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

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

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

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NaotoMorita 143:53808e4e684c 1 #include "global.hpp"
NaotoMorita 143:53808e4e684c 2
NaotoMorita 143:53808e4e684c 3 void preflightCalibration()
NaotoMorita 143:53808e4e684c 4 {
NaotoMorita 143:53808e4e684c 5 wait(0.5f);
NaotoMorita 143:53808e4e684c 6 //センサの初期化・ジャイロバイアス・加速度スケールの取得
NaotoMorita 143:53808e4e684c 7 int n_init = 1000;
NaotoMorita 143:53808e4e684c 8 for(int i = 0;i<n_init;i++){
NaotoMorita 143:53808e4e684c 9 lsm.readAccel();
NaotoMorita 143:53808e4e684c 10 lsm.readMag();
NaotoMorita 143:53808e4e684c 11 lsm.readGyro();
NaotoMorita 143:53808e4e684c 12 //agoffset[0] += lsm.ax * 9.8f;
NaotoMorita 143:53808e4e684c 13 //agoffset[1] += lsm.ay * 9.8f;
NaotoMorita 143:53808e4e684c 14 //agoffset[2] += lsm.az * 9.8f-9.8f;
NaotoMorita 143:53808e4e684c 15 agoffset[3] +=(lsm.gx * M_PI_F / 180.0f);
NaotoMorita 143:53808e4e684c 16 agoffset[4] +=(lsm.gy * M_PI_F / 180.0f);
NaotoMorita 143:53808e4e684c 17 agoffset[5] +=(lsm.gz * M_PI_F / 180.0f);
NaotoMorita 143:53808e4e684c 18 palt0 += lps.pressureToAltitudeMeters(lps.readPressureMillibars());
NaotoMorita 143:53808e4e684c 19 magref(0) += lsm.mx;
NaotoMorita 143:53808e4e684c 20 magref(1) += lsm.my;
NaotoMorita 143:53808e4e684c 21 magref(2) += lsm.mz;
NaotoMorita 143:53808e4e684c 22 }
NaotoMorita 143:53808e4e684c 23 for(int i = 0;i<6;i++){
NaotoMorita 143:53808e4e684c 24 agoffset[i] /= float(n_init);
NaotoMorita 143:53808e4e684c 25 }
NaotoMorita 143:53808e4e684c 26 magref /= float(n_init);
NaotoMorita 143:53808e4e684c 27 palt0 /= float(n_init);
NaotoMorita 143:53808e4e684c 28 twelite.serial.printf("Sensor offset : %f %f %f %f %f %f\r\n",agoffset[0],agoffset[1],agoffset[2],agoffset[3],agoffset[4],agoffset[5]);
NaotoMorita 143:53808e4e684c 29 wait(1.0f);
NaotoMorita 143:53808e4e684c 30 }
NaotoMorita 143:53808e4e684c 31
NaotoMorita 143:53808e4e684c 32
NaotoMorita 143:53808e4e684c 33 void preflightCheck()
NaotoMorita 143:53808e4e684c 34 {
NaotoMorita 143:53808e4e684c 35 //センサ正常性チェック
NaotoMorita 143:53808e4e684c 36 if(hilFlag == false){
NaotoMorita 143:53808e4e684c 37 while(1){
NaotoMorita 143:53808e4e684c 38 bool preflightCheck = true;
NaotoMorita 143:53808e4e684c 39 if(sbus.failSafe){
NaotoMorita 143:53808e4e684c 40 preflightCheck = false;
NaotoMorita 143:53808e4e684c 41 twelite.serial.printf("PreFlight Check : no RC\r\n");
NaotoMorita 143:53808e4e684c 42 }
NaotoMorita 143:53808e4e684c 43 // sbusデータの読み込み
NaotoMorita 143:53808e4e684c 44 for (int i =0 ; i < 16;i ++){
NaotoMorita 143:53808e4e684c 45 rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
NaotoMorita 143:53808e4e684c 46 }
NaotoMorita 143:53808e4e684c 47 if (rc[4]>-0.3f && rc[6] < -0.3f){
NaotoMorita 143:53808e4e684c 48 preflightCheck = false;
NaotoMorita 143:53808e4e684c 49 twelite.serial.printf("PreFlight Check : autoPilot enabled\r\n");
NaotoMorita 143:53808e4e684c 50 }
NaotoMorita 143:53808e4e684c 51 if(!(gps.gpsFix == 0x02 || gps.gpsFix == 0x03)){
NaotoMorita 143:53808e4e684c 52 preflightCheck = false;
NaotoMorita 143:53808e4e684c 53 twelite.serial.printf("PreFlight Check : no gps lock\r\n");
NaotoMorita 143:53808e4e684c 54 }
NaotoMorita 143:53808e4e684c 55 preflightCheck = true;
NaotoMorita 143:53808e4e684c 56 if(preflightCheck == true){
NaotoMorita 143:53808e4e684c 57 break;
NaotoMorita 143:53808e4e684c 58 }
NaotoMorita 143:53808e4e684c 59 }
NaotoMorita 143:53808e4e684c 60 }
NaotoMorita 143:53808e4e684c 61 twelite.serial.printf("PreFlight Check Completed\r\n");
NaotoMorita 143:53808e4e684c 62 }
NaotoMorita 143:53808e4e684c 63
NaotoMorita 143:53808e4e684c 64 void setEskfCov(){
NaotoMorita 143:53808e4e684c 65
NaotoMorita 143:53808e4e684c 66 //ESKFの共分散設定
NaotoMorita 143:53808e4e684c 67 eskf.setGravity(0.0f,0.0f,9.8f);
NaotoMorita 143:53808e4e684c 68 eskf.setPhatPosition(2.0f,2.0f);
NaotoMorita 143:53808e4e684c 69 eskf.setPhatVelocity(1.01f,1.01f);
NaotoMorita 143:53808e4e684c 70 eskf.setPhatAngleError(0.1f);
NaotoMorita 143:53808e4e684c 71 eskf.setPhatAccBias(0.5f);
NaotoMorita 143:53808e4e684c 72 eskf.setPhatGyroBias(0.0001f);
NaotoMorita 143:53808e4e684c 73 eskf.setPhatGravity(0.0000001f);
NaotoMorita 143:53808e4e684c 74
NaotoMorita 143:53808e4e684c 75 eskf.setQVelocity(0.1f,0.2f);
NaotoMorita 143:53808e4e684c 76 eskf.setQAngleError(0.0000025f);
NaotoMorita 143:53808e4e684c 77 eskf.setQAccBias(0.000001f);
NaotoMorita 143:53808e4e684c 78 eskf.setQGyroBias(0.0000001f);
NaotoMorita 143:53808e4e684c 79 }