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

global.cpp@143:53808e4e684c, 22 months ago (annotated)

Committer:
NaotoMorita
Date:
Fri Jun 24 05:44:34 2022 +0000
Revision:
143:53808e4e684c
Parent:
141:725321fe2949 
complete

Who changed what in which revision?

UserRevisionLine numberNew 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 132:896ad37b534b 8 UsaPack sd(PG_14,PG_9, 115200);
NaotoMorita 134:d57c6b2a706b 9 UsaPack twelite(PD_1,PD_0,38400);
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 143:53808e4e684c 28 PID yawratePID(2.0f, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 143:53808e4e684c 29 PID climbratePID(1.0f, 0.0, 0.0, PID_dt);//rad/s
cocorlow 140:53dbdb207542 30 solaESKF eskf; // ESKF class
cocorlow 140:53dbdb207542 31 Autopilot autopilot;
osaka 109:eb255fc4462b 32 float roll_obj;
osaka 109:eb255fc4462b 33 float pitch_obj;
osaka 121:2523eef96b36 34 float dT_obj;
cocorlow 56:888379912f81 35
NaotoMorita 70:99f974d8960e 36 float rc[16];
cocorlow 56:888379912f81 37 int loop_count = 0;
cocorlow 56:888379912f81 38 float att_dt = 0.01f;
cocorlow 56:888379912f81 39 // position
cocorlow 140:53dbdb207542 40 Matrix3f SensorAlignmentAG;
cocorlow 140:53dbdb207542 41 Matrix3f SensorAlignmentMAG;
cocorlow 140:53dbdb207542 42 Vector3f euler;
cocorlow 139:b378528c05f2 43 Vector3f acc;
cocorlow 139:b378528c05f2 44 Vector3f mag;
cocorlow 139:b378528c05f2 45 Vector3f magref(0.0f, 0.0f, 0.0f);
cocorlow 139:b378528c05f2 46 Vector3f gyro;
cocorlow 139:b378528c05f2 47 Vector3f vi;
cocorlow 139:b378528c05f2 48 Vector3f 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 143:53808e4e684c 56 bool hinf_flag = false;
NaotoMorita 77:2bf856e3eca4 57
NaotoMorita 73:84ffa0166e6c 58 float de = 0.0f;
NaotoMorita 73:84ffa0166e6c 59 float da = 0.0f;
NaotoMorita 73:84ffa0166e6c 60 float dT = 0.0f;
NaotoMorita 72:267e2cfddb0b 61
NaotoMorita 70:99f974d8960e 62 float scaledServoOut[2]= {0.0f,0.0f};
NaotoMorita 70:99f974d8960e 63 float scaledMotorOut[1]= {-1.0f};
NaotoMorita 63:9c4973a98600 64 float servoOut[2] = {1500.0f,1500.0f};
NaotoMorita 70:99f974d8960e 65 float motorOut[1] = {1100.0f};
cocorlow 56:888379912f81 66
cocorlow 56:888379912f81 67 int calibrationFlag = 0;
NaotoMorita 93:b827f78a717a 68 float agoffset[6] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
NaotoMorita 76:7fd3ac1afe3e 69
cocorlow 56:888379912f81 70
cocorlow 56:888379912f81 71 // UsaPack
NaotoMorita 73:84ffa0166e6c 72 valuePack vp;
NaotoMorita 83:e69ab831031c 73 sendPack sp;
NaotoMorita 132:896ad37b534b 74 logPack lp;
NaotoMorita 134:d57c6b2a706b 75 telemetryPack tp;
NaotoMorita 73:84ffa0166e6c 76
NaotoMorita 73:84ffa0166e6c 77 // HIL
osaka 137:240588882ae2 78 bool hilFlag = true;
NaotoMorita 143:53808e4e684c 79 int16_t hilDataOut = 0;
cocorlow 56:888379912f81 80
cocorlow 56:888379912f81 81 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
cocorlow 56:888379912f81 82 {
cocorlow 56:888379912f81 83 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
NaotoMorita 67:41fcdfb7cc5a 84 }
NaotoMorita 93:b827f78a717a 85
cocorlow 141:725321fe2949 86 void setDiag(Matrix3f& mat, float val){
cocorlow 141:725321fe2949 87 for (int i = 0; i < mat.cols(); i++){
NaotoMorita 143:53808e4e684c 88 for (int j = 0; j < mat.rows(); j++){
NaotoMorita 143:53808e4e684c 89 mat(i,j) = 0.0f;
NaotoMorita 143:53808e4e684c 90 }
NaotoMorita 143:53808e4e684c 91 }
NaotoMorita 143:53808e4e684c 92 for (int i = 0; i < mat.cols(); i++){
cocorlow 141:725321fe2949 93 mat(i,i) = val;
cocorlow 141:725321fe2949 94 }
cocorlow 141:725321fe2949 95 }
cocorlow 141:725321fe2949 96
cocorlow 141:725321fe2949 97 void setDiag(MatrixXf& mat, float val){
NaotoMorita 143:53808e4e684c 98 for (int i = 0; i < mat.cols(); i++){
NaotoMorita 143:53808e4e684c 99 for (int j = 0; j < mat.rows(); j++){
NaotoMorita 143:53808e4e684c 100 mat(i,j) = 0.0f;
NaotoMorita 143:53808e4e684c 101 }
NaotoMorita 143:53808e4e684c 102 }
cocorlow 141:725321fe2949 103 for (int i = 0; i < mat.cols(); i++)
cocorlow 141:725321fe2949 104 {
cocorlow 141:725321fe2949 105 mat(i, i) = val;
cocorlow 141:725321fe2949 106 }
cocorlow 141:725321fe2949 107 }
cocorlow 141:725321fe2949 108
cocorlow 139:b378528c05f2 109 //void setBlockDiag(MatrixXf& mat, float val,int startIndex, int endIndex){
cocorlow 139:b378528c05f2 110 // for (int i = startIndex; i < endIndex+1; i++){
cocorlow 139:b378528c05f2 111 // mat(i,i) = val;
cocorlow 139:b378528c05f2 112 // }
cocorlow 139:b378528c05f2 113 //}