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
run.cpp@56:888379912f81, 2021-05-31 (annotated)
- Committer:
- cocorlow
- Date:
- Mon May 31 18:59:36 2021 +0000
- Revision:
- 56:888379912f81
- Child:
- 61:c05353850017
file divided
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cocorlow | 56:888379912f81 | 1 | #include "global.hpp" |
cocorlow | 56:888379912f81 | 2 | |
cocorlow | 56:888379912f81 | 3 | void run() |
cocorlow | 56:888379912f81 | 4 | { |
cocorlow | 56:888379912f81 | 5 | pc.printf("reading calibration value\r\n"); |
cocorlow | 56:888379912f81 | 6 | //キャリブレーション値を取得 |
cocorlow | 56:888379912f81 | 7 | U read_calib; |
cocorlow | 56:888379912f81 | 8 | readEEPROM(eeprom_address, eeprom_pointeraddress, read_calib.c, N_EEPROM*4); |
cocorlow | 56:888379912f81 | 9 | wait(3); |
cocorlow | 56:888379912f81 | 10 | pos_tail = (int)read_calib.i[0]; |
cocorlow | 56:888379912f81 | 11 | agoffset[3] = float(read_calib.i[5]); |
cocorlow | 56:888379912f81 | 12 | agoffset[4] = float(read_calib.i[6]); |
cocorlow | 56:888379912f81 | 13 | agoffset[5] = float(read_calib.i[7]); |
cocorlow | 56:888379912f81 | 14 | magbias[0] = float(read_calib.i[1])/1000.0f; |
cocorlow | 56:888379912f81 | 15 | magbias[1] = float(read_calib.i[2])/1000.0f; |
cocorlow | 56:888379912f81 | 16 | magbias[2] = float(read_calib.i[3])/1000.0f; |
cocorlow | 56:888379912f81 | 17 | magbias[3] = float(read_calib.i[4])/1000.0f; |
cocorlow | 56:888379912f81 | 18 | rpy_align.y = float(read_calib.i[8])/200000.0f; |
cocorlow | 56:888379912f81 | 19 | rpy_align.x = float(read_calib.i[9])/200000.0f; |
cocorlow | 56:888379912f81 | 20 | // tail_address[pos_tail] = (int)read_calib.i[10]; |
cocorlow | 56:888379912f81 | 21 | |
cocorlow | 56:888379912f81 | 22 | switch(pos_tail){ |
cocorlow | 56:888379912f81 | 23 | case 0: |
cocorlow | 56:888379912f81 | 24 | pc.printf("This MBED is Located at Left \r\n"); |
cocorlow | 56:888379912f81 | 25 | break; |
cocorlow | 56:888379912f81 | 26 | case 1: |
cocorlow | 56:888379912f81 | 27 | pc.printf("This MBED is Located at Center \r\n"); |
cocorlow | 56:888379912f81 | 28 | break; |
cocorlow | 56:888379912f81 | 29 | case 2: |
cocorlow | 56:888379912f81 | 30 | pc.printf("This MBED is Located at Right \r\n"); |
cocorlow | 56:888379912f81 | 31 | break; |
cocorlow | 56:888379912f81 | 32 | default: // error situation |
cocorlow | 56:888379912f81 | 33 | pc.printf("error\r\n"); |
cocorlow | 56:888379912f81 | 34 | break; |
cocorlow | 56:888379912f81 | 35 | } |
cocorlow | 56:888379912f81 | 36 | pc.printf("tail_address : %d\r\n", tail_address[pos_tail]); |
cocorlow | 56:888379912f81 | 37 | pc.printf("Alignment values are %f(pitch deg) %f(roll deg)\r\n",rpy_align.y*180.0f/M_PI,rpy_align.x*180.0f/M_PI); |
cocorlow | 56:888379912f81 | 38 | getIMUval(); |
cocorlow | 56:888379912f81 | 39 | ekf.triad(acc/acc.Norm(), accref/accref.Norm(), mag/mag.Norm(), magref/magref.Norm()); |
cocorlow | 56:888379912f81 | 40 | float sumLPaccnorm = 0; |
cocorlow | 56:888379912f81 | 41 | for(int i = 0; i < 1000; i++){ |
cocorlow | 56:888379912f81 | 42 | getIMUval(); |
cocorlow | 56:888379912f81 | 43 | val_thmg += acos((mag % acc)/mag.Norm()/acc.Norm()); |
cocorlow | 56:888379912f81 | 44 | sumLPaccnorm += LPacc.Norm(); |
cocorlow | 56:888379912f81 | 45 | } |
cocorlow | 56:888379912f81 | 46 | accref.z = -sumLPaccnorm / 1000; |
cocorlow | 56:888379912f81 | 47 | val_thmg /= 1000; |
cocorlow | 56:888379912f81 | 48 | |
cocorlow | 56:888379912f81 | 49 | for (int i = 0; i < 3; i++) |
cocorlow | 56:888379912f81 | 50 | { |
cocorlow | 56:888379912f81 | 51 | if (i == pos_tail) |
cocorlow | 56:888379912f81 | 52 | { |
cocorlow | 56:888379912f81 | 53 | break; |
cocorlow | 56:888379912f81 | 54 | } |
cocorlow | 56:888379912f81 | 55 | else |
cocorlow | 56:888379912f81 | 56 | { |
cocorlow | 56:888379912f81 | 57 | tail.Subscribe(tail_address[i], &(posValues[i])); |
cocorlow | 56:888379912f81 | 58 | } |
cocorlow | 56:888379912f81 | 59 | } |
cocorlow | 56:888379912f81 | 60 | |
cocorlow | 56:888379912f81 | 61 | LoopTicker PIDtick; |
cocorlow | 56:888379912f81 | 62 | PIDtick.attach(calcServoOut,PID_dt); |
cocorlow | 56:888379912f81 | 63 | |
cocorlow | 56:888379912f81 | 64 | Timer _t; |
cocorlow | 56:888379912f81 | 65 | _t.start(); |
cocorlow | 56:888379912f81 | 66 | |
cocorlow | 56:888379912f81 | 67 | while(1) |
cocorlow | 56:888379912f81 | 68 | { |
cocorlow | 56:888379912f81 | 69 | float tstart = _t.read(); |
cocorlow | 56:888379912f81 | 70 | //姿勢角を更新 |
cocorlow | 56:888379912f81 | 71 | getIMUval(); |
cocorlow | 56:888379912f81 | 72 | ekf.updateBetweenMeasures(gyro, att_dt); |
cocorlow | 56:888379912f81 | 73 | ekf.computeAngles(rpy, rpy_g, rpy_align); |
cocorlow | 56:888379912f81 | 74 | PIDtick.loop(); |
cocorlow | 56:888379912f81 | 75 | |
cocorlow | 56:888379912f81 | 76 | float tend = _t.read(); |
cocorlow | 56:888379912f81 | 77 | att_dt = (tend-tstart); |
cocorlow | 56:888379912f81 | 78 | } |
cocorlow | 56:888379912f81 | 79 | } |