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

main.cpp@46:99ffb98e1257, 2021-05-17 (annotated)

Committer:
cocorlow
Date:
Mon May 17 06:21:43 2021 +0000
Revision:
46:99ffb98e1257
Parent:
44:f571273d3223
Child:
47:392592d21d30
UsaPack SD

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NaotoMorita 0:6b18a09a6628 1 #include "mbed.h"
naker 20:2c3f113a8e8f 2 #include "PIDcontroller.h"
NaotoMorita 0:6b18a09a6628 3 #include "SBUS.hpp"
cocorlow 6:2cba569272fe 4 #include "LoopTicker.hpp"
naker 15:6abaac6e5b03 5 #include "MPU6050.h"
NaotoMorita 38:acc7cdcf56dd 6 #include "MAG3110.h"
NaotoMorita 38:acc7cdcf56dd 7 #include "I2Cdev.h"
NaotoMorita 36:e68ce293306e 8 #include "FastPWM.h"
NaotoMorita 36:e68ce293306e 9 #include "Matrix.h"
NaotoMorita 36:e68ce293306e 10 #include "MatrixMath.h"
NaotoMorita 38:acc7cdcf56dd 11 #include "math.h"
cocorlow 6:2cba569272fe 12
cocorlow 46:99ffb98e1257 13 #include "UsaPack.hpp"
cocorlow 46:99ffb98e1257 14
NaotoMorita 17:6b7a363d06d2 15 #define MPU6050_PWR_MGMT_1 0x6B
NaotoMorita 17:6b7a363d06d2 16 #define MPU_ADDRESS 0x68
NaotoMorita 17:6b7a363d06d2 17 #define pi 3.141562
NaotoMorita 17:6b7a363d06d2 18 #define ACCEL_FSR MPU6050_ACCEL_FS_8
NaotoMorita 38:acc7cdcf56dd 19 #define ACCEL_SSF 4096.0
NaotoMorita 17:6b7a363d06d2 20 #define GYRO_FSR MPU6050_GYRO_FS_250
NaotoMorita 17:6b7a363d06d2 21 #define GYRO_SSF 131.0
NaotoMorita 17:6b7a363d06d2 22 #define MPU6050_LPF MPU6050_DLPF_BW_256
NaotoMorita 38:acc7cdcf56dd 23 #define gyro_th 20.0
NaotoMorita 38:acc7cdcf56dd 24 #define PID_dt 0.015
NaotoMorita 38:acc7cdcf56dd 25 #define servoPwmMax 1800.0
NaotoMorita 38:acc7cdcf56dd 26 #define servoPwmMin 1200.0
NaotoMorita 38:acc7cdcf56dd 27 #define motorPwmMax 2000.0
NaotoMorita 38:acc7cdcf56dd 28 #define motorPwmMin 1100.0
NaotoMorita 38:acc7cdcf56dd 29 #define pitch_align 8.0*3.141562/180.0
NaotoMorita 38:acc7cdcf56dd 30 #define roll_align -2.8*3.141562/180.0
NaotoMorita 27:43bd0e444633 31
NaotoMorita 17:6b7a363d06d2 32 MPU6050 accelgyro;
NaotoMorita 38:acc7cdcf56dd 33 MAG3110 mag(PB_9,PB_8);
NaotoMorita 0:6b18a09a6628 34 SBUS sbus(PD_5, PD_6);
NaotoMorita 0:6b18a09a6628 35 Serial pc(USBTX, USBRX);
naker 26:62d9857eaecc 36 Serial sd(PG_14,PG_9);
NaotoMorita 38:acc7cdcf56dd 37 DigitalIn userButton(USER_BUTTON);
NaotoMorita 36:e68ce293306e 38 FastPWM servoRight(PE_9);
NaotoMorita 36:e68ce293306e 39 FastPWM servoLeft(PE_11);
NaotoMorita 38:acc7cdcf56dd 40 FastPWM servoThrust(PE_13);
NaotoMorita 36:e68ce293306e 41 PID pitchPID(5.0, 0,0,PID_dt); //rad
NaotoMorita 38:acc7cdcf56dd 42 PID pitchratePID(0.5, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 36:e68ce293306e 43 PID rollPID(5.0,0.0,0.0,PID_dt);
NaotoMorita 38:acc7cdcf56dd 44 PID rollratePID(0.5, 0.0, 0.0, PID_dt);//rad/s
NaotoMorita 17:6b7a363d06d2 45 Timer t;
cocorlow 3:79e62f9b13c8 46
NaotoMorita 36:e68ce293306e 47 Matrix qhat(4,1);
NaotoMorita 44:f571273d3223 48 Matrix qhat_gyro(4,1);
NaotoMorita 36:e68ce293306e 49 Matrix Phat(4,4);
NaotoMorita 37:dad55cf05e3d 50 Matrix Qgyro(3,3);
NaotoMorita 36:e68ce293306e 51 Matrix Racc(3,3);
NaotoMorita 38:acc7cdcf56dd 52 Matrix Rmag(3,3);
NaotoMorita 38:acc7cdcf56dd 53 Matrix D(3,3);
NaotoMorita 36:e68ce293306e 54
NaotoMorita 38:acc7cdcf56dd 55 int loop_count = 0;
NaotoMorita 40:869f3791a3e2 56 int obs_count = 0;
NaotoMorita 36:e68ce293306e 57 float att_dt = 0.01;
naker 23:4a490fa8bf4a 58 float rc[16];
NaotoMorita 38:acc7cdcf56dd 59 float pitch = 0.0;
NaotoMorita 38:acc7cdcf56dd 60 float roll = 0.0;
NaotoMorita 38:acc7cdcf56dd 61 float yaw = 0.0;
NaotoMorita 44:f571273d3223 62
NaotoMorita 44:f571273d3223 63 float pitch_g = 0.0;
NaotoMorita 44:f571273d3223 64 float roll_g = 0.0;
NaotoMorita 44:f571273d3223 65 float yaw_g = 0.0;
NaotoMorita 44:f571273d3223 66
NaotoMorita 17:6b7a363d06d2 67 int16_t ax, ay, az;
NaotoMorita 17:6b7a363d06d2 68 int16_t gx, gy, gz;
NaotoMorita 38:acc7cdcf56dd 69 MotionSensorDataUnits mdata;
NaotoMorita 38:acc7cdcf56dd 70 float magval[3] = {1.0,0.0,0.0};
NaotoMorita 38:acc7cdcf56dd 71 float acc_x,acc_y,acc_z;
NaotoMorita 38:acc7cdcf56dd 72 float dynacc_x,dynacc_y,dynacc_z;
NaotoMorita 38:acc7cdcf56dd 73 float gyro_x,gyro_y,gyro_z;
NaotoMorita 38:acc7cdcf56dd 74 float mag_x,mag_y,mag_z;
NaotoMorita 40:869f3791a3e2 75
NaotoMorita 40:869f3791a3e2 76 float LPacc_x=0.0;
NaotoMorita 40:869f3791a3e2 77 float LPacc_y=0.0;
NaotoMorita 40:869f3791a3e2 78 float LPacc_z=0.0;
NaotoMorita 40:869f3791a3e2 79 float LPmag_x = 0.0;
NaotoMorita 40:869f3791a3e2 80 float LPmag_y = 0.0;
NaotoMorita 40:869f3791a3e2 81 float LPmag_z = 0.0;;
NaotoMorita 40:869f3791a3e2 82
cocorlow 3:79e62f9b13c8 83 int out1, out2;
NaotoMorita 36:e68ce293306e 84 float scaledServoOut[3]= {0,0};
NaotoMorita 28:fc6c46c1db65 85 float scaledMotorOut[1]= {-1};
NaotoMorita 36:e68ce293306e 86 float servoOut[3] = {1500.0,1500.0};
NaotoMorita 36:e68ce293306e 87 float motorOut[1] = {1100.0};
NaotoMorita 38:acc7cdcf56dd 88
NaotoMorita 38:acc7cdcf56dd 89 float accnorm;
NaotoMorita 38:acc7cdcf56dd 90 float magnorm;
NaotoMorita 40:869f3791a3e2 91 float LPaccnorm;
NaotoMorita 40:869f3791a3e2 92 float LPmagnorm;
NaotoMorita 38:acc7cdcf56dd 93 float accrefnorm;
NaotoMorita 38:acc7cdcf56dd 94 float magrefnorm;
NaotoMorita 38:acc7cdcf56dd 95
NaotoMorita 40:869f3791a3e2 96
NaotoMorita 38:acc7cdcf56dd 97 float val_thmg = 0.0;
NaotoMorita 40:869f3791a3e2 98 float th_mg = 0.0;
NaotoMorita 40:869f3791a3e2 99 float dynaccnorm = 0.0;
NaotoMorita 40:869f3791a3e2 100 float accnormerr = 0.0;
NaotoMorita 38:acc7cdcf56dd 101 float accref[3] = {0, 0, -0.98};
NaotoMorita 38:acc7cdcf56dd 102 float magref[3] = {0.65, 0, 0.75};
NaotoMorita 38:acc7cdcf56dd 103
NaotoMorita 44:f571273d3223 104 int agoffset[6] = {0, 0, 0, -117, -563, 2 };
NaotoMorita 44:f571273d3223 105 float magbias[4] = {-140.868240, 121.863251, -162.735092, 37.112610};
cocorlow 3:79e62f9b13c8 106
cocorlow 46:99ffb98e1257 107 // UsaPack
cocorlow 46:99ffb98e1257 108 UsaPack cobs_sd(PC_12, PD_2, 115200);
cocorlow 46:99ffb98e1257 109 const int cobs_address = 1234;
cocorlow 46:99ffb98e1257 110 struct valuePack
cocorlow 46:99ffb98e1257 111 {
cocorlow 46:99ffb98e1257 112 float dt;
cocorlow 46:99ffb98e1257 113 int count;
cocorlow 46:99ffb98e1257 114 float acc[3];
cocorlow 46:99ffb98e1257 115 float gyro[3];
cocorlow 46:99ffb98e1257 116 float mag[3];
cocorlow 46:99ffb98e1257 117 float rot[3];
cocorlow 46:99ffb98e1257 118 float rot_g[3];
cocorlow 46:99ffb98e1257 119 };
cocorlow 46:99ffb98e1257 120 valuePack vp;
cocorlow 46:99ffb98e1257 121
cocorlow 46:99ffb98e1257 122
NaotoMorita 38:acc7cdcf56dd 123 void writeSdcard()
NaotoMorita 38:acc7cdcf56dd 124 {
NaotoMorita 38:acc7cdcf56dd 125 //magcal.getExtremes(&magmin[0],&magmax[0]);
NaotoMorita 38:acc7cdcf56dd 126 //pc.printf("%f %f %f %f %f %f\r\n",magmin[0],magmin[1],magmin[2],magmax[0],magmax[1],magmax[2]);
NaotoMorita 38:acc7cdcf56dd 127 //pc.printf("%f %f %f %f %f %f %f %f %f %f %f %f \r\n",acc_x,acc_y,acc_z,mag_x,mag_y,mag_z,accref[0],accref[1],accref[2],magref[0],magref[1],magref[2]);
NaotoMorita 44:f571273d3223 128 sd.printf("%f %d %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\r\n",1.0/att_dt,obs_count,acc_x,acc_y,acc_z,gyro_x,gyro_y,gyro_z,mag_x,mag_y,mag_z,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi,roll_g*180.0f/pi,pitch_g*180.0f/pi,yaw_g*180.0f/pi);
NaotoMorita 44:f571273d3223 129 //pc.printf("%f %f %f %f %f %f\r\n",roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi,roll_g*180.0f/pi,pitch_g*180.0f/pi,yaw_g*180.0f/pi);
NaotoMorita 44:f571273d3223 130 //pc.printf("%f %f %f %f : %f %f %f\r\n",float(obs_count)/100.0,th_mg,dynaccnorm,accnormerr,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 38:acc7cdcf56dd 131 //pc.printf("%d \r\n",userButton.read());
NaotoMorita 38:acc7cdcf56dd 132 //pc.printf("%f %f %f %f %f %f\r\n",gyro_x*180.0f/pi,gyro_y*180.0f/pi,gyro_z*180.0f/pi,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 38:acc7cdcf56dd 133 //pc.printf("%f %f %f\r\n",roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 38:acc7cdcf56dd 134 //pc.printf("%f %f %f %f %f %f\r\n",dynacc_x,dynacc_y,dynacc_z,roll*180.0f/pi,pitch*180.0f/pi,yaw*180.0f/pi);
NaotoMorita 44:f571273d3223 135 //pc.printf("%f %f %f : %f %f %f\r\n",magref[0],magref[1],magref[2],mag_x,mag_y,mag_z);
NaotoMorita 38:acc7cdcf56dd 136 //pc.printf("%f %f %f %f %f : %f %f %f %f %f %f\r\n",f,magbias[0],magbias[1],magbias[2],magbias[3],magval[0],magval[1],magval[2],mdata.x,mdata.y,mdata.z);
cocorlow 46:99ffb98e1257 137
cocorlow 46:99ffb98e1257 138 vp.dt = 1.0f/att_dt;
cocorlow 46:99ffb98e1257 139 vp.count = obs_count;
cocorlow 46:99ffb98e1257 140 vp.acc[0] = acc_x;
cocorlow 46:99ffb98e1257 141 vp.acc[1] = acc_y;
cocorlow 46:99ffb98e1257 142 vp.acc[2] = acc_z;
cocorlow 46:99ffb98e1257 143 vp.gyro[0] = gyro_x;
cocorlow 46:99ffb98e1257 144 vp.gyro[1] = gyro_y;
cocorlow 46:99ffb98e1257 145 vp.gyro[2] = gyro_z;
cocorlow 46:99ffb98e1257 146 vp.mag[0] = mag_x;
cocorlow 46:99ffb98e1257 147 vp.mag[1] = mag_y;
cocorlow 46:99ffb98e1257 148 vp.mag[2] = mag_z;
cocorlow 46:99ffb98e1257 149 vp.rot[0] = roll*180.0f/pi;
cocorlow 46:99ffb98e1257 150 vp.rot[1] = pitch*180.0f/pi;
cocorlow 46:99ffb98e1257 151 vp.rot[2] = yaw*180.0f/pi;
cocorlow 46:99ffb98e1257 152 vp.rot_g[0] = roll_g*180.0f/pi;
cocorlow 46:99ffb98e1257 153 vp.rot_g[1] = pitch_g*180.0f/pi;
cocorlow 46:99ffb98e1257 154 vp.rot_g[2] = yaw_g*180.0f/pi;
cocorlow 46:99ffb98e1257 155 cobs_sd.Send(cobs_address, &vp);
cocorlow 46:99ffb98e1257 156
NaotoMorita 38:acc7cdcf56dd 157 }
NaotoMorita 27:43bd0e444633 158
NaotoMorita 35:4535af88f7bf 159 float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
cocorlow 7:70161eb0f854 160 {
cocorlow 7:70161eb0f854 161 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
cocorlow 7:70161eb0f854 162 }
NaotoMorita 27:43bd0e444633 163
NaotoMorita 38:acc7cdcf56dd 164 void calcMagRef(float mx, float my, float mz){
NaotoMorita 44:f571273d3223 165
NaotoMorita 44:f571273d3223 166 Matrix magvec(3,1);
NaotoMorita 44:f571273d3223 167 magvec << mx << my << mz;
NaotoMorita 44:f571273d3223 168 Matrix magnedvec = MatrixMath::Transpose(D)*magvec;
NaotoMorita 44:f571273d3223 169 magref[0] = sqrt(magnedvec(1,1)*magnedvec(1,1)+magnedvec(2,1)*magnedvec(2,1));
NaotoMorita 38:acc7cdcf56dd 170 magref[1] = 0.0;
NaotoMorita 44:f571273d3223 171 magref[2] = magnedvec(3,1);
NaotoMorita 38:acc7cdcf56dd 172 }
NaotoMorita 38:acc7cdcf56dd 173
NaotoMorita 38:acc7cdcf56dd 174
NaotoMorita 38:acc7cdcf56dd 175 void getIMUval(){
NaotoMorita 38:acc7cdcf56dd 176 // gx gy gz ax ay az
NaotoMorita 38:acc7cdcf56dd 177 accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz);
NaotoMorita 38:acc7cdcf56dd 178 ax = ax - agoffset[0];
NaotoMorita 38:acc7cdcf56dd 179 ay = ay - agoffset[1];
NaotoMorita 38:acc7cdcf56dd 180 az = -az - agoffset[2];
NaotoMorita 38:acc7cdcf56dd 181 gx = gx - agoffset[3];
NaotoMorita 38:acc7cdcf56dd 182 gy = gy - agoffset[4];
NaotoMorita 38:acc7cdcf56dd 183 gz = -gz - agoffset[5];
NaotoMorita 38:acc7cdcf56dd 184 // 加速度値を分解能で割って加速度(G)に変換する
NaotoMorita 38:acc7cdcf56dd 185 acc_x = float(ax) / ACCEL_SSF; //FS_SEL_0 16,384 LSB / g
NaotoMorita 38:acc7cdcf56dd 186 acc_y = float(ay) / ACCEL_SSF;
NaotoMorita 38:acc7cdcf56dd 187 acc_z = float(az) / ACCEL_SSF;
NaotoMorita 38:acc7cdcf56dd 188 // 角速度値を分解能で割って角速度(rad per sec)に変換する
NaotoMorita 38:acc7cdcf56dd 189 gyro_x = float(gx) / GYRO_SSF * 0.0174533f; // (rad/s)
NaotoMorita 38:acc7cdcf56dd 190 gyro_y = float(gy) / GYRO_SSF * 0.0174533f;
NaotoMorita 38:acc7cdcf56dd 191 gyro_z = float(gz) / GYRO_SSF * 0.0174533f;
NaotoMorita 38:acc7cdcf56dd 192 mag.getAxis(mdata); // flush the magnetmeter
NaotoMorita 38:acc7cdcf56dd 193 magval[0] = (mdata.x - magbias[0]);
NaotoMorita 38:acc7cdcf56dd 194 magval[1] = (mdata.y - magbias[1]);
NaotoMorita 38:acc7cdcf56dd 195 magval[2] = (mdata.z - magbias[2]);
NaotoMorita 38:acc7cdcf56dd 196 mag_x = -magval[0]/magbias[3];
NaotoMorita 38:acc7cdcf56dd 197 mag_y = -magval[1]/magbias[3];
NaotoMorita 38:acc7cdcf56dd 198 mag_z = -magval[2]/magbias[3];
NaotoMorita 38:acc7cdcf56dd 199
NaotoMorita 40:869f3791a3e2 200 float lpc_acc = 0.15;
NaotoMorita 40:869f3791a3e2 201 LPacc_x = lpc_acc*acc_x+(1.0-lpc_acc)*LPacc_x;
NaotoMorita 40:869f3791a3e2 202 LPacc_y = lpc_acc*acc_y+(1.0-lpc_acc)*LPacc_y;
NaotoMorita 40:869f3791a3e2 203 LPacc_z = lpc_acc*acc_z+(1.0-lpc_acc)*LPacc_z;
NaotoMorita 40:869f3791a3e2 204
NaotoMorita 40:869f3791a3e2 205 float lpc_mag = 0.15;
NaotoMorita 40:869f3791a3e2 206 LPmag_x = lpc_mag*mag_x+(1.0-lpc_mag)*LPmag_x;
NaotoMorita 40:869f3791a3e2 207 LPmag_y = lpc_mag*mag_y+(1.0-lpc_mag)*LPmag_y;
NaotoMorita 40:869f3791a3e2 208 LPmag_z = lpc_mag*mag_z+(1.0-lpc_mag)*LPmag_z;
NaotoMorita 40:869f3791a3e2 209
NaotoMorita 38:acc7cdcf56dd 210 accnorm = sqrt(acc_x*acc_x+acc_y*acc_y+acc_z*acc_z);
NaotoMorita 38:acc7cdcf56dd 211 magnorm = sqrt(mag_x*mag_x+mag_y*mag_y+mag_z*mag_z);
NaotoMorita 40:869f3791a3e2 212 LPaccnorm = sqrt(LPacc_x*LPacc_x+LPacc_y*LPacc_y+LPacc_z*LPacc_z);
NaotoMorita 40:869f3791a3e2 213 LPmagnorm = sqrt(LPmag_x*LPmag_x+LPmag_y*LPmag_y+LPmag_z*LPmag_z);
NaotoMorita 38:acc7cdcf56dd 214 accrefnorm = sqrt(accref[0]*accref[0]+accref[1]*accref[1]+accref[2]*accref[2]);
NaotoMorita 38:acc7cdcf56dd 215 magrefnorm = sqrt(magref[0]*magref[0]+magref[1]*magref[1]+magref[2]*magref[2]);
NaotoMorita 40:869f3791a3e2 216 calcMagRef(LPmag_x/LPmagnorm, LPmag_y/LPmagnorm, LPmag_z/LPmagnorm);
NaotoMorita 40:869f3791a3e2 217
NaotoMorita 40:869f3791a3e2 218
NaotoMorita 38:acc7cdcf56dd 219 }
NaotoMorita 38:acc7cdcf56dd 220
NaotoMorita 38:acc7cdcf56dd 221 void updateBetweenMeasures(){
NaotoMorita 40:869f3791a3e2 222 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 40:869f3791a3e2 223 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 40:869f3791a3e2 224 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 40:869f3791a3e2 225 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 40:869f3791a3e2 226
NaotoMorita 40:869f3791a3e2 227 Matrix B(4,3);
NaotoMorita 40:869f3791a3e2 228 B << q1 << q2 << q3
NaotoMorita 40:869f3791a3e2 229 <<-q0 << q3 <<-q2
NaotoMorita 40:869f3791a3e2 230 <<-q3 <<-q0 << q1
NaotoMorita 40:869f3791a3e2 231 << q2 <<-q1 <<-q0;
NaotoMorita 40:869f3791a3e2 232 B *= 0.5f;
NaotoMorita 40:869f3791a3e2 233
NaotoMorita 38:acc7cdcf56dd 234 Matrix phi(4,4);
NaotoMorita 38:acc7cdcf56dd 235 phi << 1.0 << -gyro_x*0.5*att_dt <<-gyro_y*0.5*att_dt <<-gyro_z*0.5*att_dt
NaotoMorita 38:acc7cdcf56dd 236 << gyro_x*0.5*att_dt << 1.0 << gyro_z*0.5*att_dt <<-gyro_y*0.5*att_dt
NaotoMorita 38:acc7cdcf56dd 237 << gyro_y*0.5*att_dt << -gyro_z*0.5*att_dt << 1.0 << gyro_x*0.5*att_dt
NaotoMorita 38:acc7cdcf56dd 238 << gyro_z*0.5*att_dt << gyro_y*0.5*att_dt <<-gyro_x*0.5*att_dt << 1.0;
NaotoMorita 44:f571273d3223 239
NaotoMorita 38:acc7cdcf56dd 240 qhat = phi*qhat;
NaotoMorita 38:acc7cdcf56dd 241 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 38:acc7cdcf56dd 242 qhat *= (1.0f/ qnorm);
NaotoMorita 38:acc7cdcf56dd 243
NaotoMorita 44:f571273d3223 244 qhat_gyro = phi*qhat_gyro;
NaotoMorita 44:f571273d3223 245 qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat_gyro),qhat_gyro));
NaotoMorita 44:f571273d3223 246 qhat_gyro *= (1.0f/ qnorm);
NaotoMorita 44:f571273d3223 247
NaotoMorita 38:acc7cdcf56dd 248 Phat = phi*Phat*MatrixMath::Transpose(phi)+B*Qgyro*MatrixMath::Transpose(B);
NaotoMorita 38:acc7cdcf56dd 249
NaotoMorita 40:869f3791a3e2 250 q0 = qhat.getNumber( 1, 1 );
NaotoMorita 40:869f3791a3e2 251 q1 = qhat.getNumber( 2, 1 );
NaotoMorita 40:869f3791a3e2 252 q2 = qhat.getNumber( 3, 1 );
NaotoMorita 40:869f3791a3e2 253 q3 = qhat.getNumber( 4, 1 );
NaotoMorita 40:869f3791a3e2 254
NaotoMorita 40:869f3791a3e2 255 D.add(1,1,q0*q0 + q1*q1 - q2*q2 - q3*q3);
NaotoMorita 40:869f3791a3e2 256 D.add(1,2,2*(q1*q2 + q0*q3));
NaotoMorita 40:869f3791a3e2 257 D.add(1,3,2*(q1*q3 - q0*q2));
NaotoMorita 40:869f3791a3e2 258 D.add(2,1,2*(q1*q2 - q0*q3));
NaotoMorita 40:869f3791a3e2 259 D.add(2,2,q0*q0 - q1*q1 + q2*q2 - q3*q3);
NaotoMorita 40:869f3791a3e2 260 D.add(2,3,2*(q2*q3 + q0*q1));
NaotoMorita 40:869f3791a3e2 261 D.add(3,1,2*(q1*q3 + q0*q2));
NaotoMorita 40:869f3791a3e2 262 D.add(3,2,2*(q2*q3 - q0*q1));
NaotoMorita 40:869f3791a3e2 263 D.add(3,3,q0*q0 - q1*q1 - q2*q2 + q3*q3);
NaotoMorita 38:acc7cdcf56dd 264
NaotoMorita 38:acc7cdcf56dd 265 }
NaotoMorita 38:acc7cdcf56dd 266
NaotoMorita 38:acc7cdcf56dd 267 void updateAcrossMeasures(float v1,float v2, float v3, float u1, float u2, float u3, Matrix R){
NaotoMorita 38:acc7cdcf56dd 268
NaotoMorita 38:acc7cdcf56dd 269 Matrix u(3,1);
NaotoMorita 38:acc7cdcf56dd 270 Matrix v(3,1);
NaotoMorita 38:acc7cdcf56dd 271
NaotoMorita 38:acc7cdcf56dd 272 u << u1 << u2 <<u3;
NaotoMorita 38:acc7cdcf56dd 273 v << v1 << v2 <<v3;
NaotoMorita 38:acc7cdcf56dd 274
NaotoMorita 38:acc7cdcf56dd 275 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 276 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 38:acc7cdcf56dd 277 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 278 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 38:acc7cdcf56dd 279
NaotoMorita 38:acc7cdcf56dd 280 Matrix A1(3,3);
NaotoMorita 38:acc7cdcf56dd 281 A1 << q0 << q3 << -q2
NaotoMorita 38:acc7cdcf56dd 282 <<-q3 << q0 << q1
NaotoMorita 38:acc7cdcf56dd 283 <<q2 <<-q1 <<q0;
NaotoMorita 38:acc7cdcf56dd 284 A1 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 285
NaotoMorita 38:acc7cdcf56dd 286 Matrix A2(3,3);
NaotoMorita 38:acc7cdcf56dd 287 A2 << q1 << q2 << q3
NaotoMorita 38:acc7cdcf56dd 288 << q2 <<-q1 << q0
NaotoMorita 38:acc7cdcf56dd 289 << q3 <<-q0 <<-q1;
NaotoMorita 38:acc7cdcf56dd 290 A2 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 291
NaotoMorita 38:acc7cdcf56dd 292 Matrix A3(3,3);
NaotoMorita 38:acc7cdcf56dd 293 A3 <<-q2 << q1 <<-q0
NaotoMorita 38:acc7cdcf56dd 294 << q1 << q2 << q3
NaotoMorita 38:acc7cdcf56dd 295 << q0 << q3 <<-q2;
NaotoMorita 38:acc7cdcf56dd 296 A3 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 297
NaotoMorita 38:acc7cdcf56dd 298 Matrix A4(3,3);
NaotoMorita 38:acc7cdcf56dd 299 A4 <<-q3 << q0 << q1
NaotoMorita 38:acc7cdcf56dd 300 <<-q0 <<-q3 << q2
NaotoMorita 38:acc7cdcf56dd 301 << q1 << q2 << q3;
NaotoMorita 38:acc7cdcf56dd 302 A4 *= 2.0f;
NaotoMorita 38:acc7cdcf56dd 303
NaotoMorita 38:acc7cdcf56dd 304 Matrix H(3,4);
NaotoMorita 38:acc7cdcf56dd 305
NaotoMorita 38:acc7cdcf56dd 306 Matrix ab1(A1*u);
NaotoMorita 38:acc7cdcf56dd 307 Matrix ab2(A2*u);
NaotoMorita 38:acc7cdcf56dd 308 Matrix ab3(A3*u);
NaotoMorita 38:acc7cdcf56dd 309 Matrix ab4(A4*u);
NaotoMorita 38:acc7cdcf56dd 310
NaotoMorita 38:acc7cdcf56dd 311 H << ab1.getNumber( 1, 1 ) << ab2.getNumber( 1, 1 ) << ab3.getNumber( 1, 1 ) << ab4.getNumber( 1, 1 )
NaotoMorita 38:acc7cdcf56dd 312 << ab1.getNumber( 2, 1 ) << ab2.getNumber( 2, 1 ) << ab3.getNumber( 2, 1 ) << ab4.getNumber( 2, 1 )
NaotoMorita 38:acc7cdcf56dd 313 << ab1.getNumber( 3, 1 ) << ab2.getNumber( 3, 1 ) << ab3.getNumber( 3, 1 ) << ab4.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 314
NaotoMorita 38:acc7cdcf56dd 315
NaotoMorita 38:acc7cdcf56dd 316 Matrix K(4,3);
NaotoMorita 38:acc7cdcf56dd 317 K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R);
NaotoMorita 38:acc7cdcf56dd 318
NaotoMorita 38:acc7cdcf56dd 319 Matrix dq(4,1);
NaotoMorita 38:acc7cdcf56dd 320 dq = K*(v-D*u);
NaotoMorita 38:acc7cdcf56dd 321 qhat = qhat+dq;
NaotoMorita 38:acc7cdcf56dd 322
NaotoMorita 38:acc7cdcf56dd 323 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 38:acc7cdcf56dd 324 qhat *= (1.0f/ qnorm);
NaotoMorita 38:acc7cdcf56dd 325
NaotoMorita 38:acc7cdcf56dd 326 Matrix eye4(4,4);
NaotoMorita 38:acc7cdcf56dd 327 eye4 << 1 << 0 << 0 << 0
NaotoMorita 38:acc7cdcf56dd 328 << 0 << 1 << 0 << 0
NaotoMorita 38:acc7cdcf56dd 329 << 0 << 0 << 1 << 0
NaotoMorita 38:acc7cdcf56dd 330 << 0 << 0 << 0 << 1;
NaotoMorita 38:acc7cdcf56dd 331 Phat = (eye4-K*H)*Phat*MatrixMath::Transpose(eye4-K*H)+K*R*MatrixMath::Transpose(K);
NaotoMorita 38:acc7cdcf56dd 332 }
NaotoMorita 38:acc7cdcf56dd 333
NaotoMorita 38:acc7cdcf56dd 334 void computeAngles()
naker 20:2c3f113a8e8f 335 {
NaotoMorita 38:acc7cdcf56dd 336 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 337 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 38:acc7cdcf56dd 338 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 339 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 38:acc7cdcf56dd 340 roll = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-roll_align;
NaotoMorita 38:acc7cdcf56dd 341 pitch = asinf(-2.0f * (q1*q3 - q0*q2))-pitch_align;
NaotoMorita 38:acc7cdcf56dd 342 yaw = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3);
NaotoMorita 44:f571273d3223 343
NaotoMorita 44:f571273d3223 344 q0 = qhat_gyro.getNumber( 1, 1 );
NaotoMorita 44:f571273d3223 345 q1 = qhat_gyro.getNumber( 2, 1 );
NaotoMorita 44:f571273d3223 346 q2 = qhat_gyro.getNumber( 3, 1 );
NaotoMorita 44:f571273d3223 347 q3 = qhat_gyro.getNumber( 4, 1 );
NaotoMorita 44:f571273d3223 348 roll_g = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2)-roll_align;
NaotoMorita 44:f571273d3223 349 pitch_g = asinf(-2.0f * (q1*q3 - q0*q2))-pitch_align;
NaotoMorita 44:f571273d3223 350 yaw_g = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3);
NaotoMorita 44:f571273d3223 351
NaotoMorita 38:acc7cdcf56dd 352 }
NaotoMorita 38:acc7cdcf56dd 353
NaotoMorita 38:acc7cdcf56dd 354 void triad(float fb1,float fb2, float fb3, float fn1, float fn2, float fn3,float mb1,float mb2, float mb3, float mn1, float mn2, float mn3){
NaotoMorita 38:acc7cdcf56dd 355 Matrix W1(3,1);
NaotoMorita 38:acc7cdcf56dd 356 W1 << fb1 << fb2<< fb3;
NaotoMorita 38:acc7cdcf56dd 357 Matrix W2(3,1);
NaotoMorita 38:acc7cdcf56dd 358 W2 << mb1 << mb2<< mb3;
NaotoMorita 38:acc7cdcf56dd 359
NaotoMorita 38:acc7cdcf56dd 360 Matrix V1(3,1);
NaotoMorita 38:acc7cdcf56dd 361 V1 << fn1 << fn2<< fn3;
NaotoMorita 38:acc7cdcf56dd 362 Matrix V2(3,1);
NaotoMorita 38:acc7cdcf56dd 363 V2 << mn1 << mn2<< mn3;
NaotoMorita 38:acc7cdcf56dd 364
NaotoMorita 38:acc7cdcf56dd 365
NaotoMorita 38:acc7cdcf56dd 366 Matrix Ou2(3,1);
NaotoMorita 38:acc7cdcf56dd 367 Ou2 << W1.getNumber( 2, 1 )*W2.getNumber( 3, 1 )-W1.getNumber( 3, 1 )*W2.getNumber( 2, 1 ) << W1.getNumber( 3, 1 )*W2.getNumber( 1, 1 )-W1.getNumber( 1, 1 )*W2.getNumber( 3, 1 ) << W1.getNumber( 1, 1 )*W2.getNumber( 2, 1 )-W1.getNumber( 2, 1 )*W2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 368 Ou2 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(Ou2),Ou2));
NaotoMorita 38:acc7cdcf56dd 369 Matrix Ou3(3,1);
NaotoMorita 38:acc7cdcf56dd 370 Ou3 << W1.getNumber( 2, 1 )*Ou2.getNumber( 3, 1 )-W1.getNumber( 3, 1 )*Ou2.getNumber( 2, 1 ) << W1.getNumber( 3, 1 )*Ou2.getNumber( 1, 1 )-W1.getNumber( 1, 1 )*Ou2.getNumber( 3, 1 ) << W1.getNumber( 1, 1 )*Ou2.getNumber( 2, 1 )-W1.getNumber( 2, 1 )*Ou2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 371 Ou3 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(Ou3),Ou3));
NaotoMorita 38:acc7cdcf56dd 372 Matrix R2(3,1);
NaotoMorita 38:acc7cdcf56dd 373 R2 << V1.getNumber( 2, 1 )*V2.getNumber( 3, 1 )-V1.getNumber( 3, 1 )*V2.getNumber( 2, 1 ) << V1.getNumber( 3, 1 )*V2.getNumber( 1, 1 )-V1.getNumber( 1, 1 )*V2.getNumber( 3, 1 ) << V1.getNumber( 1, 1 )*V2.getNumber( 2, 1 )-V1.getNumber( 2, 1 )*V2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 374 R2 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(R2),R2));
NaotoMorita 38:acc7cdcf56dd 375 Matrix R3(3,1);
NaotoMorita 38:acc7cdcf56dd 376 R3 << V1.getNumber( 2, 1 )*R2.getNumber( 3, 1 )-V1.getNumber( 3, 1 )*R2.getNumber( 2, 1 ) << V1.getNumber( 3, 1 )*R2.getNumber( 1, 1 )-V1.getNumber( 1, 1 )*R2.getNumber( 3, 1 ) << V1.getNumber( 1, 1 )*R2.getNumber( 2, 1 )-V1.getNumber( 2, 1 )*R2.getNumber( 1, 1 );
NaotoMorita 38:acc7cdcf56dd 377 R3 *= 1.0/sqrt(MatrixMath::dot(MatrixMath::Transpose(R3),R3));
NaotoMorita 38:acc7cdcf56dd 378
NaotoMorita 38:acc7cdcf56dd 379 Matrix Mou(3,3);
NaotoMorita 38:acc7cdcf56dd 380 Mou << W1.getNumber( 1, 1 ) << Ou2.getNumber( 1, 1 ) << Ou3.getNumber( 1, 1 )
NaotoMorita 38:acc7cdcf56dd 381 << W1.getNumber( 2, 1 ) << Ou2.getNumber( 2, 1 ) << Ou3.getNumber( 2, 1 )
NaotoMorita 38:acc7cdcf56dd 382 << W1.getNumber( 3, 1 ) << Ou2.getNumber( 3, 1 ) << Ou3.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 383 Matrix Mr(3,3);
NaotoMorita 38:acc7cdcf56dd 384 Mr << V1.getNumber( 1, 1 ) << R2.getNumber( 1, 1 ) << R3.getNumber( 1, 1 )
NaotoMorita 38:acc7cdcf56dd 385 << V1.getNumber( 2, 1 ) << R2.getNumber( 2, 1 ) << R3.getNumber( 2, 1 )
NaotoMorita 38:acc7cdcf56dd 386 << V1.getNumber( 3, 1 ) << R2.getNumber( 3, 1 ) << R3.getNumber( 3, 1 );
NaotoMorita 38:acc7cdcf56dd 387
NaotoMorita 38:acc7cdcf56dd 388 Matrix Cbn = Mr*MatrixMath::Transpose(Mou);
NaotoMorita 38:acc7cdcf56dd 389
NaotoMorita 38:acc7cdcf56dd 390 float sqtrp1 = sqrt(1.0+Cbn.getNumber( 1, 1 )+Cbn.getNumber( 2, 2 )+Cbn.getNumber( 3, 3 ));
NaotoMorita 38:acc7cdcf56dd 391
NaotoMorita 38:acc7cdcf56dd 392 qhat.add(1,1,0.5*sqtrp1);
NaotoMorita 38:acc7cdcf56dd 393 qhat.add(2,1,-(Cbn.getNumber( 2, 3 )-Cbn.getNumber( 3, 2 ))/2.0/sqtrp1);
NaotoMorita 38:acc7cdcf56dd 394 qhat.add(3,1,-(Cbn.getNumber( 3, 1 )-Cbn.getNumber( 1, 3 ))/2.0/sqtrp1);
NaotoMorita 38:acc7cdcf56dd 395 qhat.add(4,1,-(Cbn.getNumber( 1, 2 )-Cbn.getNumber( 2, 1 ))/2.0/sqtrp1);
NaotoMorita 38:acc7cdcf56dd 396
NaotoMorita 38:acc7cdcf56dd 397 float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat));
NaotoMorita 38:acc7cdcf56dd 398 qhat *= (1.0f/ qnorm);
NaotoMorita 44:f571273d3223 399
NaotoMorita 44:f571273d3223 400 qhat_gyro = qhat;
NaotoMorita 44:f571273d3223 401
NaotoMorita 44:f571273d3223 402 float q0 = qhat.getNumber( 1, 1 );
NaotoMorita 44:f571273d3223 403 float q1 = qhat.getNumber( 2, 1 );
NaotoMorita 44:f571273d3223 404 float q2 = qhat.getNumber( 3, 1 );
NaotoMorita 44:f571273d3223 405 float q3 = qhat.getNumber( 4, 1 );
NaotoMorita 44:f571273d3223 406
NaotoMorita 44:f571273d3223 407 D.add(1,1,q0*q0 + q1*q1 - q2*q2 - q3*q3);
NaotoMorita 44:f571273d3223 408 D.add(1,2,2*(q1*q2 + q0*q3));
NaotoMorita 44:f571273d3223 409 D.add(1,3,2*(q1*q3 - q0*q2));
NaotoMorita 44:f571273d3223 410 D.add(2,1,2*(q1*q2 - q0*q3));
NaotoMorita 44:f571273d3223 411 D.add(2,2,q0*q0 - q1*q1 + q2*q2 - q3*q3);
NaotoMorita 44:f571273d3223 412 D.add(2,3,2*(q2*q3 + q0*q1));
NaotoMorita 44:f571273d3223 413 D.add(3,1,2*(q1*q3 + q0*q2));
NaotoMorita 44:f571273d3223 414 D.add(3,2,2*(q2*q3 - q0*q1));
NaotoMorita 44:f571273d3223 415 D.add(3,3,q0*q0 - q1*q1 - q2*q2 + q3*q3);
NaotoMorita 44:f571273d3223 416
NaotoMorita 38:acc7cdcf56dd 417 }
NaotoMorita 38:acc7cdcf56dd 418
NaotoMorita 38:acc7cdcf56dd 419 void calcDynAcc(){
NaotoMorita 40:869f3791a3e2 420 dynacc_x = LPacc_x-(D.getNumber( 1, 1 )*accref[0]+D.getNumber( 1, 2 )*accref[1]+D.getNumber( 1, 3 )*accref[2]);
NaotoMorita 40:869f3791a3e2 421 dynacc_y = LPacc_y-(D.getNumber( 2, 1 )*accref[0]+D.getNumber( 2, 2 )*accref[1]+D.getNumber( 2, 3 )*accref[2]);
NaotoMorita 40:869f3791a3e2 422 dynacc_z = LPacc_z-(D.getNumber( 3, 1 )*accref[0]+D.getNumber( 3, 2 )*accref[1]+D.getNumber( 3, 3 )*accref[2]);
NaotoMorita 38:acc7cdcf56dd 423 }
NaotoMorita 38:acc7cdcf56dd 424
NaotoMorita 38:acc7cdcf56dd 425 void execCalibration(){
NaotoMorita 38:acc7cdcf56dd 426 pc.printf("\r\nEnter to Calibration Mode\r\n");
NaotoMorita 38:acc7cdcf56dd 427 wait(5);
NaotoMorita 38:acc7cdcf56dd 428 pc.printf("\r\n Acc and Gyro Calibration Start\r\n");
NaotoMorita 38:acc7cdcf56dd 429 int axs = 0;
NaotoMorita 38:acc7cdcf56dd 430 int ays = 0;
NaotoMorita 38:acc7cdcf56dd 431 int azs = 0;
NaotoMorita 38:acc7cdcf56dd 432 int gxs = 0;
NaotoMorita 38:acc7cdcf56dd 433 int gys = 0;
NaotoMorita 38:acc7cdcf56dd 434 int gzs = 0;
NaotoMorita 38:acc7cdcf56dd 435 int iter_n = 5000;
NaotoMorita 38:acc7cdcf56dd 436 for(int i = 0;i<iter_n ;i++){
NaotoMorita 38:acc7cdcf56dd 437 accelgyro.getMotion6(&ay, &ax, &az, &gy, &gx, &gz);
NaotoMorita 38:acc7cdcf56dd 438 axs += ax;
NaotoMorita 38:acc7cdcf56dd 439 ays += ay;
NaotoMorita 38:acc7cdcf56dd 440 azs -= az;
NaotoMorita 38:acc7cdcf56dd 441 gxs += gx;
NaotoMorita 38:acc7cdcf56dd 442 gys += gy;
NaotoMorita 38:acc7cdcf56dd 443 gzs -= gz;
NaotoMorita 38:acc7cdcf56dd 444 wait(0.001);
NaotoMorita 38:acc7cdcf56dd 445 }
NaotoMorita 38:acc7cdcf56dd 446 axs = axs /iter_n;
NaotoMorita 38:acc7cdcf56dd 447 ays = ays /iter_n;
NaotoMorita 38:acc7cdcf56dd 448 azs = azs /iter_n;
NaotoMorita 38:acc7cdcf56dd 449 gxs = gxs /iter_n;
NaotoMorita 38:acc7cdcf56dd 450 gys = gys /iter_n;
NaotoMorita 38:acc7cdcf56dd 451 gzs = gzs /iter_n;
NaotoMorita 38:acc7cdcf56dd 452 pc.printf("\r\nagoffset : 0, 0, 0, %d, %d, %d \r\n",gxs,gys,gzs);
NaotoMorita 38:acc7cdcf56dd 453
NaotoMorita 38:acc7cdcf56dd 454 pc.printf("\r\n Mag Calibration Start\r\n");
NaotoMorita 38:acc7cdcf56dd 455 float f = 0;
NaotoMorita 38:acc7cdcf56dd 456 while(1){
NaotoMorita 38:acc7cdcf56dd 457 mag.getAxis(mdata); // flush the magnetmeter
NaotoMorita 38:acc7cdcf56dd 458 magval[0] = (mdata.x - magbias[0]);
NaotoMorita 38:acc7cdcf56dd 459 magval[1] = (mdata.y - magbias[1]);
NaotoMorita 38:acc7cdcf56dd 460 magval[2] = (mdata.z - magbias[2]);
NaotoMorita 38:acc7cdcf56dd 461 float mag_r = magval[0]*magval[0] + magval[1]*magval[1] + magval[2]*magval[2];
NaotoMorita 38:acc7cdcf56dd 462 float lr = 0.00001f;
NaotoMorita 38:acc7cdcf56dd 463 f = mag_r - magbias[3]*magbias[3];
NaotoMorita 38:acc7cdcf56dd 464 magbias[0] = magbias[0] + 4 * lr * f * magval[0];
NaotoMorita 38:acc7cdcf56dd 465 magbias[1] = magbias[1] + 4 * lr * f * magval[1];
NaotoMorita 38:acc7cdcf56dd 466 magbias[2] = magbias[2] + 4 * lr * f * magval[2];
NaotoMorita 38:acc7cdcf56dd 467 magbias[3] = magbias[3] + 4 * lr * f * magbias[3];
NaotoMorita 38:acc7cdcf56dd 468
NaotoMorita 38:acc7cdcf56dd 469 if(userButton.read() == 1){
NaotoMorita 38:acc7cdcf56dd 470 break;
NaotoMorita 38:acc7cdcf56dd 471 }
NaotoMorita 38:acc7cdcf56dd 472 wait(0.001);
NaotoMorita 38:acc7cdcf56dd 473 }
NaotoMorita 38:acc7cdcf56dd 474 pc.printf("magbias : %f, %f, %f, %f\r\n",magbias[0],magbias[1],magbias[2],magbias[3]);
NaotoMorita 38:acc7cdcf56dd 475 pc.printf("\r\n Refvec Calibration waiting\r\n");
NaotoMorita 38:acc7cdcf56dd 476 wait(5);
NaotoMorita 38:acc7cdcf56dd 477 pc.printf("\r\n Calibration Start\r\n");
NaotoMorita 38:acc7cdcf56dd 478 float arefs[3] = {0.0,0.0,0.0};
NaotoMorita 38:acc7cdcf56dd 479 float mrefs[3] = {0.0,0.0,0.0};
NaotoMorita 38:acc7cdcf56dd 480 for(int i = 0;i<iter_n ;i++){
NaotoMorita 38:acc7cdcf56dd 481 getIMUval();
NaotoMorita 38:acc7cdcf56dd 482 arefs[0] += acc_x;
NaotoMorita 38:acc7cdcf56dd 483 arefs[1] += acc_y;
NaotoMorita 38:acc7cdcf56dd 484 arefs[2] += acc_z;
NaotoMorita 38:acc7cdcf56dd 485 mrefs[0] += mag_x;
NaotoMorita 38:acc7cdcf56dd 486 mrefs[1] += mag_y;
NaotoMorita 38:acc7cdcf56dd 487 mrefs[2] += mag_z;
NaotoMorita 38:acc7cdcf56dd 488 wait(0.001);
NaotoMorita 38:acc7cdcf56dd 489 }
NaotoMorita 38:acc7cdcf56dd 490 arefs[0] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 491 arefs[1] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 492 arefs[2] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 493 mrefs[0] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 494 mrefs[1] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 495 mrefs[2] /= iter_n;
NaotoMorita 38:acc7cdcf56dd 496 pc.printf("\r\naccreg : %f, %f, %f\r\n",arefs[0],arefs[1],arefs[2]);
NaotoMorita 38:acc7cdcf56dd 497 pc.printf("\r\nmagreg : %f, %f, %f\r\n",mrefs[0],mrefs[1],mrefs[2]);
cocorlow 46:99ffb98e1257 498
NaotoMorita 38:acc7cdcf56dd 499 while(1) {wait(1000);}
naker 20:2c3f113a8e8f 500 }
NaotoMorita 27:43bd0e444633 501
naker 22:da9893b71f24 502 // 割り込まれた時点での出力(computeの結果）を返す関数
NaotoMorita 27:43bd0e444633 503 void calcServoOut(){
NaotoMorita 28:fc6c46c1db65 504 if(sbus.failSafe == false) {
NaotoMorita 28:fc6c46c1db65 505 // sbusデータの読み込み
NaotoMorita 28:fc6c46c1db65 506 for (int i =0 ; i < 16;i ++){
NaotoMorita 35:4535af88f7bf 507 rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input
NaotoMorita 27:43bd0e444633 508 }
NaotoMorita 28:fc6c46c1db65 509 }
NaotoMorita 28:fc6c46c1db65 510
NaotoMorita 28:fc6c46c1db65 511 pitchPID.setProcessValue(pitch);
NaotoMorita 28:fc6c46c1db65 512 pitchratePID.setProcessValue(gyro_y);
NaotoMorita 28:fc6c46c1db65 513 rollPID.setProcessValue(roll);
NaotoMorita 28:fc6c46c1db65 514 rollratePID.setProcessValue(gyro_x);
NaotoMorita 38:acc7cdcf56dd 515 float de = pitchPID.compute()+pitchratePID.compute()-rc[1]+rc[0];
NaotoMorita 36:e68ce293306e 516 float da = rollPID.compute()+rollratePID.compute()+rc[0]+rc[1];
NaotoMorita 28:fc6c46c1db65 517 float dT = rc[2];
NaotoMorita 28:fc6c46c1db65 518
NaotoMorita 28:fc6c46c1db65 519 scaledServoOut[0]=de+da;
NaotoMorita 36:e68ce293306e 520 scaledServoOut[1]=-de+da;
NaotoMorita 28:fc6c46c1db65 521 scaledMotorOut[0]= dT;
NaotoMorita 31:8d02f3b9a067 522
NaotoMorita 38:acc7cdcf56dd 523 float LP_servo = 0.2;
NaotoMorita 38:acc7cdcf56dd 524 float LP_motor = 0.2;
NaotoMorita 36:e68ce293306e 525 for(int i = 0;i<sizeof(servoOut)/sizeof(servoOut[0]);i++){
NaotoMorita 36:e68ce293306e 526 servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
NaotoMorita 28:fc6c46c1db65 527 if(servoOut[i]<servoPwmMin) {
NaotoMorita 28:fc6c46c1db65 528 servoOut[i] = servoPwmMin;
NaotoMorita 28:fc6c46c1db65 529 };
NaotoMorita 28:fc6c46c1db65 530 if(servoOut[i]>servoPwmMax) {
NaotoMorita 28:fc6c46c1db65 531 servoOut[i] = servoPwmMax;
NaotoMorita 28:fc6c46c1db65 532 };
NaotoMorita 28:fc6c46c1db65 533 }
NaotoMorita 28:fc6c46c1db65 534
NaotoMorita 36:e68ce293306e 535 for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){
NaotoMorita 36:e68ce293306e 536 motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i];
NaotoMorita 28:fc6c46c1db65 537 if(motorOut[i]<motorPwmMin) {
NaotoMorita 28:fc6c46c1db65 538 motorOut[i] = motorPwmMin;
NaotoMorita 28:fc6c46c1db65 539 };
NaotoMorita 28:fc6c46c1db65 540 if(motorOut[i]>motorPwmMax) {
NaotoMorita 28:fc6c46c1db65 541 motorOut[i] = motorPwmMax;
NaotoMorita 28:fc6c46c1db65 542 };
NaotoMorita 28:fc6c46c1db65 543 }
NaotoMorita 36:e68ce293306e 544 servoRight.pulsewidth_us(servoOut[0]);
NaotoMorita 36:e68ce293306e 545 servoLeft.pulsewidth_us(servoOut[1]);
NaotoMorita 36:e68ce293306e 546 servoThrust.pulsewidth_us(motorOut[0]);
NaotoMorita 32:c4f06cb0e1d6 547
NaotoMorita 44:f571273d3223 548 //観測アップデート
NaotoMorita 44:f571273d3223 549 calcDynAcc();
NaotoMorita 44:f571273d3223 550 th_mg = abs(acos((LPmag_x*LPacc_x+LPmag_y*LPacc_y+LPmag_z*LPacc_z)/LPmagnorm/LPaccnorm)-val_thmg);
NaotoMorita 44:f571273d3223 551 dynaccnorm = sqrt(dynacc_x*dynacc_x+dynacc_y*dynacc_y+dynacc_z*dynacc_z);
NaotoMorita 44:f571273d3223 552 accnormerr = abs(LPaccnorm-accrefnorm);
NaotoMorita 44:f571273d3223 553 //静止時100個の平均　0.01877522 0.00514146 0.00477393
NaotoMorita 44:f571273d3223 554
NaotoMorita 44:f571273d3223 555 //int ang_th = th_mg < 0.01877522;
NaotoMorita 44:f571273d3223 556 //int dyn_th = dynaccnorm < 0.00514146;
NaotoMorita 44:f571273d3223 557 //int norm_th = accnormerr< 0.00477393;
NaotoMorita 44:f571273d3223 558 int ang_th = th_mg < 0.01877522/5.0;
NaotoMorita 44:f571273d3223 559 int dyn_th = dynaccnorm < 0.00514146/5.0;
NaotoMorita 44:f571273d3223 560 int norm_th = accnormerr< 0.00477393/5.0;
NaotoMorita 44:f571273d3223 561 if(dyn_th+ang_th+norm_th>0){
NaotoMorita 44:f571273d3223 562 //if(dyn_th+ang_th+norm_th>-1){
NaotoMorita 44:f571273d3223 563 obs_count += 1;
NaotoMorita 44:f571273d3223 564 updateAcrossMeasures(LPmag_x/LPmagnorm,LPmag_y/LPmagnorm,LPmag_z/LPmagnorm,magref[0]/magrefnorm,magref[1]/magrefnorm,magref[2]/magrefnorm,Rmag);
NaotoMorita 44:f571273d3223 565 updateAcrossMeasures(LPacc_x/LPaccnorm,LPacc_y/LPaccnorm,LPacc_z/LPaccnorm,accref[0]/accrefnorm,accref[1]/accrefnorm,accref[2]/accrefnorm,Racc);
NaotoMorita 44:f571273d3223 566 }
NaotoMorita 44:f571273d3223 567
NaotoMorita 44:f571273d3223 568 if(loop_count >= 10){
NaotoMorita 31:8d02f3b9a067 569 writeSdcard();
NaotoMorita 36:e68ce293306e 570 loop_count = 1;
NaotoMorita 40:869f3791a3e2 571 obs_count = 0;
NaotoMorita 27:43bd0e444633 572 }else{
NaotoMorita 27:43bd0e444633 573 loop_count +=1;
naker 26:62d9857eaecc 574 }
NaotoMorita 44:f571273d3223 575
NaotoMorita 44:f571273d3223 576
naker 22:da9893b71f24 577 }
cocorlow 7:70161eb0f854 578
NaotoMorita 27:43bd0e444633 579 int main()
NaotoMorita 36:e68ce293306e 580 {
NaotoMorita 28:fc6c46c1db65 581 pitchPID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 582 pitchratePID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 583 rollPID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 584 rollratePID.setSetPoint(0.0);
NaotoMorita 28:fc6c46c1db65 585 pitchPID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 586 pitchratePID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 587 rollPID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 588 rollratePID.setBias(0.0);
NaotoMorita 28:fc6c46c1db65 589 pitchPID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 590 pitchratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 591 rollPID.setOutputLimits(-1.0,1.0);
NaotoMorita 29:34ee662f454e 592 rollratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 28:fc6c46c1db65 593 pitchPID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 594 pitchratePID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 595 rollPID.setInputLimits(-pi,pi);
NaotoMorita 28:fc6c46c1db65 596 rollratePID.setInputLimits(-pi,pi);
NaotoMorita 29:34ee662f454e 597
NaotoMorita 36:e68ce293306e 598 servoRight.period_us(15000.0);
NaotoMorita 36:e68ce293306e 599 servoLeft.period_us(15000.0);
NaotoMorita 36:e68ce293306e 600 servoThrust.period_us(15000.0);
NaotoMorita 36:e68ce293306e 601 servoRight.pulsewidth_us(1500.0);
NaotoMorita 36:e68ce293306e 602 servoLeft.pulsewidth_us(1500.0);
NaotoMorita 36:e68ce293306e 603 servoThrust.pulsewidth_us(1100.0);
NaotoMorita 36:e68ce293306e 604
NaotoMorita 38:acc7cdcf56dd 605 pc.baud(57600);
NaotoMorita 38:acc7cdcf56dd 606 sd.baud(57600);
NaotoMorita 38:acc7cdcf56dd 607 sd.printf("\r\n Program Start \r\n");
NaotoMorita 36:e68ce293306e 608 accelgyro.initialize();
NaotoMorita 36:e68ce293306e 609 //加速度計のフルスケールレンジを設定
NaotoMorita 36:e68ce293306e 610 accelgyro.setFullScaleAccelRange(ACCEL_FSR);
NaotoMorita 38:acc7cdcf56dd 611 //角速度計のフルスケールレンジを設定
NaotoMorita 36:e68ce293306e 612 accelgyro.setFullScaleGyroRange(GYRO_FSR);
NaotoMorita 36:e68ce293306e 613 //MPU6050のLPFを設定
NaotoMorita 36:e68ce293306e 614 accelgyro.setDLPFMode(MPU6050_LPF);
NaotoMorita 38:acc7cdcf56dd 615 //地磁気
NaotoMorita 38:acc7cdcf56dd 616 mag.enable();
NaotoMorita 38:acc7cdcf56dd 617
NaotoMorita 38:acc7cdcf56dd 618 if(userButton.read() == 0){
NaotoMorita 38:acc7cdcf56dd 619 qhat << 1 << 0 << 0 << 0;
NaotoMorita 44:f571273d3223 620
NaotoMorita 44:f571273d3223 621 D.add(1,1,1.0);
NaotoMorita 44:f571273d3223 622 D.add(2,2,1.0);
NaotoMorita 44:f571273d3223 623 D.add(3,3,1.0);
NaotoMorita 38:acc7cdcf56dd 624
NaotoMorita 38:acc7cdcf56dd 625 Phat << 0.01 << 0 <<0 <<0
NaotoMorita 38:acc7cdcf56dd 626 << 0 << 0.01 <<0 <<0
NaotoMorita 38:acc7cdcf56dd 627 << 0 << 0 <<0.001 <<0
NaotoMorita 38:acc7cdcf56dd 628 << 0 << 0 << 0 << 0.001;
NaotoMorita 38:acc7cdcf56dd 629
NaotoMorita 44:f571273d3223 630 Qgyro << 0.0224<< 0 <<0
NaotoMorita 44:f571273d3223 631 << 0 <<0.0224<<0
NaotoMorita 44:f571273d3223 632 << 0 << 0 <<0.0224;
naker 22:da9893b71f24 633
NaotoMorita 44:f571273d3223 634 Racc.add(1,1,0.0330*100);
NaotoMorita 44:f571273d3223 635 Racc.add(2,2,0.0330*100);
NaotoMorita 44:f571273d3223 636 Racc.add(3,3,0.0330*100);
NaotoMorita 44:f571273d3223 637
NaotoMorita 44:f571273d3223 638 Rmag.add(1,1,1.0);
NaotoMorita 44:f571273d3223 639 Rmag.add(2,2,1.0);
NaotoMorita 44:f571273d3223 640 Rmag.add(3,3,1.0);
NaotoMorita 44:f571273d3223 641
NaotoMorita 38:acc7cdcf56dd 642 getIMUval();
NaotoMorita 38:acc7cdcf56dd 643 triad(acc_x/accnorm,acc_y/accnorm,acc_z/accnorm, accref[0]/accrefnorm,accref[1]/accrefnorm,accref[2]/accrefnorm,mag_x/magnorm,mag_y/magnorm,mag_z/magnorm, magref[0]/magrefnorm,magref[1]/magrefnorm,magref[2]/magrefnorm);
NaotoMorita 43:f0dd73430192 644 float sumLPaccnorm = 0;
NaotoMorita 38:acc7cdcf56dd 645 for(int i = 0; i<1000 ;i++){
NaotoMorita 38:acc7cdcf56dd 646 getIMUval();
NaotoMorita 38:acc7cdcf56dd 647 val_thmg += acos((mag_x*acc_x+mag_y*acc_y+mag_z*acc_z)/magnorm/accnorm);
NaotoMorita 43:f0dd73430192 648 sumLPaccnorm += LPaccnorm;
NaotoMorita 38:acc7cdcf56dd 649 }
NaotoMorita 43:f0dd73430192 650 accref[2]=-sumLPaccnorm/1000;
NaotoMorita 38:acc7cdcf56dd 651 val_thmg /= 1000;
NaotoMorita 38:acc7cdcf56dd 652 LoopTicker PIDtick;
NaotoMorita 38:acc7cdcf56dd 653 PIDtick.attach(calcServoOut,PID_dt);
NaotoMorita 38:acc7cdcf56dd 654
NaotoMorita 38:acc7cdcf56dd 655 t.start();
NaotoMorita 28:fc6c46c1db65 656
NaotoMorita 38:acc7cdcf56dd 657 while(1) {
NaotoMorita 38:acc7cdcf56dd 658 float tstart = t.read();
NaotoMorita 38:acc7cdcf56dd 659 //姿勢角を更新
NaotoMorita 38:acc7cdcf56dd 660 getIMUval();
NaotoMorita 38:acc7cdcf56dd 661 updateBetweenMeasures();
NaotoMorita 38:acc7cdcf56dd 662 computeAngles();
NaotoMorita 38:acc7cdcf56dd 663 PIDtick.loop();
NaotoMorita 38:acc7cdcf56dd 664
NaotoMorita 38:acc7cdcf56dd 665 float tend = t.read();
NaotoMorita 38:acc7cdcf56dd 666 att_dt = (tend-tstart);
NaotoMorita 38:acc7cdcf56dd 667 }
NaotoMorita 38:acc7cdcf56dd 668 }else{
NaotoMorita 38:acc7cdcf56dd 669 execCalibration();
naker 20:2c3f113a8e8f 670 }
NaotoMorita 0:6b18a09a6628 671 }