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.hpp@143:53808e4e684c, 2022-06-24 (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?
User | Revision | Line number | New contents of line |
---|---|---|---|
cocorlow | 56:888379912f81 | 1 | #ifndef __GLOBAL_HPP__ |
cocorlow | 56:888379912f81 | 2 | #define __GLOBAL_HPP__ |
cocorlow | 56:888379912f81 | 3 | |
cocorlow | 56:888379912f81 | 4 | #include "mbed.h" |
NaotoMorita | 70:99f974d8960e | 5 | #include "SBUS.hpp" |
cocorlow | 56:888379912f81 | 6 | #include "PIDcontroller.h" |
cocorlow | 56:888379912f81 | 7 | #include "LoopTicker.hpp" |
cocorlow | 56:888379912f81 | 8 | #include "FastPWM.h" |
cocorlow | 56:888379912f81 | 9 | #include <cmath> |
cocorlow | 56:888379912f81 | 10 | #include "UsaPack.hpp" |
osaka | 88:be349faa1976 | 11 | #include "LSM9DS1.h" |
osaka | 88:be349faa1976 | 12 | #include "LPS.h" |
NaotoMorita | 119:a21e283730d1 | 13 | #include "CalibrateMagneto.h" |
NaotoMorita | 90:96c2b0ed4b96 | 14 | #include "solaESKF.hpp" |
osaka | 96:3645f8f9bdd3 | 15 | #include "GPSUBX_UART.hpp" |
osaka | 109:eb255fc4462b | 16 | #include "Autopilot.hpp" |
cocorlow | 56:888379912f81 | 17 | |
cocorlow | 139:b378528c05f2 | 18 | // Eigen |
cocorlow | 139:b378528c05f2 | 19 | #include <Eigen/Dense.h> |
cocorlow | 141:725321fe2949 | 20 | //#include <Eigen/Core.h> |
cocorlow | 141:725321fe2949 | 21 | //#include <Eigen/LU.h> |
cocorlow | 141:725321fe2949 | 22 | //#include <Eigen/Geometry.h> |
cocorlow | 139:b378528c05f2 | 23 | //using namespace std; |
cocorlow | 139:b378528c05f2 | 24 | using namespace Eigen; |
cocorlow | 139:b378528c05f2 | 25 | |
NaotoMorita | 104:20b8caa29185 | 26 | #define magresThreshold 0.025f |
cocorlow | 56:888379912f81 | 27 | #define ACCEL_SSF 4096.0f |
NaotoMorita | 70:99f974d8960e | 28 | #define GYRO_SSF 131.0f |
cocorlow | 56:888379912f81 | 29 | #define PID_dt 0.015f |
cocorlow | 56:888379912f81 | 30 | #define servoPwmMax 1800.0f |
cocorlow | 56:888379912f81 | 31 | #define servoPwmMin 1200.0f |
cocorlow | 56:888379912f81 | 32 | #define motorPwmMax 2000.0f |
cocorlow | 56:888379912f81 | 33 | #define motorPwmMin 1100.0f |
cocorlow | 56:888379912f81 | 34 | |
cocorlow | 139:b378528c05f2 | 35 | #ifndef M_PI_F |
cocorlow | 139:b378528c05f2 | 36 | #define M_PI_F 3.141592f |
cocorlow | 139:b378528c05f2 | 37 | #endif |
osaka | 88:be349faa1976 | 38 | |
NaotoMorita | 143:53808e4e684c | 39 | |
cocorlow | 56:888379912f81 | 40 | struct valuePack |
cocorlow | 56:888379912f81 | 41 | { |
NaotoMorita | 73:84ffa0166e6c | 42 | int16_t accData[3]; |
NaotoMorita | 73:84ffa0166e6c | 43 | int16_t gyroData[3]; |
NaotoMorita | 84:ff48e01ea76b | 44 | int16_t magData[3]; |
NaotoMorita | 84:ff48e01ea76b | 45 | int16_t viData[3]; |
NaotoMorita | 92:00460f6df439 | 46 | int16_t piData[3]; |
NaotoMorita | 143:53808e4e684c | 47 | //int16_t airspeed; |
NaotoMorita | 143:53808e4e684c | 48 | //int16_t actData[4]; |
NaotoMorita | 76:7fd3ac1afe3e | 49 | int16_t commandIndex; |
NaotoMorita | 83:e69ab831031c | 50 | int16_t commandVal; |
NaotoMorita | 83:e69ab831031c | 51 | }; |
NaotoMorita | 83:e69ab831031c | 52 | |
NaotoMorita | 83:e69ab831031c | 53 | struct sendPack |
NaotoMorita | 83:e69ab831031c | 54 | { |
NaotoMorita | 83:e69ab831031c | 55 | float da; |
NaotoMorita | 83:e69ab831031c | 56 | float de; |
NaotoMorita | 83:e69ab831031c | 57 | float dT; |
NaotoMorita | 143:53808e4e684c | 58 | float euler[3]; |
NaotoMorita | 143:53808e4e684c | 59 | float state[4]; |
NaotoMorita | 143:53808e4e684c | 60 | float variance[3]; |
NaotoMorita | 143:53808e4e684c | 61 | |
cocorlow | 56:888379912f81 | 62 | }; |
NaotoMorita | 132:896ad37b534b | 63 | struct logPack |
NaotoMorita | 132:896ad37b534b | 64 | { |
NaotoMorita | 143:53808e4e684c | 65 | float time; // 1 |
NaotoMorita | 143:53808e4e684c | 66 | float hertz; // 2 |
NaotoMorita | 143:53808e4e684c | 67 | float gpsFix; // 3 |
NaotoMorita | 143:53808e4e684c | 68 | float da; // 4 |
NaotoMorita | 143:53808e4e684c | 69 | float de; // 5 |
NaotoMorita | 143:53808e4e684c | 70 | float dT; // 6 |
NaotoMorita | 143:53808e4e684c | 71 | float rpy[3]; // 7 8 9 |
NaotoMorita | 143:53808e4e684c | 72 | float pihat[3]; // 10 11 12 |
NaotoMorita | 143:53808e4e684c | 73 | float vihat[3]; // 13 14 15 |
NaotoMorita | 143:53808e4e684c | 74 | float pi[3]; // 16 17 18 |
NaotoMorita | 143:53808e4e684c | 75 | float vi[3]; // 19 20 21 |
NaotoMorita | 143:53808e4e684c | 76 | float palt; // 22 |
NaotoMorita | 143:53808e4e684c | 77 | float acc[3]; // 23 24 25 |
NaotoMorita | 143:53808e4e684c | 78 | float gyro[3]; // 26 27 28 |
NaotoMorita | 143:53808e4e684c | 79 | float mag[3]; // 29 30 31 |
NaotoMorita | 143:53808e4e684c | 80 | float rc[16]; // 32 ... 47 |
NaotoMorita | 143:53808e4e684c | 81 | float wind[3]; // 48 49 50 |
NaotoMorita | 143:53808e4e684c | 82 | float pitch_obj; // 51 |
NaotoMorita | 143:53808e4e684c | 83 | float roll_obj; // 52 |
NaotoMorita | 143:53808e4e684c | 84 | float u_pitot; // 53 |
NaotoMorita | 132:896ad37b534b | 85 | }; |
cocorlow | 56:888379912f81 | 86 | |
NaotoMorita | 134:d57c6b2a706b | 87 | struct telemetryPack |
NaotoMorita | 134:d57c6b2a706b | 88 | { |
NaotoMorita | 143:53808e4e684c | 89 | float pi[3]; |
NaotoMorita | 143:53808e4e684c | 90 | float rpy_l[3]; |
NaotoMorita | 143:53808e4e684c | 91 | float rpy_c[3]; |
NaotoMorita | 143:53808e4e684c | 92 | float rpy_r[3]; |
NaotoMorita | 143:53808e4e684c | 93 | float vi[3]; |
NaotoMorita | 143:53808e4e684c | 94 | float palt; |
NaotoMorita | 143:53808e4e684c | 95 | float gps_fix; |
NaotoMorita | 143:53808e4e684c | 96 | float mode; //preflight:0, flight:1 |
NaotoMorita | 134:d57c6b2a706b | 97 | float time; |
NaotoMorita | 143:53808e4e684c | 98 | float gps_acc; |
NaotoMorita | 143:53808e4e684c | 99 | float vx_opt; |
NaotoMorita | 143:53808e4e684c | 100 | float vy_opt; |
NaotoMorita | 143:53808e4e684c | 101 | float dist_ir; |
NaotoMorita | 143:53808e4e684c | 102 | float voltage[2]; |
NaotoMorita | 143:53808e4e684c | 103 | float current[2]; |
NaotoMorita | 143:53808e4e684c | 104 | float wind[3]; |
NaotoMorita | 143:53808e4e684c | 105 | float pitch_obj; |
NaotoMorita | 143:53808e4e684c | 106 | float roll_obj; |
NaotoMorita | 143:53808e4e684c | 107 | float hinf; |
NaotoMorita | 143:53808e4e684c | 108 | float u_pitot; |
NaotoMorita | 134:d57c6b2a706b | 109 | }; |
NaotoMorita | 134:d57c6b2a706b | 110 | |
cocorlow | 56:888379912f81 | 111 | // var |
cocorlow | 56:888379912f81 | 112 | |
cocorlow | 56:888379912f81 | 113 | // communication |
osaka | 88:be349faa1976 | 114 | |
NaotoMorita | 64:e9661430f0e3 | 115 | extern UsaPack pc; // log - tail |
NaotoMorita | 132:896ad37b534b | 116 | extern UsaPack sd; |
NaotoMorita | 133:346ce20b3950 | 117 | extern UsaPack twelite; |
cocorlow | 56:888379912f81 | 118 | |
cocorlow | 56:888379912f81 | 119 | // io |
cocorlow | 56:888379912f81 | 120 | extern DigitalIn userButton; |
NaotoMorita | 70:99f974d8960e | 121 | extern SBUS sbus; |
osaka | 88:be349faa1976 | 122 | extern I2C i2c; // sda, scl |
osaka | 88:be349faa1976 | 123 | extern LSM9DS1 lsm; |
osaka | 88:be349faa1976 | 124 | extern LPS lps; |
osaka | 96:3645f8f9bdd3 | 125 | extern GPSUBX_UART gps; |
NaotoMorita | 119:a21e283730d1 | 126 | extern CalibrateMagneto magCalibrator; |
NaotoMorita | 143:53808e4e684c | 127 | |
cocorlow | 56:888379912f81 | 128 | // control |
NaotoMorita | 94:579e875a4244 | 129 | extern Timer _t; |
NaotoMorita | 70:99f974d8960e | 130 | extern FastPWM servoRight; |
NaotoMorita | 70:99f974d8960e | 131 | extern FastPWM servoLeft; |
NaotoMorita | 70:99f974d8960e | 132 | extern FastPWM servoThrust; |
NaotoMorita | 70:99f974d8960e | 133 | extern PID pitchPID; //rad |
NaotoMorita | 70:99f974d8960e | 134 | extern PID pitchratePID;//rad/s |
NaotoMorita | 70:99f974d8960e | 135 | extern PID rollPID; |
NaotoMorita | 70:99f974d8960e | 136 | extern PID rollratePID;//rad/s |
NaotoMorita | 143:53808e4e684c | 137 | extern PID yawratePID;//rad/s |
NaotoMorita | 143:53808e4e684c | 138 | extern PID climbratePID;//rad/s |
cocorlow | 140:53dbdb207542 | 139 | extern solaESKF eskf; // EKF class |
cocorlow | 140:53dbdb207542 | 140 | extern Autopilot autopilot; |
osaka | 109:eb255fc4462b | 141 | extern float roll_obj; |
osaka | 109:eb255fc4462b | 142 | extern float pitch_obj; |
osaka | 121:2523eef96b36 | 143 | extern float dT_obj; |
cocorlow | 56:888379912f81 | 144 | |
NaotoMorita | 70:99f974d8960e | 145 | extern float rc[16]; |
cocorlow | 56:888379912f81 | 146 | extern int loop_count; |
cocorlow | 56:888379912f81 | 147 | extern float att_dt; |
cocorlow | 56:888379912f81 | 148 | |
NaotoMorita | 70:99f974d8960e | 149 | |
cocorlow | 56:888379912f81 | 150 | // position |
cocorlow | 139:b378528c05f2 | 151 | extern Matrix3f SensorAlignmentAG; |
cocorlow | 139:b378528c05f2 | 152 | extern Matrix3f SensorAlignmentMAG; |
cocorlow | 139:b378528c05f2 | 153 | extern Vector3f euler; |
cocorlow | 139:b378528c05f2 | 154 | extern Vector3f acc; |
cocorlow | 139:b378528c05f2 | 155 | extern Vector3f mag; |
cocorlow | 139:b378528c05f2 | 156 | extern Vector3f magref; |
cocorlow | 139:b378528c05f2 | 157 | extern Vector3f gyro; |
cocorlow | 139:b378528c05f2 | 158 | extern Vector3f vi; |
cocorlow | 139:b378528c05f2 | 159 | extern Vector3f pi; |
NaotoMorita | 92:00460f6df439 | 160 | extern float palt; |
NaotoMorita | 98:bdaa6bbfb1d9 | 161 | extern float palt0; |
NaotoMorita | 129:a76be8380bb2 | 162 | extern float dynaccnorm2; |
NaotoMorita | 106:2d854e92cebb | 163 | extern int itow_status; |
NaotoMorita | 100:7589b663d462 | 164 | extern bool gpsUpdateFlag; |
NaotoMorita | 106:2d854e92cebb | 165 | extern bool gpsLlh0Fixed; |
NaotoMorita | 127:d73a6233ee4b | 166 | extern bool headingUpdateFlag; |
NaotoMorita | 143:53808e4e684c | 167 | extern bool hinf_flag; |
osaka | 87:89bbbcdb667b | 168 | |
NaotoMorita | 73:84ffa0166e6c | 169 | extern float de; |
NaotoMorita | 73:84ffa0166e6c | 170 | extern float da; |
NaotoMorita | 73:84ffa0166e6c | 171 | extern float dT; |
cocorlow | 56:888379912f81 | 172 | |
NaotoMorita | 64:e9661430f0e3 | 173 | extern float scaledServoOut[2]; |
NaotoMorita | 70:99f974d8960e | 174 | extern float scaledMotorOut[1]; |
NaotoMorita | 64:e9661430f0e3 | 175 | extern float servoOut[2]; |
NaotoMorita | 70:99f974d8960e | 176 | extern float motorOut[1]; |
cocorlow | 56:888379912f81 | 177 | |
NaotoMorita | 61:c05353850017 | 178 | |
cocorlow | 56:888379912f81 | 179 | extern int calibrationFlag; |
NaotoMorita | 93:b827f78a717a | 180 | extern float agoffset[6]; |
cocorlow | 56:888379912f81 | 181 | |
cocorlow | 56:888379912f81 | 182 | |
cocorlow | 56:888379912f81 | 183 | //// UsaPack |
NaotoMorita | 73:84ffa0166e6c | 184 | extern valuePack vp; |
NaotoMorita | 83:e69ab831031c | 185 | extern sendPack sp; |
NaotoMorita | 132:896ad37b534b | 186 | extern logPack lp; |
NaotoMorita | 134:d57c6b2a706b | 187 | extern telemetryPack tp; |
NaotoMorita | 73:84ffa0166e6c | 188 | |
NaotoMorita | 73:84ffa0166e6c | 189 | // HIL |
NaotoMorita | 73:84ffa0166e6c | 190 | extern bool hilFlag; |
NaotoMorita | 143:53808e4e684c | 191 | extern int16_t hilDataOut; |
NaotoMorita | 143:53808e4e684c | 192 | |
cocorlow | 56:888379912f81 | 193 | // function |
cocorlow | 56:888379912f81 | 194 | |
cocorlow | 56:888379912f81 | 195 | // main.cpp |
cocorlow | 56:888379912f81 | 196 | |
cocorlow | 56:888379912f81 | 197 | // setup.cpp |
cocorlow | 56:888379912f81 | 198 | extern void setup(); |
cocorlow | 56:888379912f81 | 199 | extern void calibrate(); |
NaotoMorita | 143:53808e4e684c | 200 | |
NaotoMorita | 143:53808e4e684c | 201 | // preflight.cpp |
NaotoMorita | 143:53808e4e684c | 202 | extern void preflightCalibration(); |
NaotoMorita | 143:53808e4e684c | 203 | extern void preflightCheck(); |
NaotoMorita | 143:53808e4e684c | 204 | extern void setEskfCov(); |
NaotoMorita | 143:53808e4e684c | 205 | |
cocorlow | 56:888379912f81 | 206 | // run.cpp |
cocorlow | 56:888379912f81 | 207 | extern void run(); |
cocorlow | 56:888379912f81 | 208 | |
cocorlow | 56:888379912f81 | 209 | // imu.cpp |
osaka | 88:be349faa1976 | 210 | extern void getIMUval(); |
cocorlow | 56:888379912f81 | 211 | |
osaka | 96:3645f8f9bdd3 | 212 | //gps.cpp |
osaka | 96:3645f8f9bdd3 | 213 | extern void getGPSval(); |
osaka | 97:2b3242c2dd85 | 214 | extern void change_refpos(); |
osaka | 96:3645f8f9bdd3 | 215 | |
NaotoMorita | 73:84ffa0166e6c | 216 | // hil.cpp |
NaotoMorita | 92:00460f6df439 | 217 | extern void getHilIMUval(); |
NaotoMorita | 92:00460f6df439 | 218 | extern void getHilGPSval(); |
NaotoMorita | 73:84ffa0166e6c | 219 | extern float randn(); |
NaotoMorita | 73:84ffa0166e6c | 220 | |
osaka | 109:eb255fc4462b | 221 | //autopilot.cpp |
osaka | 109:eb255fc4462b | 222 | extern void level_flight(); |
osaka | 109:eb255fc4462b | 223 | extern void point_guide(); |
osaka | 109:eb255fc4462b | 224 | extern void turning(); |
osaka | 137:240588882ae2 | 225 | extern void climb(); |
cocorlow | 139:b378528c05f2 | 226 | extern Vector3f calc_vdot(); |
osaka | 109:eb255fc4462b | 227 | |
cocorlow | 56:888379912f81 | 228 | // servo.cpp |
cocorlow | 56:888379912f81 | 229 | extern void calcServoOut(); |
cocorlow | 56:888379912f81 | 230 | |
osaka | 87:89bbbcdb667b | 231 | // transferData.cpp |
osaka | 87:89bbbcdb667b | 232 | extern void sendData2PC(); |
osaka | 87:89bbbcdb667b | 233 | extern void sendTelemetry(); |
osaka | 87:89bbbcdb667b | 234 | extern void writeSDcard(); |
cocorlow | 56:888379912f81 | 235 | |
cocorlow | 56:888379912f81 | 236 | // global.cpp |
cocorlow | 56:888379912f81 | 237 | extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max); |
cocorlow | 139:b378528c05f2 | 238 | extern void setDiag(Matrix3f& mat, float val); |
cocorlow | 141:725321fe2949 | 239 | extern void setDiag(MatrixXf& mat, float val); |
cocorlow | 141:725321fe2949 | 240 | //extern void setBlockDiag(Matrix3f& mat, float val,int startIndex, int endIndex); |
cocorlow | 56:888379912f81 | 241 | #endif |