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@96:3645f8f9bdd3, 2021-11-02 (annotated)

Committer:
osaka
Date:
Tue Nov 02 14:29:21 2021 +0000
Revision:
96:3645f8f9bdd3
Parent:
94:579e875a4244
Child:
98:bdaa6bbfb1d9
for GPS test

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 93:b827f78a717a 11 int n_init = 1000;
NaotoMorita 93:b827f78a717a 12 for(int i = 0;i<n_init;i++){
NaotoMorita 93:b827f78a717a 13 lsm.readAccel();
NaotoMorita 93:b827f78a717a 14 lsm.readMag();
NaotoMorita 93:b827f78a717a 15 lsm.readGyro();
NaotoMorita 93:b827f78a717a 16 agoffset[0] += lsm.ax * 9.8f;
NaotoMorita 93:b827f78a717a 17 agoffset[1] += lsm.ay * 9.8f;
NaotoMorita 93:b827f78a717a 18 agoffset[2] += lsm.az * 9.8f-9.8f;
NaotoMorita 93:b827f78a717a 19 agoffset[3] +=(lsm.gx * M_PI / 180.0f);
NaotoMorita 93:b827f78a717a 20 agoffset[4] +=(lsm.gy * M_PI / 180.0f);
NaotoMorita 93:b827f78a717a 21 agoffset[5] +=(lsm.gz * M_PI / 180.0f);
NaotoMorita 93:b827f78a717a 22 }
NaotoMorita 93:b827f78a717a 23 for(int i = 0;i<6;i++){
NaotoMorita 93:b827f78a717a 24 agoffset[i] /= float(n_init);
NaotoMorita 93:b827f78a717a 25 }
NaotoMorita 93:b827f78a717a 26 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 27 //センサ正常性チェック
osaka 87:89bbbcdb667b 28 //usaPack通信開始
NaotoMorita 77:2bf856e3eca4 29 pc.Subscribe(0000, &(vp));
NaotoMorita 77:2bf856e3eca4 30
osaka 87:89bbbcdb667b 31 //制御ループのアタッチ
NaotoMorita 77:2bf856e3eca4 32 LoopTicker PIDtick;
NaotoMorita 77:2bf856e3eca4 33 PIDtick.attach(calcServoOut,PID_dt);
NaotoMorita 77:2bf856e3eca4 34
NaotoMorita 93:b827f78a717a 35 //EKFの共分散設定
NaotoMorita 93:b827f78a717a 36 eskf.setGravity(0.0f,0.0f,9.8f);
NaotoMorita 93:b827f78a717a 37 eskf.setPhatPosition(0.1f);
NaotoMorita 93:b827f78a717a 38 eskf.setPhatVelocity(0.1f);
NaotoMorita 93:b827f78a717a 39 eskf.setPhatAngleError(0.1f);
NaotoMorita 94:579e875a4244 40 eskf.setPhatAccBias(0.001f);
NaotoMorita 94:579e875a4244 41 eskf.setPhatGyroBias(0.001f);
NaotoMorita 94:579e875a4244 42 eskf.setPhatGravity(0.0000001f);
NaotoMorita 93:b827f78a717a 43
NaotoMorita 93:b827f78a717a 44 eskf.setQVelocity(0.0025f);
NaotoMorita 93:b827f78a717a 45 eskf.setQAngleError(0.00025f);
NaotoMorita 94:579e875a4244 46 eskf.setQAccBias(0.0000001f);
NaotoMorita 93:b827f78a717a 47 eskf.setQGyroBias(0.000001f);
NaotoMorita 93:b827f78a717a 48
NaotoMorita 92:00460f6df439 49 Matrix Rgpspos(3,3);
NaotoMorita 93:b827f78a717a 50 setDiag(Rgpspos,0.9f);
NaotoMorita 92:00460f6df439 51 Matrix Rgpsvel(3,3);
NaotoMorita 93:b827f78a717a 52 setDiag(Rgpsvel,0.1f);
NaotoMorita 93:b827f78a717a 53
NaotoMorita 94:579e875a4244 54 Matrix RaccConst(4,4);
NaotoMorita 94:579e875a4244 55 setDiag(RaccConst,50.0f);
NaotoMorita 94:579e875a4244 56 RaccConst(4,4) = 1.0f;
NaotoMorita 93:b827f78a717a 57 //Matrix RgyroConst(2,2);
NaotoMorita 93:b827f78a717a 58 //setDiag(RgyroConst,100);
NaotoMorita 94:579e875a4244 59 _t.start();
NaotoMorita 93:b827f78a717a 60 float tgps = _t.read();
NaotoMorita 77:2bf856e3eca4 61 while(1)
NaotoMorita 77:2bf856e3eca4 62 {
NaotoMorita 68:b9f6938fab9d 63 float tstart = _t.read();
osaka 87:89bbbcdb667b 64 //センサの値を取得
NaotoMorita 73:84ffa0166e6c 65 if(hilFlag == true){
NaotoMorita 92:00460f6df439 66 getHilIMUval();
NaotoMorita 93:b827f78a717a 67 }else{
NaotoMorita 92:00460f6df439 68 getIMUval();
NaotoMorita 73:84ffa0166e6c 69 }
osaka 87:89bbbcdb667b 70 //ekfの更新
NaotoMorita 90:96c2b0ed4b96 71 eskf.updateNominal(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
NaotoMorita 90:96c2b0ed4b96 72 eskf.updateErrState(MatrixMath::Vector2mat(acc),MatrixMath::Vector2mat(gyro),att_dt);
NaotoMorita 92:00460f6df439 73 if(tstart-tgps>0.2f){
NaotoMorita 92:00460f6df439 74 if(hilFlag == true){
NaotoMorita 92:00460f6df439 75 getHilGPSval();
NaotoMorita 92:00460f6df439 76 }else{
osaka 96:3645f8f9bdd3 77 getGPSval();
NaotoMorita 92:00460f6df439 78 }
NaotoMorita 92:00460f6df439 79 eskf.updateGPSPosition(MatrixMath::Vector2mat(pi),Rgpspos);
NaotoMorita 92:00460f6df439 80 eskf.updateGPSVelocity(MatrixMath::Vector2mat(vi),Rgpsvel);
NaotoMorita 92:00460f6df439 81 tgps = _t.read();
NaotoMorita 92:00460f6df439 82 }else{
NaotoMorita 94:579e875a4244 83 eskf.updateAccConstraints(MatrixMath::Vector2mat(acc),palt,RaccConst);
NaotoMorita 92:00460f6df439 84 //eskf.updateGyroConstraints(MatrixMath::Vector2mat(gyro),RgyroConst);
NaotoMorita 92:00460f6df439 85 }
NaotoMorita 90:96c2b0ed4b96 86 eskf.fuseErr2Nominal();
osaka 87:89bbbcdb667b 87
NaotoMorita 77:2bf856e3eca4 88 PIDtick.loop();
NaotoMorita 77:2bf856e3eca4 89
osaka 87:89bbbcdb667b 90 //制御時間を計測
NaotoMorita 68:b9f6938fab9d 91 float tend = _t.read();
NaotoMorita 68:b9f6938fab9d 92 att_dt = (tend-tstart);
cocorlow 56:888379912f81 93 }
osaka 87:89bbbcdb667b 94 }