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

setup.cpp@121:2523eef96b36, 2021-11-19 (annotated)

Committer:
osaka
Date:
Fri Nov 19 07:56:16 2021 +0000
Revision:
121:2523eef96b36
Parent:
119:a21e283730d1
Child:
126:03da3a8c8870
keep altitude and velocity

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 56:888379912f81 1 #include "global.hpp"
osaka 88:be349faa1976 2 using namespace std;
cocorlow 56:888379912f81 3
cocorlow 56:888379912f81 4 void setup()
cocorlow 56:888379912f81 5 {
osaka 88:be349faa1976 6 sd.baud(115200);
osaka 88:be349faa1976 7 sd.printf("\r\nFlight Start\r\n");
osaka 88:be349faa1976 8 twelite.baud(38400);
osaka 88:be349faa1976 9 twelite.printf("\r\nTelemetory Start\r\n");
osaka 88:be349faa1976 10
osaka 88:be349faa1976 11 uint16_t reg = lsm.begin(lsm.G_SCALE_245DPS, lsm.A_SCALE_8G);
osaka 88:be349faa1976 12 //printf("%x\n", reg);
osaka 88:be349faa1976 13 if (!lps.init()){
osaka 88:be349faa1976 14 twelite.printf("Failed to autodetect pressure sensor!\r\n");
osaka 88:be349faa1976 15 while (1);
osaka 88:be349faa1976 16 }
osaka 88:be349faa1976 17 lps.enableDefault();
osaka 96:3645f8f9bdd3 18 gps.Attach();
osaka 88:be349faa1976 19 wait_ms(100);
osaka 88:be349faa1976 20
NaotoMorita 113:3e47d9881529 21 SensorAlignmentAG << 1.0f << 0.0f << 0.0f
NaotoMorita 113:3e47d9881529 22 << 0.0f << 1.0f << 0.0f
NaotoMorita 113:3e47d9881529 23 << 0.0f << 0.0f << -1.0f;
NaotoMorita 119:a21e283730d1 24 SensorAlignmentMAG << -1.0f << 0.0f << 0.0f
NaotoMorita 119:a21e283730d1 25 << 0.0f << 1.0f << 0.0f
NaotoMorita 113:3e47d9881529 26 << 0.0f << 0.0f << -1.0f;
NaotoMorita 119:a21e283730d1 27 float magMin[3] = {-392.590332, -85.194908, -155.781174};
NaotoMorita 119:a21e283730d1 28 float magMax[3] = {182.602386, 530.811523, 365.834625};
NaotoMorita 119:a21e283730d1 29 magCalibrator.setExtremes(magMin,magMax);
NaotoMorita 93:b827f78a717a 30
cocorlow 56:888379912f81 31 pitchPID.setSetPoint(0.0);
cocorlow 56:888379912f81 32 pitchratePID.setSetPoint(0.0);
NaotoMorita 70:99f974d8960e 33 rollPID.setSetPoint(0.0);
NaotoMorita 70:99f974d8960e 34 rollratePID.setSetPoint(0.0);
cocorlow 56:888379912f81 35 pitchPID.setBias(0.0);
NaotoMorita 70:99f974d8960e 36 pitchratePID.setBias(0.0);
NaotoMorita 70:99f974d8960e 37 rollPID.setBias(0.0);
NaotoMorita 70:99f974d8960e 38 rollratePID.setBias(0.0);
cocorlow 56:888379912f81 39 pitchPID.setOutputLimits(-1.0,1.0);
cocorlow 56:888379912f81 40 pitchratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 70:99f974d8960e 41 rollPID.setOutputLimits(-1.0,1.0);
NaotoMorita 70:99f974d8960e 42 rollratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 70:99f974d8960e 43 pitchPID.setInputLimits(-M_PI,M_PI);
NaotoMorita 70:99f974d8960e 44 pitchratePID.setInputLimits(-M_PI,M_PI);
NaotoMorita 70:99f974d8960e 45 rollPID.setInputLimits(-M_PI,M_PI);
NaotoMorita 70:99f974d8960e 46 rollratePID.setInputLimits(-M_PI,M_PI);
cocorlow 56:888379912f81 47
NaotoMorita 70:99f974d8960e 48 servoRight.period_us(15000.0);
NaotoMorita 70:99f974d8960e 49 servoLeft.period_us(15000.0);
NaotoMorita 70:99f974d8960e 50 servoThrust.period_us(15000.0);
NaotoMorita 70:99f974d8960e 51 servoRight.pulsewidth_us(1500.0);
NaotoMorita 70:99f974d8960e 52 servoLeft.pulsewidth_us(1500.0);
NaotoMorita 70:99f974d8960e 53 servoThrust.pulsewidth_us(1100.0);
osaka 109:eb255fc4462b 54
osaka 121:2523eef96b36 55 autopilot.set_dest(100.0f, 100.0f);
osaka 121:2523eef96b36 56 autopilot.set_turn(100.0f, 100.0f, 50.0f);
osaka 121:2523eef96b36 57 autopilot.set_alt(30.0f, 10.0f);
cocorlow 56:888379912f81 58 }
cocorlow 56:888379912f81 59
cocorlow 56:888379912f81 60 void calibrate()
cocorlow 56:888379912f81 61 {
cocorlow 56:888379912f81 62 while(1)
cocorlow 56:888379912f81 63 {
cocorlow 56:888379912f81 64 wait(1000);
cocorlow 56:888379912f81 65 }
cocorlow 56:888379912f81 66 }