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

servo.cpp@137:240588882ae2, 2021-12-01 (annotated)

Committer:
osaka
Date:
Wed Dec 01 11:51:49 2021 +0000
Revision:
137:240588882ae2
Parent:
133:346ce20b3950
Child:
139:b378528c05f2
climb

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 // 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 83:e69ab831031c 6 // sbusデータの読み込み
NaotoMorita 83:e69ab831031c 7 for (int i =0 ; i < 16;i ++){
NaotoMorita 83:e69ab831031c 8 rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
NaotoMorita 70:99f974d8960e 9 }
NaotoMorita 90:96c2b0ed4b96 10
NaotoMorita 73:84ffa0166e6c 11
NaotoMorita 90:96c2b0ed4b96 12 //姿勢角の所得
NaotoMorita 132:896ad37b534b 13 euler = eskf.computeAngles();
NaotoMorita 90:96c2b0ed4b96 14 rpy.x = euler(1,1);
NaotoMorita 90:96c2b0ed4b96 15 rpy.y = euler(2,1);
NaotoMorita 90:96c2b0ed4b96 16 rpy.z = euler(3,1);
NaotoMorita 90:96c2b0ed4b96 17
NaotoMorita 90:96c2b0ed4b96 18 //PIDへの状態量のセット
NaotoMorita 92:00460f6df439 19 pitchPID.setProcessValue(rpy.y);
NaotoMorita 92:00460f6df439 20 pitchratePID.setProcessValue(gyro.y);
NaotoMorita 92:00460f6df439 21 rollPID.setProcessValue(rpy.x);
NaotoMorita 92:00460f6df439 22 rollratePID.setProcessValue(gyro.x);
NaotoMorita 90:96c2b0ed4b96 23
osaka 121:2523eef96b36 24 dT = rc[2];
osaka 121:2523eef96b36 25
NaotoMorita 124:7d6b1b62483b 26 if (rc[4]>-0.3f && rc[6] < -0.3f)
osaka 109:eb255fc4462b 27 {
osaka 109:eb255fc4462b 28 //level_flight();
osaka 109:eb255fc4462b 29 //point_guide();
osaka 137:240588882ae2 30 climb();
osaka 109:eb255fc4462b 31 rollPID.setSetPoint(roll_obj);
osaka 121:2523eef96b36 32 pitchPID.setSetPoint(pitch_obj);
osaka 121:2523eef96b36 33 dT += dT_obj;
NaotoMorita 129:a76be8380bb2 34 }else{
NaotoMorita 129:a76be8380bb2 35 rollPID.setSetPoint(0.0f);
NaotoMorita 129:a76be8380bb2 36 pitchPID.setSetPoint(0.0f);
osaka 109:eb255fc4462b 37 }
osaka 109:eb255fc4462b 38
NaotoMorita 90:96c2b0ed4b96 39 //舵角計算
NaotoMorita 92:00460f6df439 40 if(rc[4]<-0.3f){
NaotoMorita 92:00460f6df439 41 de = (rc[0]-rc[1])/2.0f;
NaotoMorita 92:00460f6df439 42 da = (rc[0]+rc[1])/2.0f;
NaotoMorita 92:00460f6df439 43 }else{
NaotoMorita 92:00460f6df439 44 de = (pitchPID.compute()+pitchratePID.compute())+(rc[0]-rc[1])/2.0f;
NaotoMorita 92:00460f6df439 45 da = (rollPID.compute()+rollratePID.compute())+(rc[0]+rc[1])/2.0f;
NaotoMorita 92:00460f6df439 46 }
NaotoMorita 70:99f974d8960e 47
NaotoMorita 92:00460f6df439 48 scaledServoOut[0]=de+da;
NaotoMorita 92:00460f6df439 49 scaledServoOut[1]=-de+da;
NaotoMorita 70:99f974d8960e 50 scaledMotorOut[0]= dT;
NaotoMorita 70:99f974d8960e 51
cocorlow 56:888379912f81 52 float LP_servo = 0.2;
NaotoMorita 70:99f974d8960e 53 float LP_motor = 0.2;
cocorlow 56:888379912f81 54 for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++)
cocorlow 56:888379912f81 55 {
cocorlow 56:888379912f81 56 servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
cocorlow 56:888379912f81 57 if(servoOut[i]<servoPwmMin)
cocorlow 56:888379912f81 58 {
cocorlow 56:888379912f81 59 servoOut[i] = servoPwmMin;
cocorlow 56:888379912f81 60 }
cocorlow 56:888379912f81 61 if(servoOut[i]>servoPwmMax)
cocorlow 56:888379912f81 62 {
cocorlow 56:888379912f81 63 servoOut[i] = servoPwmMax;
cocorlow 56:888379912f81 64 }
cocorlow 56:888379912f81 65 }
cocorlow 56:888379912f81 66
NaotoMorita 70:99f974d8960e 67 for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){
NaotoMorita 70:99f974d8960e 68 motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i];
NaotoMorita 70:99f974d8960e 69 if(motorOut[i]<motorPwmMin) {
NaotoMorita 70:99f974d8960e 70 motorOut[i] = motorPwmMin;
NaotoMorita 70:99f974d8960e 71 };
NaotoMorita 70:99f974d8960e 72 if(motorOut[i]>motorPwmMax) {
NaotoMorita 70:99f974d8960e 73 motorOut[i] = motorPwmMax;
NaotoMorita 70:99f974d8960e 74 };
NaotoMorita 70:99f974d8960e 75 }
NaotoMorita 70:99f974d8960e 76 servoRight.pulsewidth_us(servoOut[0]);
NaotoMorita 70:99f974d8960e 77 servoLeft.pulsewidth_us(servoOut[1]);
NaotoMorita 70:99f974d8960e 78 servoThrust.pulsewidth_us(motorOut[0]);
NaotoMorita 68:b9f6938fab9d 79
osaka 87:89bbbcdb667b 80 sendData2PC();
NaotoMorita 133:346ce20b3950 81 writeSDcard();
NaotoMorita 133:346ce20b3950 82
NaotoMorita 94:579e875a4244 83 if(loop_count >= 5)
cocorlow 56:888379912f81 84 {
osaka 87:89bbbcdb667b 85 sendTelemetry();
cocorlow 56:888379912f81 86 loop_count = 1;
NaotoMorita 68:b9f6938fab9d 87
cocorlow 56:888379912f81 88 }
cocorlow 56:888379912f81 89 else
cocorlow 56:888379912f81 90 {
cocorlow 56:888379912f81 91 loop_count +=1;
cocorlow 56:888379912f81 92 }
cocorlow 56:888379912f81 93 }