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

main.cpp@41:4c02fcf105a9, 2021-03-22 (annotated)

Committer:
naker
Date:
Mon Mar 22 02:55:42 2021 +0000
Revision:
41:4c02fcf105a9
Parent:
38:acc7cdcf56dd 
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NaotoMorita 0:6b18a09a6628 1 #include "mbed.h"
naker 20:2c3f113a8e8f 2 #include "PIDcontroller.h"
NaotoMorita 0:6b18a09a6628 3 #include "SBUS.hpp"
cocorlow 6:2cba569272fe 4 #include "LoopTicker.hpp"
naker 15:6abaac6e5b03 5 #include "MPU6050.h"
NaotoMorita 38:acc7cdcf56dd 6 #include "MAG3110.h"
NaotoMorita 38:acc7cdcf56dd 7 #include "I2Cdev.h"
NaotoMorita 36:e68ce293306e 8 #include "FastPWM.h"
NaotoMorita 36:e68ce293306e 9 #include "Matrix.h"
NaotoMorita 36:e68ce293306e 10 #include "MatrixMath.h"
NaotoMorita 38:acc7cdcf56dd 11 #include "math.h"
cocorlow 6:2cba569272fe 12
NaotoMorita 17:6b7a363d06d2 13 #define MPU6050_PWR_MGMT_1 0x6B
NaotoMorita 17:6b7a363d06d2 14 #define MPU_ADDRESS 0x68
NaotoMorita 17:6b7a363d06d2 15 #define pi 3.141562
NaotoMorita 17:6b7a363d06d2 16 #define ACCEL_FSR MPU6050_ACCEL_FS_8
NaotoMorita 38:acc7cdcf56dd 17 #define ACCEL_SSF 4096.0
NaotoMorita 17:6b7a363d06d2 18 #define GYRO_FSR MPU6050_GYRO_FS_250
NaotoMorita 17:6b7a363d06d2 19 #define GYRO_SSF 131.0
NaotoMorita 17:6b7a363d06d2 20 #define MPU6050_LPF MPU6050_DLPF_BW_256
NaotoMorita 38:acc7cdcf56dd 21 #define gyro_th 20.0
NaotoMorita 38:acc7cdcf56dd 22 #define PID_dt 0.015
NaotoMorita 38:acc7cdcf56dd 23 #define servoPwmMax 1800.0
NaotoMorita 38:acc7cdcf56dd 24 #define servoPwmMin 1200.0
NaotoMorita 38:acc7cdcf56dd 25 #define motorPwmMax 2000.0
NaotoMorita 38:acc7cdcf56dd 26 #define motorPwmMin 1100.0
NaotoMorita 38:acc7cdcf56dd 27 #define pitch_align 8.0*3.141562/180.0
NaotoMorita 38:acc7cdcf56dd 28 #define roll_align -2.8*3.141562/180.0
NaotoMorita 27:43bd0e444633 29
NaotoMorita 17:6b7a363d06d2 30 MPU6050 accelgyro;
NaotoMorita 38:acc7cdcf56dd 31 MAG3110 mag(PB_9,PB_8);
NaotoMorita 0:6b18a09a6628 32 SBUS sbus(PD_5, PD_6);
NaotoMorita 0:6b18a09a6628 33 Serial pc(USBTX, USBRX);
naker 26:62d9857eaecc 34 Serial sd(PG_14,PG_9);
NaotoMorita 38:acc7cdcf56dd 35 DigitalIn userButton(USER_BUTTON);
NaotoMorita 36:e68ce293306e 36 FastPWM servoRight(PE_9);
NaotoMorita 36:e68ce293306e 37 FastPWM servoLeft(PE_11);
NaotoMorita 38:acc7cdcf56dd 38 FastPWM servoThrust(PE_13);
NaotoMorita 36:e68ce293306e 39 PID pitchPID(5.0, 0,0,PID_dt); //rad
NaotoMorita 38:acc7cdcf56dd 40 PID pitchratePID(0.5, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 36:e68ce293306e 41 PID rollPID(5.0,0.0,0.0,PID_dt);
NaotoMorita 38:acc7cdcf56dd 42 PID rollratePID(0.5, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 17:6b7a363d06d2 43 Timer t;
cocorlow 3:79e62f9b13c8 44
NaotoMorita 36:e68ce293306e 45 Matrix qhat(4,1);
NaotoMorita 36:e68ce293306e 46 Matrix Phat(4,4);
NaotoMorita 37:dad55cf05e3d 47 Matrix Qgyro(3,3);
NaotoMorita 36:e68ce293306e 48 Matrix Racc(3,3);
NaotoMorita 38:acc7cdcf56dd 49 Matrix Rmag(3,3);
NaotoMorita 38:acc7cdcf56dd 50 Matrix D(3,3);
NaotoMorita 36:e68ce293306e 51
NaotoMorita 38:acc7cdcf56dd 52 int loop_count = 0;
NaotoMorita 36:e68ce293306e 53 float att_dt = 0.01;
naker 23:4a490fa8bf4a 54 float rc[16];
NaotoMorita 38:acc7cdcf56dd 55 float pitch = 0.0;
NaotoMorita 38:acc7cdcf56dd 56 float roll = 0.0;
NaotoMorita 38:acc7cdcf56dd 57 float yaw = 0.0;
NaotoMorita 17:6b7a363d06d2 58 int16_t ax, ay, az;
NaotoMorita 17:6b7a363d06d2 59 int16_t gx, gy, gz;
NaotoMorita 38:acc7cdcf56dd 60 MotionSensorDataUnits mdata;
NaotoMorita 38:acc7cdcf56dd 61 float magval[3] = {1.0,0.0,0.0};
NaotoMorita 38:acc7cdcf56dd 62 float acc_x,acc_y,acc_z;
NaotoMorita 38:acc7cdcf56dd 63 float dynacc_x,dynacc_y,dynacc_z;
NaotoMorita 38:acc7cdcf56dd 64 float gyro_x,gyro_y,gyro_z;
NaotoMorita 38:acc7cdcf56dd 65 float mag_x,mag_y,mag_z;
cocorlow 3:79e62f9b13c8 66 int out1, out2;
NaotoMorita 36:e68ce293306e 67 float scaledServoOut[3]= {0,0};
NaotoMorita 28:fc6c46c1db65 68 float scaledMotorOut[1]= {-1};
NaotoMorita 36:e68ce293306e 69 float servoOut[3] = {1500.0,1500.0};
NaotoMorita 36:e68ce293306e 70 float motorOut[1] = {1100.0};
NaotoMorita 38:acc7cdcf56dd 71
NaotoMorita 38:acc7cdcf56dd 72 float accnorm;
NaotoMorita 38:acc7cdcf56dd 73 float magnorm;
NaotoMorita 38:acc7cdcf56dd 74 float accrefnorm;
NaotoMorita 38:acc7cdcf56dd 75 float magrefnorm;
NaotoMorita 38:acc7cdcf56dd 76
NaotoMorita 38:acc7cdcf56dd 77 float val_thmg = 0.0;
NaotoMorita 38:acc7cdcf56dd 78 float accref[3] = {0, 0, -0.98};
NaotoMorita 38:acc7cdcf56dd 79 float magref[3] = {0.65, 0, 0.75};
NaotoMorita 38:acc7cdcf56dd 80
NaotoMorita 38:acc7cdcf56dd 81 int agoffset[6] = {0, 0, 0, -123, -575, -1};
NaotoMorita 38:acc7cdcf56dd 82 float magbias[4] = {-143.593872, 125.311264, -161.226898, 27.998077};
cocorlow 3:79e62f9b13c8 83
NaotoMorita 38:acc7cdcf56dd 84 void writeSdcard()
NaotoMorita 38:acc7cdcf56dd 85 {
NaotoMorita 38:acc7cdcf56dd 86 //magcal.getExtremes(&magmin[0],&magmax[0]);
NaotoMorita 38:acc7cdcf56dd 87 //pc.printf("%f %f %f %f %f %f\r\n",magmin[0],magmin[1],magmin[2],magmax[0],magmax[1],magmax[2]);
NaotoMorita 38:acc7cdcf56dd 88 //pc.printf("%f %f %f %f %f %f %f %f %f %f %f %f \r\n",acc_x,acc_y,acc_z,mag_x,mag_y,mag_z,accref[0],accref[1],accref[2],magref[0],magref[1],magref[2]);
NaotoMorita 38:acc7cdcf56dd 89 sd.printf("%f %f %f %f %f %f %f %f %f %f %f %f %f\r\n",1.0/att_dt,acc_x,acc_y,acc_z,gyro_x,gyro_y,gyro_z,mag_x,mag_y,mag_z,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 38:acc7cdcf56dd 90 //pc.printf("%d \r\n",userButton.read());
NaotoMorita 38:acc7cdcf56dd 91 //pc.printf("%f %f %f %f %f %f\r\n",gyro_x*180.0f/pi,gyro_y*180.0f/pi,gyro_z*180.0f/pi,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 38:acc7cdcf56dd 92 //pc.printf("%f %f %f\r\n",roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 38:acc7cdcf56dd 93 //pc.printf("%f %f %f %f %f %f\r\n",dynacc_x,dynacc_y,dynacc_z,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 38:acc7cdcf56dd 94 //pc.printf("%f %f %f %f %f : %f %f %f\r\n",f,magbias[0],magbias[1],magbias[2],magbias[3],roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 38:acc7cdcf56dd 95 //pc.printf("%f %f %f %f %f : %f %f %f %f %f %f\r\n",f,magbias[0],magbias[1],magbias[2],magbias[3],magval[0],magval[1],magval[2],mdata.x,mdata.y,mdata.z);
NaotoMorita 38:acc7cdcf56dd 96 }
NaotoMorita 27:43bd0e444633 97
NaotoMorita 35:4535af88f7bf 98 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
cocorlow 7:70161eb0f854 99 {
cocorlow 7:70161eb0f854 100 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
cocorlow 7:70161eb0f854 101 }
NaotoMorita 27:43bd0e444633 102
NaotoMorita 38:acc7cdcf56dd 103 void calcMagRef(float mx, float my, float mz){
NaotoMorita 38:acc7cdcf56dd 104 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 105 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 38:acc7cdcf56dd 106 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 107 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 38:acc7cdcf56dd 108 float hx = 2.0f * (mx * (0.5f - q2*q2 - q3*q3) + my * (q1*q2 - q0*q3) + mz * (q1*q3 + q0*q2));
NaotoMorita 38:acc7cdcf56dd 109 float hy = 2.0f * (mx * (q1*q2 + q0*q3) + my * (0.5f - q1*q1 - q3*q3) + mz * (q2*q3 - q0*q1));
NaotoMorita 38:acc7cdcf56dd 110 float bx = sqrt(hx * hx + hy * hy);
NaotoMorita 38:acc7cdcf56dd 111 float bz = 2.0f * (mx * (q1*q3 - q0*q2) + my * (q2*q3 + q0*q1) + mz * (0.5f - q1*q1 - q2*q2));
NaotoMorita 38:acc7cdcf56dd 112 magref[0] = bx;
NaotoMorita 38:acc7cdcf56dd 113 magref[1] = 0.0;
NaotoMorita 38:acc7cdcf56dd 114 magref[2] = bz;
NaotoMorita 38:acc7cdcf56dd 115 }
NaotoMorita 38:acc7cdcf56dd 116
NaotoMorita 38:acc7cdcf56dd 117
NaotoMorita 38:acc7cdcf56dd 118 void getIMUval(){
NaotoMorita 38:acc7cdcf56dd 119 // gx gy gz ax ay az
NaotoMorita 38:acc7cdcf56dd 120 accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz);
NaotoMorita 38:acc7cdcf56dd 121 ax = ax - agoffset[0];
NaotoMorita 38:acc7cdcf56dd 122 ay = ay - agoffset[1];
NaotoMorita 38:acc7cdcf56dd 123 az = -az - agoffset[2];
NaotoMorita 38:acc7cdcf56dd 124 gx = gx - agoffset[3];
NaotoMorita 38:acc7cdcf56dd 125 gy = gy - agoffset[4];
NaotoMorita 38:acc7cdcf56dd 126 gz = -gz - agoffset[5];
NaotoMorita 38:acc7cdcf56dd 127 // 加速度値を分解能で割って加速度(G)に変換する
NaotoMorita 38:acc7cdcf56dd 128 acc_x = float(ax) / ACCEL_SSF; //FS_SEL_0 16,384 LSB / g
NaotoMorita 38:acc7cdcf56dd 129 acc_y = float(ay) / ACCEL_SSF;
NaotoMorita 38:acc7cdcf56dd 130 acc_z = float(az) / ACCEL_SSF;
NaotoMorita 38:acc7cdcf56dd 131 // 角速度値を分解能で割って角速度(rad per sec)に変換する
NaotoMorita 38:acc7cdcf56dd 132 gyro_x = float(gx) / GYRO_SSF * 0.0174533f; // (rad/s)
NaotoMorita 38:acc7cdcf56dd 133 gyro_y = float(gy) / GYRO_SSF * 0.0174533f;
NaotoMorita 38:acc7cdcf56dd 134 gyro_z = float(gz) / GYRO_SSF * 0.0174533f;
NaotoMorita 38:acc7cdcf56dd 135 mag.getAxis(mdata); // flush the magnetmeter
NaotoMorita 38:acc7cdcf56dd 136 magval[0] = (mdata.x - magbias[0]);
NaotoMorita 38:acc7cdcf56dd 137 magval[1] = (mdata.y - magbias[1]);
NaotoMorita 38:acc7cdcf56dd 138 magval[2] = (mdata.z - magbias[2]);
NaotoMorita 38:acc7cdcf56dd 139 mag_x = -magval[0]/magbias[3];
NaotoMorita 38:acc7cdcf56dd 140 mag_y = -magval[1]/magbias[3];
NaotoMorita 38:acc7cdcf56dd 141 mag_z = -magval[2]/magbias[3];
NaotoMorita 38:acc7cdcf56dd 142
NaotoMorita 38:acc7cdcf56dd 143 accnorm = sqrt(acc_x*acc_x+acc_y*acc_y+acc_z*acc_z);
NaotoMorita 38:acc7cdcf56dd 144 magnorm = sqrt(mag_x*mag_x+mag_y*mag_y+mag_z*mag_z);
NaotoMorita 38:acc7cdcf56dd 145 accrefnorm = sqrt(accref[0]*accref[0]+accref[1]*accref[1]+accref[2]*accref[2]);
NaotoMorita 38:acc7cdcf56dd 146 magrefnorm = sqrt(magref[0]*magref[0]+magref[1]*magref[1]+magref[2]*magref[2]);
NaotoMorita 38:acc7cdcf56dd 147 calcMagRef(mag_x/magnorm, mag_y/magnorm, mag_z/magnorm);
NaotoMorita 38:acc7cdcf56dd 148 }
NaotoMorita 38:acc7cdcf56dd 149
NaotoMorita 38:acc7cdcf56dd 150 void updateBetweenMeasures(){
NaotoMorita 38:acc7cdcf56dd 151 Matrix phi(4,4);
NaotoMorita 38:acc7cdcf56dd 152 phi << 1.0 << -gyro_x*0.5*att_dt <<-gyro_y*0.5*att_dt <<-gyro_z*0.5*att_dt
NaotoMorita 38:acc7cdcf56dd 153 << gyro_x*0.5*att_dt << 1.0 << gyro_z*0.5*att_dt <<-gyro_y*0.5*att_dt
NaotoMorita 38:acc7cdcf56dd 154 << gyro_y*0.5*att_dt << -gyro_z*0.5*att_dt << 1.0 << gyro_x*0.5*att_dt
NaotoMorita 38:acc7cdcf56dd 155 << gyro_z*0.5*att_dt << gyro_y*0.5*att_dt <<-gyro_x*0.5*att_dt << 1.0;
NaotoMorita 38:acc7cdcf56dd 156 qhat = phi*qhat;
NaotoMorita 38:acc7cdcf56dd 157
NaotoMorita 38:acc7cdcf56dd 158 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 38:acc7cdcf56dd 159 qhat *= (1.0f/ qnorm);
NaotoMorita 38:acc7cdcf56dd 160
NaotoMorita 38:acc7cdcf56dd 161 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 162 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 38:acc7cdcf56dd 163 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 164 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 38:acc7cdcf56dd 165
NaotoMorita 38:acc7cdcf56dd 166 Matrix B(4,3);
NaotoMorita 38:acc7cdcf56dd 167 B << q1 << q2 << q3
NaotoMorita 38:acc7cdcf56dd 168 <<-q0 << q3 <<-q2
NaotoMorita 38:acc7cdcf56dd 169 <<-q3 <<-q0 << q1
NaotoMorita 38:acc7cdcf56dd 170 << q2 <<-q1 <<-q0;
NaotoMorita 38:acc7cdcf56dd 171 B *= 0.5f;
NaotoMorita 38:acc7cdcf56dd 172 Phat = phi*Phat*MatrixMath::Transpose(phi)+B*Qgyro*MatrixMath::Transpose(B);
NaotoMorita 38:acc7cdcf56dd 173
NaotoMorita 38:acc7cdcf56dd 174
NaotoMorita 38:acc7cdcf56dd 175 }
NaotoMorita 38:acc7cdcf56dd 176
NaotoMorita 38:acc7cdcf56dd 177 void updateAcrossMeasures(float v1,float v2, float v3, float u1, float u2, float u3, Matrix R){
NaotoMorita 38:acc7cdcf56dd 178
NaotoMorita 38:acc7cdcf56dd 179 Matrix u(3,1);
NaotoMorita 38:acc7cdcf56dd 180 Matrix v(3,1);
NaotoMorita 38:acc7cdcf56dd 181
NaotoMorita 38:acc7cdcf56dd 182 u << u1 << u2 <<u3;
NaotoMorita 38:acc7cdcf56dd 183 v << v1 << v2 <<v3;
NaotoMorita 38:acc7cdcf56dd 184
NaotoMorita 38:acc7cdcf56dd 185 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 186 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 38:acc7cdcf56dd 187 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 188 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 38:acc7cdcf56dd 189
NaotoMorita 38:acc7cdcf56dd 190 Matrix A1(3,3);
NaotoMorita 38:acc7cdcf56dd 191 A1 << q0 << q3 << -q2
NaotoMorita 38:acc7cdcf56dd 192 <<-q3 << q0 << q1
NaotoMorita 38:acc7cdcf56dd 193 <<q2 <<-q1 <<q0;
NaotoMorita 38:acc7cdcf56dd 194 A1 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 195
NaotoMorita 38:acc7cdcf56dd 196 Matrix A2(3,3);
NaotoMorita 38:acc7cdcf56dd 197 A2 << q1 << q2 << q3
NaotoMorita 38:acc7cdcf56dd 198 << q2 <<-q1 << q0
NaotoMorita 38:acc7cdcf56dd 199 << q3 <<-q0 <<-q1;
NaotoMorita 38:acc7cdcf56dd 200 A2 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 201
NaotoMorita 38:acc7cdcf56dd 202 Matrix A3(3,3);
NaotoMorita 38:acc7cdcf56dd 203 A3 <<-q2 << q1 <<-q0
NaotoMorita 38:acc7cdcf56dd 204 << q1 << q2 << q3
NaotoMorita 38:acc7cdcf56dd 205 << q0 << q3 <<-q2;
NaotoMorita 38:acc7cdcf56dd 206 A3 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 207
NaotoMorita 38:acc7cdcf56dd 208 Matrix A4(3,3);
NaotoMorita 38:acc7cdcf56dd 209 A4 <<-q3 << q0 << q1
NaotoMorita 38:acc7cdcf56dd 210 <<-q0 <<-q3 << q2
NaotoMorita 38:acc7cdcf56dd 211 << q1 << q2 << q3;
NaotoMorita 38:acc7cdcf56dd 212 A4 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 213
NaotoMorita 38:acc7cdcf56dd 214 Matrix H(3,4);
NaotoMorita 38:acc7cdcf56dd 215
NaotoMorita 38:acc7cdcf56dd 216 Matrix ab1(A1*u);
NaotoMorita 38:acc7cdcf56dd 217 Matrix ab2(A2*u);
NaotoMorita 38:acc7cdcf56dd 218 Matrix ab3(A3*u);
NaotoMorita 38:acc7cdcf56dd 219 Matrix ab4(A4*u);
NaotoMorita 38:acc7cdcf56dd 220
NaotoMorita 38:acc7cdcf56dd 221 H << ab1.getNumber( 1, 1 ) << ab2.getNumber( 1, 1 ) << ab3.getNumber( 1, 1 ) << ab4.getNumber( 1, 1 )
NaotoMorita 38:acc7cdcf56dd 222 << ab1.getNumber( 2, 1 ) << ab2.getNumber( 2, 1 ) << ab3.getNumber( 2, 1 ) << ab4.getNumber( 2, 1 )
NaotoMorita 38:acc7cdcf56dd 223 << ab1.getNumber( 3, 1 ) << ab2.getNumber( 3, 1 ) << ab3.getNumber( 3, 1 ) << ab4.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 224
NaotoMorita 38:acc7cdcf56dd 225 D.add(1,1,q0*q0 + q1*q1 - q2*q2 - q3*q3);
NaotoMorita 38:acc7cdcf56dd 226 D.add(1,2,2*(q1*q2 + q0*q3));
NaotoMorita 38:acc7cdcf56dd 227 D.add(1,3,2*(q1*q3 - q0*q2));
NaotoMorita 38:acc7cdcf56dd 228 D.add(2,1,2*(q1*q2 - q0*q3));
NaotoMorita 38:acc7cdcf56dd 229 D.add(2,2,q0*q0 - q1*q1 + q2*q2 - q3*q3);
NaotoMorita 38:acc7cdcf56dd 230 D.add(2,3,2*(q2*q3 + q0*q1));
NaotoMorita 38:acc7cdcf56dd 231 D.add(3,1,2*(q1*q3 + q0*q2));
NaotoMorita 38:acc7cdcf56dd 232 D.add(3,2,2*(q2*q3 - q0*q1));
NaotoMorita 38:acc7cdcf56dd 233 D.add(3,3,q0*q0 - q1*q1 - q2*q2 + q3*q3);
NaotoMorita 38:acc7cdcf56dd 234
NaotoMorita 38:acc7cdcf56dd 235
NaotoMorita 38:acc7cdcf56dd 236 Matrix K(4,3);
NaotoMorita 38:acc7cdcf56dd 237 K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 38:acc7cdcf56dd 238
NaotoMorita 38:acc7cdcf56dd 239 Matrix dq(4,1);
NaotoMorita 38:acc7cdcf56dd 240 dq = K*(v-D*u);
NaotoMorita 38:acc7cdcf56dd 241 qhat = qhat+dq;
NaotoMorita 38:acc7cdcf56dd 242
NaotoMorita 38:acc7cdcf56dd 243 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 38:acc7cdcf56dd 244 qhat *= (1.0f/ qnorm);
NaotoMorita 38:acc7cdcf56dd 245
NaotoMorita 38:acc7cdcf56dd 246 Matrix eye4(4,4);
NaotoMorita 38:acc7cdcf56dd 247 eye4 << 1 << 0 << 0 << 0
NaotoMorita 38:acc7cdcf56dd 248 << 0 << 1 << 0 << 0
NaotoMorita 38:acc7cdcf56dd 249 << 0 << 0 << 1 << 0
NaotoMorita 38:acc7cdcf56dd 250 << 0 << 0 << 0 << 1;
NaotoMorita 38:acc7cdcf56dd 251 Phat = (eye4-K*H)*Phat*MatrixMath::Transpose(eye4-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 38:acc7cdcf56dd 252 }
NaotoMorita 38:acc7cdcf56dd 253
NaotoMorita 38:acc7cdcf56dd 254 void computeAngles()
naker 20:2c3f113a8e8f 255 {
NaotoMorita 38:acc7cdcf56dd 256 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 257 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 38:acc7cdcf56dd 258 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 259 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 38:acc7cdcf56dd 260 roll = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-roll_align;
NaotoMorita 38:acc7cdcf56dd 261 pitch = asinf(-2.0f * (q1*q3 - q0*q2))-pitch_align;
NaotoMorita 38:acc7cdcf56dd 262 yaw = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3);
NaotoMorita 38:acc7cdcf56dd 263 }
NaotoMorita 38:acc7cdcf56dd 264
NaotoMorita 38:acc7cdcf56dd 265 void triad(float fb1,float fb2, float fb3, float fn1, float fn2, float fn3,float mb1,float mb2, float mb3, float mn1, float mn2, float mn3){
NaotoMorita 38:acc7cdcf56dd 266 Matrix W1(3,1);
NaotoMorita 38:acc7cdcf56dd 267 W1 << fb1 << fb2<< fb3;
NaotoMorita 38:acc7cdcf56dd 268 Matrix W2(3,1);
NaotoMorita 38:acc7cdcf56dd 269 W2 << mb1 << mb2<< mb3;
NaotoMorita 38:acc7cdcf56dd 270
NaotoMorita 38:acc7cdcf56dd 271 Matrix V1(3,1);
NaotoMorita 38:acc7cdcf56dd 272 V1 << fn1 << fn2<< fn3;
NaotoMorita 38:acc7cdcf56dd 273 Matrix V2(3,1);
NaotoMorita 38:acc7cdcf56dd 274 V2 << mn1 << mn2<< mn3;
NaotoMorita 38:acc7cdcf56dd 275
NaotoMorita 38:acc7cdcf56dd 276
NaotoMorita 38:acc7cdcf56dd 277 Matrix Ou2(3,1);
NaotoMorita 38:acc7cdcf56dd 278 Ou2 << W1.getNumber( 2, 1 )*W2.getNumber( 3, 1 )-W1.getNumber( 3, 1 )*W2.getNumber( 2, 1 ) << W1.getNumber( 3, 1 )*W2.getNumber( 1, 1 )-W1.getNumber( 1, 1 )*W2.getNumber( 3, 1 ) << W1.getNumber( 1, 1 )*W2.getNumber( 2, 1 )-W1.getNumber( 2, 1 )*W2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 279 Ou2 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(Ou2),Ou2));
NaotoMorita 38:acc7cdcf56dd 280 Matrix Ou3(3,1);
NaotoMorita 38:acc7cdcf56dd 281 Ou3 << W1.getNumber( 2, 1 )*Ou2.getNumber( 3, 1 )-W1.getNumber( 3, 1 )*Ou2.getNumber( 2, 1 ) << W1.getNumber( 3, 1 )*Ou2.getNumber( 1, 1 )-W1.getNumber( 1, 1 )*Ou2.getNumber( 3, 1 ) << W1.getNumber( 1, 1 )*Ou2.getNumber( 2, 1 )-W1.getNumber( 2, 1 )*Ou2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 282 Ou3 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(Ou3),Ou3));
NaotoMorita 38:acc7cdcf56dd 283 Matrix R2(3,1);
NaotoMorita 38:acc7cdcf56dd 284 R2 << V1.getNumber( 2, 1 )*V2.getNumber( 3, 1 )-V1.getNumber( 3, 1 )*V2.getNumber( 2, 1 ) << V1.getNumber( 3, 1 )*V2.getNumber( 1, 1 )-V1.getNumber( 1, 1 )*V2.getNumber( 3, 1 ) << V1.getNumber( 1, 1 )*V2.getNumber( 2, 1 )-V1.getNumber( 2, 1 )*V2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 285 R2 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(R2),R2));
NaotoMorita 38:acc7cdcf56dd 286 Matrix R3(3,1);
NaotoMorita 38:acc7cdcf56dd 287 R3 << V1.getNumber( 2, 1 )*R2.getNumber( 3, 1 )-V1.getNumber( 3, 1 )*R2.getNumber( 2, 1 ) << V1.getNumber( 3, 1 )*R2.getNumber( 1, 1 )-V1.getNumber( 1, 1 )*R2.getNumber( 3, 1 ) << V1.getNumber( 1, 1 )*R2.getNumber( 2, 1 )-V1.getNumber( 2, 1 )*R2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 288 R3 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(R3),R3));
NaotoMorita 38:acc7cdcf56dd 289
NaotoMorita 38:acc7cdcf56dd 290 Matrix Mou(3,3);
NaotoMorita 38:acc7cdcf56dd 291 Mou << W1.getNumber( 1, 1 ) << Ou2.getNumber( 1, 1 ) << Ou3.getNumber( 1, 1 )
NaotoMorita 38:acc7cdcf56dd 292 << W1.getNumber( 2, 1 ) << Ou2.getNumber( 2, 1 ) << Ou3.getNumber( 2, 1 )
NaotoMorita 38:acc7cdcf56dd 293 << W1.getNumber( 3, 1 ) << Ou2.getNumber( 3, 1 ) << Ou3.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 294 Matrix Mr(3,3);
NaotoMorita 38:acc7cdcf56dd 295 Mr << V1.getNumber( 1, 1 ) << R2.getNumber( 1, 1 ) << R3.getNumber( 1, 1 )
NaotoMorita 38:acc7cdcf56dd 296 << V1.getNumber( 2, 1 ) << R2.getNumber( 2, 1 ) << R3.getNumber( 2, 1 )
NaotoMorita 38:acc7cdcf56dd 297 << V1.getNumber( 3, 1 ) << R2.getNumber( 3, 1 ) << R3.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 298
NaotoMorita 38:acc7cdcf56dd 299 Matrix Cbn = Mr*MatrixMath::Transpose(Mou);
NaotoMorita 38:acc7cdcf56dd 300
NaotoMorita 38:acc7cdcf56dd 301 float sqtrp1 = sqrt(1.0+Cbn.getNumber( 1, 1 )+Cbn.getNumber( 2, 2 )+Cbn.getNumber( 3, 3 ));
NaotoMorita 38:acc7cdcf56dd 302
NaotoMorita 38:acc7cdcf56dd 303 qhat.add(1,1,0.5*sqtrp1);
NaotoMorita 38:acc7cdcf56dd 304 qhat.add(2,1,-(Cbn.getNumber( 2, 3 )-Cbn.getNumber( 3, 2 ))/2.0/sqtrp1);
NaotoMorita 38:acc7cdcf56dd 305 qhat.add(3,1,-(Cbn.getNumber( 3, 1 )-Cbn.getNumber( 1, 3 ))/2.0/sqtrp1);
NaotoMorita 38:acc7cdcf56dd 306 qhat.add(4,1,-(Cbn.getNumber( 1, 2 )-Cbn.getNumber( 2, 1 ))/2.0/sqtrp1);
NaotoMorita 38:acc7cdcf56dd 307
NaotoMorita 38:acc7cdcf56dd 308 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 38:acc7cdcf56dd 309 qhat *= (1.0f/ qnorm);
NaotoMorita 38:acc7cdcf56dd 310 }
NaotoMorita 38:acc7cdcf56dd 311
NaotoMorita 38:acc7cdcf56dd 312 void calcDynAcc(){
NaotoMorita 38:acc7cdcf56dd 313 dynacc_x = acc_x-(D.getNumber( 1, 1 )*accref[0]+D.getNumber( 1, 2 )*accref[1]+D.getNumber( 1, 3 )*accref[2]);
NaotoMorita 38:acc7cdcf56dd 314 dynacc_y = acc_y-(D.getNumber( 2, 1 )*accref[0]+D.getNumber( 2, 2 )*accref[1]+D.getNumber( 2, 3 )*accref[2]);
NaotoMorita 38:acc7cdcf56dd 315 dynacc_z = acc_z-(D.getNumber( 3, 1 )*accref[0]+D.getNumber( 3, 2 )*accref[1]+D.getNumber( 3, 3 )*accref[2]);
NaotoMorita 38:acc7cdcf56dd 316 }
NaotoMorita 38:acc7cdcf56dd 317
NaotoMorita 38:acc7cdcf56dd 318 void execCalibration(){
NaotoMorita 38:acc7cdcf56dd 319 pc.printf("\r\nEnter to Calibration Mode\r\n");
NaotoMorita 38:acc7cdcf56dd 320 wait(5);
NaotoMorita 38:acc7cdcf56dd 321 pc.printf("\r\n Acc and Gyro Calibration Start\r\n");
NaotoMorita 38:acc7cdcf56dd 322 int axs = 0;
NaotoMorita 38:acc7cdcf56dd 323 int ays = 0;
NaotoMorita 38:acc7cdcf56dd 324 int azs = 0;
NaotoMorita 38:acc7cdcf56dd 325 int gxs = 0;
NaotoMorita 38:acc7cdcf56dd 326 int gys = 0;
NaotoMorita 38:acc7cdcf56dd 327 int gzs = 0;
NaotoMorita 38:acc7cdcf56dd 328 int iter_n = 5000;
NaotoMorita 38:acc7cdcf56dd 329 for(int i = 0;i<iter_n ;i++){
NaotoMorita 38:acc7cdcf56dd 330 accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz);
NaotoMorita 38:acc7cdcf56dd 331 axs += ax;
NaotoMorita 38:acc7cdcf56dd 332 ays += ay;
NaotoMorita 38:acc7cdcf56dd 333 azs -= az;
NaotoMorita 38:acc7cdcf56dd 334 gxs += gx;
NaotoMorita 38:acc7cdcf56dd 335 gys += gy;
NaotoMorita 38:acc7cdcf56dd 336 gzs -= gz;
NaotoMorita 38:acc7cdcf56dd 337 wait(0.001);
NaotoMorita 38:acc7cdcf56dd 338 }
NaotoMorita 38:acc7cdcf56dd 339 axs = axs /iter_n;
NaotoMorita 38:acc7cdcf56dd 340 ays = ays /iter_n;
NaotoMorita 38:acc7cdcf56dd 341 azs = azs /iter_n;
NaotoMorita 38:acc7cdcf56dd 342 gxs = gxs /iter_n;
NaotoMorita 38:acc7cdcf56dd 343 gys = gys /iter_n;
NaotoMorita 38:acc7cdcf56dd 344 gzs = gzs /iter_n;
NaotoMorita 38:acc7cdcf56dd 345 pc.printf("\r\nagoffset : 0, 0, 0, %d, %d, %d \r\n",gxs,gys,gzs);
NaotoMorita 38:acc7cdcf56dd 346
NaotoMorita 38:acc7cdcf56dd 347 pc.printf("\r\n Mag Calibration Start\r\n");
NaotoMorita 38:acc7cdcf56dd 348 float f = 0;
NaotoMorita 38:acc7cdcf56dd 349 while(1){
NaotoMorita 38:acc7cdcf56dd 350 mag.getAxis(mdata); // flush the magnetmeter
NaotoMorita 38:acc7cdcf56dd 351 magval[0] = (mdata.x - magbias[0]);
NaotoMorita 38:acc7cdcf56dd 352 magval[1] = (mdata.y - magbias[1]);
NaotoMorita 38:acc7cdcf56dd 353 magval[2] = (mdata.z - magbias[2]);
NaotoMorita 38:acc7cdcf56dd 354 float mag_r = magval[0]*magval[0] + magval[1]*magval[1] + magval[2]*magval[2];
NaotoMorita 38:acc7cdcf56dd 355 float lr = 0.00001f;
NaotoMorita 38:acc7cdcf56dd 356 f = mag_r - magbias[3]*magbias[3];
NaotoMorita 38:acc7cdcf56dd 357 magbias[0] = magbias[0] + 4 * lr * f * magval[0];
NaotoMorita 38:acc7cdcf56dd 358 magbias[1] = magbias[1] + 4 * lr * f * magval[1];
NaotoMorita 38:acc7cdcf56dd 359 magbias[2] = magbias[2] + 4 * lr * f * magval[2];
NaotoMorita 38:acc7cdcf56dd 360 magbias[3] = magbias[3] + 4 * lr * f * magbias[3];
NaotoMorita 38:acc7cdcf56dd 361
NaotoMorita 38:acc7cdcf56dd 362 if(userButton.read() == 1){
NaotoMorita 38:acc7cdcf56dd 363 break;
NaotoMorita 38:acc7cdcf56dd 364 }
NaotoMorita 38:acc7cdcf56dd 365 wait(0.001);
NaotoMorita 38:acc7cdcf56dd 366 }
NaotoMorita 38:acc7cdcf56dd 367 pc.printf("magbias : %f, %f, %f, %f\r\n",magbias[0],magbias[1],magbias[2],magbias[3]);
NaotoMorita 38:acc7cdcf56dd 368 pc.printf("\r\n Refvec Calibration waiting\r\n");
NaotoMorita 38:acc7cdcf56dd 369 wait(5);
NaotoMorita 38:acc7cdcf56dd 370 pc.printf("\r\n Calibration Start\r\n");
NaotoMorita 38:acc7cdcf56dd 371 float arefs[3] = {0.0,0.0,0.0};
NaotoMorita 38:acc7cdcf56dd 372 float mrefs[3] = {0.0,0.0,0.0};
naker 41:4c02fcf105a9 373 // 加速度のカリブレーション(結局使わなかった)
naker 41:4c02fcf105a9 374 /*
NaotoMorita 38:acc7cdcf56dd 375 for(int i = 0;i<iter_n ;i++){
NaotoMorita 38:acc7cdcf56dd 376 getIMUval();
NaotoMorita 38:acc7cdcf56dd 377 arefs[0] += acc_x;
NaotoMorita 38:acc7cdcf56dd 378 arefs[1] += acc_y;
NaotoMorita 38:acc7cdcf56dd 379 arefs[2] += acc_z;
NaotoMorita 38:acc7cdcf56dd 380 mrefs[0] += mag_x;
NaotoMorita 38:acc7cdcf56dd 381 mrefs[1] += mag_y;
NaotoMorita 38:acc7cdcf56dd 382 mrefs[2] += mag_z;
NaotoMorita 38:acc7cdcf56dd 383 wait(0.001);
NaotoMorita 38:acc7cdcf56dd 384 }
NaotoMorita 38:acc7cdcf56dd 385 arefs[0] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 386 arefs[1] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 387 arefs[2] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 388 mrefs[0] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 389 mrefs[1] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 390 mrefs[2] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 391 pc.printf("\r\naccreg : %f, %f, %f\r\n",arefs[0],arefs[1],arefs[2]);
NaotoMorita 38:acc7cdcf56dd 392 pc.printf("\r\nmagreg : %f, %f, %f\r\n",mrefs[0],mrefs[1],mrefs[2]);
naker 41:4c02fcf105a9 393 */
NaotoMorita 38:acc7cdcf56dd 394 while(1) {wait(1000);}
naker 20:2c3f113a8e8f 395 }
NaotoMorita 27:43bd0e444633 396
naker 22:da9893b71f24 397 // 割り込まれた時点での出力(computeの結果）を返す関数
NaotoMorita 27:43bd0e444633 398 void calcServoOut(){
NaotoMorita 28:fc6c46c1db65 399 if(sbus.failSafe == false) {
NaotoMorita 28:fc6c46c1db65 400 // sbusデータの読み込み
NaotoMorita 28:fc6c46c1db65 401 for (int i =0 ; i < 16;i ++){
NaotoMorita 35:4535af88f7bf 402 rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
NaotoMorita 27:43bd0e444633 403 }
NaotoMorita 28:fc6c46c1db65 404 }
NaotoMorita 28:fc6c46c1db65 405
NaotoMorita 28:fc6c46c1db65 406 pitchPID.setProcessValue(pitch);
NaotoMorita 28:fc6c46c1db65 407 pitchratePID.setProcessValue(gyro_y);
NaotoMorita 28:fc6c46c1db65 408 rollPID.setProcessValue(roll);
NaotoMorita 28:fc6c46c1db65 409 rollratePID.setProcessValue(gyro_x);
NaotoMorita 38:acc7cdcf56dd 410 float de = pitchPID.compute()+pitchratePID.compute()-rc[1]+rc[0];
NaotoMorita 36:e68ce293306e 411 float da = rollPID.compute()+rollratePID.compute()+rc[0]+rc[1];
NaotoMorita 28:fc6c46c1db65 412 float dT = rc[2];
NaotoMorita 28:fc6c46c1db65 413
NaotoMorita 28:fc6c46c1db65 414 scaledServoOut[0]=de+da;
NaotoMorita 36:e68ce293306e 415 scaledServoOut[1]=-de+da;
NaotoMorita 28:fc6c46c1db65 416 scaledMotorOut[0]= dT;
NaotoMorita 31:8d02f3b9a067 417
NaotoMorita 38:acc7cdcf56dd 418 float LP_servo = 0.2;
NaotoMorita 38:acc7cdcf56dd 419 float LP_motor = 0.2;
NaotoMorita 36:e68ce293306e 420 for(int i = 0;i<sizeof(servoOut)/sizeof(servoOut[0]);i++){
NaotoMorita 36:e68ce293306e 421 servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
NaotoMorita 28:fc6c46c1db65 422 if(servoOut[i]<servoPwmMin) {
NaotoMorita 28:fc6c46c1db65 423 servoOut[i] = servoPwmMin;
NaotoMorita 28:fc6c46c1db65 424 };
NaotoMorita 28:fc6c46c1db65 425 if(servoOut[i]>servoPwmMax) {
NaotoMorita 28:fc6c46c1db65 426 servoOut[i] = servoPwmMax;
NaotoMorita 28:fc6c46c1db65 427 };
NaotoMorita 28:fc6c46c1db65 428 }
NaotoMorita 28:fc6c46c1db65 429
NaotoMorita 36:e68ce293306e 430 for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){
NaotoMorita 36:e68ce293306e 431 motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i];
NaotoMorita 28:fc6c46c1db65 432 if(motorOut[i]<motorPwmMin) {
NaotoMorita 28:fc6c46c1db65 433 motorOut[i] = motorPwmMin;
NaotoMorita 28:fc6c46c1db65 434 };
NaotoMorita 28:fc6c46c1db65 435 if(motorOut[i]>motorPwmMax) {
NaotoMorita 28:fc6c46c1db65 436 motorOut[i] = motorPwmMax;
NaotoMorita 28:fc6c46c1db65 437 };
NaotoMorita 28:fc6c46c1db65 438 }
NaotoMorita 36:e68ce293306e 439 servoRight.pulsewidth_us(servoOut[0]);
NaotoMorita 36:e68ce293306e 440 servoLeft.pulsewidth_us(servoOut[1]);
NaotoMorita 36:e68ce293306e 441 servoThrust.pulsewidth_us(motorOut[0]);
NaotoMorita 32:c4f06cb0e1d6 442
NaotoMorita 36:e68ce293306e 443 if(loop_count > 10){
NaotoMorita 31:8d02f3b9a067 444 writeSdcard();
NaotoMorita 36:e68ce293306e 445 loop_count = 1;
NaotoMorita 27:43bd0e444633 446 }else{
NaotoMorita 27:43bd0e444633 447 loop_count +=1;
naker 26:62d9857eaecc 448 }
naker 22:da9893b71f24 449 }
cocorlow 7:70161eb0f854 450
NaotoMorita 27:43bd0e444633 451 int main()
NaotoMorita 36:e68ce293306e 452 {
NaotoMorita 28:fc6c46c1db65 453 pitchPID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 454 pitchratePID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 455 rollPID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 456 rollratePID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 457 pitchPID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 458 pitchratePID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 459 rollPID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 460 rollratePID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 461 pitchPID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 462 pitchratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 463 rollPID.setOutputLimits(-1.0,1.0);
NaotoMorita 29:34ee662f454e 464 rollratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 465 pitchPID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 466 pitchratePID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 467 rollPID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 468 rollratePID.setInputLimits(-pi,pi);
NaotoMorita 29:34ee662f454e 469
NaotoMorita 36:e68ce293306e 470 servoRight.period_us(15000.0);
NaotoMorita 36:e68ce293306e 471 servoLeft.period_us(15000.0);
NaotoMorita 36:e68ce293306e 472 servoThrust.period_us(15000.0);
NaotoMorita 36:e68ce293306e 473 servoRight.pulsewidth_us(1500.0);
NaotoMorita 36:e68ce293306e 474 servoLeft.pulsewidth_us(1500.0);
NaotoMorita 36:e68ce293306e 475 servoThrust.pulsewidth_us(1100.0);
NaotoMorita 36:e68ce293306e 476
NaotoMorita 38:acc7cdcf56dd 477 pc.baud(57600);
NaotoMorita 38:acc7cdcf56dd 478 sd.baud(57600);
NaotoMorita 38:acc7cdcf56dd 479 sd.printf("\r\n Program Start \r\n");
NaotoMorita 36:e68ce293306e 480 accelgyro.initialize();
NaotoMorita 36:e68ce293306e 481 //加速度計のフルスケールレンジを設定
NaotoMorita 36:e68ce293306e 482 accelgyro.setFullScaleAccelRange(ACCEL_FSR);
NaotoMorita 38:acc7cdcf56dd 483 //角速度計のフルスケールレンジを設定
NaotoMorita 36:e68ce293306e 484 accelgyro.setFullScaleGyroRange(GYRO_FSR);
NaotoMorita 36:e68ce293306e 485 //MPU6050のLPFを設定
NaotoMorita 36:e68ce293306e 486 accelgyro.setDLPFMode(MPU6050_LPF);
NaotoMorita 38:acc7cdcf56dd 487 //地磁気
NaotoMorita 38:acc7cdcf56dd 488 mag.enable();
NaotoMorita 38:acc7cdcf56dd 489
NaotoMorita 38:acc7cdcf56dd 490 if(userButton.read() == 0){
NaotoMorita 38:acc7cdcf56dd 491 qhat << 1 << 0 << 0 << 0;
NaotoMorita 38:acc7cdcf56dd 492
NaotoMorita 38:acc7cdcf56dd 493 Phat << 0.01 << 0 <<0 <<0
NaotoMorita 38:acc7cdcf56dd 494 << 0 << 0.01 <<0 <<0
NaotoMorita 38:acc7cdcf56dd 495 << 0 << 0 <<0.001 <<0
NaotoMorita 38:acc7cdcf56dd 496 << 0 << 0 << 0 << 0.001;
NaotoMorita 38:acc7cdcf56dd 497
NaotoMorita 38:acc7cdcf56dd 498 Qgyro << 5.4732e-04 << 0 <<0
NaotoMorita 38:acc7cdcf56dd 499 << 0 <<5.4732e-04 <<0
NaotoMorita 38:acc7cdcf56dd 500 << 0 << 0 <<5.4732e-04;
naker 22:da9893b71f24 501
NaotoMorita 38:acc7cdcf56dd 502 Racc.add(1,1,1.0);
NaotoMorita 38:acc7cdcf56dd 503 Racc.add(2,2,1.0);
NaotoMorita 38:acc7cdcf56dd 504 Racc.add(3,3,1.0);
NaotoMorita 38:acc7cdcf56dd 505
NaotoMorita 38:acc7cdcf56dd 506 Rmag << 1 << 0 <<0
NaotoMorita 38:acc7cdcf56dd 507 << 0 << 1 <<0
NaotoMorita 38:acc7cdcf56dd 508 << 0 << 0 <<1;
NaotoMorita 38:acc7cdcf56dd 509 getIMUval();
NaotoMorita 38:acc7cdcf56dd 510 triad(acc_x/accnorm,acc_y/accnorm,acc_z/accnorm, accref[0]/accrefnorm,accref[1]/accrefnorm,accref[2]/accrefnorm,mag_x/magnorm,mag_y/magnorm,mag_z/magnorm, magref[0]/magrefnorm,magref[1]/magrefnorm,magref[2]/magrefnorm);
NaotoMorita 38:acc7cdcf56dd 511 for(int i = 0; i<1000 ;i++){
NaotoMorita 38:acc7cdcf56dd 512 getIMUval();
NaotoMorita 38:acc7cdcf56dd 513 val_thmg += acos((mag_x*acc_x+mag_y*acc_y+mag_z*acc_z)/magnorm/accnorm);
NaotoMorita 38:acc7cdcf56dd 514 }
NaotoMorita 38:acc7cdcf56dd 515 val_thmg /= 1000;
NaotoMorita 38:acc7cdcf56dd 516 LoopTicker PIDtick;
NaotoMorita 38:acc7cdcf56dd 517 PIDtick.attach(calcServoOut,PID_dt);
NaotoMorita 38:acc7cdcf56dd 518
NaotoMorita 38:acc7cdcf56dd 519 t.start();
NaotoMorita 28:fc6c46c1db65 520
NaotoMorita 38:acc7cdcf56dd 521 while(1) {
NaotoMorita 38:acc7cdcf56dd 522 float tstart = t.read();
NaotoMorita 38:acc7cdcf56dd 523 //姿勢角を更新
NaotoMorita 38:acc7cdcf56dd 524 getIMUval();
NaotoMorita 38:acc7cdcf56dd 525 updateBetweenMeasures();
NaotoMorita 38:acc7cdcf56dd 526 calcDynAcc();
NaotoMorita 38:acc7cdcf56dd 527 float th_mg = acos((mag_x*acc_x+mag_y*acc_y+mag_z*acc_z)/magnorm/accnorm);
NaotoMorita 38:acc7cdcf56dd 528 float dynaccnorm = sqrt(dynacc_x*dynacc_x+dynacc_y*dynacc_y+dynacc_z*dynacc_z);
NaotoMorita 38:acc7cdcf56dd 529
NaotoMorita 38:acc7cdcf56dd 530 //pc.printf("%f %f : %f \r\n",th_mg,th_mgref,abs(th_mg-th_mgref));
NaotoMorita 38:acc7cdcf56dd 531 int ang_th = abs(th_mg-val_thmg)<0.005;
NaotoMorita 38:acc7cdcf56dd 532 int dyn_th = dynaccnorm < 0.01/4;
NaotoMorita 38:acc7cdcf56dd 533 int norm_th = abs(accnorm-accrefnorm)< 0.01/6.0;
NaotoMorita 38:acc7cdcf56dd 534 //pc.printf("%d %d %d %f %f %f\r\n",ang_th,dyn_th,norm_th,abs(th_mg-val_thmg),dynaccnorm ,abs(accnorm-accrefnorm));
NaotoMorita 38:acc7cdcf56dd 535 if(ang_th+dyn_th+norm_th>1){
NaotoMorita 38:acc7cdcf56dd 536 updateAcrossMeasures(mag_x/magnorm, mag_y/magnorm, mag_z/magnorm, magref[0]/magrefnorm,magref[1]/magrefnorm,magref[2]/magrefnorm,Rmag);
NaotoMorita 38:acc7cdcf56dd 537 updateAcrossMeasures(acc_x/accnorm,acc_y/accnorm,acc_z/accnorm,accref[0]/accrefnorm,accref[1]/accrefnorm,accref[2]/accrefnorm,Racc);
NaotoMorita 38:acc7cdcf56dd 538 }
NaotoMorita 38:acc7cdcf56dd 539 computeAngles();
NaotoMorita 38:acc7cdcf56dd 540 PIDtick.loop();
NaotoMorita 38:acc7cdcf56dd 541
NaotoMorita 38:acc7cdcf56dd 542 float tend = t.read();
NaotoMorita 38:acc7cdcf56dd 543 att_dt = (tend-tstart);
NaotoMorita 38:acc7cdcf56dd 544 }
NaotoMorita 38:acc7cdcf56dd 545 }else{
NaotoMorita 38:acc7cdcf56dd 546 execCalibration();
naker 20:2c3f113a8e8f 547 }
NaotoMorita 0:6b18a09a6628 548 }