita | 38:acc7cdcf56dd | 243 | A1 << q0 << q3 << -q2 |
NaotoMorita | 38:acc7cdcf56dd | 244 | <<-q3 << q0 << q1 |
NaotoMorita | 38:acc7cdcf56dd | 245 | <<q2 <<-q1 <<q0; |
NaotoMorita | 38:acc7cdcf56dd | 246 | A1 *= 2.0f; |
NaotoMorita | 38:acc7cdcf56dd | 247 | |
NaotoMorita | 38:acc7cdcf56dd | 248 | Matrix A2(3,3); |
NaotoMorita | 38:acc7cdcf56dd | 249 | A2 << q1 << q2 << q3 |
NaotoMorita | 38:acc7cdcf56dd | 250 | << q2 <<-q1 << q0 |
NaotoMorita | 38:acc7cdcf56dd | 251 | << q3 <<-q0 <<-q1; |
NaotoMorita | 38:acc7cdcf56dd | 252 | A2 *= 2.0f; |
NaotoMorita | 38:acc7cdcf56dd | 253 | |
NaotoMorita | 38:acc7cdcf56dd | 254 | Matrix A3(3,3); |
NaotoMorita | 38:acc7cdcf56dd | 255 | A3 <<-q2 << q1 <<-q0 |
NaotoMorita | 38:acc7cdcf56dd | 256 | << q1 << q2 << q3 |
NaotoMorita | 38:acc7cdcf56dd | 257 | << q0 << q3 <<-q2; |
NaotoMorita | 38:acc7cdcf56dd | 258 | A3 *= 2.0f; |
NaotoMorita | 38:acc7cdcf56dd | 259 | |
NaotoMorita | 38:acc7cdcf56dd | 260 | Matrix A4(3,3); |
NaotoMorita | 38:acc7cdcf56dd | 261 | A4 <<-q3 << q0 << q1 |
NaotoMorita | 38:acc7cdcf56dd | 262 | <<-q0 <<-q3 << q2 |
NaotoMorita | 38:acc7cdcf56dd | 263 | << q1 << q2 << q3; |
NaotoMorita | 38:acc7cdcf56dd | 264 | A4 *= 2.0f; |
NaotoMorita | 38:acc7cdcf56dd | 265 | |
NaotoMorita | 38:acc7cdcf56dd | 266 | Matrix H(3,4); |
NaotoMorita | 38:acc7cdcf56dd | 267 | |
NaotoMorita | 38:acc7cdcf56dd | 268 | Matrix ab1(A1*u); |
NaotoMorita | 38:acc7cdcf56dd | 269 | Matrix ab2(A2*u); |
NaotoMorita | 38:acc7cdcf56dd | 270 | Matrix ab3(A3*u); |
NaotoMorita | 38:acc7cdcf56dd | 271 | Matrix ab4(A4*u); |
NaotoMorita | 38:acc7cdcf56dd | 272 | |
NaotoMorita | 38:acc7cdcf56dd | 273 | H << ab1.getNumber( 1, 1 ) << ab2.getNumber( 1, 1 ) << ab3.getNumber( 1, 1 ) << ab4.getNumber( 1, 1 ) |
NaotoMorita | 38:acc7cdcf56dd | 274 | << ab1.getNumber( 2, 1 ) << ab2.getNumber( 2, 1 ) << ab3.getNumber( 2, 1 ) << ab4.getNumber( 2, 1 ) |
NaotoMorita | 38:acc7cdcf56dd | 275 | << ab1.getNumber( 3, 1 ) << ab2.getNumber( 3, 1 ) << ab3.getNumber( 3, 1 ) << ab4.getNumber( 3, 1 ); |
NaotoMorita | 38:acc7cdcf56dd | 276 | |
NaotoMorita | 38:acc7cdcf56dd | 277 | |
NaotoMorita | 38:acc7cdcf56dd | 278 | Matrix K(4,3); |
NaotoMorita | 38:acc7cdcf56dd | 279 | K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 38:acc7cdcf56dd | 280 | |
NaotoMorita | 38:acc7cdcf56dd | 281 | Matrix dq(4,1); |
NaotoMorita | 38:acc7cdcf56dd | 282 | dq = K*(v-D*u); |
NaotoMorita | 38:acc7cdcf56dd | 283 | qhat = qhat+dq; |
NaotoMorita | 38:acc7cdcf56dd | 284 | |
NaotoMorita | 38:acc7cdcf56dd | 285 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 38:acc7cdcf56dd | 286 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 38:acc7cdcf56dd | 287 | |
NaotoMorita | 38:acc7cdcf56dd | 288 | Matrix eye4(4,4); |
NaotoMorita | 38:acc7cdcf56dd | 289 | eye4 << 1 << 0 << 0 << 0 |
NaotoMorita | 38:acc7cdcf56dd | 290 | << 0 << 1 << 0 << 0 |
NaotoMorita | 38:acc7cdcf56dd | 291 | << 0 << 0 << 1 << 0 |
NaotoMorita | 38:acc7cdcf56dd | 292 | << 0 << 0 << 0 << 1; |
NaotoMorita | 38:acc7cdcf56dd | 293 | Phat = (eye4-K*H)*Phat*MatrixMath::Transpose(eye4-K*H)+K*R*MatrixMath::Transpose(K); |
NaotoMorita | 38:acc7cdcf56dd | 294 | } |
NaotoMorita | 38:acc7cdcf56dd | 295 | |
NaotoMorita | 38:acc7cdcf56dd | 296 | void computeAngles() |
naker | 20:2c3f113a8e8f | 297 | { |
NaotoMorita | 38:acc7cdcf56dd | 298 | float q0 = qhat.getNumber( 1, 1 ); |
NaotoMorita | 38:acc7cdcf56dd | 299 | float q1 = qhat.getNumber( 2, 1 ); |
NaotoMorita | 38:acc7cdcf56dd | 300 | float q2 = qhat.getNumber( 3, 1 ); |
NaotoMorita | 38:acc7cdcf56dd | 301 | float q3 = qhat.getNumber( 4, 1 ); |
NaotoMorita | 38:acc7cdcf56dd | 302 | roll = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-roll_align; |
NaotoMorita | 38:acc7cdcf56dd | 303 | pitch = asinf(-2.0f * (q1*q3 - q0*q2))-pitch_align; |
NaotoMorita | 38:acc7cdcf56dd | 304 | yaw = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3); |
NaotoMorita | 44:f571273d3223 | 305 | |
NaotoMorita | 44:f571273d3223 | 306 | q0 = qhat_gyro.getNumber( 1, 1 ); |
NaotoMorita | 44:f571273d3223 | 307 | q1 = qhat_gyro.getNumber( 2, 1 ); |
NaotoMorita | 44:f571273d3223 | 308 | q2 = qhat_gyro.getNumber( 3, 1 ); |
NaotoMorita | 44:f571273d3223 | 309 | q3 = qhat_gyro.getNumber( 4, 1 ); |
NaotoMorita | 44:f571273d3223 | 310 | roll_g = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-roll_align; |
NaotoMorita | 44:f571273d3223 | 311 | pitch_g = asinf(-2.0f * (q1*q3 - q0*q2))-pitch_align; |
NaotoMorita | 44:f571273d3223 | 312 | yaw_g = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3); |
NaotoMorita | 44:f571273d3223 | 313 | |
NaotoMorita | 38:acc7cdcf56dd | 314 | } |
NaotoMorita | 38:acc7cdcf56dd | 315 | |
NaotoMorita | 38:acc7cdcf56dd | 316 | void triad(float fb1,float fb2, float fb3, float fn1, float fn2, float fn3,float mb1,float mb2, float mb3, float mn1, float mn2, float mn3){ |
NaotoMorita | 38:acc7cdcf56dd | 317 | Matrix W1(3,1); |
NaotoMorita | 38:acc7cdcf56dd | 318 | W1 << fb1 << fb2<< fb3; |
NaotoMorita | 38:acc7cdcf56dd | 319 | Matrix W2(3,1); |
NaotoMorita | 38:acc7cdcf56dd | 320 | W2 << mb1 << mb2<< mb3; |
NaotoMorita | 38:acc7cdcf56dd | 321 | |
NaotoMorita | 38:acc7cdcf56dd | 322 | Matrix V1(3,1); |
NaotoMorita | 38:acc7cdcf56dd | 323 | V1 << fn1 << fn2<< fn3; |
NaotoMorita | 38:acc7cdcf56dd | 324 | Matrix V2(3,1); |
NaotoMorita | 38:acc7cdcf56dd | 325 | V2 << mn1 << mn2<< mn3; |
NaotoMorita | 38:acc7cdcf56dd | 326 | |
NaotoMorita | 38:acc7cdcf56dd | 327 | |
NaotoMorita | 38:acc7cdcf56dd | 328 | Matrix Ou2(3,1); |
NaotoMorita | 38:acc7cdcf56dd | 329 | Ou2 << W1.getNumber( 2, 1 )*W2.getNumber( 3, 1 )-W1.getNumber( 3, 1 )*W2.getNumber( 2, 1 ) << W1.getNumber( 3, 1 )*W2.getNumber( 1, 1 )-W1.getNumber( 1, 1 )*W2.getNumber( 3, 1 ) << W1.getNumber( 1, 1 )*W2.getNumber( 2, 1 )-W1.getNumber( 2, 1 )*W2.getNumber( 1, 1 ); |
NaotoMorita | 38:acc7cdcf56dd | 330 | Ou2 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(Ou2),Ou2)); |
NaotoMorita | 38:acc7cdcf56dd | 331 | Matrix Ou3(3,1); |
NaotoMorita | 38:acc7cdcf56dd | 332 | Ou3 << W1.getNumber( 2, 1 )*Ou2.getNumber( 3, 1 )-W1.getNumber( 3, 1 )*Ou2.getNumber( 2, 1 ) << W1.getNumber( 3, 1 )*Ou2.getNumber( 1, 1 )-W1.getNumber( 1, 1 )*Ou2.getNumber( 3, 1 ) << W1.getNumber( 1, 1 )*Ou2.getNumber( 2, 1 )-W1.getNumber( 2, 1 )*Ou2.getNumber( 1, 1 ); |
NaotoMorita | 38:acc7cdcf56dd | 333 | Ou3 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(Ou3),Ou3)); |
NaotoMorita | 38:acc7cdcf56dd | 334 | Matrix R2(3,1); |
NaotoMorita | 38:acc7cdcf56dd | 335 | R2 << V1.getNumber( 2, 1 )*V2.getNumber( 3, 1 )-V1.getNumber( 3, 1 )*V2.getNumber( 2, 1 ) << V1.getNumber( 3, 1 )*V2.getNumber( 1, 1 )-V1.getNumber( 1, 1 )*V2.getNumber( 3, 1 ) << V1.getNumber( 1, 1 )*V2.getNumber( 2, 1 )-V1.getNumber( 2, 1 )*V2.getNumber( 1, 1 ); |
NaotoMorita | 38:acc7cdcf56dd | 336 | R2 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(R2),R2)); |
NaotoMorita | 38:acc7cdcf56dd | 337 | Matrix R3(3,1); |
NaotoMorita | 38:acc7cdcf56dd | 338 | R3 << V1.getNumber( 2, 1 )*R2.getNumber( 3, 1 )-V1.getNumber( 3, 1 )*R2.getNumber( 2, 1 ) << V1.getNumber( 3, 1 )*R2.getNumber( 1, 1 )-V1.getNumber( 1, 1 )*R2.getNumber( 3, 1 ) << V1.getNumber( 1, 1 )*R2.getNumber( 2, 1 )-V1.getNumber( 2, 1 )*R2.getNumber( 1, 1 ); |
NaotoMorita | 38:acc7cdcf56dd | 339 | R3 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(R3),R3)); |
NaotoMorita | 38:acc7cdcf56dd | 340 | |
NaotoMorita | 38:acc7cdcf56dd | 341 | Matrix Mou(3,3); |
NaotoMorita | 38:acc7cdcf56dd | 342 | Mou << W1.getNumber( 1, 1 ) << Ou2.getNumber( 1, 1 ) << Ou3.getNumber( 1, 1 ) |
NaotoMorita | 38:acc7cdcf56dd | 343 | << W1.getNumber( 2, 1 ) << Ou2.getNumber( 2, 1 ) << Ou3.getNumber( 2, 1 ) |
NaotoMorita | 38:acc7cdcf56dd | 344 | << W1.getNumber( 3, 1 ) << Ou2.getNumber( 3, 1 ) << Ou3.getNumber( 3, 1 ); |
NaotoMorita | 38:acc7cdcf56dd | 345 | Matrix Mr(3,3); |
NaotoMorita | 38:acc7cdcf56dd | 346 | Mr << V1.getNumber( 1, 1 ) << R2.getNumber( 1, 1 ) << R3.getNumber( 1, 1 ) |
NaotoMorita | 38:acc7cdcf56dd | 347 | << V1.getNumber( 2, 1 ) << R2.getNumber( 2, 1 ) << R3.getNumber( 2, 1 ) |
NaotoMorita | 38:acc7cdcf56dd | 348 | << V1.getNumber( 3, 1 ) << R2.getNumber( 3, 1 ) << R3.getNumber( 3, 1 ); |
NaotoMorita | 38:acc7cdcf56dd | 349 | |
NaotoMorita | 38:acc7cdcf56dd | 350 | Matrix Cbn = Mr*MatrixMath::Transpose(Mou); |
NaotoMorita | 38:acc7cdcf56dd | 351 | |
NaotoMorita | 38:acc7cdcf56dd | 352 | float sqtrp1 = sqrt(1.0+Cbn.getNumber( 1, 1 )+Cbn.getNumber( 2, 2 )+Cbn.getNumber( 3, 3 )); |
NaotoMorita | 38:acc7cdcf56dd | 353 | |
NaotoMorita | 38:acc7cdcf56dd | 354 | qhat.add(1,1,0.5*sqtrp1); |
NaotoMorita | 38:acc7cdcf56dd | 355 | qhat.add(2,1,-(Cbn.getNumber( 2, 3 )-Cbn.getNumber( 3, 2 ))/2.0/sqtrp1); |
NaotoMorita | 38:acc7cdcf56dd | 356 | qhat.add(3,1,-(Cbn.getNumber( 3, 1 )-Cbn.getNumber( 1, 3 ))/2.0/sqtrp1); |
NaotoMorita | 38:acc7cdcf56dd | 357 | qhat.add(4,1,-(Cbn.getNumber( 1, 2 )-Cbn.getNumber( 2, 1 ))/2.0/sqtrp1); |
NaotoMorita | 38:acc7cdcf56dd | 358 | |
NaotoMorita | 38:acc7cdcf56dd | 359 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 38:acc7cdcf56dd | 360 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 44:f571273d3223 | 361 | |
NaotoMorita | 44:f571273d3223 | 362 | qhat_gyro = qhat; |
NaotoMorita | 44:f571273d3223 | 363 | |
NaotoMorita | 44:f571273d3223 | 364 | float q0 = qhat.getNumber( 1, 1 ); |
NaotoMorita | 44:f571273d3223 | 365 | float q1 = qhat.getNumber( 2, 1 ); |
NaotoMorita | 44:f571273d3223 | 366 | float q2 = qhat.getNumber( 3, 1 ); |
NaotoMorita | 44:f571273d3223 | 367 | float q3 = qhat.getNumber( 4, 1 ); |
NaotoMorita | 44:f571273d3223 | 368 | |
NaotoMorita | 44:f571273d3223 | 369 | D.add(1,1,q0*q0 + q1*q1 - q2*q2 - q3*q3); |
NaotoMorita | 44:f571273d3223 | 370 | D.add(1,2,2*(q1*q2 + q0*q3)); |
NaotoMorita | 44:f571273d3223 | 371 | D.add(1,3,2*(q1*q3 - q0*q2)); |
NaotoMorita | 44:f571273d3223 | 372 | D.add(2,1,2*(q1*q2 - q0*q3)); |
NaotoMorita | 44:f571273d3223 | 373 | D.add(2,2,q0*q0 - q1*q1 + q2*q2 - q3*q3); |
NaotoMorita | 44:f571273d3223 | 374 | D.add(2,3,2*(q2*q3 + q0*q1)); |
NaotoMorita | 44:f571273d3223 | 375 | D.add(3,1,2*(q1*q3 + q0*q2)); |
NaotoMorita | 44:f571273d3223 | 376 | D.add(3,2,2*(q2*q3 - q0*q1)); |
NaotoMorita | 44:f571273d3223 | 377 | D.add(3,3,q0*q0 - q1*q1 - q2*q2 + q3*q3); |
NaotoMorita | 44:f571273d3223 | 378 | |
NaotoMorita | 38:acc7cdcf56dd | 379 | } |
NaotoMorita | 38:acc7cdcf56dd | 380 | |
NaotoMorita | 38:acc7cdcf56dd | 381 | void calcDynAcc(){ |
NaotoMorita | 40:869f3791a3e2 | 382 | dynacc_x = LPacc_x-(D.getNumber( 1, 1 )*accref[0]+D.getNumber( 1, 2 )*accref[1]+D.getNumber( 1, 3 )*accref[2]); |
NaotoMorita | 40:869f3791a3e2 | 383 | dynacc_y = LPacc_y-(D.getNumber( 2, 1 )*accref[0]+D.getNumber( 2, 2 )*accref[1]+D.getNumber( 2, 3 )*accref[2]); |
NaotoMorita | 40:869f3791a3e2 | 384 | dynacc_z = LPacc_z-(D.getNumber( 3, 1 )*accref[0]+D.getNumber( 3, 2 )*accref[1]+D.getNumber( 3, 3 )*accref[2]); |
NaotoMorita | 38:acc7cdcf56dd | 385 | } |
NaotoMorita | 38:acc7cdcf56dd | 386 | |
NaotoMorita | 38:acc7cdcf56dd | 387 | void execCalibration(){ |
NaotoMorita | 38:acc7cdcf56dd | 388 | pc.printf("\r\nEnter to Calibration Mode\r\n"); |
NaotoMorita | 38:acc7cdcf56dd | 389 | wait(5); |
NaotoMorita | 38:acc7cdcf56dd | 390 | pc.printf("\r\n Acc and Gyro Calibration Start\r\n"); |
NaotoMorita | 38:acc7cdcf56dd | 391 | int axs = 0; |
NaotoMorita | 38:acc7cdcf56dd | 392 | int ays = 0; |
NaotoMorita | 38:acc7cdcf56dd | 393 | int azs = 0; |
NaotoMorita | 38:acc7cdcf56dd | 394 | int gxs = 0; |
NaotoMorita | 38:acc7cdcf56dd | 395 | int gys = 0; |
NaotoMorita | 38:acc7cdcf56dd | 396 | int gzs = 0; |
NaotoMorita | 38:acc7cdcf56dd | 397 | int iter_n = 5000; |
NaotoMorita | 38:acc7cdcf56dd | 398 | for(int i = 0;i<iter_n ;i++){ |
NaotoMorita | 38:acc7cdcf56dd | 399 | accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz); |
NaotoMorita | 38:acc7cdcf56dd | 400 | axs += ax; |
NaotoMorita | 38:acc7cdcf56dd | 401 | ays += ay; |
NaotoMorita | 38:acc7cdcf56dd | 402 | azs -= az; |
NaotoMorita | 38:acc7cdcf56dd | 403 | gxs += gx; |
NaotoMorita | 38:acc7cdcf56dd | 404 | gys += gy; |
NaotoMorita | 38:acc7cdcf56dd | 405 | gzs -= gz; |
NaotoMorita | 38:acc7cdcf56dd | 406 | wait(0.001); |
NaotoMorita | 38:acc7cdcf56dd | 407 | } |
NaotoMorita | 38:acc7cdcf56dd | 408 | axs = axs /iter_n; |
NaotoMorita | 38:acc7cdcf56dd | 409 | ays = ays /iter_n; |
NaotoMorita | 38:acc7cdcf56dd | 410 | azs = azs /iter_n; |
NaotoMorita | 38:acc7cdcf56dd | 411 | gxs = gxs /iter_n; |
NaotoMorita | 38:acc7cdcf56dd | 412 | gys = gys /iter_n; |
NaotoMorita | 38:acc7cdcf56dd | 413 | gzs = gzs /iter_n; |
NaotoMorita | 38:acc7cdcf56dd | 414 | pc.printf("\r\nagoffset : 0, 0, 0, %d, %d, %d \r\n",gxs,gys,gzs); |
NaotoMorita | 38:acc7cdcf56dd | 415 | |
NaotoMorita | 38:acc7cdcf56dd | 416 | pc.printf("\r\n Mag Calibration Start\r\n"); |
NaotoMorita | 38:acc7cdcf56dd | 417 | float f = 0; |
NaotoMorita | 38:acc7cdcf56dd | 418 | while(1){ |
NaotoMorita | 38:acc7cdcf56dd | 419 | mag.getAxis(mdata); // flush the magnetmeter |
NaotoMorita | 38:acc7cdcf56dd | 420 | magval[0] = (mdata.x - magbias[0]); |
NaotoMorita | 38:acc7cdcf56dd | 421 | magval[1] = (mdata.y - magbias[1]); |
NaotoMorita | 38:acc7cdcf56dd | 422 | magval[2] = (mdata.z - magbias[2]); |
NaotoMorita | 38:acc7cdcf56dd | 423 | float mag_r = magval[0]*magval[0] + magval[1]*magval[1] + magval[2]*magval[2]; |
NaotoMorita | 38:acc7cdcf56dd | 424 | float lr = 0.00001f; |
NaotoMorita | 38:acc7cdcf56dd | 425 | f = mag_r - magbias[3]*magbias[3]; |
NaotoMorita | 38:acc7cdcf56dd | 426 | magbias[0] = magbias[0] + 4 * lr * f * magval[0]; |
NaotoMorita | 38:acc7cdcf56dd | 427 | magbias[1] = magbias[1] + 4 * lr * f * magval[1]; |
NaotoMorita | 38:acc7cdcf56dd | 428 | magbias[2] = magbias[2] + 4 * lr * f * magval[2]; |
NaotoMorita | 38:acc7cdcf56dd | 429 | magbias[3] = magbias[3] + 4 * lr * f * magbias[3]; |
NaotoMorita | 38:acc7cdcf56dd | 430 | |
NaotoMorita | 38:acc7cdcf56dd | 431 | if(userButton.read() == 1){ |
NaotoMorita | 38:acc7cdcf56dd | 432 | break; |
NaotoMorita | 38:acc7cdcf56dd | 433 | } |
NaotoMorita | 38:acc7cdcf56dd | 434 | wait(0.001); |
NaotoMorita | 38:acc7cdcf56dd | 435 | } |
NaotoMorita | 38:acc7cdcf56dd | 436 | pc.printf("magbias : %f, %f, %f, %f\r\n",magbias[0],magbias[1],magbias[2],magbias[3]); |
NaotoMorita | 38:acc7cdcf56dd | 437 | pc.printf("\r\n Refvec Calibration waiting\r\n"); |
NaotoMorita | 38:acc7cdcf56dd | 438 | wait(5); |
NaotoMorita | 38:acc7cdcf56dd | 439 | pc.printf("\r\n Calibration Start\r\n"); |
NaotoMorita | 38:acc7cdcf56dd | 440 | float arefs[3] = {0.0,0.0,0.0}; |
NaotoMorita | 38:acc7cdcf56dd | 441 | float mrefs[3] = {0.0,0.0,0.0}; |
NaotoMorita | 38:acc7cdcf56dd | 442 | for(int i = 0;i<iter_n ;i++){ |
NaotoMorita | 38:acc7cdcf56dd | 443 | getIMUval(); |
NaotoMorita | 38:acc7cdcf56dd | 444 | arefs[0] += acc_x; |
NaotoMorita | 38:acc7cdcf56dd | 445 | arefs[1] += acc_y; |
NaotoMorita | 38:acc7cdcf56dd | 446 | arefs[2] += acc_z; |
NaotoMorita | 38:acc7cdcf56dd | 447 | mrefs[0] += mag_x; |
NaotoMorita | 38:acc7cdcf56dd | 448 | mrefs[1] += mag_y; |
NaotoMorita | 38:acc7cdcf56dd | 449 | mrefs[2] += mag_z; |
NaotoMorita | 38:acc7cdcf56dd | 450 | wait(0.001); |
NaotoMorita | 38:acc7cdcf56dd | 451 | } |
NaotoMorita | 38:acc7cdcf56dd | 452 | arefs[0] /= iter_n; |
NaotoMorita | 38:acc7cdcf56dd | 453 | arefs[1] /= iter_n; |
NaotoMorita | 38:acc7cdcf56dd | 454 | arefs[2] /= iter_n; |
NaotoMorita | 38:acc7cdcf56dd | 455 | mrefs[0] /= iter_n; |
NaotoMorita | 38:acc7cdcf56dd | 456 | mrefs[1] /= iter_n; |
NaotoMorita | 38:acc7cdcf56dd | 457 | mrefs[2] /= iter_n; |
NaotoMorita | 38:acc7cdcf56dd | 458 | pc.printf("\r\naccreg : %f, %f, %f\r\n",arefs[0],arefs[1],arefs[2]); |
NaotoMorita | 38:acc7cdcf56dd | 459 | pc.printf("\r\nmagreg : %f, %f, %f\r\n",mrefs[0],mrefs[1],mrefs[2]); |
NaotoMorita | 38:acc7cdcf56dd | 460 | while(1) {wait(1000);} |
naker | 20:2c3f113a8e8f | 461 | } |
NaotoMorita | 27:43bd0e444633 | 462 | |
naker | 22:da9893b71f24 | 463 | // 割り込まれた時点での出力(computeの結果)を返す関数 |
NaotoMorita | 27:43bd0e444633 | 464 | void calcServoOut(){ |
NaotoMorita | 28:fc6c46c1db65 | 465 | if(sbus.failSafe == false) { |
NaotoMorita | 28:fc6c46c1db65 | 466 | // sbusデータの読み込み |
NaotoMorita | 28:fc6c46c1db65 | 467 | for (int i =0 ; i < 16;i ++){ |
NaotoMorita | 35:4535af88f7bf | 468 | rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input |
NaotoMorita | 27:43bd0e444633 | 469 | } |
NaotoMorita | 28:fc6c46c1db65 | 470 | } |
NaotoMorita | 28:fc6c46c1db65 | 471 | |
NaotoMorita | 28:fc6c46c1db65 | 472 | pitchPID.setProcessValue(pitch); |
NaotoMorita | 28:fc6c46c1db65 | 473 | pitchratePID.setProcessValue(gyro_y); |
NaotoMorita | 28:fc6c46c1db65 | 474 | rollPID.setProcessValue(roll); |
NaotoMorita | 28:fc6c46c1db65 | 475 | rollratePID.setProcessValue(gyro_x); |
NaotoMorita | 45:b439a135c24b | 476 | float de = pitchPID.compute()+pitchratePID.compute()-rc[1]; |
NaotoMorita | 45:b439a135c24b | 477 | float da = rollPID.compute()+rollratePID.compute()+rc[0]; |
NaotoMorita | 28:fc6c46c1db65 | 478 | float dT = rc[2]; |
NaotoMorita | 28:fc6c46c1db65 | 479 | |
NaotoMorita | 28:fc6c46c1db65 | 480 | scaledServoOut[0]=de+da; |
NaotoMorita | 36:e68ce293306e | 481 | scaledServoOut[1]=-de+da; |
NaotoMorita | 28:fc6c46c1db65 | 482 | scaledMotorOut[0]= dT; |
NaotoMorita | 31:8d02f3b9a067 | 483 | |
NaotoMorita | 38:acc7cdcf56dd | 484 | float LP_servo = 0.2; |
NaotoMorita | 38:acc7cdcf56dd | 485 | float LP_motor = 0.2; |
NaotoMorita | 36:e68ce293306e | 486 | for(int i = 0;i<sizeof(servoOut)/sizeof(servoOut[0]);i++){ |
NaotoMorita | 36:e68ce293306e | 487 | servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i]; |
NaotoMorita | 28:fc6c46c1db65 | 488 | if(servoOut[i]<servoPwmMin) { |
NaotoMorita | 28:fc6c46c1db65 | 489 | servoOut[i] = servoPwmMin; |
NaotoMorita | 28:fc6c46c1db65 | 490 | }; |
NaotoMorita | 28:fc6c46c1db65 | 491 | if(servoOut[i]>servoPwmMax) { |
NaotoMorita | 28:fc6c46c1db65 | 492 | servoOut[i] = servoPwmMax; |
NaotoMorita | 28:fc6c46c1db65 | 493 | }; |
NaotoMorita | 28:fc6c46c1db65 | 494 | } |
NaotoMorita | 28:fc6c46c1db65 | 495 | |
NaotoMorita | 36:e68ce293306e | 496 | for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){ |
NaotoMorita | 36:e68ce293306e | 497 | motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i]; |
NaotoMorita | 28:fc6c46c1db65 | 498 | if(motorOut[i]<motorPwmMin) { |
NaotoMorita | 28:fc6c46c1db65 | 499 | motorOut[i] = motorPwmMin; |
NaotoMorita | 28:fc6c46c1db65 | 500 | }; |
NaotoMorita | 28:fc6c46c1db65 | 501 | if(motorOut[i]>motorPwmMax) { |
NaotoMorita | 28:fc6c46c1db65 | 502 | motorOut[i] = motorPwmMax; |
NaotoMorita | 28:fc6c46c1db65 | 503 | }; |
NaotoMorita | 28:fc6c46c1db65 | 504 | } |
NaotoMorita | 36:e68ce293306e | 505 | servoRight.pulsewidth_us(servoOut[0]); |
NaotoMorita | 36:e68ce293306e | 506 | servoLeft.pulsewidth_us(servoOut[1]); |
NaotoMorita | 36:e68ce293306e | 507 | servoThrust.pulsewidth_us(motorOut[0]); |
NaotoMorita | 32:c4f06cb0e1d6 | 508 | |
NaotoMorita | 44:f571273d3223 | 509 | //観測アップデート |
NaotoMorita | 44:f571273d3223 | 510 | calcDynAcc(); |
NaotoMorita | 44:f571273d3223 | 511 | th_mg = abs(acos((LPmag_x*LPacc_x+LPmag_y*LPacc_y+LPmag_z*LPacc_z)/LPmagnorm/LPaccnorm)-val_thmg); |
NaotoMorita | 44:f571273d3223 | 512 | dynaccnorm = sqrt(dynacc_x*dynacc_x+dynacc_y*dynacc_y+dynacc_z*dynacc_z); |
NaotoMorita | 44:f571273d3223 | 513 | accnormerr = abs(LPaccnorm-accrefnorm); |
NaotoMorita | 44:f571273d3223 | 514 | //静止時100個の平均 0.01877522 0.00514146 0.00477393 |
NaotoMorita | 44:f571273d3223 | 515 | |
NaotoMorita | 44:f571273d3223 | 516 | //int ang_th = th_mg < 0.01877522; |
NaotoMorita | 44:f571273d3223 | 517 | //int dyn_th = dynaccnorm < 0.00514146; |
NaotoMorita | 44:f571273d3223 | 518 | //int norm_th = accnormerr< 0.00477393; |
NaotoMorita | 44:f571273d3223 | 519 | int ang_th = th_mg < 0.01877522/5.0; |
NaotoMorita | 44:f571273d3223 | 520 | int dyn_th = dynaccnorm < 0.00514146/5.0; |
NaotoMorita | 44:f571273d3223 | 521 | int norm_th = accnormerr< 0.00477393/5.0; |
NaotoMorita | 44:f571273d3223 | 522 | if(dyn_th+ang_th+norm_th>0){ |
NaotoMorita | 44:f571273d3223 | 523 | //if(dyn_th+ang_th+norm_th>-1){ |
NaotoMorita | 44:f571273d3223 | 524 | obs_count += 1; |
NaotoMorita | 44:f571273d3223 | 525 | updateAcrossMeasures(LPmag_x/LPmagnorm,LPmag_y/LPmagnorm,LPmag_z/LPmagnorm,magref[0]/magrefnorm,magref[1]/magrefnorm,magref[2]/magrefnorm,Rmag); |
NaotoMorita | 44:f571273d3223 | 526 | updateAcrossMeasures(LPacc_x/LPaccnorm,LPacc_y/LPaccnorm,LPacc_z/LPaccnorm,accref[0]/accrefnorm,accref[1]/accrefnorm,accref[2]/accrefnorm,Racc); |
NaotoMorita | 44:f571273d3223 | 527 | } |
NaotoMorita | 44:f571273d3223 | 528 | |
NaotoMorita | 44:f571273d3223 | 529 | if(loop_count >= 10){ |
NaotoMorita | 31:8d02f3b9a067 | 530 | writeSdcard(); |
NaotoMorita | 36:e68ce293306e | 531 | loop_count = 1; |
NaotoMorita | 40:869f3791a3e2 | 532 | obs_count = 0; |
NaotoMorita | 27:43bd0e444633 | 533 | }else{ |
NaotoMorita | 27:43bd0e444633 | 534 | loop_count +=1; |
naker | 26:62d9857eaecc | 535 | } |
NaotoMorita | 44:f571273d3223 | 536 | |
NaotoMorita | 44:f571273d3223 | 537 | |
naker | 22:da9893b71f24 | 538 | } |
cocorlow | 7:70161eb0f854 | 539 | |
NaotoMorita | 27:43bd0e444633 | 540 | int main() |
NaotoMorita | 36:e68ce293306e | 541 | { |
NaotoMorita | 28:fc6c46c1db65 | 542 | pitchPID.setSetPoint(0.0); |
NaotoMorita | 28:fc6c46c1db65 | 543 | pitchratePID.setSetPoint(0.0); |
NaotoMorita | 28:fc6c46c1db65 | 544 | rollPID.setSetPoint(0.0); |
NaotoMorita | 28:fc6c46c1db65 | 545 | rollratePID.setSetPoint(0.0); |
NaotoMorita | 28:fc6c46c1db65 | 546 | pitchPID.setBias(0.0); |
NaotoMorita | 28:fc6c46c1db65 | 547 | pitchratePID.setBias(0.0); |
NaotoMorita | 28:fc6c46c1db65 | 548 | rollPID.setBias(0.0); |
NaotoMorita | 28:fc6c46c1db65 | 549 | rollratePID.setBias(0.0); |
NaotoMorita | 28:fc6c46c1db65 | 550 | pitchPID.setOutputLimits(-1.0,1.0); |
NaotoMorita | 28:fc6c46c1db65 | 551 | pitchratePID.setOutputLimits(-1.0,1.0); |
NaotoMorita | 28:fc6c46c1db65 | 552 | rollPID.setOutputLimits(-1.0,1.0); |
NaotoMorita | 29:34ee662f454e | 553 | rollratePID.setOutputLimits(-1.0,1.0); |
NaotoMorita | 28:fc6c46c1db65 | 554 | pitchPID.setInputLimits(-pi,pi); |
NaotoMorita | 28:fc6c46c1db65 | 555 | pitchratePID.setInputLimits(-pi,pi); |
NaotoMorita | 28:fc6c46c1db65 | 556 | rollPID.setInputLimits(-pi,pi); |
NaotoMorita | 28:fc6c46c1db65 | 557 | rollratePID.setInputLimits(-pi,pi); |
NaotoMorita | 29:34ee662f454e | 558 | |
NaotoMorita | 36:e68ce293306e | 559 | servoRight.period_us(15000.0); |
NaotoMorita | 36:e68ce293306e | 560 | servoLeft.period_us(15000.0); |
NaotoMorita | 36:e68ce293306e | 561 | servoThrust.period_us(15000.0); |
NaotoMorita | 36:e68ce293306e | 562 | servoRight.pulsewidth_us(1500.0); |
NaotoMorita | 36:e68ce293306e | 563 | servoLeft.pulsewidth_us(1500.0); |
NaotoMorita | 36:e68ce293306e | 564 | servoThrust.pulsewidth_us(1100.0); |
NaotoMorita | 36:e68ce293306e | 565 | |
NaotoMorita | 38:acc7cdcf56dd | 566 | pc.baud(57600); |
NaotoMorita | 38:acc7cdcf56dd | 567 | sd.baud(57600); |
NaotoMorita | 38:acc7cdcf56dd | 568 | sd.printf("\r\n Program Start \r\n"); |
NaotoMorita | 36:e68ce293306e | 569 | accelgyro.initialize(); |
NaotoMorita | 36:e68ce293306e | 570 | //加速度計のフルスケールレンジを設定 |
NaotoMorita | 36:e68ce293306e | 571 | accelgyro.setFullScaleAccelRange(ACCEL_FSR); |
NaotoMorita | 38:acc7cdcf56dd | 572 | //角速度計のフルスケールレンジを設定 |
NaotoMorita | 36:e68ce293306e | 573 | accelgyro.setFullScaleGyroRange(GYRO_FSR); |
NaotoMorita | 36:e68ce293306e | 574 | //MPU6050のLPFを設定 |
NaotoMorita | 36:e68ce293306e | 575 | accelgyro.setDLPFMode(MPU6050_LPF); |
NaotoMorita | 38:acc7cdcf56dd | 576 | //地磁気 |
NaotoMorita | 38:acc7cdcf56dd | 577 | mag.enable(); |
NaotoMorita | 38:acc7cdcf56dd | 578 | |
NaotoMorita | 38:acc7cdcf56dd | 579 | if(userButton.read() == 0){ |
NaotoMorita | 38:acc7cdcf56dd | 580 | qhat << 1 << 0 << 0 << 0; |
NaotoMorita | 44:f571273d3223 | 581 | |
NaotoMorita | 44:f571273d3223 | 582 | D.add(1,1,1.0); |
NaotoMorita | 44:f571273d3223 | 583 | D.add(2,2,1.0); |
NaotoMorita | 44:f571273d3223 | 584 | D.add(3,3,1.0); |
NaotoMorita | 38:acc7cdcf56dd | 585 | |
NaotoMorita | 38:acc7cdcf56dd | 586 | Phat << 0.01 << 0 <<0 <<0 |
NaotoMorita | 38:acc7cdcf56dd | 587 | << 0 << 0.01 <<0 <<0 |
NaotoMorita | 38:acc7cdcf56dd | 588 | << 0 << 0 <<0.001 <<0 |
NaotoMorita | 38:acc7cdcf56dd | 589 | << 0 << 0 << 0 << 0.001; |
NaotoMorita | 38:acc7cdcf56dd | 590 | |
NaotoMorita | 44:f571273d3223 | 591 | Qgyro << 0.0224<< 0 <<0 |
NaotoMorita | 44:f571273d3223 | 592 | << 0 <<0.0224<<0 |
NaotoMorita | 44:f571273d3223 | 593 | << 0 << 0 <<0.0224; |
naker | 22:da9893b71f24 | 594 | |
NaotoMorita | 44:f571273d3223 | 595 | Racc.add(1,1,0.0330*100); |
NaotoMorita | 44:f571273d3223 | 596 | Racc.add(2,2,0.0330*100); |
NaotoMorita | 44:f571273d3223 | 597 | Racc.add(3,3,0.0330*100); |
NaotoMorita | 44:f571273d3223 | 598 | |
NaotoMorita | 44:f571273d3223 | 599 | Rmag.add(1,1,1.0); |
NaotoMorita | 44:f571273d3223 | 600 | Rmag.add(2,2,1.0); |
NaotoMorita | 44:f571273d3223 | 601 | Rmag.add(3,3,1.0); |
NaotoMorita | 44:f571273d3223 | 602 | |
NaotoMorita | 38:acc7cdcf56dd | 603 | getIMUval(); |
NaotoMorita | 38:acc7cdcf56dd | 604 | triad(acc_x/accnorm,acc_y/accnorm,acc_z/accnorm, accref[0]/accrefnorm,accref[1]/accrefnorm,accref[2]/accrefnorm,mag_x/magnorm,mag_y/magnorm,mag_z/magnorm, magref[0]/magrefnorm,magref[1]/magrefnorm,magref[2]/magrefnorm); |
NaotoMorita | 43:f0dd73430192 | 605 | float sumLPaccnorm = 0; |
NaotoMorita | 38:acc7cdcf56dd | 606 | for(int i = 0; i<1000 ;i++){ |
NaotoMorita | 38:acc7cdcf56dd | 607 | getIMUval(); |
NaotoMorita | 38:acc7cdcf56dd | 608 | val_thmg += acos((mag_x*acc_x+mag_y*acc_y+mag_z*acc_z)/magnorm/accnorm); |
NaotoMorita | 43:f0dd73430192 | 609 | sumLPaccnorm += LPaccnorm; |
NaotoMorita | 38:acc7cdcf56dd | 610 | } |
NaotoMorita | 43:f0dd73430192 | 611 | accref[2]=-sumLPaccnorm/1000; |
NaotoMorita | 38:acc7cdcf56dd | 612 | val_thmg /= 1000; |
NaotoMorita | 38:acc7cdcf56dd | 613 | LoopTicker PIDtick; |
NaotoMorita | 38:acc7cdcf56dd | 614 | PIDtick.attach(calcServoOut,PID_dt); |
NaotoMorita | 38:acc7cdcf56dd | 615 | |
NaotoMorita | 38:acc7cdcf56dd | 616 | t.start(); |
NaotoMorita | 28:fc6c46c1db65 | 617 | |
NaotoMorita | 38:acc7cdcf56dd | 618 | while(1) { |
NaotoMorita | 38:acc7cdcf56dd | 619 | float tstart = t.read(); |
NaotoMorita | 38:acc7cdcf56dd | 620 | //姿勢角を更新 |
NaotoMorita | 38:acc7cdcf56dd | 621 | getIMUval(); |
NaotoMorita | 38:acc7cdcf56dd | 622 | updateBetweenMeasures(); |
NaotoMorita | 38:acc7cdcf56dd | 623 | computeAngles(); |
NaotoMorita | 38:acc7cdcf56dd | 624 | PIDtick.loop(); |
NaotoMorita | 38:acc7cdcf56dd | 625 | |
NaotoMorita | 38:acc7cdcf56dd | 626 | float tend = t.read(); |
NaotoMorita | 38:acc7cdcf56dd | 627 | att_dt = (tend-tstart); |
NaotoMorita | 38:acc7cdcf56dd | 628 | } |
NaotoMorita | 38:acc7cdcf56dd | 629 | }else{ |
NaotoMorita | 38:acc7cdcf56dd | 630 | execCalibration(); |
naker | 20:2c3f113a8e8f | 631 | } |
NaotoMorita | 0:6b18a09a6628 | 632 | } |