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@56:888379912f81, 2021-05-31 (annotated)

Committer:
cocorlow
Date:
Mon May 31 18:59:36 2021 +0000
Revision:
56:888379912f81
Child:
57:923e3df16159
file divided

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 {
cocorlow 56:888379912f81 6 if(sbus.failSafe == false)
cocorlow 56:888379912f81 7 {
cocorlow 56:888379912f81 8 // sbusデータの読み込み
cocorlow 56:888379912f81 9 for (int i = 0; i < 16;i ++)
cocorlow 56:888379912f81 10 {
cocorlow 56:888379912f81 11 rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
cocorlow 56:888379912f81 12 }
cocorlow 56:888379912f81 13 }
cocorlow 56:888379912f81 14 pitchPID.setGain(6.36, 10.6,0.0);
cocorlow 56:888379912f81 15 pitchratePID.setGain(0.9540,0.0,0.0);
cocorlow 56:888379912f81 16 pitchPID.setProcessValue(rpy.y);
cocorlow 56:888379912f81 17 pitchratePID.setProcessValue(gyro.y);
cocorlow 56:888379912f81 18 float de = pitchPID.compute()+pitchratePID.compute()-rc[1];
cocorlow 56:888379912f81 19
cocorlow 56:888379912f81 20 scaledServoOut[0]=de;
cocorlow 56:888379912f81 21
cocorlow 56:888379912f81 22 float LP_servo = 0.2;
cocorlow 56:888379912f81 23 for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++)
cocorlow 56:888379912f81 24 {
cocorlow 56:888379912f81 25 servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
cocorlow 56:888379912f81 26 if(servoOut[i]<servoPwmMin)
cocorlow 56:888379912f81 27 {
cocorlow 56:888379912f81 28 servoOut[i] = servoPwmMin;
cocorlow 56:888379912f81 29 }
cocorlow 56:888379912f81 30 if(servoOut[i]>servoPwmMax)
cocorlow 56:888379912f81 31 {
cocorlow 56:888379912f81 32 servoOut[i] = servoPwmMax;
cocorlow 56:888379912f81 33 }
cocorlow 56:888379912f81 34 }
cocorlow 56:888379912f81 35
cocorlow 56:888379912f81 36 servo.pulsewidth_us(servoOut[0]);
cocorlow 56:888379912f81 37
cocorlow 56:888379912f81 38 //観測アップデート
cocorlow 56:888379912f81 39 dynacc = ekf.calcDynAcc(LPacc, accref);
cocorlow 56:888379912f81 40 th_mg = abs(acos(LPmag/LPmag.Norm() % LPacc/LPacc.Norm())-val_thmg);
cocorlow 56:888379912f81 41
cocorlow 56:888379912f81 42 accnormerr = abs(LPacc.Norm()-accref.Norm());
cocorlow 56:888379912f81 43 //静止時100個の平均　0.01877522 0.00514146 0.00477393
cocorlow 56:888379912f81 44
cocorlow 56:888379912f81 45 //int ang_th = th_mg < 0.01877522;
cocorlow 56:888379912f81 46 //int dyn_th = dynaccnorm < 0.00514146;
cocorlow 56:888379912f81 47 //int norm_th = accnormerr< 0.00477393;
cocorlow 56:888379912f81 48 int ang_th = th_mg < 0.01877522/5.0;
cocorlow 56:888379912f81 49 int dyn_th = dynacc.Norm() < 0.00514146/5.0;
cocorlow 56:888379912f81 50 int norm_th = accnormerr< 0.00477393/5.0;
cocorlow 56:888379912f81 51 if(dyn_th+ang_th+norm_th>0)
cocorlow 56:888379912f81 52 {
cocorlow 56:888379912f81 53 //if(dyn_th+ang_th+norm_th>-1){
cocorlow 56:888379912f81 54 obs_count += 1;
cocorlow 56:888379912f81 55 ekf.updateAcrossMeasures(LPmag/LPmag.Norm(), magref/magref.Norm(), ekf.Rmag);
cocorlow 56:888379912f81 56 ekf.updateAcrossMeasures(LPacc/LPacc.Norm(), accref/accref.Norm(), ekf.Racc);
cocorlow 56:888379912f81 57 }
cocorlow 56:888379912f81 58
cocorlow 56:888379912f81 59 if(loop_count >= 10)
cocorlow 56:888379912f81 60 {
cocorlow 56:888379912f81 61 writeSdcard();
cocorlow 56:888379912f81 62 loop_count = 1;
cocorlow 56:888379912f81 63 obs_count = 0;
cocorlow 56:888379912f81 64 }
cocorlow 56:888379912f81 65 else
cocorlow 56:888379912f81 66 {
cocorlow 56:888379912f81 67 loop_count +=1;
cocorlow 56:888379912f81 68 }
cocorlow 56:888379912f81 69 }