HAPSRG / Mbed 2 deprecated optWingforHAPS_Eigen

Eigen Revision

Dependencies:   mbed LPS25HB_I2C LSM9DS1 PIDcontroller Autopilot_Eigen LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM

run.cpp@102:1c77ff6e2a85, 2021-11-08 (annotated)

Committer:
NaotoMorita
Date:
Mon Nov 08 09:20:21 2021 +0000
Revision:
102:1c77ff6e2a85
Parent:
100:7589b663d462
Child:
103:fec71c2051c5
mag debuging

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 56:888379912f81 1 #include "global.hpp"
cocorlow 56:888379912f81 2
cocorlow 56:888379912f81 3 void run()
cocorlow 56:888379912f81 4 {
NaotoMorita 68:b9f6938fab9d 5 wait(0.5);
NaotoMorita 77:2bf856e3eca4 6
osaka 87:89bbbcdb667b 7 //センサの初期化・ジャイロバイアス・加速度スケールの取得
NaotoMorita 77:2bf856e3eca4 8 if(hilFlag == false){
NaotoMorita 90:96c2b0ed4b96 9 eskf.setQhat(rpy_align.x,rpy_align.y,rpy_align.z);
NaotoMorita 77:2bf856e3eca4 10 }
NaotoMorita 99:98b892ca70ec 11
NaotoMorita 93:b827f78a717a 12 int n_init = 1000;
NaotoMorita 93:b827f78a717a 13 for(int i = 0;i<n_init;i++){
NaotoMorita 93:b827f78a717a 14 lsm.readAccel();
NaotoMorita 93:b827f78a717a 15 lsm.readMag();
NaotoMorita 93:b827f78a717a 16 lsm.readGyro();
NaotoMorita 93:b827f78a717a 17 agoffset[0] += lsm.ax * 9.8f;
NaotoMorita 93:b827f78a717a 18 agoffset[1] += lsm.ay * 9.8f;
NaotoMorita 93:b827f78a717a 19 agoffset[2] += lsm.az * 9.8f-9.8f;
NaotoMorita 93:b827f78a717a 20 agoffset[3] +=(lsm.gx * M_PI / 180.0f);
NaotoMorita 93:b827f78a717a 21 agoffset[4] +=(lsm.gy * M_PI / 180.0f);
NaotoMorita 93:b827f78a717a 22 agoffset[5] +=(lsm.gz * M_PI / 180.0f);
NaotoMorita 99:98b892ca70ec 23 palt0 += lps.pressureToAltitudeMeters(lps.readPressureMillibars());
NaotoMorita 102:1c77ff6e2a85 24 if(hilFlag == true){
NaotoMorita 102:1c77ff6e2a85 25 magref.x += lsm.mx;
NaotoMorita 102:1c77ff6e2a85 26 magref.y += lsm.my;
NaotoMorita 102:1c77ff6e2a85 27 magref.z += lsm.mz;
NaotoMorita 102:1c77ff6e2a85 28 }
NaotoMorita 93:b827f78a717a 29 }
NaotoMorita 93:b827f78a717a 30 for(int i = 0;i<6;i++){
NaotoMorita 93:b827f78a717a 31 agoffset[i] /= float(n_init);
NaotoMorita 93:b827f78a717a 32 }
NaotoMorita 102:1c77ff6e2a85 33 if(hilFlag == true){
NaotoMorita 102:1c77ff6e2a85 34 magref.x /= float(n_init);
NaotoMorita 102:1c77ff6e2a85 35 magref.y /= float(n_init);
NaotoMorita 102:1c77ff6e2a85 36 magref.z /= float(n_init);
NaotoMorita 102:1c77ff6e2a85 37 }
NaotoMorita 99:98b892ca70ec 38 gps.Update();
NaotoMorita 99:98b892ca70ec 39 gps.CalculateUnit();
NaotoMorita 98:bdaa6bbfb1d9 40 palt0 /= float(n_init);
NaotoMorita 93:b827f78a717a 41 twelite.printf("Sensor offset : %f %f %f %f %f %f\r\n",agoffset[0],agoffset[1],agoffset[2],agoffset[3],agoffset[4],agoffset[5]);
osaka 87:89bbbcdb667b 42 //センサ正常性チェック
osaka 87:89bbbcdb667b 43 //usaPack通信開始
NaotoMorita 77:2bf856e3eca4 44 pc.Subscribe(0000, &(vp));
NaotoMorita 77:2bf856e3eca4 45
osaka 87:89bbbcdb667b 46 //制御ループのアタッチ
NaotoMorita 77:2bf856e3eca4 47 LoopTicker PIDtick;
NaotoMorita 77:2bf856e3eca4 48 PIDtick.attach(calcServoOut,PID_dt);
NaotoMorita 77:2bf856e3eca4 49
NaotoMorita 99:98b892ca70ec 50 //ESKFの共分散設定
NaotoMorita 93:b827f78a717a 51 eskf.setGravity(0.0f,0.0f,9.8f);
NaotoMorita 93:b827f78a717a 52 eskf.setPhatPosition(0.1f);
NaotoMorita 93:b827f78a717a 53 eskf.setPhatVelocity(0.1f);
NaotoMorita 100:7589b663d462 54 eskf.setPhatAngleError(0.1f);
NaotoMorita 94:579e875a4244 55 eskf.setPhatAccBias(0.001f);
NaotoMorita 94:579e875a4244 56 eskf.setPhatGyroBias(0.001f);
NaotoMorita 94:579e875a4244 57 eskf.setPhatGravity(0.0000001f);
NaotoMorita 93:b827f78a717a 58
NaotoMorita 93:b827f78a717a 59 eskf.setQVelocity(0.0025f);
NaotoMorita 93:b827f78a717a 60 eskf.setQAngleError(0.00025f);
NaotoMorita 94:579e875a4244 61 eskf.setQAccBias(0.0000001f);
NaotoMorita 93:b827f78a717a 62 eskf.setQGyroBias(0.000001f);
NaotoMorita 93:b827f78a717a 63
NaotoMorita 99:98b892ca70ec 64 Matrix Rgpspos(2,2);
NaotoMorita 99:98b892ca70ec 65 setDiag(Rgpspos,2.0f);
NaotoMorita 99:98b892ca70ec 66 //Rgpspos(3,3) = 5.0f;
NaotoMorita 92:00460f6df439 67 Matrix Rgpsvel(3,3);
NaotoMorita 99:98b892ca70ec 68 setDiag(Rgpsvel,2.0f);
NaotoMorita 100:7589b663d462 69 Matrix Rgps(5,5);
NaotoMorita 100:7589b663d462 70 setDiag(Rgps,2.0f);
NaotoMorita 99:98b892ca70ec 71
NaotoMorita 93:b827f78a717a 72
NaotoMorita 94:579e875a4244 73 Matrix RaccConst(4,4);
NaotoMorita 94:579e875a4244 74 setDiag(RaccConst,50.0f);
NaotoMorita 102:1c77ff6e2a85 75 RaccConst(4,4) = 1.0f;
NaotoMorita 93:b827f78a717a 76 //Matrix RgyroConst(2,2);
NaotoMorita 93:b827f78a717a 77 //setDiag(RgyroConst,100);
NaotoMorita 102:1c77ff6e2a85 78 Matrix Rmag(2,2);
NaotoMorita 102:1c77ff6e2a85 79 Rmag(1,1) = 1.0f;
NaotoMorita 102:1c77ff6e2a85 80 Rmag(2,2) = 1.0f;
NaotoMorita 102:1c77ff6e2a85 81
NaotoMorita 94:579e875a4244 82 _t.start();
NaotoMorita 93:b827f78a717a 83 float tgps = _t.read();
NaotoMorita 77:2bf856e3eca4 84 while(1)
NaotoMorita 77:2bf856e3eca4 85 {
NaotoMorita 68:b9f6938fab9d 86 float tstart = _t.read();
osaka 87:89bbbcdb667b 87 //センサの値を取得
NaotoMorita 73:84ffa0166e6c 88 if(hilFlag == true){
NaotoMorita 92:00460f6df439 89 getHilIMUval();
NaotoMorita 93:b827f78a717a 90 }else{
NaotoMorita 92:00460f6df439 91 getIMUval();
NaotoMorita 73:84ffa0166e6c 92 }
osaka 87:89bbbcdb667b 93 //ekfの更新
NaotoMorita 90:96c2b0ed4b96 94 eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
NaotoMorita 90:96c2b0ed4b96 95 eskf.updateErrState(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
NaotoMorita 100:7589b663d462 96 if(hilFlag == true){
NaotoMorita 100:7589b663d462 97 if(tstart-tgps>0.2f){
NaotoMorita 92:00460f6df439 98 getHilGPSval();
NaotoMorita 100:7589b663d462 99 tgps = _t.read();
NaotoMorita 100:7589b663d462 100 gpsUpdateFlag = true;
NaotoMorita 92:00460f6df439 101 }else{
NaotoMorita 100:7589b663d462 102 gpsUpdateFlag = false;
NaotoMorita 92:00460f6df439 103 }
NaotoMorita 92:00460f6df439 104 }else{
NaotoMorita 100:7589b663d462 105 getGPSval;
NaotoMorita 92:00460f6df439 106 }
NaotoMorita 100:7589b663d462 107 if(gpsUpdateFlag == true){
NaotoMorita 100:7589b663d462 108 //eskf.updateGPSPosition(MatrixMath::Vector2mat(pi),Rgpspos);
NaotoMorita 100:7589b663d462 109 //eskf.updateGPSVelocity(MatrixMath::Vector2mat(vi),Rgpsvel);
NaotoMorita 100:7589b663d462 110 eskf.updateGPS(MatrixMath::Vector2mat(pi),MatrixMath::Vector2mat(vi),Rgps);
NaotoMorita 100:7589b663d462 111 }
NaotoMorita 100:7589b663d462 112 eskf.updateAccConstraints(MatrixMath::Vector2mat(acc),palt,RaccConst);
NaotoMorita 102:1c77ff6e2a85 113 if(magres < magresThreshold){
NaotoMorita 102:1c77ff6e2a85 114 eskf.updateMag(MatrixMath::Vector2mat(mag),Rmag);
NaotoMorita 102:1c77ff6e2a85 115 };
NaotoMorita 90:96c2b0ed4b96 116 eskf.fuseErr2Nominal();
osaka 87:89bbbcdb667b 117
NaotoMorita 77:2bf856e3eca4 118 PIDtick.loop();
NaotoMorita 77:2bf856e3eca4 119
osaka 87:89bbbcdb667b 120 //制御時間を計測
NaotoMorita 68:b9f6938fab9d 121 float tend = _t.read();
NaotoMorita 68:b9f6938fab9d 122 att_dt = (tend-tstart);
cocorlow 56:888379912f81 123 }
osaka 87:89bbbcdb667b 124 }