solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
servo.cpp@68:b9f6938fab9d, 2021-06-28 (annotated)
- Committer:
- NaotoMorita
- Date:
- Mon Jun 28 01:40:26 2021 +0000
- Revision:
- 68:b9f6938fab9d
- Parent:
- 66:e5afad70fdd8
- Child:
- 70:99f974d8960e
commit
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 | // 割り込まれた時点での出力(computeの結果)を返す関数 |
cocorlow | 56:888379912f81 | 4 | void calcServoOut() |
cocorlow | 56:888379912f81 | 5 | { |
NaotoMorita | 57:923e3df16159 | 6 | |
NaotoMorita | 57:923e3df16159 | 7 | // 自身の位置に応じてエレベータ舵角を決定する |
NaotoMorita | 57:923e3df16159 | 8 | float deobj = 0.0f; |
NaotoMorita | 66:e5afad70fdd8 | 9 | float drobj = 0.0f; |
NaotoMorita | 66:e5afad70fdd8 | 10 | |
NaotoMorita | 57:923e3df16159 | 11 | //指令角の最大最小値をrc7で変更 |
NaotoMorita | 66:e5afad70fdd8 | 12 | float pitchobj = 10.0f*M_PI/180.0f * deobj; |
NaotoMorita | 57:923e3df16159 | 13 | |
NaotoMorita | 57:923e3df16159 | 14 | //ゲインの係数をrc8で変更 |
NaotoMorita | 62:ef10fd919f7b | 15 | float gaincoef = 1.0; |
NaotoMorita | 62:ef10fd919f7b | 16 | pitchPID.setGain(6.36*gaincoef, 10.6*gaincoef*0.0f,0.0); |
NaotoMorita | 57:923e3df16159 | 17 | pitchratePID.setGain(0.9540*gaincoef,0.0,0.0); |
cocorlow | 56:888379912f81 | 18 | pitchPID.setProcessValue(rpy.y); |
cocorlow | 56:888379912f81 | 19 | pitchratePID.setProcessValue(gyro.y); |
NaotoMorita | 57:923e3df16159 | 20 | //目標値のセット |
NaotoMorita | 57:923e3df16159 | 21 | pitchPID.setSetPoint(pitchobj); //目標の設定 |
NaotoMorita | 57:923e3df16159 | 22 | float de = pitchPID.compute()+pitchratePID.compute(); |
NaotoMorita | 66:e5afad70fdd8 | 23 | float dr = 0.0f; |
cocorlow | 56:888379912f81 | 24 | scaledServoOut[0]=de; |
NaotoMorita | 66:e5afad70fdd8 | 25 | scaledServoOut[1]=dr; |
cocorlow | 56:888379912f81 | 26 | float LP_servo = 0.2; |
cocorlow | 56:888379912f81 | 27 | for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++) |
cocorlow | 56:888379912f81 | 28 | { |
cocorlow | 56:888379912f81 | 29 | servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i]; |
cocorlow | 56:888379912f81 | 30 | if(servoOut[i]<servoPwmMin) |
cocorlow | 56:888379912f81 | 31 | { |
cocorlow | 56:888379912f81 | 32 | servoOut[i] = servoPwmMin; |
cocorlow | 56:888379912f81 | 33 | } |
cocorlow | 56:888379912f81 | 34 | if(servoOut[i]>servoPwmMax) |
cocorlow | 56:888379912f81 | 35 | { |
cocorlow | 56:888379912f81 | 36 | servoOut[i] = servoPwmMax; |
cocorlow | 56:888379912f81 | 37 | } |
cocorlow | 56:888379912f81 | 38 | } |
cocorlow | 56:888379912f81 | 39 | |
NaotoMorita | 66:e5afad70fdd8 | 40 | elevServo.pulsewidth_us(servoOut[0]); |
NaotoMorita | 66:e5afad70fdd8 | 41 | rudServo.pulsewidth_us(servoOut[1]); |
NaotoMorita | 68:b9f6938fab9d | 42 | |
NaotoMorita | 68:b9f6938fab9d | 43 | |
cocorlow | 56:888379912f81 | 44 | if(loop_count >= 10) |
cocorlow | 56:888379912f81 | 45 | { |
cocorlow | 56:888379912f81 | 46 | writeSdcard(); |
cocorlow | 56:888379912f81 | 47 | loop_count = 1; |
NaotoMorita | 68:b9f6938fab9d | 48 | |
cocorlow | 56:888379912f81 | 49 | } |
cocorlow | 56:888379912f81 | 50 | else |
cocorlow | 56:888379912f81 | 51 | { |
cocorlow | 56:888379912f81 | 52 | loop_count +=1; |
cocorlow | 56:888379912f81 | 53 | } |
cocorlow | 56:888379912f81 | 54 | } |