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@37:dad55cf05e3d, 2021-03-03 (annotated)
- Committer:
- NaotoMorita
- Date:
- Wed Mar 03 09:32:10 2021 +0000
- Revision:
- 37:dad55cf05e3d
- Parent:
- 36:e68ce293306e
- Child:
- 38:acc7cdcf56dd
quaternion dekita
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" |
NaotoMorita | 36:e68ce293306e | 4 | //#include <MadgwickAHRS.h> |
cocorlow | 6:2cba569272fe | 5 | #include "LoopTicker.hpp" |
naker | 15:6abaac6e5b03 | 6 | #include "MPU6050.h" |
NaotoMorita | 17:6b7a363d06d2 | 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 | 36:e68ce293306e | 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 | 17:6b7a363d06d2 | 17 | #define ACCEL_SSF 36500.0 |
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 | 27:43bd0e444633 | 21 | |
NaotoMorita | 17:6b7a363d06d2 | 22 | MPU6050 accelgyro; |
NaotoMorita | 36:e68ce293306e | 23 | //Madgwick MadgwickFilter; |
NaotoMorita | 0:6b18a09a6628 | 24 | SBUS sbus(PD_5, PD_6); |
NaotoMorita | 0:6b18a09a6628 | 25 | Serial pc(USBTX, USBRX); |
naker | 26:62d9857eaecc | 26 | Serial sd(PG_14,PG_9); |
cocorlow | 3:79e62f9b13c8 | 27 | DigitalOut led1(LED1); |
cocorlow | 3:79e62f9b13c8 | 28 | DigitalOut led3(LED3); |
NaotoMorita | 27:43bd0e444633 | 29 | |
NaotoMorita | 36:e68ce293306e | 30 | FastPWM servoRight(PE_9); |
NaotoMorita | 36:e68ce293306e | 31 | FastPWM servoLeft(PE_11); |
NaotoMorita | 36:e68ce293306e | 32 | FastPWM servoThrust(PA_0); |
NaotoMorita | 36:e68ce293306e | 33 | const double PID_dt = 0.015; |
NaotoMorita | 36:e68ce293306e | 34 | PID pitchPID(5.0, 0,0,PID_dt); //rad |
NaotoMorita | 31:8d02f3b9a067 | 35 | PID pitchratePID(0.01, 0.0, 0.0, PID_dt);//rad/s |
NaotoMorita | 36:e68ce293306e | 36 | PID rollPID(5.0,0.0,0.0,PID_dt); |
NaotoMorita | 31:8d02f3b9a067 | 37 | PID rollratePID(0.01, 0.0, 0.0, PID_dt);//rad/s |
NaotoMorita | 17:6b7a363d06d2 | 38 | Timer t; |
cocorlow | 3:79e62f9b13c8 | 39 | |
NaotoMorita | 36:e68ce293306e | 40 | Matrix qhat(4,1); |
NaotoMorita | 36:e68ce293306e | 41 | Matrix Phat(4,4); |
NaotoMorita | 37:dad55cf05e3d | 42 | Matrix Qgyro(3,3); |
NaotoMorita | 36:e68ce293306e | 43 | Matrix Racc(3,3); |
NaotoMorita | 36:e68ce293306e | 44 | |
NaotoMorita | 36:e68ce293306e | 45 | |
NaotoMorita | 36:e68ce293306e | 46 | int loop_count = 1; |
NaotoMorita | 36:e68ce293306e | 47 | float att_dt = 0.01; |
naker | 23:4a490fa8bf4a | 48 | float rc[16]; |
naker | 25:5aca9b224226 | 49 | float roll_ac; |
naker | 15:6abaac6e5b03 | 50 | double pitch = 0.0; |
naker | 15:6abaac6e5b03 | 51 | double roll = 0.0; |
naker | 15:6abaac6e5b03 | 52 | double yaw = 0.0; |
NaotoMorita | 17:6b7a363d06d2 | 53 | int16_t ax, ay, az; |
NaotoMorita | 17:6b7a363d06d2 | 54 | int16_t gx, gy, gz; |
NaotoMorita | 17:6b7a363d06d2 | 55 | double acc_x,acc_y,acc_z; |
NaotoMorita | 17:6b7a363d06d2 | 56 | double gyro_x,gyro_y,gyro_z; |
cocorlow | 3:79e62f9b13c8 | 57 | int out1, out2; |
NaotoMorita | 36:e68ce293306e | 58 | float scaledServoOut[3]= {0,0}; |
NaotoMorita | 28:fc6c46c1db65 | 59 | float scaledMotorOut[1]= {-1}; |
NaotoMorita | 36:e68ce293306e | 60 | float servoOut[3] = {1500.0,1500.0}; |
NaotoMorita | 36:e68ce293306e | 61 | float motorOut[1] = {1100.0}; |
NaotoMorita | 36:e68ce293306e | 62 | float servoPwmMax = 1800.0; |
NaotoMorita | 36:e68ce293306e | 63 | float servoPwmMin = 1200.0; |
NaotoMorita | 36:e68ce293306e | 64 | float motorPwmMax = 2000.0; |
NaotoMorita | 36:e68ce293306e | 65 | float motorPwmMin = 1100.0; |
NaotoMorita | 36:e68ce293306e | 66 | int offsetVal[6] = {0,0,0,-600,570,265}; |
cocorlow | 3:79e62f9b13c8 | 67 | |
NaotoMorita | 17:6b7a363d06d2 | 68 | const double pitch_align = 0.0; |
NaotoMorita | 17:6b7a363d06d2 | 69 | const double roll_align = -0.0; |
NaotoMorita | 27:43bd0e444633 | 70 | |
NaotoMorita | 27:43bd0e444633 | 71 | |
NaotoMorita | 35:4535af88f7bf | 72 | float mapfloat(float x, float in_min, float in_max, float out_min, float out_max) |
cocorlow | 7:70161eb0f854 | 73 | { |
cocorlow | 7:70161eb0f854 | 74 | return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; |
cocorlow | 7:70161eb0f854 | 75 | } |
NaotoMorita | 27:43bd0e444633 | 76 | |
NaotoMorita | 30:214ddc613a35 | 77 | void writeSdcard() |
naker | 20:2c3f113a8e8f | 78 | { |
NaotoMorita | 36:e68ce293306e | 79 | pc.printf("gx: %d, gy: %d, gz: %d roll: %f, pitch: %f \r\n",gx,gy,gz,roll* 57.29578f,pitch* 57.29578f); |
naker | 20:2c3f113a8e8f | 80 | } |
NaotoMorita | 27:43bd0e444633 | 81 | |
naker | 22:da9893b71f24 | 82 | // 割り込まれた時点での出力(computeの結果)を返す関数 |
NaotoMorita | 27:43bd0e444633 | 83 | void calcServoOut(){ |
NaotoMorita | 28:fc6c46c1db65 | 84 | if(sbus.failSafe == false) { |
NaotoMorita | 28:fc6c46c1db65 | 85 | // sbusデータの読み込み |
NaotoMorita | 28:fc6c46c1db65 | 86 | for (int i =0 ; i < 16;i ++){ |
NaotoMorita | 35:4535af88f7bf | 87 | rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input |
NaotoMorita | 27:43bd0e444633 | 88 | } |
NaotoMorita | 28:fc6c46c1db65 | 89 | } |
NaotoMorita | 28:fc6c46c1db65 | 90 | |
NaotoMorita | 36:e68ce293306e | 91 | |
NaotoMorita | 36:e68ce293306e | 92 | //pitch = -MadgwickFilter.getPitchRadians()-pitch_align*pi/180; |
NaotoMorita | 36:e68ce293306e | 93 | //roll = -MadgwickFilter.getRollRadians()-roll_align*pi/180; |
NaotoMorita | 28:fc6c46c1db65 | 94 | pitchPID.setProcessValue(pitch); |
NaotoMorita | 28:fc6c46c1db65 | 95 | pitchratePID.setProcessValue(gyro_y); |
NaotoMorita | 28:fc6c46c1db65 | 96 | rollPID.setProcessValue(roll); |
NaotoMorita | 28:fc6c46c1db65 | 97 | rollratePID.setProcessValue(gyro_x); |
NaotoMorita | 36:e68ce293306e | 98 | float de = -pitchPID.compute()-pitchratePID.compute()-rc[1]+rc[0]; |
NaotoMorita | 36:e68ce293306e | 99 | float da = rollPID.compute()+rollratePID.compute()+rc[0]+rc[1]; |
NaotoMorita | 28:fc6c46c1db65 | 100 | float dT = rc[2]; |
NaotoMorita | 28:fc6c46c1db65 | 101 | |
NaotoMorita | 28:fc6c46c1db65 | 102 | scaledServoOut[0]=de+da; |
NaotoMorita | 36:e68ce293306e | 103 | scaledServoOut[1]=-de+da; |
NaotoMorita | 28:fc6c46c1db65 | 104 | scaledMotorOut[0]= dT; |
NaotoMorita | 31:8d02f3b9a067 | 105 | |
NaotoMorita | 36:e68ce293306e | 106 | double LP_servo = 0.2; |
NaotoMorita | 36:e68ce293306e | 107 | double LP_motor = 0.2; |
NaotoMorita | 36:e68ce293306e | 108 | for(int i = 0;i<sizeof(servoOut)/sizeof(servoOut[0]);i++){ |
NaotoMorita | 36:e68ce293306e | 109 | servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i]; |
NaotoMorita | 28:fc6c46c1db65 | 110 | if(servoOut[i]<servoPwmMin) { |
NaotoMorita | 28:fc6c46c1db65 | 111 | servoOut[i] = servoPwmMin; |
NaotoMorita | 28:fc6c46c1db65 | 112 | }; |
NaotoMorita | 28:fc6c46c1db65 | 113 | if(servoOut[i]>servoPwmMax) { |
NaotoMorita | 28:fc6c46c1db65 | 114 | servoOut[i] = servoPwmMax; |
NaotoMorita | 28:fc6c46c1db65 | 115 | }; |
NaotoMorita | 28:fc6c46c1db65 | 116 | } |
NaotoMorita | 28:fc6c46c1db65 | 117 | |
NaotoMorita | 36:e68ce293306e | 118 | for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){ |
NaotoMorita | 36:e68ce293306e | 119 | motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i]; |
NaotoMorita | 28:fc6c46c1db65 | 120 | if(motorOut[i]<motorPwmMin) { |
NaotoMorita | 28:fc6c46c1db65 | 121 | motorOut[i] = motorPwmMin; |
NaotoMorita | 28:fc6c46c1db65 | 122 | }; |
NaotoMorita | 28:fc6c46c1db65 | 123 | if(motorOut[i]>motorPwmMax) { |
NaotoMorita | 28:fc6c46c1db65 | 124 | motorOut[i] = motorPwmMax; |
NaotoMorita | 28:fc6c46c1db65 | 125 | }; |
NaotoMorita | 28:fc6c46c1db65 | 126 | } |
NaotoMorita | 36:e68ce293306e | 127 | servoRight.pulsewidth_us(servoOut[0]); |
NaotoMorita | 36:e68ce293306e | 128 | servoLeft.pulsewidth_us(servoOut[1]); |
NaotoMorita | 36:e68ce293306e | 129 | servoThrust.pulsewidth_us(motorOut[0]); |
NaotoMorita | 32:c4f06cb0e1d6 | 130 | |
NaotoMorita | 36:e68ce293306e | 131 | if(loop_count > 10){ |
NaotoMorita | 31:8d02f3b9a067 | 132 | writeSdcard(); |
NaotoMorita | 36:e68ce293306e | 133 | loop_count = 1; |
NaotoMorita | 27:43bd0e444633 | 134 | }else{ |
NaotoMorita | 27:43bd0e444633 | 135 | loop_count +=1; |
naker | 26:62d9857eaecc | 136 | } |
naker | 22:da9893b71f24 | 137 | } |
cocorlow | 7:70161eb0f854 | 138 | |
NaotoMorita | 27:43bd0e444633 | 139 | void updateAttitude(){ |
NaotoMorita | 17:6b7a363d06d2 | 140 | // gx gy gz ax ay az |
NaotoMorita | 17:6b7a363d06d2 | 141 | accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); |
NaotoMorita | 17:6b7a363d06d2 | 142 | // 加速度値を分解能で割って加速度(G)に変換する |
NaotoMorita | 17:6b7a363d06d2 | 143 | acc_x = ax / ACCEL_SSF; //FS_SEL_0 16,384 LSB / g |
NaotoMorita | 17:6b7a363d06d2 | 144 | acc_y = ay / ACCEL_SSF; |
NaotoMorita | 17:6b7a363d06d2 | 145 | acc_z = az / ACCEL_SSF; |
NaotoMorita | 17:6b7a363d06d2 | 146 | // 角速度値を分解能で割って角速度(deg per sec)に変換する |
NaotoMorita | 17:6b7a363d06d2 | 147 | gyro_x = gx / GYRO_SSF; // (deg/s) |
NaotoMorita | 17:6b7a363d06d2 | 148 | gyro_y = gy / GYRO_SSF; |
NaotoMorita | 17:6b7a363d06d2 | 149 | gyro_z = gz / GYRO_SSF; |
naker | 20:2c3f113a8e8f | 150 | //Madgwickフィルターを用いて、PRY(pitch, roll, yaw)を計算 |
NaotoMorita | 36:e68ce293306e | 151 | //MadgwickFilter.updateIMU(gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z); |
NaotoMorita | 27:43bd0e444633 | 152 | } |
NaotoMorita | 27:43bd0e444633 | 153 | |
NaotoMorita | 37:dad55cf05e3d | 154 | void getIMUval(){ |
NaotoMorita | 36:e68ce293306e | 155 | // gx gy gz ax ay az |
NaotoMorita | 36:e68ce293306e | 156 | accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); |
NaotoMorita | 36:e68ce293306e | 157 | ax = ax - offsetVal[0]; |
NaotoMorita | 36:e68ce293306e | 158 | ay = ay - offsetVal[1]; |
NaotoMorita | 36:e68ce293306e | 159 | az = az - offsetVal[2]; |
NaotoMorita | 36:e68ce293306e | 160 | gx = gx - offsetVal[3]; |
NaotoMorita | 36:e68ce293306e | 161 | gy = gy - offsetVal[4]; |
NaotoMorita | 36:e68ce293306e | 162 | gz = gz - offsetVal[5]; |
NaotoMorita | 36:e68ce293306e | 163 | // 加速度値を分解能で割って加速度(G)に変換する |
NaotoMorita | 37:dad55cf05e3d | 164 | acc_x = float(ax) / ACCEL_SSF; //FS_SEL_0 16,384 LSB / g |
NaotoMorita | 37:dad55cf05e3d | 165 | acc_y = float(ay) / ACCEL_SSF; |
NaotoMorita | 37:dad55cf05e3d | 166 | acc_z = float(az) / ACCEL_SSF; |
NaotoMorita | 36:e68ce293306e | 167 | // 角速度値を分解能で割って角速度(rad per sec)に変換する |
NaotoMorita | 36:e68ce293306e | 168 | gyro_x = float(gx) / GYRO_SSF * 0.0174533f; // (rad/s) |
NaotoMorita | 36:e68ce293306e | 169 | gyro_y = float(gy) / GYRO_SSF * 0.0174533f; |
NaotoMorita | 36:e68ce293306e | 170 | gyro_z = float(gz) / GYRO_SSF * 0.0174533f; |
NaotoMorita | 37:dad55cf05e3d | 171 | } |
NaotoMorita | 37:dad55cf05e3d | 172 | |
NaotoMorita | 37:dad55cf05e3d | 173 | void updateBetweenMeasures(){ |
NaotoMorita | 36:e68ce293306e | 174 | |
NaotoMorita | 37:dad55cf05e3d | 175 | getIMUval(); |
NaotoMorita | 36:e68ce293306e | 176 | |
NaotoMorita | 36:e68ce293306e | 177 | Matrix phi(4,4); |
NaotoMorita | 36:e68ce293306e | 178 | phi << 1.0 << -gyro_x*0.5*att_dt <<-gyro_y*0.5*att_dt <<-gyro_z*0.5*att_dt |
NaotoMorita | 36:e68ce293306e | 179 | << gyro_x*0.5*att_dt << 1.0 << gyro_z*0.5*att_dt <<-gyro_y*0.5*att_dt |
NaotoMorita | 36:e68ce293306e | 180 | << gyro_y*0.5*att_dt << -gyro_z*0.5*att_dt << 1.0 << gyro_x*0.5*att_dt |
NaotoMorita | 36:e68ce293306e | 181 | << gyro_z*0.5*att_dt << gyro_y*0.5*att_dt <<-gyro_x*0.5*att_dt << 1.0; |
NaotoMorita | 36:e68ce293306e | 182 | qhat = phi*qhat; |
NaotoMorita | 36:e68ce293306e | 183 | |
NaotoMorita | 36:e68ce293306e | 184 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 36:e68ce293306e | 185 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 36:e68ce293306e | 186 | |
NaotoMorita | 37:dad55cf05e3d | 187 | float q0 = qhat.getNumber( 1, 1 ); |
NaotoMorita | 37:dad55cf05e3d | 188 | float q1 = qhat.getNumber( 2, 1 ); |
NaotoMorita | 37:dad55cf05e3d | 189 | float q2 = qhat.getNumber( 3, 1 ); |
NaotoMorita | 37:dad55cf05e3d | 190 | float q3 = qhat.getNumber( 4, 1 ); |
NaotoMorita | 37:dad55cf05e3d | 191 | |
NaotoMorita | 37:dad55cf05e3d | 192 | Matrix B(4,3); |
NaotoMorita | 37:dad55cf05e3d | 193 | B << q1 << q2 << q3 |
NaotoMorita | 37:dad55cf05e3d | 194 | <<-q0 << q3 <<-q2 |
NaotoMorita | 37:dad55cf05e3d | 195 | <<-q3 <<-q0 << q1 |
NaotoMorita | 37:dad55cf05e3d | 196 | << q2 <<-q1 <<-q0; |
NaotoMorita | 37:dad55cf05e3d | 197 | B *= 0.5f; |
NaotoMorita | 37:dad55cf05e3d | 198 | Phat = phi*Phat*MatrixMath::Transpose(phi)+B*Qgyro*MatrixMath::Transpose(B); |
NaotoMorita | 37:dad55cf05e3d | 199 | |
NaotoMorita | 37:dad55cf05e3d | 200 | |
NaotoMorita | 37:dad55cf05e3d | 201 | } |
NaotoMorita | 37:dad55cf05e3d | 202 | |
NaotoMorita | 37:dad55cf05e3d | 203 | void updateAcrossMeasures(){ |
NaotoMorita | 37:dad55cf05e3d | 204 | getIMUval(); |
NaotoMorita | 37:dad55cf05e3d | 205 | |
NaotoMorita | 37:dad55cf05e3d | 206 | Matrix uacc(3,1); |
NaotoMorita | 37:dad55cf05e3d | 207 | Matrix vacc(3,1); |
NaotoMorita | 37:dad55cf05e3d | 208 | |
NaotoMorita | 37:dad55cf05e3d | 209 | uacc << 0 << 0 << -1; |
NaotoMorita | 37:dad55cf05e3d | 210 | float accnorm = sqrt(acc_x*acc_x+acc_y*acc_y+acc_z*acc_z); |
NaotoMorita | 37:dad55cf05e3d | 211 | vacc << acc_x/accnorm << acc_y/accnorm << acc_z/accnorm; |
NaotoMorita | 37:dad55cf05e3d | 212 | |
NaotoMorita | 37:dad55cf05e3d | 213 | float q0 = qhat.getNumber( 1, 1 ); |
NaotoMorita | 37:dad55cf05e3d | 214 | float q1 = qhat.getNumber( 2, 1 ); |
NaotoMorita | 37:dad55cf05e3d | 215 | float q2 = qhat.getNumber( 3, 1 ); |
NaotoMorita | 37:dad55cf05e3d | 216 | float q3 = qhat.getNumber( 4, 1 ); |
NaotoMorita | 37:dad55cf05e3d | 217 | |
NaotoMorita | 37:dad55cf05e3d | 218 | Matrix A1(3,3); |
NaotoMorita | 37:dad55cf05e3d | 219 | A1 << q0 << q3 << -q2 |
NaotoMorita | 37:dad55cf05e3d | 220 | <<-q3 << q0 << q1 |
NaotoMorita | 37:dad55cf05e3d | 221 | <<q2 <<-q1 <<q0; |
NaotoMorita | 37:dad55cf05e3d | 222 | A1 *= 2.0f; |
NaotoMorita | 37:dad55cf05e3d | 223 | |
NaotoMorita | 37:dad55cf05e3d | 224 | Matrix A2(3,3); |
NaotoMorita | 37:dad55cf05e3d | 225 | A2 << q1 << q2 << q3 |
NaotoMorita | 37:dad55cf05e3d | 226 | << q2 <<-q1 << q0 |
NaotoMorita | 37:dad55cf05e3d | 227 | << q3 <<-q0 <<-q1; |
NaotoMorita | 37:dad55cf05e3d | 228 | A2 *= 2.0f; |
NaotoMorita | 37:dad55cf05e3d | 229 | |
NaotoMorita | 37:dad55cf05e3d | 230 | Matrix A3(3,3); |
NaotoMorita | 37:dad55cf05e3d | 231 | A3 <<-q2 << q1 <<-q0 |
NaotoMorita | 37:dad55cf05e3d | 232 | << q1 << q2 << q3 |
NaotoMorita | 37:dad55cf05e3d | 233 | << q0 << q3 <<-q2; |
NaotoMorita | 37:dad55cf05e3d | 234 | A3 *= 2.0f; |
NaotoMorita | 37:dad55cf05e3d | 235 | |
NaotoMorita | 37:dad55cf05e3d | 236 | Matrix A4(3,3); |
NaotoMorita | 37:dad55cf05e3d | 237 | A4 <<-q3 << q0 << q1 |
NaotoMorita | 37:dad55cf05e3d | 238 | <<-q0 <<-q3 << q2 |
NaotoMorita | 37:dad55cf05e3d | 239 | << q1 << q2 << q3; |
NaotoMorita | 37:dad55cf05e3d | 240 | A4 *= 2.0f; |
NaotoMorita | 37:dad55cf05e3d | 241 | |
NaotoMorita | 37:dad55cf05e3d | 242 | Matrix H(3,4); |
NaotoMorita | 37:dad55cf05e3d | 243 | |
NaotoMorita | 37:dad55cf05e3d | 244 | Matrix ab1(A1*uacc); |
NaotoMorita | 37:dad55cf05e3d | 245 | Matrix ab2(A2*uacc); |
NaotoMorita | 37:dad55cf05e3d | 246 | Matrix ab3(A3*uacc); |
NaotoMorita | 37:dad55cf05e3d | 247 | Matrix ab4(A4*uacc); |
NaotoMorita | 37:dad55cf05e3d | 248 | |
NaotoMorita | 37:dad55cf05e3d | 249 | H << ab1.getNumber( 1, 1 ) << ab2.getNumber( 1, 1 ) << ab3.getNumber( 1, 1 ) << ab4.getNumber( 1, 1 ) |
NaotoMorita | 37:dad55cf05e3d | 250 | << ab1.getNumber( 2, 1 ) << ab2.getNumber( 2, 1 ) << ab3.getNumber( 2, 1 ) << ab4.getNumber( 2, 1 ) |
NaotoMorita | 37:dad55cf05e3d | 251 | << ab1.getNumber( 3, 1 ) << ab2.getNumber( 3, 1 ) << ab3.getNumber( 3, 1 ) << ab4.getNumber( 3, 1 ); |
NaotoMorita | 37:dad55cf05e3d | 252 | |
NaotoMorita | 37:dad55cf05e3d | 253 | Matrix D(3,3); |
NaotoMorita | 37:dad55cf05e3d | 254 | D << q0*q0 + q1*q1 - q2*q2 - q3*q3 |
NaotoMorita | 37:dad55cf05e3d | 255 | << 2*(q1*q2 + q0*q3) |
NaotoMorita | 37:dad55cf05e3d | 256 | << 2*(q1*q3 - q0*q2) |
NaotoMorita | 37:dad55cf05e3d | 257 | << 2*(q1*q2 - q0*q3) |
NaotoMorita | 37:dad55cf05e3d | 258 | << q0*q0 - q1*q1 + q2*q2 - q3*q3 |
NaotoMorita | 37:dad55cf05e3d | 259 | << 2*(q2*q3 + q0*q1) |
NaotoMorita | 37:dad55cf05e3d | 260 | << 2*(q1*q3 + q0*q2) |
NaotoMorita | 37:dad55cf05e3d | 261 | << 2*(q2*q3 - q0*q1) |
NaotoMorita | 37:dad55cf05e3d | 262 | << q0*q0 - q1*q1 - q2*q2 + q3*q3; |
NaotoMorita | 37:dad55cf05e3d | 263 | |
NaotoMorita | 37:dad55cf05e3d | 264 | Matrix err(3,1); |
NaotoMorita | 37:dad55cf05e3d | 265 | err = vacc-D*uacc; |
NaotoMorita | 37:dad55cf05e3d | 266 | |
NaotoMorita | 37:dad55cf05e3d | 267 | Matrix K(4,3); |
NaotoMorita | 37:dad55cf05e3d | 268 | K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+Racc); |
NaotoMorita | 37:dad55cf05e3d | 269 | |
NaotoMorita | 37:dad55cf05e3d | 270 | Matrix dq(4,1); |
NaotoMorita | 37:dad55cf05e3d | 271 | dq = K*err; |
NaotoMorita | 37:dad55cf05e3d | 272 | qhat = qhat-dq; |
NaotoMorita | 37:dad55cf05e3d | 273 | |
NaotoMorita | 37:dad55cf05e3d | 274 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 37:dad55cf05e3d | 275 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 36:e68ce293306e | 276 | } |
NaotoMorita | 36:e68ce293306e | 277 | |
NaotoMorita | 36:e68ce293306e | 278 | void computeAngles() |
NaotoMorita | 36:e68ce293306e | 279 | { |
NaotoMorita | 36:e68ce293306e | 280 | float q0 = qhat.getNumber( 1, 1 ); |
NaotoMorita | 36:e68ce293306e | 281 | float q1 = qhat.getNumber( 2, 1 ); |
NaotoMorita | 36:e68ce293306e | 282 | float q2 = qhat.getNumber( 3, 1 ); |
NaotoMorita | 36:e68ce293306e | 283 | float q3 = qhat.getNumber( 4, 1 ); |
NaotoMorita | 36:e68ce293306e | 284 | roll = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2); |
NaotoMorita | 36:e68ce293306e | 285 | pitch = asinf(-2.0f * (q1*q3 - q0*q2)); |
NaotoMorita | 36:e68ce293306e | 286 | yaw = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3); |
NaotoMorita | 33:e79457192a4b | 287 | } |
NaotoMorita | 33:e79457192a4b | 288 | |
NaotoMorita | 27:43bd0e444633 | 289 | int main() |
NaotoMorita | 36:e68ce293306e | 290 | { |
NaotoMorita | 28:fc6c46c1db65 | 291 | pitchPID.setSetPoint(0.0); |
NaotoMorita | 28:fc6c46c1db65 | 292 | pitchratePID.setSetPoint(0.0); |
NaotoMorita | 28:fc6c46c1db65 | 293 | rollPID.setSetPoint(0.0); |
NaotoMorita | 28:fc6c46c1db65 | 294 | rollratePID.setSetPoint(0.0); |
NaotoMorita | 28:fc6c46c1db65 | 295 | pitchPID.setBias(0.0); |
NaotoMorita | 28:fc6c46c1db65 | 296 | pitchratePID.setBias(0.0); |
NaotoMorita | 28:fc6c46c1db65 | 297 | rollPID.setBias(0.0); |
NaotoMorita | 28:fc6c46c1db65 | 298 | rollratePID.setBias(0.0); |
NaotoMorita | 28:fc6c46c1db65 | 299 | pitchPID.setOutputLimits(-1.0,1.0); |
NaotoMorita | 28:fc6c46c1db65 | 300 | pitchratePID.setOutputLimits(-1.0,1.0); |
NaotoMorita | 28:fc6c46c1db65 | 301 | rollPID.setOutputLimits(-1.0,1.0); |
NaotoMorita | 29:34ee662f454e | 302 | rollratePID.setOutputLimits(-1.0,1.0); |
NaotoMorita | 28:fc6c46c1db65 | 303 | pitchPID.setInputLimits(-pi,pi); |
NaotoMorita | 28:fc6c46c1db65 | 304 | pitchratePID.setInputLimits(-pi,pi); |
NaotoMorita | 28:fc6c46c1db65 | 305 | rollPID.setInputLimits(-pi,pi); |
NaotoMorita | 28:fc6c46c1db65 | 306 | rollratePID.setInputLimits(-pi,pi); |
NaotoMorita | 29:34ee662f454e | 307 | |
NaotoMorita | 36:e68ce293306e | 308 | servoRight.period_us(15000.0); |
NaotoMorita | 36:e68ce293306e | 309 | servoLeft.period_us(15000.0); |
NaotoMorita | 36:e68ce293306e | 310 | servoThrust.period_us(15000.0); |
NaotoMorita | 36:e68ce293306e | 311 | servoRight.pulsewidth_us(1500.0); |
NaotoMorita | 36:e68ce293306e | 312 | servoLeft.pulsewidth_us(1500.0); |
NaotoMorita | 36:e68ce293306e | 313 | servoThrust.pulsewidth_us(1100.0); |
NaotoMorita | 36:e68ce293306e | 314 | |
NaotoMorita | 36:e68ce293306e | 315 | qhat << 1 << 0 << 0 << 0; |
NaotoMorita | 36:e68ce293306e | 316 | |
NaotoMorita | 36:e68ce293306e | 317 | Phat << 0.0001 << 0 <<0 <<0 |
NaotoMorita | 36:e68ce293306e | 318 | << 0 << 0.0001 <<0 <<0 |
NaotoMorita | 36:e68ce293306e | 319 | << 0 << 0 <<0.0001 <<0 |
NaotoMorita | 36:e68ce293306e | 320 | << 0 << 0 << 0 << 0.0001; |
NaotoMorita | 37:dad55cf05e3d | 321 | |
NaotoMorita | 37:dad55cf05e3d | 322 | Qgyro << 0.0001 << 0 <<0 |
NaotoMorita | 37:dad55cf05e3d | 323 | << 0 << 0.0001 <<0 |
NaotoMorita | 37:dad55cf05e3d | 324 | << 0 << 0 <<0.0001; |
NaotoMorita | 37:dad55cf05e3d | 325 | |
NaotoMorita | 36:e68ce293306e | 326 | Racc << 0.0001 << 0 <<0 |
NaotoMorita | 36:e68ce293306e | 327 | << 0 << 0.0001 <<0 |
NaotoMorita | 36:e68ce293306e | 328 | << 0 << 0 <<0.0001; |
NaotoMorita | 36:e68ce293306e | 329 | |
NaotoMorita | 36:e68ce293306e | 330 | |
NaotoMorita | 36:e68ce293306e | 331 | LoopTicker PIDtick; |
NaotoMorita | 36:e68ce293306e | 332 | PIDtick.attach(calcServoOut,PID_dt); |
NaotoMorita | 37:dad55cf05e3d | 333 | pc.baud(115200); |
NaotoMorita | 36:e68ce293306e | 334 | //sd.baud(115200); |
NaotoMorita | 36:e68ce293306e | 335 | accelgyro.initialize(); |
NaotoMorita | 36:e68ce293306e | 336 | //加速度計のフルスケールレンジを設定 |
NaotoMorita | 36:e68ce293306e | 337 | accelgyro.setFullScaleAccelRange(ACCEL_FSR); |
NaotoMorita | 36:e68ce293306e | 338 | //■角速度計のフルスケールレンジを設定 |
NaotoMorita | 36:e68ce293306e | 339 | accelgyro.setFullScaleGyroRange(GYRO_FSR); |
NaotoMorita | 36:e68ce293306e | 340 | //MPU6050のLPFを設定 |
NaotoMorita | 36:e68ce293306e | 341 | accelgyro.setDLPFMode(MPU6050_LPF); |
NaotoMorita | 36:e68ce293306e | 342 | //MadgwickFilter.begin(100); //サンプリング周波数Hza |
NaotoMorita | 27:43bd0e444633 | 343 | t.start(); |
NaotoMorita | 36:e68ce293306e | 344 | //servoRight.write(0.0f); |
NaotoMorita | 27:43bd0e444633 | 345 | while(1) { |
NaotoMorita | 31:8d02f3b9a067 | 346 | float tstart = t.read(); |
NaotoMorita | 27:43bd0e444633 | 347 | //姿勢角を更新 |
NaotoMorita | 36:e68ce293306e | 348 | //updateAttitude(); |
NaotoMorita | 36:e68ce293306e | 349 | updateBetweenMeasures(); |
NaotoMorita | 37:dad55cf05e3d | 350 | updateAcrossMeasures(); |
NaotoMorita | 36:e68ce293306e | 351 | computeAngles(); |
NaotoMorita | 28:fc6c46c1db65 | 352 | PIDtick.loop(); // scaled_servo に pidのcomputing結果を格納する |
naker | 22:da9893b71f24 | 353 | |
NaotoMorita | 17:6b7a363d06d2 | 354 | float tend = t.read(); |
NaotoMorita | 36:e68ce293306e | 355 | att_dt = (tend-tstart); |
NaotoMorita | 36:e68ce293306e | 356 | //MadgwickFilter.begin(1.0f/att_dt); //サンプリング周波数Hz |
NaotoMorita | 28:fc6c46c1db65 | 357 | |
naker | 20:2c3f113a8e8f | 358 | } |
NaotoMorita | 0:6b18a09a6628 | 359 | } |