solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
Diff: hil.cpp
- Revision:
- 92:00460f6df439
- Parent:
- 90:96c2b0ed4b96
- Child:
- 93:b827f78a717a
diff -r 256f7c1c1297 -r 00460f6df439 hil.cpp --- a/hil.cpp Tue Oct 26 05:37:25 2021 +0000 +++ b/hil.cpp Thu Oct 28 09:44:47 2021 +0000 @@ -1,6 +1,6 @@ #include "global.hpp" -void getHILval() +void getHilIMUval() { switch(vp.commandIndex){ case 1: @@ -15,17 +15,16 @@ float sigma_acc = sqrt(0.00020f); float sigma_gyro = sqrt(0.000005f); float sigma_mag = sqrt(0.002f); - float sigma_vi = sqrt(0.002f); // gx gy gz ax ay az // 加速度値を分解能で割って加速度(m/s^2)に変換する - acc.x = 9.8f*float(vp.accData[0]) / ACCEL_SSF + sigma_acc*randn(); //FS_SEL_0 16,384 LSB / g - acc.y = 9.8f*float(vp.accData[1]) / ACCEL_SSF + sigma_acc*randn(); - acc.z = 9.8f*float(vp.accData[2]) / ACCEL_SSF + sigma_acc*randn(); + acc.x = 9.8f*float(vp.accData[0]) / 4096.0f + sigma_acc*randn(); //FS_SEL_0 16,384 LSB / g + acc.y = 9.8f*float(vp.accData[1]) / 4096.0f + sigma_acc*randn(); + acc.z = 9.8f*float(vp.accData[2]) / 4096.0f + sigma_acc*randn(); acc = accMedian.Process(acc); // 角速度値を分解能で割って角速度(rad per sec)に変換する - gyro.x = float(vp.gyroData[0]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn(); // (rad/s) - gyro.y = float(vp.gyroData[1]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn(); - gyro.z = float(vp.gyroData[2]) / GYRO_SSF * 0.0174533f + sigma_gyro*randn(); + gyro.x = float(vp.gyroData[0]) / 131.0f * 0.0174533f + sigma_gyro*randn(); // (rad/s) + gyro.y = float(vp.gyroData[1]) / 131.0f * 0.0174533f + sigma_gyro*randn(); + gyro.z = float(vp.gyroData[2]) / 131.0f * 0.0174533f + sigma_gyro*randn(); gyro = gyroMedian.Process(gyro); mag.x = float(vp.magData[0])/1000.0f + sigma_mag*randn(); @@ -33,19 +32,34 @@ mag.z = float(vp.magData[2])/1000.0f + sigma_mag*randn(); mag = magMedian.Process(mag); + if(abs(vp.accData[0])<0.0001f && abs(vp.accData[1])<0.0001f && abs(vp.accData[2])<0.0001f){ + acc.x = 0.0f; + acc.y = 0.0f; + acc.z = -9.8f; + gyro.x = 0.0f; + gyro.y = 0.0f; + gyro.z = 0.0f; + mag.x = 1.0f; + mag.y = 0.0f; + mag.z = 0.0f; + } +} + +void getHilGPSval() +{ + float sigma_vi = 2.0f/1.1774f; + float sigma_pi = 2.0f/1.1774f; + //GPSの速度情報m/s vi.x = float(vp.viData[0])/1000.0f + sigma_vi*randn(); vi.y = float(vp.viData[1])/1000.0f + sigma_vi*randn(); vi.z = float(vp.viData[2])/1000.0f + sigma_vi*randn(); - if(acc.Norm()<0.01f){ - acc.x = 0.0f; - acc.y = 0.0f; - acc.z = 1.0f; - mag.x = 0.113657f; - mag.y = -0.278425f; - mag.z = 0.980554f; - } + //GPSの位置情報m/s + pi.x = float(vp.piData[0])/1.0f + sigma_pi*randn(); + pi.y = float(vp.piData[1])/1.0f + sigma_pi*randn(); + pi.z = float(vp.piData[2])/1.0f + sigma_pi*randn(); + } float randn()