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@131:45542fcc886f, 2021-11-29 (annotated)
- Committer:
- osaka
- Date:
- Mon Nov 29 13:13:34 2021 +0000
- Revision:
- 131:45542fcc886f
- Parent:
- 129:a76be8380bb2
- Child:
- 133:346ce20b3950
Autopilot modified
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 | // io |
cocorlow | 56:888379912f81 | 11 | DigitalIn userButton(USER_BUTTON); |
NaotoMorita | 70:99f974d8960e | 12 | SBUS sbus(PD_5, PD_6); |
osaka | 88:be349faa1976 | 13 | I2C i2c(PB_9, PB_8); |
osaka | 88:be349faa1976 | 14 | LSM9DS1 lsm(i2c); |
osaka | 88:be349faa1976 | 15 | LPS lps(i2c); |
NaotoMorita | 99:98b892ca70ec | 16 | GPSUBX_UART gps(PF_7, PE_7); |
NaotoMorita | 119:a21e283730d1 | 17 | CalibrateMagneto magCalibrator; |
NaotoMorita | 102:1c77ff6e2a85 | 18 | float magres = 0.0f; |
cocorlow | 56:888379912f81 | 19 | // control |
NaotoMorita | 94:579e875a4244 | 20 | Timer _t; |
NaotoMorita | 70:99f974d8960e | 21 | FastPWM servoRight(PE_9); |
NaotoMorita | 70:99f974d8960e | 22 | FastPWM servoLeft(PE_11); |
NaotoMorita | 70:99f974d8960e | 23 | FastPWM servoThrust(PE_13); |
NaotoMorita | 74:f67062e7813e | 24 | PID pitchPID(10.0f,0.0f,0.0f,PID_dt); //rad |
NaotoMorita | 74:f67062e7813e | 25 | PID pitchratePID(1.0f, 0.0f, 0.0f, PID_dt);//rad/s |
NaotoMorita | 74:f67062e7813e | 26 | PID rollPID(5.0f,0.0f,0.0f,PID_dt); |
NaotoMorita | 94:579e875a4244 | 27 | PID rollratePID(0.05f, 0.0, 0.0, PID_dt);//rad/s |
NaotoMorita | 90:96c2b0ed4b96 | 28 | solaESKF eskf; // ESKF class |
NaotoMorita | 76:7fd3ac1afe3e | 29 | int obsCount = 0; |
osaka | 109:eb255fc4462b | 30 | Autopilot autopilot; |
osaka | 109:eb255fc4462b | 31 | float roll_obj; |
osaka | 109:eb255fc4462b | 32 | float pitch_obj; |
osaka | 121:2523eef96b36 | 33 | float dT_obj; |
cocorlow | 56:888379912f81 | 34 | |
NaotoMorita | 70:99f974d8960e | 35 | float rc[16]; |
cocorlow | 56:888379912f81 | 36 | int loop_count = 0; |
cocorlow | 56:888379912f81 | 37 | float att_dt = 0.01f; |
cocorlow | 56:888379912f81 | 38 | // position |
NaotoMorita | 113:3e47d9881529 | 39 | Matrix SensorAlignmentAG(3,3); |
NaotoMorita | 113:3e47d9881529 | 40 | Matrix SensorAlignmentMAG(3,3); |
cocorlow | 56:888379912f81 | 41 | Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw |
cocorlow | 56:888379912f81 | 42 | Vector3 acc; |
NaotoMorita | 102:1c77ff6e2a85 | 43 | Vector3 accref(0.0f, 0.0f, 9.8f); |
cocorlow | 56:888379912f81 | 44 | Vector3 mag; |
NaotoMorita | 102:1c77ff6e2a85 | 45 | Vector3 magref(0.0f, 0.0f, 0.0f); |
cocorlow | 56:888379912f81 | 46 | Vector3 gyro; |
NaotoMorita | 82:c183c29d2427 | 47 | Vector3 vi; |
NaotoMorita | 92:00460f6df439 | 48 | Vector3 pi; |
NaotoMorita | 92:00460f6df439 | 49 | float palt; |
NaotoMorita | 98:bdaa6bbfb1d9 | 50 | float palt0; |
NaotoMorita | 129:a76be8380bb2 | 51 | float dynaccnorm2; |
NaotoMorita | 106:2d854e92cebb | 52 | int itow_status = 0; |
NaotoMorita | 100:7589b663d462 | 53 | bool gpsUpdateFlag = false; |
NaotoMorita | 106:2d854e92cebb | 54 | bool gpsLlh0Fixed = false; |
NaotoMorita | 127:d73a6233ee4b | 55 | bool headingUpdateFlag = false; |
NaotoMorita | 77:2bf856e3eca4 | 56 | |
NaotoMorita | 73:84ffa0166e6c | 57 | float de = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 58 | float da = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 59 | float dT = 0.0f; |
NaotoMorita | 70:99f974d8960e | 60 | MedianFilter accMedian(3); |
NaotoMorita | 70:99f974d8960e | 61 | MedianFilter gyroMedian(3); |
NaotoMorita | 70:99f974d8960e | 62 | MedianFilter magMedian(3); |
NaotoMorita | 72:267e2cfddb0b | 63 | |
NaotoMorita | 70:99f974d8960e | 64 | float scaledServoOut[2]= {0.0f,0.0f}; |
NaotoMorita | 70:99f974d8960e | 65 | float scaledMotorOut[1]= {-1.0f}; |
NaotoMorita | 63:9c4973a98600 | 66 | float servoOut[2] = {1500.0f,1500.0f}; |
NaotoMorita | 70:99f974d8960e | 67 | float motorOut[1] = {1100.0f}; |
cocorlow | 56:888379912f81 | 68 | |
cocorlow | 56:888379912f81 | 69 | int calibrationFlag = 0; |
NaotoMorita | 93:b827f78a717a | 70 | float agoffset[6] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}; |
NaotoMorita | 76:7fd3ac1afe3e | 71 | |
NaotoMorita | 76:7fd3ac1afe3e | 72 | float magbias[4] = {-134.817047, 127.833481, -152.631836, 44.508556}; |
NaotoMorita | 75:a505b9896da1 | 73 | float magbiasMin[3] = {-174.831711, 93.465691, -188.617172}; |
NaotoMorita | 75:a505b9896da1 | 74 | float magbiasMax[3] = {-110.413963, 162.321548, -122.566071}; |
NaotoMorita | 75:a505b9896da1 | 75 | float accMin[3] = {-0.963692, -0.974141, -1.012899}; |
NaotoMorita | 75:a505b9896da1 | 76 | float accMax[3] = { 1.025954, 0.974748, 0.987155}; |
cocorlow | 56:888379912f81 | 77 | |
NaotoMorita | 126:03da3a8c8870 | 78 | Vector3 rpy_align( 0.0f*M_PI/180.0f, 5.0f*M_PI/180.0f, 0.0f*M_PI/180.0f); |
cocorlow | 56:888379912f81 | 79 | |
cocorlow | 56:888379912f81 | 80 | |
cocorlow | 56:888379912f81 | 81 | // UsaPack |
NaotoMorita | 73:84ffa0166e6c | 82 | valuePack vp; |
NaotoMorita | 83:e69ab831031c | 83 | sendPack sp; |
NaotoMorita | 73:84ffa0166e6c | 84 | |
NaotoMorita | 73:84ffa0166e6c | 85 | // HIL |
osaka | 131:45542fcc886f | 86 | bool hilFlag = true; |
NaotoMorita | 76:7fd3ac1afe3e | 87 | bool serialControlSource = false; |
NaotoMorita | 76:7fd3ac1afe3e | 88 | bool serialParamSource = false; |
NaotoMorita | 76:7fd3ac1afe3e | 89 | int checkParamSerial[5] = {0,0,0,0,0}; |
cocorlow | 56:888379912f81 | 90 | |
cocorlow | 56:888379912f81 | 91 | float mapfloat(float x, float in_min, float in_max, float out_min, float out_max) |
cocorlow | 56:888379912f81 | 92 | { |
cocorlow | 56:888379912f81 | 93 | return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; |
NaotoMorita | 67:41fcdfb7cc5a | 94 | } |
NaotoMorita | 93:b827f78a717a | 95 | |
NaotoMorita | 93:b827f78a717a | 96 | void setDiag(Matrix& mat, float val){ |
NaotoMorita | 93:b827f78a717a | 97 | for (int i = 1; i < mat.getCols()+1; i++){ |
NaotoMorita | 93:b827f78a717a | 98 | mat(i,i) = val; |
NaotoMorita | 93:b827f78a717a | 99 | } |
NaotoMorita | 93:b827f78a717a | 100 | } |
NaotoMorita | 93:b827f78a717a | 101 | |
NaotoMorita | 93:b827f78a717a | 102 | void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex){ |
NaotoMorita | 93:b827f78a717a | 103 | for (int i = startIndex; i < endIndex+1; i++){ |
NaotoMorita | 93:b827f78a717a | 104 | mat(i,i) = val; |
NaotoMorita | 93:b827f78a717a | 105 | } |
NaotoMorita | 93:b827f78a717a | 106 | } |