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
global.cpp@95:43717535c354, 2021-11-01 (annotated)
- Committer:
- osaka
- Date:
- Mon Nov 01 09:15:40 2021 +0000
- Revision:
- 95:43717535c354
- Parent:
- 93:b827f78a717a
gps
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cocorlow | 56:888379912f81 | 1 | #include "global.hpp" |
cocorlow | 56:888379912f81 | 2 | |
NaotoMorita | 67:41fcdfb7cc5a | 3 | |
cocorlow | 56:888379912f81 | 4 | // var |
cocorlow | 56:888379912f81 | 5 | |
cocorlow | 56:888379912f81 | 6 | // communication |
NaotoMorita | 82:c183c29d2427 | 7 | UsaPack pc(USBTX, USBRX, 115200); // log - tail |
NaotoMorita | 76:7fd3ac1afe3e | 8 | Serial sd(PG_14,PG_9); |
osaka | 88:be349faa1976 | 9 | Serial twelite(PD_1,PD_0); |
cocorlow | 56:888379912f81 | 10 | |
cocorlow | 56:888379912f81 | 11 | // io |
cocorlow | 56:888379912f81 | 12 | DigitalIn userButton(USER_BUTTON); |
NaotoMorita | 70:99f974d8960e | 13 | SBUS sbus(PD_5, PD_6); |
osaka | 88:be349faa1976 | 14 | I2C i2c(PB_9, PB_8); |
osaka | 88:be349faa1976 | 15 | LSM9DS1 lsm(i2c); |
osaka | 88:be349faa1976 | 16 | LPS lps(i2c); |
osaka | 95:43717535c354 | 17 | GPSUBX_UART gps(PE_8, PE_7); |
NaotoMorita | 70:99f974d8960e | 18 | |
cocorlow | 56:888379912f81 | 19 | // control |
NaotoMorita | 70:99f974d8960e | 20 | FastPWM servoRight(PE_9); |
NaotoMorita | 70:99f974d8960e | 21 | FastPWM servoLeft(PE_11); |
NaotoMorita | 70:99f974d8960e | 22 | FastPWM servoThrust(PE_13); |
NaotoMorita | 74:f67062e7813e | 23 | PID pitchPID(10.0f,0.0f,0.0f,PID_dt); //rad |
NaotoMorita | 74:f67062e7813e | 24 | PID pitchratePID(1.0f, 0.0f, 0.0f, PID_dt);//rad/s |
NaotoMorita | 74:f67062e7813e | 25 | PID rollPID(5.0f,0.0f,0.0f,PID_dt); |
NaotoMorita | 74:f67062e7813e | 26 | PID rollratePID(0.5f, 0.0, 0.0, PID_dt);//rad/s |
NaotoMorita | 90:96c2b0ed4b96 | 27 | solaESKF eskf; // ESKF class |
NaotoMorita | 76:7fd3ac1afe3e | 28 | int obsCount = 0; |
cocorlow | 56:888379912f81 | 29 | |
NaotoMorita | 70:99f974d8960e | 30 | float rc[16]; |
cocorlow | 56:888379912f81 | 31 | int loop_count = 0; |
cocorlow | 56:888379912f81 | 32 | float att_dt = 0.01f; |
cocorlow | 56:888379912f81 | 33 | |
cocorlow | 56:888379912f81 | 34 | // position |
NaotoMorita | 93:b827f78a717a | 35 | Matrix SensorAlignment(3,3); |
cocorlow | 56:888379912f81 | 36 | Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw |
cocorlow | 56:888379912f81 | 37 | Vector3 acc; |
NaotoMorita | 68:b9f6938fab9d | 38 | Vector3 accref(0.0f, 0.0f, 0.98f); |
cocorlow | 56:888379912f81 | 39 | Vector3 mag; |
cocorlow | 56:888379912f81 | 40 | Vector3 magref(0.65f, 0.0f, 0.75f); |
cocorlow | 56:888379912f81 | 41 | Vector3 gyro; |
NaotoMorita | 82:c183c29d2427 | 42 | Vector3 vi; |
NaotoMorita | 92:00460f6df439 | 43 | Vector3 pi; |
NaotoMorita | 92:00460f6df439 | 44 | float palt; |
NaotoMorita | 77:2bf856e3eca4 | 45 | |
NaotoMorita | 73:84ffa0166e6c | 46 | float de = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 47 | float da = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 48 | float dT = 0.0f; |
NaotoMorita | 70:99f974d8960e | 49 | MedianFilter accMedian(3); |
NaotoMorita | 70:99f974d8960e | 50 | MedianFilter gyroMedian(3); |
NaotoMorita | 70:99f974d8960e | 51 | MedianFilter magMedian(3); |
NaotoMorita | 72:267e2cfddb0b | 52 | |
NaotoMorita | 70:99f974d8960e | 53 | float scaledServoOut[2]= {0.0f,0.0f}; |
NaotoMorita | 70:99f974d8960e | 54 | float scaledMotorOut[1]= {-1.0f}; |
NaotoMorita | 63:9c4973a98600 | 55 | float servoOut[2] = {1500.0f,1500.0f}; |
NaotoMorita | 70:99f974d8960e | 56 | float motorOut[1] = {1100.0f}; |
cocorlow | 56:888379912f81 | 57 | |
cocorlow | 56:888379912f81 | 58 | int calibrationFlag = 0; |
NaotoMorita | 93:b827f78a717a | 59 | float agoffset[6] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}; |
NaotoMorita | 76:7fd3ac1afe3e | 60 | |
NaotoMorita | 76:7fd3ac1afe3e | 61 | float magbias[4] = {-134.817047, 127.833481, -152.631836, 44.508556}; |
NaotoMorita | 75:a505b9896da1 | 62 | float magbiasMin[3] = {-174.831711, 93.465691, -188.617172}; |
NaotoMorita | 75:a505b9896da1 | 63 | float magbiasMax[3] = {-110.413963, 162.321548, -122.566071}; |
NaotoMorita | 75:a505b9896da1 | 64 | float accMin[3] = {-0.963692, -0.974141, -1.012899}; |
NaotoMorita | 75:a505b9896da1 | 65 | float accMax[3] = { 1.025954, 0.974748, 0.987155}; |
cocorlow | 56:888379912f81 | 66 | |
NaotoMorita | 76:7fd3ac1afe3e | 67 | Vector3 rpy_align( 8.742834f*M_PI/180.0f, -0.228718f*M_PI/180.0f, 0.0f*M_PI/180.0f); |
cocorlow | 56:888379912f81 | 68 | |
cocorlow | 56:888379912f81 | 69 | |
cocorlow | 56:888379912f81 | 70 | // UsaPack |
NaotoMorita | 73:84ffa0166e6c | 71 | valuePack vp; |
NaotoMorita | 83:e69ab831031c | 72 | sendPack sp; |
NaotoMorita | 73:84ffa0166e6c | 73 | |
NaotoMorita | 73:84ffa0166e6c | 74 | // HIL |
NaotoMorita | 93:b827f78a717a | 75 | bool hilFlag = false; |
NaotoMorita | 76:7fd3ac1afe3e | 76 | bool serialControlSource = false; |
NaotoMorita | 76:7fd3ac1afe3e | 77 | bool serialParamSource = false; |
NaotoMorita | 76:7fd3ac1afe3e | 78 | int checkParamSerial[5] = {0,0,0,0,0}; |
cocorlow | 56:888379912f81 | 79 | |
cocorlow | 56:888379912f81 | 80 | float mapfloat(float x, float in_min, float in_max, float out_min, float out_max) |
cocorlow | 56:888379912f81 | 81 | { |
cocorlow | 56:888379912f81 | 82 | return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; |
NaotoMorita | 67:41fcdfb7cc5a | 83 | } |
NaotoMorita | 93:b827f78a717a | 84 | |
NaotoMorita | 93:b827f78a717a | 85 | void setDiag(Matrix& mat, float val){ |
NaotoMorita | 93:b827f78a717a | 86 | for (int i = 1; i < mat.getCols()+1; i++){ |
NaotoMorita | 93:b827f78a717a | 87 | mat(i,i) = val; |
NaotoMorita | 93:b827f78a717a | 88 | } |
NaotoMorita | 93:b827f78a717a | 89 | } |
NaotoMorita | 93:b827f78a717a | 90 | |
NaotoMorita | 93:b827f78a717a | 91 | void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex){ |
NaotoMorita | 93:b827f78a717a | 92 | for (int i = startIndex; i < endIndex+1; i++){ |
NaotoMorita | 93:b827f78a717a | 93 | mat(i,i) = val; |
NaotoMorita | 93:b827f78a717a | 94 | } |
NaotoMorita | 93:b827f78a717a | 95 | } |