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
hil.cpp@139:b378528c05f2, 2021-12-06 (annotated)
- Committer:
- cocorlow
- Date:
- Mon Dec 06 08:26:16 2021 +0000
- Revision:
- 139:b378528c05f2
- Parent:
- 111:0fae4fbe2a80
- Child:
- 141:725321fe2949
Eigen
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cocorlow | 139:b378528c05f2 | 1 | //#include "global.hpp" |
cocorlow | 139:b378528c05f2 | 2 | // |
cocorlow | 139:b378528c05f2 | 3 | //void getHilIMUval() |
cocorlow | 139:b378528c05f2 | 4 | //{ |
cocorlow | 139:b378528c05f2 | 5 | // switch(vp.commandIndex){ |
cocorlow | 139:b378528c05f2 | 6 | // case 1: |
cocorlow | 139:b378528c05f2 | 7 | // NVIC_SystemReset(); |
cocorlow | 139:b378528c05f2 | 8 | // break; |
cocorlow | 139:b378528c05f2 | 9 | // default : |
cocorlow | 139:b378528c05f2 | 10 | // break; |
cocorlow | 139:b378528c05f2 | 11 | // } |
cocorlow | 139:b378528c05f2 | 12 | // rpy_align.x = 0.0f; |
cocorlow | 139:b378528c05f2 | 13 | // rpy_align.y = 0.0f; |
cocorlow | 139:b378528c05f2 | 14 | // accref.z = 1.0f; |
cocorlow | 139:b378528c05f2 | 15 | // |
cocorlow | 139:b378528c05f2 | 16 | // |
cocorlow | 139:b378528c05f2 | 17 | // lsm.readAccel(); |
cocorlow | 139:b378528c05f2 | 18 | // lsm.readMag(); |
cocorlow | 139:b378528c05f2 | 19 | // lsm.readGyro(); |
cocorlow | 139:b378528c05f2 | 20 | // |
cocorlow | 139:b378528c05f2 | 21 | // float accmx = lsm.ax * 9.8f - agoffset[0]; |
cocorlow | 139:b378528c05f2 | 22 | // float accmy = lsm.ay * 9.8f - agoffset[1]; |
cocorlow | 139:b378528c05f2 | 23 | // float accmz = lsm.az * 9.8f - agoffset[2]; |
cocorlow | 139:b378528c05f2 | 24 | // float gyromx = (lsm.gx * M_PI / 180.0f) - agoffset[3]; |
cocorlow | 139:b378528c05f2 | 25 | // float gyromy = (lsm.gy * M_PI / 180.0f) - agoffset[4]; |
cocorlow | 139:b378528c05f2 | 26 | // float gyromz = (lsm.gz * M_PI / 180.0f) - agoffset[5]; |
cocorlow | 139:b378528c05f2 | 27 | // |
cocorlow | 139:b378528c05f2 | 28 | // // gx gy gz ax ay az |
cocorlow | 139:b378528c05f2 | 29 | // // 加速度値を分解能で割って加速度(m/s^2)に変換する |
cocorlow | 139:b378528c05f2 | 30 | // acc.x = 9.8f*float(vp.accData[0]) / 4096.0f + accmx; //FS_SEL_0 16,384 LSB / g |
cocorlow | 139:b378528c05f2 | 31 | // acc.y = 9.8f*float(vp.accData[1]) / 4096.0f + accmy; |
cocorlow | 139:b378528c05f2 | 32 | // acc.z = 9.8f*float(vp.accData[2]) / 4096.0f + accmy; |
cocorlow | 139:b378528c05f2 | 33 | // |
cocorlow | 139:b378528c05f2 | 34 | // // 角速度値を分解能で割って角速度(rad per sec)に変換する |
cocorlow | 139:b378528c05f2 | 35 | // gyro.x = float(vp.gyroData[0]) / 131.0f * 0.0174533f + gyromx; // (rad/s) |
cocorlow | 139:b378528c05f2 | 36 | // gyro.y = float(vp.gyroData[1]) / 131.0f * 0.0174533f + gyromy; |
cocorlow | 139:b378528c05f2 | 37 | // gyro.z = float(vp.gyroData[2]) / 131.0f * 0.0174533f + gyromz; |
cocorlow | 139:b378528c05f2 | 38 | // |
cocorlow | 139:b378528c05f2 | 39 | // Matrix magraw(3,1); |
cocorlow | 139:b378528c05f2 | 40 | // magraw(1,1) = float(vp.magData[0])/1000.0f + (lsm.mx-magref.x); |
cocorlow | 139:b378528c05f2 | 41 | // magraw(2,1) = float(vp.magData[1])/1000.0f + (lsm.my-magref.y); |
cocorlow | 139:b378528c05f2 | 42 | // magraw(3,1) = float(vp.magData[2])/1000.0f + (lsm.mz-magref.z); |
cocorlow | 139:b378528c05f2 | 43 | // |
cocorlow | 139:b378528c05f2 | 44 | // //magres = magCalibrator.calcResidial(magraw); |
cocorlow | 139:b378528c05f2 | 45 | // //if(magres > magresThreshold){ |
cocorlow | 139:b378528c05f2 | 46 | // // magCalibrator.updateParams(magraw,0.001f); |
cocorlow | 139:b378528c05f2 | 47 | // //}; |
cocorlow | 139:b378528c05f2 | 48 | // Matrix magmod = magraw; |
cocorlow | 139:b378528c05f2 | 49 | // mag.x = magmod(1,1); |
cocorlow | 139:b378528c05f2 | 50 | // mag.y = magmod(2,1); |
cocorlow | 139:b378528c05f2 | 51 | // mag.z = magmod(3,1); |
cocorlow | 139:b378528c05f2 | 52 | // |
cocorlow | 139:b378528c05f2 | 53 | // palt = float(vp.piData[2])/1.0f -(lps.pressureToAltitudeMeters(lps.readPressureMillibars())-palt0);; |
cocorlow | 139:b378528c05f2 | 54 | // |
cocorlow | 139:b378528c05f2 | 55 | // if(abs(vp.accData[0])<0.0001f && abs(vp.accData[1])<0.0001f && abs(vp.accData[2])<0.0001f){ |
cocorlow | 139:b378528c05f2 | 56 | // acc.z += -9.8f; |
cocorlow | 139:b378528c05f2 | 57 | // mag.x += 0.5; |
cocorlow | 139:b378528c05f2 | 58 | // } |
cocorlow | 139:b378528c05f2 | 59 | //} |
cocorlow | 139:b378528c05f2 | 60 | // |
cocorlow | 139:b378528c05f2 | 61 | //void getHilGPSval() |
cocorlow | 139:b378528c05f2 | 62 | //{ |
cocorlow | 139:b378528c05f2 | 63 | // float sigma_vi = 0.1f; |
cocorlow | 139:b378528c05f2 | 64 | // float sigma_pi = 1.0f; |
cocorlow | 139:b378528c05f2 | 65 | // |
cocorlow | 139:b378528c05f2 | 66 | // //GPSの速度情報m/s |
cocorlow | 139:b378528c05f2 | 67 | // vi.x = float(vp.viData[0])/1000.0f + sigma_vi*randn(); |
cocorlow | 139:b378528c05f2 | 68 | // vi.y = float(vp.viData[1])/1000.0f + sigma_vi*randn(); |
cocorlow | 139:b378528c05f2 | 69 | // vi.z = float(vp.viData[2])/1000.0f + sigma_vi*randn(); |
cocorlow | 139:b378528c05f2 | 70 | // |
cocorlow | 139:b378528c05f2 | 71 | // //GPSの位置情報m/s |
cocorlow | 139:b378528c05f2 | 72 | // pi.x = float(vp.piData[0])/1.0f + sigma_pi*randn(); |
cocorlow | 139:b378528c05f2 | 73 | // pi.y = float(vp.piData[1])/1.0f + sigma_pi*randn(); |
cocorlow | 139:b378528c05f2 | 74 | // pi.z = float(vp.piData[2])/1.0f + sigma_pi*randn(); |
cocorlow | 139:b378528c05f2 | 75 | // |
cocorlow | 139:b378528c05f2 | 76 | //} |
cocorlow | 139:b378528c05f2 | 77 | // |
cocorlow | 139:b378528c05f2 | 78 | //float randn() |
cocorlow | 139:b378528c05f2 | 79 | //{ |
cocorlow | 139:b378528c05f2 | 80 | // float x = (float)rand()/RAND_MAX; |
cocorlow | 139:b378528c05f2 | 81 | // float y = (float)rand()/RAND_MAX; |
cocorlow | 139:b378528c05f2 | 82 | // float z1 = sqrt(-2.0 * log(x)) * cos(2.0 * M_PI * y); |
cocorlow | 139:b378528c05f2 | 83 | // return z1; |
cocorlow | 139:b378528c05f2 | 84 | //} |