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
global.cpp@139:b378528c05f2, 2021-12-06 (annotated)
- Committer:
- cocorlow
- Date:
- Mon Dec 06 08:26:16 2021 +0000
- Revision:
- 139:b378528c05f2
- Parent:
- 137:240588882ae2
- Child:
- 140:53dbdb207542
Eigen
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 | |
NaotoMorita | 67:41fcdfb7cc5a | 3 | |
cocorlow | 56:888379912f81 | 4 | // var |
cocorlow | 56:888379912f81 | 5 | |
cocorlow | 56:888379912f81 | 6 | // communication |
NaotoMorita | 82:c183c29d2427 | 7 | UsaPack pc(USBTX, USBRX, 115200); // log - tail |
NaotoMorita | 132:896ad37b534b | 8 | UsaPack sd(PG_14,PG_9, 115200); |
NaotoMorita | 134:d57c6b2a706b | 9 | UsaPack twelite(PD_1,PD_0,38400); |
cocorlow | 56:888379912f81 | 10 | // io |
cocorlow | 56:888379912f81 | 11 | DigitalIn userButton(USER_BUTTON); |
NaotoMorita | 70:99f974d8960e | 12 | SBUS sbus(PD_5, PD_6); |
osaka | 88:be349faa1976 | 13 | I2C i2c(PB_9, PB_8); |
osaka | 88:be349faa1976 | 14 | LSM9DS1 lsm(i2c); |
osaka | 88:be349faa1976 | 15 | LPS lps(i2c); |
NaotoMorita | 99:98b892ca70ec | 16 | GPSUBX_UART gps(PF_7, PE_7); |
NaotoMorita | 119:a21e283730d1 | 17 | CalibrateMagneto magCalibrator; |
NaotoMorita | 102:1c77ff6e2a85 | 18 | float magres = 0.0f; |
cocorlow | 56:888379912f81 | 19 | // control |
NaotoMorita | 94:579e875a4244 | 20 | Timer _t; |
NaotoMorita | 70:99f974d8960e | 21 | FastPWM servoRight(PE_9); |
NaotoMorita | 70:99f974d8960e | 22 | FastPWM servoLeft(PE_11); |
NaotoMorita | 70:99f974d8960e | 23 | FastPWM servoThrust(PE_13); |
NaotoMorita | 74:f67062e7813e | 24 | PID pitchPID(10.0f,0.0f,0.0f,PID_dt); //rad |
NaotoMorita | 74:f67062e7813e | 25 | PID pitchratePID(1.0f, 0.0f, 0.0f, PID_dt);//rad/s |
NaotoMorita | 74:f67062e7813e | 26 | PID rollPID(5.0f,0.0f,0.0f,PID_dt); |
NaotoMorita | 94:579e875a4244 | 27 | PID rollratePID(0.05f, 0.0, 0.0, PID_dt);//rad/s |
cocorlow | 139:b378528c05f2 | 28 | //solaESKF eskf; // ESKF class |
NaotoMorita | 76:7fd3ac1afe3e | 29 | int obsCount = 0; |
cocorlow | 139:b378528c05f2 | 30 | //Autopilot autopilot; |
osaka | 109:eb255fc4462b | 31 | float roll_obj; |
osaka | 109:eb255fc4462b | 32 | float pitch_obj; |
osaka | 121:2523eef96b36 | 33 | float dT_obj; |
cocorlow | 56:888379912f81 | 34 | |
NaotoMorita | 70:99f974d8960e | 35 | float rc[16]; |
cocorlow | 56:888379912f81 | 36 | int loop_count = 0; |
cocorlow | 56:888379912f81 | 37 | float att_dt = 0.01f; |
cocorlow | 56:888379912f81 | 38 | // position |
cocorlow | 139:b378528c05f2 | 39 | Matrix3f SensorAlignmentAG(3,3); |
cocorlow | 139:b378528c05f2 | 40 | Matrix3f SensorAlignmentMAG(3,3); |
cocorlow | 139:b378528c05f2 | 41 | Vector3f euler(3,1); |
cocorlow | 139:b378528c05f2 | 42 | Vector3f rpy(0.0f, 0.0f, 0.0f); // x:roll y:pitch z:yaw |
cocorlow | 139:b378528c05f2 | 43 | Vector3f acc; |
cocorlow | 139:b378528c05f2 | 44 | Vector3f accref(0.0f, 0.0f, 9.8f); |
cocorlow | 139:b378528c05f2 | 45 | Vector3f mag; |
cocorlow | 139:b378528c05f2 | 46 | Vector3f magref(0.0f, 0.0f, 0.0f); |
cocorlow | 139:b378528c05f2 | 47 | Vector3f gyro; |
cocorlow | 139:b378528c05f2 | 48 | Vector3f vi; |
cocorlow | 139:b378528c05f2 | 49 | Vector3f pi; |
NaotoMorita | 92:00460f6df439 | 50 | float palt; |
NaotoMorita | 98:bdaa6bbfb1d9 | 51 | float palt0; |
NaotoMorita | 129:a76be8380bb2 | 52 | float dynaccnorm2; |
NaotoMorita | 106:2d854e92cebb | 53 | int itow_status = 0; |
NaotoMorita | 100:7589b663d462 | 54 | bool gpsUpdateFlag = false; |
NaotoMorita | 106:2d854e92cebb | 55 | bool gpsLlh0Fixed = false; |
NaotoMorita | 127:d73a6233ee4b | 56 | bool headingUpdateFlag = false; |
NaotoMorita | 77:2bf856e3eca4 | 57 | |
NaotoMorita | 73:84ffa0166e6c | 58 | float de = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 59 | float da = 0.0f; |
NaotoMorita | 73:84ffa0166e6c | 60 | float dT = 0.0f; |
NaotoMorita | 70:99f974d8960e | 61 | MedianFilter accMedian(3); |
NaotoMorita | 70:99f974d8960e | 62 | MedianFilter gyroMedian(3); |
NaotoMorita | 70:99f974d8960e | 63 | MedianFilter magMedian(3); |
NaotoMorita | 72:267e2cfddb0b | 64 | |
NaotoMorita | 70:99f974d8960e | 65 | float scaledServoOut[2]= {0.0f,0.0f}; |
NaotoMorita | 70:99f974d8960e | 66 | float scaledMotorOut[1]= {-1.0f}; |
NaotoMorita | 63:9c4973a98600 | 67 | float servoOut[2] = {1500.0f,1500.0f}; |
NaotoMorita | 70:99f974d8960e | 68 | float motorOut[1] = {1100.0f}; |
cocorlow | 56:888379912f81 | 69 | |
cocorlow | 56:888379912f81 | 70 | int calibrationFlag = 0; |
NaotoMorita | 93:b827f78a717a | 71 | float agoffset[6] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}; |
NaotoMorita | 76:7fd3ac1afe3e | 72 | |
NaotoMorita | 76:7fd3ac1afe3e | 73 | float magbias[4] = {-134.817047, 127.833481, -152.631836, 44.508556}; |
NaotoMorita | 75:a505b9896da1 | 74 | float magbiasMin[3] = {-174.831711, 93.465691, -188.617172}; |
NaotoMorita | 75:a505b9896da1 | 75 | float magbiasMax[3] = {-110.413963, 162.321548, -122.566071}; |
NaotoMorita | 75:a505b9896da1 | 76 | float accMin[3] = {-0.963692, -0.974141, -1.012899}; |
NaotoMorita | 75:a505b9896da1 | 77 | float accMax[3] = { 1.025954, 0.974748, 0.987155}; |
cocorlow | 56:888379912f81 | 78 | |
cocorlow | 139:b378528c05f2 | 79 | Vector3f rpy_align( 0.0f*M_PI_F/180.0f, 5.0f*M_PI_F/180.0f, 0.0f*M_PI_F/180.0f); |
cocorlow | 56:888379912f81 | 80 | |
cocorlow | 56:888379912f81 | 81 | |
cocorlow | 56:888379912f81 | 82 | // UsaPack |
NaotoMorita | 73:84ffa0166e6c | 83 | valuePack vp; |
NaotoMorita | 83:e69ab831031c | 84 | sendPack sp; |
NaotoMorita | 132:896ad37b534b | 85 | logPack lp; |
NaotoMorita | 134:d57c6b2a706b | 86 | telemetryPack tp; |
NaotoMorita | 73:84ffa0166e6c | 87 | |
NaotoMorita | 73:84ffa0166e6c | 88 | // HIL |
osaka | 137:240588882ae2 | 89 | bool hilFlag = true; |
NaotoMorita | 76:7fd3ac1afe3e | 90 | bool serialControlSource = false; |
NaotoMorita | 76:7fd3ac1afe3e | 91 | bool serialParamSource = false; |
NaotoMorita | 76:7fd3ac1afe3e | 92 | int checkParamSerial[5] = {0,0,0,0,0}; |
cocorlow | 56:888379912f81 | 93 | |
cocorlow | 56:888379912f81 | 94 | float mapfloat(float x, float in_min, float in_max, float out_min, float out_max) |
cocorlow | 56:888379912f81 | 95 | { |
cocorlow | 56:888379912f81 | 96 | return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; |
NaotoMorita | 67:41fcdfb7cc5a | 97 | } |
NaotoMorita | 93:b827f78a717a | 98 | |
cocorlow | 139:b378528c05f2 | 99 | //void setDiag(Matrix3f& mat, float val){ |
cocorlow | 139:b378528c05f2 | 100 | // for (int i = 1; i < mat.getCols()+1; i++){ |
cocorlow | 139:b378528c05f2 | 101 | // mat(i,i) = val; |
cocorlow | 139:b378528c05f2 | 102 | // } |
cocorlow | 139:b378528c05f2 | 103 | //} |
cocorlow | 139:b378528c05f2 | 104 | // |
cocorlow | 139:b378528c05f2 | 105 | //void setBlockDiag(MatrixXf& mat, float val,int startIndex, int endIndex){ |
cocorlow | 139:b378528c05f2 | 106 | // for (int i = startIndex; i < endIndex+1; i++){ |
cocorlow | 139:b378528c05f2 | 107 | // mat(i,i) = val; |
cocorlow | 139:b378528c05f2 | 108 | // } |
cocorlow | 139:b378528c05f2 | 109 | //} |