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

servo.cpp@124:7d6b1b62483b, 2021-11-19 (annotated)

Committer:
NaotoMorita
Date:
Fri Nov 19 09:21:51 2021 +0000
Revision:
124:7d6b1b62483b
Parent:
121:2523eef96b36
Child:
129:a76be8380bb2
heading fuse

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 56:888379912f81 1 #include "global.hpp"
cocorlow 56:888379912f81 2
cocorlow 56:888379912f81 3 // 割り込まれた時点での出力(computeの結果）を返す関数
cocorlow 56:888379912f81 4 void calcServoOut()
cocorlow 56:888379912f81 5 {
NaotoMorita 83:e69ab831031c 6 // sbusデータの読み込み
NaotoMorita 83:e69ab831031c 7 for (int i =0 ; i < 16;i ++){
NaotoMorita 83:e69ab831031c 8 rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
NaotoMorita 70:99f974d8960e 9 }
NaotoMorita 90:96c2b0ed4b96 10
NaotoMorita 73:84ffa0166e6c 11
NaotoMorita 90:96c2b0ed4b96 12 //姿勢角の所得
NaotoMorita 90:96c2b0ed4b96 13 Matrix euler = eskf.computeAngles();
NaotoMorita 90:96c2b0ed4b96 14 rpy.x = euler(1,1);
NaotoMorita 90:96c2b0ed4b96 15 rpy.y = euler(2,1);
NaotoMorita 90:96c2b0ed4b96 16 rpy.z = euler(3,1);
NaotoMorita 90:96c2b0ed4b96 17
NaotoMorita 90:96c2b0ed4b96 18 //PIDへの状態量のセット
NaotoMorita 92:00460f6df439 19 pitchPID.setProcessValue(rpy.y);
NaotoMorita 92:00460f6df439 20 pitchratePID.setProcessValue(gyro.y);
NaotoMorita 92:00460f6df439 21 rollPID.setProcessValue(rpy.x);
NaotoMorita 92:00460f6df439 22 rollratePID.setProcessValue(gyro.x);
NaotoMorita 90:96c2b0ed4b96 23
osaka 121:2523eef96b36 24 dT = rc[2];
osaka 121:2523eef96b36 25
NaotoMorita 124:7d6b1b62483b 26 if (rc[4]>-0.3f && rc[6] < -0.3f)
osaka 109:eb255fc4462b 27 {
osaka 109:eb255fc4462b 28 //level_flight();
osaka 109:eb255fc4462b 29 //point_guide();
osaka 109:eb255fc4462b 30 turning();
osaka 109:eb255fc4462b 31 rollPID.setSetPoint(roll_obj);
osaka 121:2523eef96b36 32 pitchPID.setSetPoint(pitch_obj);
osaka 121:2523eef96b36 33 dT += dT_obj;
osaka 109:eb255fc4462b 34 }
osaka 109:eb255fc4462b 35
NaotoMorita 90:96c2b0ed4b96 36 //舵角計算
NaotoMorita 92:00460f6df439 37 if(rc[4]<-0.3f){
NaotoMorita 92:00460f6df439 38 de = (rc[0]-rc[1])/2.0f;
NaotoMorita 92:00460f6df439 39 da = (rc[0]+rc[1])/2.0f;
NaotoMorita 92:00460f6df439 40 }else{
NaotoMorita 92:00460f6df439 41 de = (pitchPID.compute()+pitchratePID.compute())+(rc[0]-rc[1])/2.0f;
NaotoMorita 92:00460f6df439 42 da = (rollPID.compute()+rollratePID.compute())+(rc[0]+rc[1])/2.0f;
NaotoMorita 92:00460f6df439 43 }
NaotoMorita 70:99f974d8960e 44
NaotoMorita 92:00460f6df439 45 scaledServoOut[0]=de+da;
NaotoMorita 92:00460f6df439 46 scaledServoOut[1]=-de+da;
NaotoMorita 70:99f974d8960e 47 scaledMotorOut[0]= dT;
NaotoMorita 70:99f974d8960e 48
cocorlow 56:888379912f81 49 float LP_servo = 0.2;
NaotoMorita 70:99f974d8960e 50 float LP_motor = 0.2;
cocorlow 56:888379912f81 51 for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++)
cocorlow 56:888379912f81 52 {
cocorlow 56:888379912f81 53 servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
cocorlow 56:888379912f81 54 if(servoOut[i]<servoPwmMin)
cocorlow 56:888379912f81 55 {
cocorlow 56:888379912f81 56 servoOut[i] = servoPwmMin;
cocorlow 56:888379912f81 57 }
cocorlow 56:888379912f81 58 if(servoOut[i]>servoPwmMax)
cocorlow 56:888379912f81 59 {
cocorlow 56:888379912f81 60 servoOut[i] = servoPwmMax;
cocorlow 56:888379912f81 61 }
cocorlow 56:888379912f81 62 }
cocorlow 56:888379912f81 63
NaotoMorita 70:99f974d8960e 64 for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){
NaotoMorita 70:99f974d8960e 65 motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i];
NaotoMorita 70:99f974d8960e 66 if(motorOut[i]<motorPwmMin) {
NaotoMorita 70:99f974d8960e 67 motorOut[i] = motorPwmMin;
NaotoMorita 70:99f974d8960e 68 };
NaotoMorita 70:99f974d8960e 69 if(motorOut[i]>motorPwmMax) {
NaotoMorita 70:99f974d8960e 70 motorOut[i] = motorPwmMax;
NaotoMorita 70:99f974d8960e 71 };
NaotoMorita 70:99f974d8960e 72 }
NaotoMorita 70:99f974d8960e 73 servoRight.pulsewidth_us(servoOut[0]);
NaotoMorita 70:99f974d8960e 74 servoLeft.pulsewidth_us(servoOut[1]);
NaotoMorita 70:99f974d8960e 75 servoThrust.pulsewidth_us(motorOut[0]);
NaotoMorita 68:b9f6938fab9d 76
osaka 87:89bbbcdb667b 77 sendData2PC();
NaotoMorita 94:579e875a4244 78
NaotoMorita 94:579e875a4244 79 if(loop_count >= 5)
cocorlow 56:888379912f81 80 {
NaotoMorita 94:579e875a4244 81 writeSDcard();
osaka 87:89bbbcdb667b 82 sendTelemetry();
cocorlow 56:888379912f81 83 loop_count = 1;
NaotoMorita 68:b9f6938fab9d 84
cocorlow 56:888379912f81 85 }
cocorlow 56:888379912f81 86 else
cocorlow 56:888379912f81 87 {
cocorlow 56:888379912f81 88 loop_count +=1;
cocorlow 56:888379912f81 89 }
cocorlow 56:888379912f81 90 }