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:
- 102:1c77ff6e2a85
- Parent:
- 94:579e875a4244
- Child:
- 103:fec71c2051c5
diff -r 200e98dad7f8 -r 1c77ff6e2a85 hil.cpp --- a/hil.cpp Sun Nov 07 05:38:17 2021 +0000 +++ b/hil.cpp Mon Nov 08 09:20:21 2021 +0000 @@ -13,8 +13,6 @@ rpy_align.y = 0.0f; accref.z = 1.0f; - float sigma_mag = 0.1f; - float sigma_palt = 1.0f; lsm.readAccel(); lsm.readMag(); @@ -32,30 +30,31 @@ acc.x = 9.8f*float(vp.accData[0]) / 4096.0f + accmx; //FS_SEL_0 16,384 LSB / g acc.y = 9.8f*float(vp.accData[1]) / 4096.0f + accmy; acc.z = 9.8f*float(vp.accData[2]) / 4096.0f + accmy; - 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]) / 131.0f * 0.0174533f + gyromx; // (rad/s) gyro.y = float(vp.gyroData[1]) / 131.0f * 0.0174533f + gyromy; gyro.z = float(vp.gyroData[2]) / 131.0f * 0.0174533f + gyromz; - gyro = gyroMedian.Process(gyro); - mag.x = float(vp.magData[0])/1000.0f + sigma_mag*randn(); - mag.y = float(vp.magData[1])/1000.0f + sigma_mag*randn(); - mag.z = float(vp.magData[2])/1000.0f + sigma_mag*randn(); - mag = magMedian.Process(mag); + Matrix magraw(3,1); + magraw(1,1) = float(vp.magData[0])/1000.0f + (lsm.mx-magref.x); + magraw(2,1) = float(vp.magData[1])/1000.0f + (lsm.my-magref.y); + magraw(3,1) = float(vp.magData[2])/1000.0f + (lsm.mz-magref.z); + + magres = magCalibrator.calcResidial(magraw); + if(magres > magresThreshold){ + magCalibrator.updateParams(magraw,0.001f); + }; + Matrix magmod = SensorAlignment*magCalibrator.outCalibratedMag(magraw); + mag.x = magmod(1,1); + mag.y = magmod(2,1); + mag.z = magmod(3,1); - palt = float(vp.piData[2])/1.0f + sigma_palt*randn(); + palt = float(vp.piData[2])/1.0f -(lps.pressureToAltitudeMeters(lps.readPressureMillibars())-palt0);; 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; + acc.z += -9.8f; + mag.x += 0.2f; } }