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

setup.cpp@93:b827f78a717a, 2021-10-29 (annotated)

Committer:
NaotoMorita
Date:
Fri Oct 29 13:30:24 2021 +0000
Revision:
93:b827f78a717a
Parent:
88:be349faa1976
Child:
95:43717535c354
almost usable

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 56:888379912f81 1 #include "global.hpp"
osaka 88:be349faa1976 2 using namespace std;
cocorlow 56:888379912f81 3
cocorlow 56:888379912f81 4 void setup()
cocorlow 56:888379912f81 5 {
osaka 88:be349faa1976 6 sd.baud(115200);
osaka 88:be349faa1976 7 sd.printf("\r\nFlight Start\r\n");
osaka 88:be349faa1976 8 twelite.baud(38400);
osaka 88:be349faa1976 9 twelite.printf("\r\nTelemetory Start\r\n");
osaka 88:be349faa1976 10
osaka 88:be349faa1976 11 uint16_t reg = lsm.begin(lsm.G_SCALE_245DPS, lsm.A_SCALE_8G);
osaka 88:be349faa1976 12 //printf("%x\n", reg);
osaka 88:be349faa1976 13 if (!lps.init()){
osaka 88:be349faa1976 14 twelite.printf("Failed to autodetect pressure sensor!\r\n");
osaka 88:be349faa1976 15 while (1);
osaka 88:be349faa1976 16 }
osaka 88:be349faa1976 17 lps.enableDefault();
osaka 88:be349faa1976 18 wait_ms(100);
osaka 88:be349faa1976 19
NaotoMorita 93:b827f78a717a 20 SensorAlignment << 1.0f << 0.0f << 0.0f
NaotoMorita 93:b827f78a717a 21 << 0.0f << 1.0f << 0.0f
NaotoMorita 93:b827f78a717a 22 << 0.0f << 0.0f << -1.0f;
NaotoMorita 93:b827f78a717a 23
cocorlow 56:888379912f81 24 pitchPID.setSetPoint(0.0);
cocorlow 56:888379912f81 25 pitchratePID.setSetPoint(0.0);
NaotoMorita 70:99f974d8960e 26 rollPID.setSetPoint(0.0);
NaotoMorita 70:99f974d8960e 27 rollratePID.setSetPoint(0.0);
cocorlow 56:888379912f81 28 pitchPID.setBias(0.0);
NaotoMorita 70:99f974d8960e 29 pitchratePID.setBias(0.0);
NaotoMorita 70:99f974d8960e 30 rollPID.setBias(0.0);
NaotoMorita 70:99f974d8960e 31 rollratePID.setBias(0.0);
cocorlow 56:888379912f81 32 pitchPID.setOutputLimits(-1.0,1.0);
cocorlow 56:888379912f81 33 pitchratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 70:99f974d8960e 34 rollPID.setOutputLimits(-1.0,1.0);
NaotoMorita 70:99f974d8960e 35 rollratePID.setOutputLimits(-1.0,1.0);
NaotoMorita 70:99f974d8960e 36 pitchPID.setInputLimits(-M_PI,M_PI);
NaotoMorita 70:99f974d8960e 37 pitchratePID.setInputLimits(-M_PI,M_PI);
NaotoMorita 70:99f974d8960e 38 rollPID.setInputLimits(-M_PI,M_PI);
NaotoMorita 70:99f974d8960e 39 rollratePID.setInputLimits(-M_PI,M_PI);
cocorlow 56:888379912f81 40
NaotoMorita 70:99f974d8960e 41 servoRight.period_us(15000.0);
NaotoMorita 70:99f974d8960e 42 servoLeft.period_us(15000.0);
NaotoMorita 70:99f974d8960e 43 servoThrust.period_us(15000.0);
NaotoMorita 70:99f974d8960e 44 servoRight.pulsewidth_us(1500.0);
NaotoMorita 70:99f974d8960e 45 servoLeft.pulsewidth_us(1500.0);
NaotoMorita 70:99f974d8960e 46 servoThrust.pulsewidth_us(1100.0);
cocorlow 56:888379912f81 47 }
cocorlow 56:888379912f81 48
cocorlow 56:888379912f81 49 void calibrate()
cocorlow 56:888379912f81 50 {
cocorlow 56:888379912f81 51 while(1)
cocorlow 56:888379912f81 52 {
cocorlow 56:888379912f81 53 wait(1000);
cocorlow 56:888379912f81 54 }
cocorlow 56:888379912f81 55 }